A vehicle adaptive cruise control method and device, vehicle, storage medium and program product

Abstract

The application discloses a vehicle adaptive cruise control method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicle control. The method comprises the following steps: determining a brake torque of an electric motor, wherein the brake torque is a negative number or zero; determining a working mode of adaptive cruise control (ACC) in the process of adjusting a drive torque of the electric motor; and when the brake torque is lower than a brake threshold value, setting the value of the drive torque to decrease to a first value in the case that the working mode of the ACC is a first mode, wherein the first mode is a mode in which an indication value is greater than a first throttle threshold value, the indication value is used for indicating the depth of a throttle pedal, and the first value satisfies a value range, and the value range is used for limiting the rate of increase of the drive torque. In this way, the impact feeling of the passengers in the vehicle can be avoided, and the comfort of the passengers in the vehicle during the process of increasing the vehicle speed and changing lanes to overtake can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of vehicles, and in particular to a vehicle adaptive cruise control method, a vehicle, a storage medium, and a program product. Background Technology

[0002] Currently, the automotive industry is developing rapidly, and the driving experience of cars in road traffic is receiving increasing attention. Vehicles equipped with Adaptive Cruise Control (ACC) systems can maintain a constant speed, and compared to traditional Cruise Control (CC) systems, ACC has stronger adaptive capabilities. ACC can automatically control the vehicle's acceleration or deceleration based on the dynamically changing speed of the vehicle in front to maintain a preset distance, thereby improving driver comfort and vehicle safety. Furthermore, the driver can also temporarily take over the vehicle; for example, when ACC controls the vehicle to decelerate to follow the vehicle in front, the driver can temporarily take over the vehicle, increase speed, and change lanes to overtake.

[0003] In practical applications, ACC can be used in both engine-driven and electric motor-driven vehicles. For example, in electric motor-driven vehicles, ACC can automatically control the motor's torque. When the motor torque is positive, it accelerates the vehicle; when the torque is negative, it generates electricity, reducing the vehicle speed. However, in electric motor-driven vehicles, when ACC controls deceleration, passengers may experience a jolt if the driver temporarily takes over to increase speed or change lanes to overtake. Summary of the Invention

[0004] This application provides a vehicle adaptive cruise control method to improve the comfort of vehicle occupants during acceleration and lane changes. Furthermore, this application also provides a corresponding device, vehicle, computer-readable storage medium, and computer program product.

[0005] In a first aspect, embodiments of this application provide a vehicle adaptive cruise control method, comprising: determining a braking torque for a motor, wherein the braking torque is negative or zero; determining an adaptive cruise control (ACC) operating mode during the adjustment of the drive torque for the motor; and, when the ACC operating mode is a first mode, setting the drive torque to a reduced value to a first value when the braking torque is lower than a braking threshold, wherein the first mode is a mode in which an indicated value is greater than a first throttle threshold, the indicated value is used to indicate the depth of the accelerator pedal, the first value satisfies a numerical range, and the numerical range is used to limit the rate at which the drive torque increases.

[0006] In one possible implementation, the method further includes: determining a rate threshold based on the indicated value, the rate threshold being positively correlated with the indicated value; and adjusting the rate at which the braking torque increases to be no less than the rate threshold when the ACC is operating in the first mode.

[0007] In one possible implementation, setting the value of the drive torque to a first value includes: when the operating mode of the ACC satisfies that the duration of the first mode is less than a duration threshold, setting the value of the drive torque to the first value.

[0008] In one possible implementation, the method further includes: when the ACC is in the second operating mode, and the indicated value is greater than the second throttle threshold, setting the value of the drive torque to a second value, wherein the second mode is a mode for reducing vehicle speed, and the second throttle threshold is less than the first throttle threshold.

[0009] In one possible implementation, the method further includes: determining the duration threshold based on the indicated value, wherein the duration threshold is negatively correlated with the indicated value.

[0010] In one possible implementation, adjusting the drive torque for the motor includes: adjusting the drive torque such that the rate of increase of the adjusted drive torque is not higher than the rate of increase of the drive torque before adjustment, and a first rate is lower than a second rate, wherein the first rate is the rate of increase of the adjusted drive torque when the value of the adjusted drive torque meets the numerical range, and the second rate is the rate of increase of the adjusted drive torque when the value of the adjusted drive torque does not meet the numerical range.

[0011] Secondly, embodiments of this application provide a vehicle adaptive cruise control device, comprising: a determining module, the determining module being configured to determine a braking torque for a motor, wherein the braking torque is a negative number or zero; the determining module being further configured to determine an adaptive cruise control (ACC) operating mode during the adjustment of the drive torque for the motor; and a setting module, the setting module being configured to, when the ACC operating mode is a first mode, set the drive torque value to a first value when the braking torque is lower than a braking threshold, wherein the first mode is a mode in which an indicated value is greater than a first throttle threshold, the indicated value being used to indicate the depth of the accelerator pedal, the first value satisfying a numerical range, and the numerical range being used to limit the rate at which the drive torque increases.

[0012] In one possible implementation, the determining module is further configured to determine a rate threshold based on the indicated value, the rate threshold being positively correlated with the indicated value; the device further includes an adjustment module, specifically configured to adjust the rate at which the braking torque increases to be no less than the rate threshold when the ACC is in the first operating mode.

[0013] In one possible implementation, the setting module is specifically used to: when the ACC is in the first mode, and the braking torque is lower than the braking threshold, and the ACC's operating mode satisfies the condition that the duration of the first mode is less than the duration threshold, set the value of the driving torque to be reduced to the first value.

[0014] In one possible implementation, the setting module is further configured to: when the ACC operating mode is the second mode, and the indicated value is greater than the second throttle threshold, set the value of the drive torque to a second value, wherein the second mode is a mode for reducing vehicle speed, and the second throttle threshold is less than the first throttle threshold.

[0015] In one possible implementation, the determining module is further configured to: determine the duration threshold based on the indicated value, wherein the duration threshold is negatively correlated with the indicated value.

[0016] In one possible implementation, adjusting the drive torque for the motor includes: adjusting the drive torque such that the rate of increase of the adjusted drive torque is not higher than the rate of increase of the drive torque before adjustment, and a first rate is lower than a second rate, wherein the first rate is the rate of increase of the adjusted drive torque when the value of the adjusted drive torque meets the numerical range, and the second rate is the rate of increase of the adjusted drive torque when the value of the adjusted drive torque does not meet the numerical range.

[0017] Thirdly, embodiments of this application also provide a vehicle, the vehicle including the vehicle adaptive cruise control device described in the second aspect.

[0018] Fourthly, embodiments of this application also provide a computer-readable storage medium for storing a computer program for performing the methods described in the first aspect and any one of the embodiments of the first aspect.

[0019] Fifthly, embodiments of this application also provide a computer program product including instructions that, when run on a computing device, cause the computing device to perform the methods described in the first aspect and any one of the embodiments of the first aspect.

[0020] In the above implementation of the embodiments of this application, the braking torque for the motor is determined, wherein the value of the braking torque is negative or zero; during the process of adjusting the driving torque for the motor, the working mode of adaptive cruise control (ACC) is determined; when the working mode of ACC is the first mode, when the braking torque is lower than the braking threshold, the value of the driving torque is reduced to a first value, wherein the first mode is a mode in which the indicated value is greater than a first throttle threshold, the indicated value is used to indicate the depth of the accelerator pedal, the first value meets the numerical range, and the numerical range is used to limit the rate of increase of the driving torque.

[0021] When ACC controls vehicle deceleration and the driver depresses the accelerator pedal, if the indicated value exceeds the first throttle threshold, the ACC mode changes to the first mode, and the braking torque value typically increases accordingly. When the braking torque is below the braking threshold, the drive torque value can be set to decrease to the first value within the specified range. That is, the drive torque remains at the first value until the braking torque value recovers to the braking threshold and does not increase further. Since the vehicle's executed torque is the sum of the drive torque and the braking torque, the executed torque can increase as the drive torque increases after the braking torque value recovers to the braking threshold. In this case, the impact of the braking torque value on the executed torque value is relatively small. Thus, because the first value meets the specified range, and the specified range is used to limit the rate of increase of the drive torque, the rate of increase of the executed torque is also limited under the influence of the specified range. This avoids potential jolts for the occupants and effectively improves the comfort of the occupants during acceleration and lane changes. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0023] Figure 1 This is a timing diagram illustrating the changes in various indicator values ​​during an ACC vehicle control process according to an embodiment of this application.

[0024] Figure 2 This is a flowchart illustrating a vehicle adaptive cruise control method according to an embodiment of this application;

[0025] Figure 3 This is a timing diagram illustrating the changes in various indicator values ​​during another ACC vehicle control process in an embodiment of this application.

[0026] Figure 4 This is a schematic diagram of the structure of a vehicle adaptive cruise control device according to an embodiment of this application. Detailed Implementation

[0027] The following description, in conjunction with the accompanying drawings, illustrates various non-limiting embodiments of this application. Obviously, the described embodiments are only a portion, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] In real-world applications, for vehicles equipped with ACC (Adaptive Cruise Control) systems, the ACC system can automatically control the vehicle's acceleration or deceleration based on the dynamically changing speed of the vehicle in front, maintaining a pre-set safe distance. Furthermore, when the ACC system controls the vehicle to decelerate to follow the vehicle in front, the driver can also temporarily take over the vehicle, increasing speed and changing lanes to overtake.

[0029] For vehicles driven by electric motors, see [link to relevant documentation]. Figure 1 This application provides a timing diagram illustrating the changes in various indicated values ​​during the ACC (Adaptive Cruise Control) process of a vehicle. Specifically, the ACC operating status indicates whether the ACC system is functioning correctly; the ACC operating mode indicates different modes of ACC vehicle control; the accelerator pedal depth indicates the depth to which the driver depresses the accelerator pedal; the target drive torque indicates the target drive torque value to be achieved by the ACC system; the drive torque before adjustment indicates the drive torque value of the motor drive system; the adjusted drive torque indicates the adjusted drive torque value of the motor drive system; the braking torque indicates the braking torque value of the motor braking system; and the execution torque indicates the torque value executed by the motor.

[0030] It should be noted that the depth of the accelerator pedal can be the depth to which the driver presses the pedal, the pressure applied to the pedal, or other indicated values; there are no limitations on this. Furthermore, the ACC system can be controlled by the vehicle's ACC control module, meaning the target drive torque can be the drive torque value aimed at by the ACC control module; there are no limitations on this. The electric motor drive system can be controlled by the vehicle's HCU (Hybrid Control Unit) power control module; that is, the drive torque before adjustment can be the drive torque value of the HCU power control module, and the adjusted drive torque can be the drive torque value of the HCU power control module after adjustment; there are no limitations on this. The electric motor braking system can be controlled by the vehicle's IBS (Integrated Brake System) braking control module; that is, the braking torque can be the braking torque value of the IBS braking control module; there are no limitations on this.

[0031] Typically, if the rate of increase in torque is too high, vehicle occupants often experience a jolt. Furthermore, even within a certain range of torque, a high rate of increase in torque can exacerbate this jolt. Therefore, the vehicle's motor torque can be adjusted. However, the motor's torque is the sum of the drive torque of the motor's drive system and the braking torque of the motor's braking system; that is, the motor's torque is related to both the drive and braking systems. Consequently, adjusting the torque may affect the braking system, thus impacting braking in emergency situations and reducing vehicle safety. Moreover, adjusting the torque is complex and increases the vehicle's cost.

[0032] Based on this, the vehicle can adjust the drive torque of the motor to indirectly reduce the risk of occupants experiencing a jolt. Specifically, the drive torque of the motor drive system can vary according to the target drive torque of the ACC system. To avoid an excessively high rate of increase in drive torque, the vehicle can adjust the drive torque. This adjustment can be achieved by filtering the drive torque, and is not limited to this method. For example, the vehicle can adjust the drive torque so that the rate of increase of the adjusted drive torque is not higher than the rate of increase of the original drive torque. Furthermore, when the drive torque value meets a certain numerical range, the vehicle can further limit the rate of increase of the drive torque. When the adjusted drive torque value meets the numerical range, the rate of increase of the adjusted drive torque is the first rate; when the adjusted drive torque value does not meet the numerical range, the rate of increase of the adjusted drive torque is the second rate, and the vehicle can adjust the drive torque so that the first rate is lower than the second rate. In this way, the above method reduces the risk of occupants experiencing a jolt, and the vehicle's safety is ensured, while also reducing the vehicle's complexity.

[0033] In addition, the vehicle can adjust the drive torque so that the rate of decrease of the adjusted drive torque is no higher than the rate of decrease of the original drive torque. Furthermore, when the drive torque value meets other numerical ranges, the vehicle can further limit the rate of decrease of the drive torque.

[0034] The following is combined Figure 1 This document provides an illustrative example of the process by which a driver temporarily takes over the vehicle and increases speed to overtake the vehicle in front. The units for the required drive torque, the drive torque before adjustment, the drive torque after adjustment, the braking torque, and the executed torque can be Newton-meters (Nm), and the braking torque can be negative or zero.

[0035] During the first time period, the ACC controls the vehicle to maintain a constant speed, during which the driver does not press the accelerator pedal. Correspondingly, the target drive torque of the ACC system remains unchanged, the drive torque of the motor drive system before and after adjustment also remains unchanged, and the braking torque and actuation torque also remain unchanged.

[0036] During the second time period, as the vehicle ahead decelerates, the ACC (Adaptive Cruise Control) system also decelerates accordingly. At this time, the ACC enters its second mode, which is for vehicle deceleration. The target drive torque of the ACC system decreases accordingly, and consequently, the drive torque of the motor drive system also decreases accordingly. Because the rate of decrease in the original drive torque is too high, the vehicle can adjust the drive torque to gradually reduce it to a negative value. Furthermore, when the adjusted drive torque is below 0 Nm but above a certain value, the vehicle can further limit the rate of decrease of the adjusted drive torque. Furthermore, the braking torque of the motor braking system also decreases accordingly, ultimately reducing the motor's execution torque to a negative value, allowing the vehicle to decelerate under the action of the motor's execution torque. It should be noted that the time when the braking torque begins to decrease can be later or earlier than the time when the drive torque decrease ends; this is not limited.

[0037] During the third time period, the driver presses the accelerator pedal to take control of the vehicle for acceleration and overtaking, with the pedal depth gradually increasing. To avoid frequent changes in the ACC operating mode caused by the driver lightly pressing or accidentally pressing the accelerator pedal, the ACC operating mode remains in the second mode as long as the accelerator pedal depth does not exceed the first throttle threshold. As the accelerator pedal depth gradually increases, the target drive torque of the ACC system also increases accordingly. Similarly, to avoid frequent changes in the motor's execution torque caused by the driver lightly pressing or accidentally pressing the accelerator pedal, when the ACC operating mode is in the second mode, the drive torque of the motor drive system before adjustment can be restored to 0 Nm, and the drive torque after adjustment can be slowly restored to 0 Nm. Furthermore, the braking torque remains unchanged before the ACC operating mode changes.

[0038] During the fourth and fifth time periods, the accelerator pedal depth increases beyond the first accelerator threshold, causing the ACC operating mode to change to the first mode. As the ACC operating mode changes, the drive torque of the electric motor's drive system increases accordingly, maintaining the same target drive torque as the ACC system. Because the rate of increase in the pre-adjustment drive torque is too high, the vehicle can adjust the drive torque to ensure a slower increase after adjustment, and the adjusted drive torque value must meet a specific range. Figure 1 During the fourth time period shown, the vehicle can further limit the rate of increase of the adjusted drive torque, where the lower limit of the numerical range can be 0 Nm. Since the ACC operating mode changes to the first mode, the braking torque of the electric motor braking system also rises to 0 Nm. Finally, under the action of the braking torque and the drive torque, the motor's execution torque also rises to a positive value, allowing the vehicle to accelerate under the action of the motor's execution torque.

[0039] It is worth noting that during the fourth time period, when the adjusted drive torque was within the specified range, the vehicle further limited the rate of increase of the adjusted drive torque. However, at this time, the motor's operating torque was negative, meaning the vehicle did not accelerate, and the rate of increase of the operating torque was not significantly limited as the braking torque increased. Furthermore, during the fifth time period, the adjusted drive torque did not meet the specified range, and the vehicle correspondingly lifted the restriction on the rate of increase of the adjusted drive torque, resulting in a relatively high rate of increase. However, at this time, the motor's operating torque changed from negative to positive, and under the influence of the rate of increase of the drive torque, the rate of increase of the operating torque was also relatively high. Therefore, even when the operating torque met the aforementioned range, the risk of the vehicle occupants experiencing a jolt was also higher.

[0040] Therefore, see Figure 2 , Figure 2 A flowchart illustrating an adaptive cruise control method according to an embodiment of this application is shown. This method can be executed by a vehicle or by a device configured on the vehicle; the following description uses an example of an adaptive cruise control method executed by a vehicle. Figure 2 As shown, the method may specifically include the following steps.

[0041] S201: The vehicle determines the braking torque for the motor, wherein the braking torque is either negative or zero.

[0042] The vehicle can determine the braking torque of the electric motor braking system, where the braking torque can be negative or zero. Under the action of the braking torque, the vehicle can convert mechanical energy into electrical energy, thereby achieving vehicle braking. When ACC controls the vehicle to maintain a constant speed or accelerate, the braking torque is usually zero. When ACC controls the vehicle to decelerate, the braking torque usually decreases to a negative value. It should be noted that the electric motor braking system can be an IBS braking control module or other modules, without limitation.

[0043] S202: During the process of adjusting the drive torque for the motor, the vehicle determines the ACC operating mode.

[0044] When ACC is operating normally, the vehicle can continuously adjust the drive torque of the electric motor drive system to ensure a relatively slow rate of change in the adjusted drive torque. Furthermore, when the adjusted drive torque meets certain numerical ranges, the vehicle can further limit the rate of increase of the adjusted drive torque, thereby reducing the risk of occupants experiencing a jolt. For example, the lower limit of the numerical range can be 0 Nm, and the upper limit can be 10 Nm. The process of adjusting the drive torque for the electric motor can be found in the relevant description above and will not be repeated here. It should be noted that the electric motor drive system can be an HCU power control module or other modules; there are no restrictions on this.

[0045] During the process of adjusting the drive torque for the motor, the vehicle can determine the ACC operating mode so that the vehicle can execute different methods based on the ACC operating mode.

[0046] S203: Determine if the vehicle's ACC working mode is in the first mode.

[0047] S204: Determine whether the vehicle's braking torque is below the braking threshold.

[0048] S205: When the ACC working mode is in the first mode, when the braking torque is lower than the braking threshold, the vehicle sets the value of the drive torque to a first value, wherein the first value meets the numerical range, and the numerical range is used to limit the rate at which the drive torque increases.

[0049] The first mode is when the indicated value is greater than the first throttle threshold, where the indicated value is used to indicate the depth of the accelerator pedal. It should be noted that the indicated value can be the depth to which the accelerator pedal is pressed by the driver, the pressure applied to the accelerator pedal, or other indicated values; there are no limitations on this.

[0050] When ACC controls vehicle deceleration and the driver depresses the accelerator pedal, if the indicated value exceeds a first throttle threshold, the ACC mode changes to the first mode, and normally the braking torque value increases accordingly. When the braking torque is below the braking threshold, the vehicle can be set to reduce the drive torque value to a first value that meets the aforementioned value range; that is, the drive torque remains at the first value and does not increase further until the braking torque value recovers to the braking threshold. Preferably, the first value can be 0 Nm, and the braking threshold can be 0 Nm.

[0051] Generally, if the rate of increase in the operating torque is too high, vehicle occupants will often experience a jolt. Furthermore, even when the motor's operating torque is within a certain range, a high rate of increase in the operating torque will make the occupants more prone to experiencing a jolt. Since the vehicle's operating torque is the sum of the driving torque and the braking torque, the operating torque can increase again with the increase in driving torque after the braking torque has recovered to the braking threshold. In this case, the influence of the braking torque on the operating torque is relatively small. Preferably, when the braking threshold is zero, the braking torque has no effect on the operating torque. Thus, since the first value meets the numerical range, generally, the adjusted drive torque also meets the numerical range while the drive torque remains at the first value and no longer increases. The execution torque also meets the numerical range when the influence of the braking torque is small. Furthermore, when the adjusted drive torque meets the numerical range, the vehicle can further limit the rate at which the adjusted drive torque increases. Therefore, when the execution torque meets the numerical range, the vehicle also further limits the rate at which the execution torque increases, avoiding any possible impact on the occupants and effectively improving the comfort of the occupants when increasing vehicle speed and changing lanes to overtake.

[0052] It should be noted that the aforementioned numerical range and the rate of increase in drive torque can be pre-configured in the vehicle by technicians. In practical applications, technicians can monitor the frequency of jolts experienced by vehicle occupants under different values ​​of motor torque and different rates of increase in drive torque, thereby improving the comfort of vehicle occupants.

[0053] Furthermore, since the driving torque remains at a first value and does not increase until the braking torque rises back to the braking threshold, in order to avoid the situation where the duration between the driver pressing the accelerator pedal and the vehicle starting to accelerate is too long, this embodiment provides the following implementation examples to reduce the above-mentioned duration.

[0054] As a first implementation example, the vehicle can increase the rate at which the braking threshold rises. Specifically, when the ACC is in its first operating mode, the vehicle can adjust the rate at which the braking torque rises to be no lower than a rate threshold. Furthermore, the vehicle can determine the rate threshold based on the aforementioned indicated value, where the rate threshold is positively correlated with the indicated value. Thus, the deeper the driver depresses the accelerator pedal, the higher the rate threshold can be, resulting in a higher rate at which the braking torque rises and a shorter duration between the driver depressing the accelerator pedal and the start of vehicle acceleration. Alternatively, the vehicle can also determine the rate threshold based on the rate of change of the aforementioned indicated value; for example, the faster the driver depresses the accelerator pedal, the higher the rate threshold can be, resulting in a higher rate at which the braking torque rises.

[0055] As a second implementation example, the vehicle can adjust the duration for which the drive torque value remains at a first value to decrease. That is, the vehicle only sets the drive torque value to the first value when the duration of the first mode's operation is less than a duration threshold. Thus, when the duration of the first mode exceeds the duration threshold, the vehicle begins acceleration promptly. Specifically, the vehicle can determine the aforementioned duration threshold based on an indicated value, where the duration threshold is negatively correlated with the indicated value. The deeper the driver depresses the accelerator pedal, the shorter the duration threshold can be, resulting in a shorter duration between the driver depressing the accelerator pedal and the vehicle beginning to accelerate.

[0056] It is worth noting that the above-mentioned methods for reducing the duration between the driver pressing the accelerator pedal and the vehicle starting to accelerate are only illustrative examples. In actual applications, vehicles can also reduce the duration in other ways, and there are no limitations on this.

[0057] Optionally, before the ACC operating mode changes to the first mode, when the ACC operating mode is the second mode, to avoid frequent changes in the motor's torque caused by the driver lightly pressing or accidentally pressing the accelerator pedal, when the indicated value is greater than a second throttle threshold, the vehicle sets the drive torque to a second value. The second mode is a speed reduction mode, and the second throttle threshold is less than the first throttle threshold. Preferably, the second value can be 0 Nm, meaning the vehicle can be set to restore the drive torque of the motor drive system to 0 Nm before adjustment.

[0058] The following is combined Figure 3 This section provides an illustrative example of the process by which a driver temporarily takes over the vehicle and increases speed to overtake the vehicle in front. See [link to documentation]. Figure 3 This is a timing diagram illustrating the changes in various indicator values ​​during ACC vehicle control, as provided in this application. The first value can be 0 Nm, and the braking threshold can be 0 Nm. For comparison, Figure 3 The dashed lines representing the changes in the indicated values ​​are... Figure 1 The curves showing the changes in each indicator value are shown.

[0059] The time sequence of changes in each indicator value during the first to third time periods can be referred to above. Figure 1 The time sequence of changes in each indicator value during the first to third time periods is shown below, and will not be elaborated further.

[0060] During the fourth time period, the accelerator pedal depth increases beyond the first accelerator threshold, causing the ACC operating mode to change to the first mode. As the ACC operating mode changes, the braking torque of the electric motor's braking system increases accordingly. Since the braking torque value at this time is less than the braking threshold of 0 Nm, the drive torque value of the electric motor's drive system before adjustment decreases to the first value of 0 Nm. That is, the drive torque before adjustment remains at the first value of 0 Nm and does not increase further until the braking torque value returns to the braking threshold of 0 Nm, and the adjusted drive torque also remains at the first value of 0 Nm and does not increase further. Furthermore, the vehicle can adjust the rate of increase of braking torque to be no less than a rate threshold, where the rate threshold is determined based on the accelerator pedal depth. Finally, under the action of braking torque and drive torque, the motor's execution torque also increases to 0 Nm accordingly with the braking torque.

[0061] During the fifth and sixth time periods, as the braking torque of the motor's braking system increases to the braking threshold of 0 Nm, the drive torque of the motor's drive system, which was previously adjusted, increases accordingly because it no longer maintains the first value of 0 Nm, and remains the same as the target drive torque of the ACC system. Since the rate of increase of the pre-adjustment drive torque is too high, the vehicle can adjust the drive torque to ensure that the adjusted drive torque increases slowly, and that the adjusted drive torque value meets the specified range. Figure 1 During the fifth time period shown, the vehicle can further limit the rate of increase of the adjusted drive torque, where the lower limit of the numerical range can be 0 Nm. Finally, the motor's execution torque also increases accordingly from 0 Nm, and under the action of the drive torque, the rate of increase of the motor's execution torque is further limited when the execution torque meets the numerical range. The vehicle can accelerate under the action of the motor's execution torque, and avoids the possible impact on the occupants, effectively improving the comfort of the occupants during acceleration and lane changes.

[0062] Furthermore, this application also provides a vehicle adaptive cruise control device. (See also...) Figure 4 , Figure 4 This paper shows a schematic diagram of the structure of a vehicle adaptive cruise control device according to an embodiment of the present application. Figure 4 The vehicle adaptive cruise control device 400 shown includes:

[0063] A determining module 401 is used to determine the braking torque for the motor, wherein the braking torque is negative or zero; the determining module 401 is also used to determine the operating mode of adaptive cruise control (ACC) during the adjustment of the driving torque for the motor; a setting module 402 is used to, when the operating mode of ACC is a first mode, set the value of the driving torque to a first value when the braking torque is lower than a braking threshold, wherein the first mode is a mode in which the indicated value is greater than a first throttle threshold, the indicated value is used to indicate the depth of the accelerator pedal, the first value meets a numerical range, and the numerical range is used to limit the rate at which the driving torque increases.

[0064] In one possible implementation, the determining module 401 is further configured to determine a rate threshold based on the indicated value, the rate threshold being positively correlated with the indicated value; the device further includes an adjustment module 403, the adjustment module 403 being specifically configured to adjust the rate at which the braking torque increases to be no less than the rate threshold when the ACC is in the first mode of operation.

[0065] In one possible implementation, the setting module 402 is specifically used to: when the ACC is in the first mode, and the braking torque is lower than the braking threshold, and the ACC's operating mode satisfies the condition that the duration of the first mode is less than the duration threshold, set the value of the driving torque to be reduced to the first value.

[0066] In one possible implementation, the setting module 402 is further configured to: when the ACC operating mode is the second mode, and the indicated value is greater than the second throttle threshold, set the value of the drive torque to a second value, wherein the second mode is a mode for reducing vehicle speed, and the second throttle threshold is less than the first throttle threshold.

[0067] In one possible implementation, the determining module 401 is further configured to: determine the duration threshold based on the indicated value, wherein the duration threshold is negatively correlated with the indicated value.

[0068] In one possible implementation, adjusting the drive torque for the motor includes: adjusting the drive torque such that the rate of increase of the adjusted drive torque is not higher than the rate of increase of the drive torque before adjustment, and a first rate is lower than a second rate, wherein the first rate is the rate of increase of the adjusted drive torque when the value of the adjusted drive torque meets the numerical range, and the second rate is the rate of increase of the adjusted drive torque when the value of the adjusted drive torque does not meet the numerical range.

[0069] It should be noted that the information interaction and execution process between the modules and units of the above-mentioned device are based on the same concept as the method embodiment in this application, and the resulting technical effects are the same as those in the method embodiment in this application. For details, please refer to the description in the method embodiment shown above in this application, and it will not be repeated here.

[0070] Furthermore, this application also provides a vehicle. This vehicle includes the adaptive cruise control device described in the above-described device embodiments.

[0071] In addition, this application embodiment also provides a computer-readable storage medium for storing a computer program for executing the vehicle adaptive cruise control method described in the above method embodiments.

[0072] In addition, this application also provides a computer program product containing instructions that, when run on a computing device, causes the computing device to execute the vehicle adaptive cruise control method described in the above method embodiments.

[0073] In the embodiments of this application, the "first" in names such as "first value" and "first mode" is only used for name identification and does not represent the first in order. This rule also applies to "second", "third", etc.

[0074] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus a general-purpose hardware platform. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0075] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The device embodiments described above are merely illustrative. Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0076] The above description is merely an exemplary implementation of this application and is not intended to limit the scope of protection of this application.

Claims

1. A vehicle adaptive cruise control method, characterized in that, The method includes: Determine the braking torque for the motor, wherein the value of the braking torque is either negative or zero; During the process of adjusting the drive torque for the motor, the operating mode of Adaptive Cruise Control (ACC) is determined. When the ACC is in the first working mode, if the braking torque is lower than the braking threshold, the value of the driving torque is reduced to a first value. The first mode is a mode in which the indicated value is greater than a first throttle threshold. The indicated value is used to indicate the depth of the accelerator pedal. The first value meets the numerical range, and the numerical range is used to limit the rate at which the driving torque increases.

2. The method according to claim 1, characterized in that, The method further includes: A rate threshold is determined based on the indicated value, and the rate threshold is positively correlated with the indicated value; When the ACC is operating in the first mode, the rate at which the braking torque increases is adjusted to be no less than the rate threshold.

3. The method according to claim 1, characterized in that, The setting of the drive torque value to be reduced to a first value includes: When the ACC operating mode satisfies the condition that the duration of the first mode is less than the duration threshold, the value of the driving torque is reduced to the first value.

4. The method according to claim 1, characterized in that, The method further includes: When the ACC is in the second working mode, if the indicated value is greater than the second throttle threshold, the driving torque is set to a second value. The second mode is a mode to reduce vehicle speed, and the second throttle threshold is less than the first throttle threshold.

5. The method according to claim 3, characterized in that, The method further includes: The duration threshold is determined based on the indicated value, and the duration threshold is negatively correlated with the indicated value.

6. The method according to claim 1, characterized in that, The adjustment of the drive torque for the motor includes: The driving torque is adjusted such that the rate of increase of the adjusted driving torque is not higher than the rate of increase of the driving torque before adjustment, and the first rate is lower than the second rate. The first rate is the rate of increase of the adjusted driving torque when the value of the adjusted driving torque meets the numerical range, and the second rate is the rate of increase of the adjusted driving torque when the value of the adjusted driving torque does not meet the numerical range.

7. A vehicle adaptive cruise control device, characterized in that, The device includes: The determining module is used to determine the braking torque for the motor, wherein the braking torque is either negative or zero; the determining module is also used to determine the operating mode of adaptive cruise control (ACC) during the process of adjusting the driving torque for the motor. The setting module is used to reduce the value of the drive torque to a first value when the braking torque is lower than the braking threshold in the first mode of the ACC operation mode. The first mode is a mode in which the indicated value is greater than a first throttle threshold. The indicated value is used to indicate the depth of the accelerator pedal. The first value meets the numerical range, and the numerical range is used to limit the rate at which the drive torque increases.

8. A vehicle, characterized in that, The vehicle includes the vehicle adaptive cruise control device as described in claim 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program for performing the method of any one of claims 1 to 6.

10. A computer program product containing instructions, characterized in that, When it is run on a computing device, it causes the computing device to perform the method as described in any one of claims 1 to 6.

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