Vehicle cruise control method and device

Abstract

A vehicle cruise control method and apparatus related to the technical field of vehicle manufacturing are provided. The method solves the problem of relatively large energy consumption during vehicle cruise control. The method is applied to a vehicle control system. The method includes the steps of: obtaining an actual vehicle speed of a vehicle at a current time; determining whether the actual vehicle speed at the current time is within a target range, the target range being determined based on an allowable error range of a target vehicle speed of the vehicle, the allowable error range being a range of allowable fluctuations of the target vehicle speed; controlling the vehicle to cruise at a target value of cruise torque if the determination result is YES; and adjusting the target value if the determination result is NO so that the actual vehicle speed at a first time point is within the target range. The cruise torque is the torque output by an engine of the vehicle from a crankshaft end, and the first time point is any time point after the current time point.

Description

[Technical Field]

[0001] This application claims priority to Chinese Patent Application No. 202010191681.X, entitled "VEHICLE CRUISE CONTROL METHOD AND APPARATUS," filed with the State Intellectual Property Office of the People's Republic of China on March 18, 2020, which is incorporated herein by reference in its entirety.

[0002] This application relates to the technical field of vehicle manufacturing, and more particularly to a vehicle cruise control method and apparatus. [Background technology]

[0003] A driver may use a cruise control (CC) system to control the running of a vehicle. In this case, the driver may allow the vehicle to automatically run at a fixed speed without pressing the throttle or brake pedal. In this way, the driver does not need to control the throttle and brake pedal, thereby effectively reducing the driver's driving fatigue.

[0004] Currently, when a conventional cruise control method is used for cruise control, acceleration or deceleration is frequently performed to enable the vehicle to travel at a fixed speed, which results in relatively large energy consumption. Therefore, how to reduce the energy consumption of the vehicle during vehicle cruise control is an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides a vehicle cruise control method and apparatus for solving the problem of relatively large energy consumption during vehicle cruise control.

[0006] To achieve the objectives, this application provides the following technical solutions:

[0007] According to a first aspect, the present application provides a vehicle cruise control method, the method being applied to a vehicle control system. The method includes the steps of obtaining an actual vehicle speed of the vehicle at a current time point; determining whether the actual vehicle speed at the current time point is within a target range, the target range being determined based on an acceptable error range of a target vehicle speed of the vehicle, the acceptable error range being a range of allowable fluctuations in the target vehicle speed; if the determination result is YES, controlling the vehicle to cruise at a target value of cruising torque, the cruising torque being torque output by an engine of the vehicle from a crankshaft end; and if the determination result is NO, adjusting the target value to control the actual vehicle speed of the vehicle at a first time point to be within the target range, the first time point being any time point after the current time point.

[0008] In this way, the vehicle is controlled to cruise within a target range (i.e., a speed range) at a predetermined target value of the cruising torque (which can be understood as a fixed torque). Compared to conventional cruise control techniques, frequent acceleration and deceleration are avoided, thereby reducing the energy consumption of the vehicle and increasing the range of the vehicle.

[0009] In relation to the first aspect, in a possible design scheme, the target range is determined based on an allowable error range for the target vehicle speed and the speed limit range of the road on which the vehicle is located. When determining the target range of the vehicle speed, the speed limit range of the road on which the vehicle is located is taken into consideration. In this way, vehicle speed violations during cruise control are avoided.

[0010] According to a first aspect, in a possible design scheme, the target value is the value of the cruising torque when the vehicle is traveling on a flat road. In this way, when encountering road conditions with a relatively small slope, the vehicle does not need to accelerate or decelerate, thereby reducing energy consumption and increasing range.

[0011] In relation to the first aspect, in another possible design scheme, before the step of "obtaining the actual vehicle speed of the vehicle at the current time", the method further includes a step of determining a target value of the cruising torque based on the feedforward torque and the feedback torque. The feedforward torque and feedback torque are respectively the feedforward torque and feedback torque of the vehicle control system when the cruise control duration reaches a preset duration in the process of the vehicle control system controlling the vehicle to cruise at the target vehicle speed. Alternatively, the feedforward torque and feedback torque are, respectively, the feedforward torque and feedback torque of the vehicle control system when the actual vehicle speed of the vehicle reaches the target vehicle speed in the process of the vehicle control system controlling the vehicle to cruise at the target vehicle speed. The feedforward torque includes at least one of a grade resistance torque, a rolling resistance torque, and a wind resistance torque. The feedback torque includes a torque required to adjust the actual vehicle speed to the target vehicle speed. In this manner, the target value of the cruise torque is determined using a cruise control method, thereby improving the robustness of the algorithm for determining the target value of the cruise torque.

[0012] According to a second aspect, the present application provides a vehicle cruise control device.

[0013] In a possible design, the vehicle cruise control device is configured to execute any of the methods provided in the first aspect. In this application, functional module division may be performed on the vehicle cruise control device according to any of the methods provided in the first aspect. For example, each functional module may be divided into functions, or two or more functions may be integrated into one processing module. For example, in this application, the vehicle cruise control device may be divided into an acquisition unit, a determination unit, and a control unit based on their functions. For a description of possible technical solutions implemented by the above functional modules obtained through division and advantageous effects achieved, please refer to the technical solutions provided in the first aspect or corresponding possible designs of the first aspect. Details will not be described again here.

[0014] In another possible design, a vehicle cruise control device includes a memory and one or more processors, the memory coupled to the processor, the memory configured to store computer instructions, and the processor configured to invoke the computer instructions to perform any method according to the first aspect or any one of the possible design aspects of the first aspect.

[0015] According to a third aspect, the present application provides a computer-readable storage medium, for example a non-transitory computer-readable storage medium, which stores a computer program (or instructions), which, when executed on a computer, enables the computer to perform any method provided in any one of the possible implementations according to the first aspect.

[0016] According to a fourth aspect, the present application provides a computer program product, which, when run on a computer, performs any method provided in any one of the possible implementations according to the first aspect.

[0017] According to a fifth aspect, there is provided a chip system including a processor configured to call, from a memory, a computer program stored in the memory, and execute the computer program to perform any of the methods provided in the implementation according to the first aspect.

[0018] It can be understood that any one of the above-provided devices, computer storage media, computer program products, chip systems, etc. can be applied to the above-provided corresponding methods. Therefore, for the advantageous effects that can be achieved, please refer to the advantageous effects of the corresponding methods. The details will not be described again here.

[0019] In this application, the names of the vehicle cruise control devices do not constitute limitations on the devices or functional modules. In actual implementation, these devices or functional modules may be expressed by other names. As long as the functions of the devices or functional modules are similar to those described in this application, each device or functional module falls within the scope defined by the claims and their equivalent technologies in this application.

[0020] These and other aspects of this application will be more concise and clear in the following description. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a schematic structural diagram of a vehicle control system according to an embodiment of the present application; [Figure 2] 1 is a schematic flowchart 1 of a vehicle cruise control method according to an embodiment of the present application. [Figure 3] 2 is a schematic flowchart 2 of a vehicle cruise control method according to an embodiment of the present application. [Figure 4] 1 is a schematic diagram of a vehicle cruise control method according to an embodiment of the present application; [Figure 5] 1 is a schematic structural diagram of a vehicle cruise control device according to an embodiment of the present application; [Figure 6]FIG. 1 is a schematic structural diagram of a chip system according to an embodiment of the present application. [Figure 7] FIG. 1 is a schematic structural diagram of a computer program product according to an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0022] The following describes some terms or techniques in the embodiments of this application.

[0023] (1) Cruise control

[0024] Cruise control allows a vehicle to automatically travel at a fixed speed. When the vehicle is set to cruise, the engine fueling / power delivery is controlled by a processor. The processor adjusts the fueling / power delivery based on road conditions and the vehicle's rolling resistance, allowing the vehicle to maintain a specific speed without requiring the driver to operate the throttle or brake pedal.

[0025] (2) Vehicle cruising

[0026] Vehicle cruising refers to the vehicle automatically traveling at a certain speed.

[0027] (3) Torque

[0028] Vehicle torque refers to the torque output by the engine from the crankshaft end. The international unit is N·m. At a constant power, vehicle torque is inversely proportional to the engine speed; that is, a faster speed indicates less torque, and a slower speed indicates more torque.

[0029] (4) Other terms

[0030] In the embodiments of this application, the term "example" or "for example" is used to mean providing an example, illustration, or explanation. Any embodiment or design scheme described in the embodiments of this application as an "example" or "for example" should not be construed as being preferred or having greater advantages over other embodiments or design schemes. Strictly speaking, the use of the term "for example" or "example" is intended to express the relevant concept in a particular manner.

[0031] The terms "first" and "second" in the embodiments of this application are intended for descriptive purposes only and should not be understood as an indication of relative importance or inclusion, or an implicit indication of the quantity of the technical features shown. Thus, a feature qualified by "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, unless otherwise stated, "plurality" means two or more.

[0032] This application provides a vehicle cruise control method and apparatus for effectively reducing energy consumption during vehicle cruising. The method includes the steps of: determining whether a current vehicle speed exceeds a target range during vehicle cruising; controlling the vehicle to cruise at a predetermined target value of cruising torque if the current vehicle speed is within the target range; and adjusting the target value if the current vehicle speed exceeds the target range so that the vehicle speed after the current time point is within the target range. In this way, when the actual vehicle speed of the vehicle is within the target range, the vehicle does not need to accelerate or decelerate frequently, thereby reducing energy consumption and increasing the cruising range.

[0033] The embodiment of the present application provides a vehicle control system 10. A vehicle cruise control method can be applied to the vehicle control system 10.

[0034] 1 shows the hardware structure of a vehicle control system 10. The vehicle control system 10 includes a processor 101, a memory 102, a sensor 103, an input / output device 104, and a bus 105. The processor 101, the memory 102, the sensor 103, and the input / output device 104 may be connected via the bus 105.

[0035] Processor 101 is the control center of vehicle control system 10 and may be a general purpose central processing unit (CPU), other general purpose processor, etc. The general purpose processor may be a microprocessor, any conventional processor, etc.

[0036] In an example, processor 101 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG.

[0037] Memory 102 may be, but is not limited to, read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, electrically erasable programmable read-only memory (EEPROM), magnetic disk storage media or other magnetic storage device, or any other medium capable of carrying or storing expected program code in the form of instructions or data structures and accessible by a computer.

[0038] In a possible implementation, the memory 102 may be independent of the processor 101. The memory 102 is connected to the processor 101 via a bus 105 and is configured to store data, instructions, or program codes. When the processor 101 calls and executes the instructions or program codes stored in the memory 102, the processor 101 may implement the vehicle cruise control method provided in the embodiments of this application.

[0039] In another possible implementation, the memory 102 may alternatively be integrated into the processor 101 .

[0040] The sensor 103 includes a speed sensor and an acceleration sensor.

[0041] The speed sensor is a sensor used to measure the vehicle speed. The speed sensor includes a linear speed sensor and an angular speed sensor. The speed sensor in this embodiment of the present application may be a linear speed sensor.

[0042] An acceleration sensor is a sensor configured to measure acceleration. An acceleration sensor generally includes a mass block, a damper shock absorber, an elastic element, a sensitive element, an adaptive circuit, etc. According to different sensitive elements of the sensor, common acceleration sensors include capacitive, inductive, strain, piezoresistive, or piezoelectric acceleration sensors.

[0043] The input / output device 104 is configured to input parameter information such as a target vehicle speed and an allowable error range, and the processor 101 then executes instructions in the memory 102 based on the input parameter information to control vehicle cruising, etc. In general, the input / output device 104 may be an operation panel, a touch screen, or any other device that can input parameter information, but this is not limited to the embodiments of this application.

[0044] Bus 105 is an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, and Interconnect A bus may be a PCI bus, an Extended Industry Standard Architecture (EISA) bus, etc. Buses may be classified as address buses, data buses, control buses, etc. For convenience of illustration, only one bold line is used in FIG. 1, but this does not represent that only one bus or one type of bus is present.

[0045] It should be noted that the structure shown in Figure 1 does not constitute a limitation on vehicle control system 10. In addition to the components shown in Figure 1, vehicle control system 10 may include more or fewer components than those shown, may have some components combined, or may have a different component layout.

[0046] The method provided in this embodiment of this application will be described below with reference to the accompanying drawings.

[0047] The vehicle cruise control method provided in this embodiment of the application includes a process of determining / obtaining a target value of cruise torque to determine a target range of vehicle speed, and a process of controlling the vehicle to cruise at the target value of cruise torque.

[0048] Specifically, in an embodiment of this application, the vehicle control system may control the vehicle to cruise at a target vehicle speed and determine the target value of the cruising torque. Of course, the target value of the cruising torque may alternatively be preset by the system. In this case, the processor may obtain the target value of the cruising torque from the vehicle control system. Alternatively, the processor may obtain the target value of the cruising torque input by the driver via the input / output interface. Alternatively, the processor may obtain the target value of the cruising torque in any other manner. This is not a limitation in the embodiment of this application.

[0049] The following describes a process in which a vehicle control system controls a vehicle to cruise at a target vehicle speed to determine a target value of cruising torque and a target range of vehicle speeds. For ease of clarity, hereinafter, the "target value of cruising torque" will be referred to as the target cruising torque.

[0050] 2 is a schematic flowchart of controlling a vehicle to cruise at a target vehicle speed via a vehicle control system to determine a target cruising torque and a target range of vehicle speed according to an embodiment of the present application.

[0051] S101. The processor obtains a target vehicle speed at which the vehicle will travel.

[0052] The target vehicle speed at which the vehicle travels may be a vehicle speed input by the driver via an input / output device (e.g., a touch screen or an operation panel). For example, the driver may input "60 km / h" into the touch screen. In response to the operation, the processor uses the received vehicle speed of "60 km / h" as the target vehicle speed at which the vehicle travels. Alternatively, the target vehicle speed at which the vehicle travels may be preset in the vehicle control system. This is not a limitation in the embodiments of this application.

[0053] S102. The processor determines a feedforward torque for the vehicle based on the target vehicle speed.

[0054] Here, the feedforward torque may include at least one of a rolling resistance torque, a wind resistance torque, and a grade resistance torque. The rolling resistance torque represents a rolling resistance torque formed between the tire and the road surface when the vehicle is traveling, the wind resistance torque represents a rolling resistance torque formed between the vehicle body and the air when the vehicle is traveling, and the grade resistance torque represents a resistance torque generated by a slope on which the vehicle is traveling.

[0055] Specifically, the rolling resistance torque can be calculated using equation (1).

[0056]

number

[0057] where T f represents the rolling resistance torque, Mg represents the load gravity, f represents the rolling resistance coefficient, and R represents the wheel radius.

[0058] The wind resistance torque can be calculated using equation (2).

[0059]

number

[0060] where T w represents the wind resistance torque, and C D represents the wind resistance coefficient, A represents the frontal area, V represents the target vehicle speed, and R represents the wheel radius.

[0061] The grade resistance torque can be calculated using equation (3).

[0062]

number

[0063] T s represents the gradient resistance torque, M represents the vehicle mass, a represents the longitudinal acceleration measured by the acceleration sensor,

[0064]

number

[0065] where σ represents the longitudinal acceleration obtained by performing a differential calculation on the actual vehicle speed, and R represents the wheel radius. Here, the actual vehicle speed at which the vehicle is traveling may be measured using a speed sensor. The speed sensor transmits the measured actual vehicle speed to the processor. Correspondingly, the processor receives the actual vehicle speed transmitted by the speed sensor. It may be understood that the speed sensor may measure the actual vehicle speed at which the vehicle is traveling in real time and transmit the measured actual vehicle speed to the processor in real time.

[0066] In the example, the rolling resistance torque, wind resistance torque, and grade resistance torque are summed to obtain the feedforward torque.

[0067] S103. The processor determines a steady-state torque based on the feedforward torque.

[0068] The processor obtains the feedforward torque to control the actual vehicle speed when the vehicle is cruising. The actual vehicle speed is usually different from the target vehicle speed obtained by the processor. For details of obtaining the feedforward torque to control the actual vehicle speed when the vehicle is cruising, please refer to the description of obtaining the actual vehicle speed through step S102. The details will not be described again here.

[0069] For example, when the target vehicle speed is 60 km / h, the actual vehicle speed when the vehicle is controlled to travel based on the feedforward torque may be 50 km / h or 70 km / h.

[0070] In this case, the processor triggers an adjustment of the feedback torque and controls the vehicle based on both the feedforward torque and the feedback torque. In this way, the actual vehicle speed when the vehicle is controlled to travel based on both the feedforward torque and the feedback torque is the same as the target vehicle speed. For example, the feedback torque may be adjusted using a calibration algorithm (e.g., a proportional integral differential algorithm, or PID algorithm).

[0071] A PID algorithm may be utilized to calculate the feedback torque based on the actual vehicle speed and the target vehicle speed. It may be appreciated that the frequency with which the feedback torque is updated may be the same as the frequency with which the speed sensor updates the actual vehicle speed. In other words, the feedback torque may be updated in real time.

[0072] In a possible implementation, after the vehicle is controlled to run based on both the feedback torque calculated using the PID algorithm and the feedforward torque for a preset duration (e.g., 5 seconds), the processor determines the cumulative torque of the feedback torque (corresponding to the feedback torque in the embodiment of this application) and the feedforward torque obtained when the preset duration ends as the steady torque. After the preset duration, the actual vehicle speed when the vehicle is controlled to run based on both the feedback torque calculated using the PID algorithm and the feedforward torque is usually the same as the target vehicle speed. The preset duration is preset in the vehicle control system. The preset duration can be obtained through experimental testing or based on experience. This is not limited in this embodiment of this application.

[0073] In another possible implementation, when the actual vehicle speed when the vehicle is controlled to run based on both the feedback torque calculated using the PID algorithm and the feedforward torque is the same as the target vehicle speed for a first time, the processor may determine the cumulative torque of the feedback torque (corresponding to the feedback in the embodiments of this application) and the feedforward torque used to control and run the vehicle at this point as the steady-state torque.

[0074] For example, at time 1, the processor obtains an actual vehicle speed v1 at which the vehicle is controlled to travel based on the feedforward torque. Based on v1 and the target vehicle speed, the processor calculates a feedback torque 1 using a PID algorithm. The feedback torque 1, together with the feedforward torque, is used to control the vehicle's cruise at time 2, where time 2 is the time following time 1.

[0075] At time point 2, the processor obtains an actual vehicle speed v2 when the vehicle is controlled to cruise based on both feedback torque 1 and the feedforward torque. If v2 is the same as the target vehicle speed, the cumulative torque of feedback torque 1 and the feedforward torque is determined as the steady-state torque. If v2 is different from the target vehicle speed, the processor calculates feedback torque 2 using a PID algorithm based on the actual vehicle speed v2 at time point 2 and the target vehicle speed. Feedback torque 2, together with the feedforward torque, is used to control the cruise of the vehicle at time point 3, where time point 3 is the time point following time point 2.

[0076] At time 3, the processor obtains the actual vehicle speed v3 when the vehicle is controlled to cruise based on both the feedback torque 2 and the feedforward torque, and determines whether v3 is the same as the target vehicle speed. The above steps are performed until the actual vehicle speed when the vehicle is controlled to cruise based on both the feedback torque and the feedforward torque is the same as the target vehicle speed. The processor determines the steady-state torque to be the cumulative torque of the feedback torque and the feedforward torque used to obtain the actual vehicle speed, which is the same as the target vehicle speed.

[0077] S104. The processor determines a target cruise torque based on the steady-state torque.

[0078] The target cruising torque, i.e., the target value of the cruising torque, is the value of the cruising torque when the vehicle is traveling on a flat road. Here, a flat road may be a road that does not include gradient information or a road where the vehicle longitudinal acceleration is zero.

[0079] The target cruise torque is utilized to control the vehicle to cruise within the target range. The process of controlling the vehicle to cruise with the target cruise torque within the target range is described below and will not be described again in detail here.

[0080] Optionally, the processor may subtract the grade resistance torque determined in step S103 from the steady torque determined in step S104 to obtain the target cruise torque.

[0081] Optionally, if the feedforward torque does not include the grade resistance torque through step S103, the processor first calculates the grade resistance torque based on equation (3). Then, the processor subtracts the calculated grade resistance torque from the steady torque determined in step S104 to obtain the target cruising torque.

[0082] S105. The processor determines a target range for the vehicle travel speed based on the target vehicle speed.

[0083] Optionally, the processor determines a target range for the vehicle travel speed based on the target vehicle speed and an acceptable error range for the target vehicle speed.

[0084] Optionally, the processor determines a target range for the vehicle travel speed based on the target vehicle speed, an acceptable error range for the target vehicle speed, and a speed limit range for a road on which the vehicle is located.

[0085] The tolerance range of the target vehicle speed is the range within which the target vehicle speed can fluctuate up or down. For example, if the tolerance range is "±5 km / h," this indicates that the target vehicle speed can fluctuate within a range from (target vehicle speed - 5 km / h) to (target vehicle speed + 5 km / h). Here, the tolerance range of the target vehicle speed may be input by the driver via an input / output device (e.g., a touch screen or an operation panel), or may be selected from a plurality of preset tolerance ranges of the target vehicle speed in the system. This is not a limitation in the embodiments of this application.

[0086] The processor may determine a range within which the target vehicle speed varies above and below the target vehicle speed based on the target vehicle speed and the tolerance range, and then determine the intersection of that range with the speed limit range for the road on which the vehicle is located as the target range for the vehicle's travel speed.

[0087] For example, if the target vehicle speed is 60 km / h and the tolerance range is "±5 km / h", the target vehicle speed fluctuation range determined by the processor based on the target vehicle speed and the tolerance range is "55-65 km / h". If the speed limit range of the road on which the vehicle is located is "0-70 km / h", the processor determines the intersecting portion of "55-65 km / h" and "0-70 km / h", "55- 65 If the speed limit range of the road on which the vehicle is located is "0-60 km / h", the processor determines the intersection of "55-65 km / h" and "0-60 km / h" as the target vehicle speed range.

[0088] Alternatively, the processor may receive a vehicle speed range input by the driver via an input / output device (e.g., a touch screen or an operation panel). This speed range is determined as the target range of the vehicle speed. For example, the driver inputs "55-65 km / h" via the touch screen. In response to the operation, the processor determines the received speed range of 55-65 km / h as the target range of the vehicle speed. Optionally, the target range of the vehicle speed may be a vehicle speed range selected by the driver on the touch screen from a plurality of vehicle speed range options. The processor uses the selected vehicle speed range as the target range of the vehicle speed. This is not a limitation in the embodiment of this application. In this case, the target vehicle speed may be an average vehicle speed within the target range, or the target vehicle speed may be any vehicle speed within the target range. This is not a limitation in the embodiment of this application.

[0089] It should be noted that the order of performing steps S102 to S104 and step S105 is not limited in this embodiment of the present application. For example, steps S102 to S104 and step S105 may be performed simultaneously, or steps S102 to S104 may be performed before step S105.

[0090] The procedure for the processor to obtain the target cruising torque is described above. The procedure for the processor to control the vehicle to cruise at the target cruising torque is described below.

[0091] 3 is a schematic flow chart of controlling a vehicle to cruise at a target cruise torque according to an embodiment of the present application. The procedure includes the following steps:

[0092] S201. The processor obtains the actual vehicle speed of the vehicle at a first time point (corresponding to the current time point in this embodiment of this application).

[0093] The processor controls the vehicle to cruise at the target cruising torque determined through steps S101 to S105. When the vehicle is cruising, the processor obtains the actual vehicle speed of the vehicle at a first point in time.

[0094] For the process by which the processor acquires the actual vehicle speed at the first time point, please refer to the description of acquiring the actual vehicle speed through step S102. The details will not be described again here.

[0095] S202. The processor determines whether the actual vehicle speed of the vehicle at a first time point is within a target range.

[0096] If the determination result is YES, the processor determines to continue controlling the vehicle to cruise at the target cruise torque.

[0097] If the determination result is NO, the processor executes step S203.

[0098] S203. The processor adjusts the target cruise torque so that the actual vehicle speed of the vehicle at the second time point is within the target range.

[0099] The second time point can be any time point after the first time point, for example, the second time point can be the time point following the first time point.

[0100] The processor adjusts the target cruise torque based on the target range and the actual vehicle speed of the vehicle at the first time point so that the actual vehicle speed of the vehicle at the second time point falls within the target range.

[0101] Specifically, the processor may trigger an adjustment of the feedback torque to adjust the target cruise torque. The feedback torque may be a feedback torque calculated using a PID algorithm based on the target range and the actual vehicle speed of the vehicle at the first time. Furthermore, the processor may use the feedback torque and the target cruise torque as an adjusted target cruise torque and control the vehicle to cruise at the adjusted target cruise torque, so that the actual vehicle speed falls within the target range.

[0102] Based on the actual vehicle speed and the target range, the feedback torque may be calculated using a PID algorithm. It may be understood that the feedback torque may be updated in real time because the actual vehicle speed may be obtained in real time.

[0103] For example, the processor calculates feedback torque 1 using a PID algorithm based on actual vehicle speed v1 and the target range at time 1. The vehicle is controlled to travel at actual vehicle speed v2 at time 2 based on both feedback torque 1 and the target cruise torque, where time 2 is the time following time 1.

[0104] If v2 is within the target range, the processor determines the cumulative torque of Feedback Torque 1 and the target cruise torque as the adjusted target cruise torque based on which the processor controls the vehicle to cruise.

[0105] If v2 is not within the target range, the processor calculates feedback torque 2 using a PID algorithm based on the actual vehicle speed v2 at time point 2 and the target vehicle speed. The actual vehicle speed of the vehicle at a time point following time point 2 is controlled based on both feedback torque 2 and the target cruising torque. The processor then determines whether the actual vehicle speed at a time point following time point 2 falls within the target range. The above steps are performed until the actual vehicle speed, which is controlled based on both the feedback torque calculated based on the actual vehicle speed at each time point and the target range and the target cruising torque, falls within the target range. When the actual vehicle speed is controlled to fall within the target range, the processor uses the cumulative torque of the feedback torque and the target cruising torque as the adjusted target cruising torque. The processor then controls the vehicle to cruise at the adjusted target cruising torque.

[0106] It may be understood that when the actual vehicle speed at which the vehicle is traveling is less than the target range, the determined and adjusted target cruise torque may be positive. When the actual vehicle speed at which the vehicle is traveling is greater than the target range, the determined and adjusted target cruise torque may be negative.

[0107] It can be seen from the above description that in this embodiment of the application, before the vehicle is controlled to cruise at a target cruise torque, the vehicle control system first controls the vehicle to cruise at a target vehicle speed and determines the target cruise torque through cruise control, which is then utilized to control the vehicle to cruise within the target range.

[0108] In other words, in this embodiment of the present application, the steady-state torque under conditions such as different road conditions, different load capacities, and different vehicle cruising speeds is identified using the cruise control method. In this manner, the target cruise torque to be used in the vehicle cruise control method provided in this embodiment of the present application is determined based on the steady-state torque. In this manner, the robustness of the algorithm for determining the target cruise torque is improved.

[0109] FIG. 4 shows an example of the relationship between a phase in which a vehicle is controlled to cruise at a target vehicle speed and a phase in which the vehicle is controlled to cruise within a target range with a target cruising torque. As shown in FIG. 4, the vehicle shown in FIG. 4 travels in the direction indicated by the arrow. Section AB shown in FIG. 4 represents a phase in which the vehicle is controlled to cruise at a target vehicle speed, and the section after point B in FIG. 4 represents a phase in which the vehicle is controlled to cruise within a target range with a target cruising torque. The duration of the vehicle's travel in section AB may be a duration preset through step S104, or may be a duration for the vehicle's actual vehicle speed to reach the target vehicle speed. This is not limited in this embodiment of the application.

[0110] In summary, this embodiment of the present application provides a vehicle cruise control method for controlling a vehicle to cruise within a target range with a determined target cruise torque. When the actual vehicle cruise speed controlled based on the target cruise torque falls within the target range, the target cruise torque is continuously used for vehicle cruise control. When the actual vehicle cruise speed controlled based on the target cruise torque is not within the target range, the target cruise torque is adjusted to control the actual vehicle speed as the vehicle cruises so that it falls within the target range. In this way, when the vehicle speed is within the target range, the vehicle does not need to accelerate or decelerate frequently, thereby reducing energy consumption and increasing range.

[0111] Additionally, because the target cruising torque is a torque for the vehicle to cruise at a fixed speed on a flat road, when the road gradient is relatively small, the processor does not need to control the vehicle to accelerate or decelerate, thereby reducing energy consumption and increasing range.

[0112] Up to now, the solutions provided in the embodiments of this application have been mainly described in terms of methods. To implement the above functions, corresponding hardware structures and / or software modules for executing the functions are included. In combination with the example units and algorithm steps described in the embodiments disclosed in this specification, those skilled in the art should easily understand that this application can be implemented by hardware or a combination of hardware and computer software. Whether the functions are performed by hardware or by hardware driven by computer software depends on the specific application and the design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to deviate from the scope of this application.

[0113] In the embodiment of this application, the vehicle cruise control device may be divided into functional modules based on the above-mentioned method example. For example, each functional module may be obtained through division based on each corresponding function, or two or more functions may be integrated into one processing module. The integrated module may be implemented in the form of hardware or in the form of a software functional module. It should be noted that the module division in the embodiment of this application is an example and is merely a logical functional division. In actual implementation, other division methods may be used.

[0114] 5 is a schematic structural diagram of a vehicle cruise control device 50 according to an embodiment of the present application. The vehicle cruise control device 50 is configured to control a vehicle to cruise within a target vehicle speed range. In addition, the device is also configured to perform the above-mentioned vehicle cruise control method, for example, the method shown in FIG. 2 and FIG. 3. The vehicle cruise control device 50 may include an acquisition unit 51, a determination unit 52, and a control unit 53.

[0115] The acquisition unit 51 is configured to acquire an actual vehicle speed of the vehicle at a current time point. The determination unit 52 is configured to determine whether the actual vehicle speed at the current time point is within a target range. The target range is determined based on an allowable error range of the target vehicle speed. The allowable error range is a range of allowable fluctuations of the target vehicle speed. The control unit 53 is configured to control the vehicle to cruise at a target value of cruising torque when the determination result of the determination unit 52 is YES. Here, the cruising torque is the torque output from a crankshaft end of the vehicle engine. When the determination result of the determination unit 52 is NO, the control unit 53 is further configured to control the actual vehicle speed of the vehicle at a first time point to adjust the target value so that the actual vehicle speed is within the target range. Here, the first time point is any time point after the current time point.

[0116] For example, referring to FIG. 3, the acquisition unit 51 may be configured to perform step S201, the determination unit 52 may be configured to perform step S202, and the control unit 53 may be configured to perform step S203.

[0117] Optionally, the target range is determined based on an acceptable error range for the target vehicle speed and a speed limit range for the road on which the vehicle is located.

[0118] Optionally, the target value is a value of cruising torque utilized by the vehicle for traveling on a flat road.

[0119] Optionally, the vehicle cruise control device 50 may further include a determining unit 54 .

[0120] The determination unit 54 is configured to determine a target value of the cruising torque based on the feedforward torque and the feedback torque before the step of “obtaining the actual vehicle speed of the vehicle at the current time.” The feedforward torque and the feedback torque may be the feedforward torque and the feedback torque of the vehicle control system, respectively, when the cruise control duration reaches the preset duration in the process of the vehicle control system controlling the vehicle to cruise at the target vehicle speed. Alternatively, the feedforward torque and the feedback torque may be the feedforward torque and the feedback torque of the vehicle control system, respectively, when the actual vehicle speed of the vehicle reaches the target vehicle speed in the process of the vehicle control system controlling the vehicle to cruise at the target vehicle speed. The feedforward torque may include at least one of a grade resistance torque, a rolling resistance torque, and a wind resistance torque. The feedback torque may include a torque required to adjust the actual vehicle speed to the target vehicle speed.

[0121] For example, referring to FIG. 2, the determining unit 54 may be configured to perform steps S102 and S104.

[0122] For a specific description of the above optional schemes, please refer to the above method embodiments. The details will not be described again here. In addition, for a description of the optional vehicle cruise control device 50 provided and the advantageous effects thereof, please refer to the above method embodiments. The details will not be described again here.

[0123] As an example, referring to Figure 1, acquisition unit 51 in vehicle cruise control device 50 may be implemented by input / output device 104 in Figure 1. To implement the functions provided by determination unit 52, control unit 53, and decision unit 54, processor 101 in Figure 1 may execute program code in memory 102 in Figure 1.

[0124] An embodiment of the present application further provides a chip system 60. As shown in FIG. 6 , the chip system 60 includes at least one processor 61 and at least one interface circuit 62. The processor 61 and the interface circuit 62 may be interconnected via a line. For example, the interface circuit 62 may be configured to receive a signal (e.g., receive a signal from a sensor or an input / output device). In another example, the interface circuit 62 may be configured to transmit a signal to another device (e.g., the processor 61). For example, the interface circuit 62 may read an instruction stored in a memory and transmit the instruction to the processor 61. When the instruction is executed by the processor 61, the vehicle cruise control device may be able to perform the steps in the above embodiment. Of course, the chip system 60 may further include other devices. This is not particularly limited in this embodiment of the present application.

[0125] Another embodiment of the present application further provides a computer-readable storage medium, which stores instructions that, when executed on a vehicle cruise controller, cause the vehicle cruise controller to perform the steps performed by the vehicle cruise controller in the method processes shown in the above method embodiments.

[0126] In some embodiments, the disclosed methods may be implemented as computer program instructions encoded in a machine-readable format on a computer-readable storage medium or other non-transitory medium or article of manufacture.

[0127] 7 shows a schematic conceptual partial view of a computer program product according to an embodiment of the present application. The computer program product includes a computer program that is utilized to execute a computer process on a computing device.

[0128] In an embodiment, a computer program product is provided via a signal-bearing medium 70. The signal-bearing medium 70 may include one or more program instructions. When the program instructions are executed by one or more processors, the functionality or portions of the functionality described in FIG. 2 or FIG. 3 may be provided. Thus, for example, one or more features of steps S101-S105 of FIG. 2 or steps S201-S203 of FIG. 3 may be carried by one or more instructions associated with the signal-bearing medium 70. Additionally, the program instructions of FIG. 7 are also described as exemplary instructions.

[0129] In some examples, the signal bearing medium 70 may be a computer readable medium 71, such as, but not limited to, a hard disk drive, a compact disc (CD), a digital multipurpose It may include a disk (DVD), digital tape, memory, read-only memory (ROM), or random access memory (RAM).

[0130] In some implementations, signal-bearing medium 70 may include computer-recordable medium 72, such as, but not limited to, a memory, a read / write (R / W) CD, or a R / W DVD.

[0131] In some implementations, signal bearing medium 70 may include a communication medium 73, such as, but not limited to, a digital and / or analog communication medium (e.g., optical cable, waveguide, wired communication link, or wireless communication link).

[0132] The signal bearing medium 70 may communicate with the communication medium 73 in a wireless manner (e.g., a wireless communication medium conforming to the IEEE 802.11 standard or other transmission protocol). The one or more program instructions may be, for example, one or more computer-executable instructions or one or more logic-implemented instructions.

[0133] In some examples, the vehicle cruise control device illustrated in FIG. 2 or FIG. 3 may be configured to provide various operations, functions, or actions in response to one or more program instructions in computer-readable medium 71, computer-recordable medium 72, and / or communication medium 73.

[0134] It should be understood that the arrangements described herein are used merely as examples. Accordingly, those skilled in the art will recognize that other arrangements and other elements (e.g., machines, interfaces, functions, sequences, and groupings of functions) can be used to replace the arrangements, and that some elements may be omitted altogether depending on the desired results. In addition, many of the described elements are functional entities that can be implemented as separate or distributed components, or combined with other components, and implemented in any suitable location and in any suitable combination.

[0135] All or part of the above embodiments may be implemented using software, hardware, firmware, or any combination thereof. When a software program is used to implement an embodiment, the embodiment may be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer-executable instructions are read and executed on a computer, the procedures or functions according to the embodiments of this application are generated entirely or partially. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from a computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical cable, or digital subscriber line (DSL)) or wireless (e.g., infrared, radio, or microwave) transmission. The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device that integrates one or more available media, such as a server or data center. The available medium may be magnetic media (e.g., floppy disks, hard disks, or magnetic tapes), optical media (e.g., DVDs), semiconductor media (e.g., solid-state drives (SSDs)), etc.

[0136] The above description is merely a specific implementation of the present invention and is not intended to limit the protection scope of the present invention. Any modifications or replacements that are readily understood by those skilled in the art within the technical scope disclosed in the present invention should fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A vehicle cruise control method applied to a vehicle control system, comprising: determining a target value of a cruise torque based on the feedforward torque and the feedback torque, the cruise torque is the torque output by the vehicle's engine from the crankshaft end; the feedforward torque and the feedback torque are, respectively, the feedforward torque and the feedback torque of the vehicle control system when a cruise control duration reaches a preset duration in a process in which the vehicle control system controls the vehicle to cruise at a target vehicle speed; the feedforward torque includes at least one of a rolling resistance torque and a wind resistance torque, and the feedback torque includes a torque required to adjust an actual vehicle speed to the target vehicle speed; the target value is a cruising torque value when the vehicle is traveling on a flat road, and does not include a gradient resistance torque value; obtaining an actual vehicle speed of the vehicle at a current time; determining whether the actual vehicle speed at the current time is within a target range, the target range being determined based on an allowable error range of the target vehicle speed of the vehicle, the allowable error range being a range of allowable variation of the target vehicle speed; controlling the vehicle to cruise at the target value of the cruising torque if the current actual vehicle speed is within the target range; or if the actual vehicle speed at the current time point is not within the target range, adjusting the target value to control the actual vehicle speed of the vehicle at a first time point to be within the target range, the first time point being any time point after the current time point; A vehicle cruise control method comprising:

2. the target range is determined based on the tolerance range of the target vehicle speed and a speed limit range of a road on which the vehicle is located. The method of claim 1.

3. A vehicle cruise control device used on a vehicle control system, comprising: determining a target value of a cruise torque based on the feedforward torque and the feedback torque; the cruise torque is the torque output by the vehicle's engine from the crankshaft end; the feedforward torque and the feedback torque are, respectively, the feedforward torque and the feedback torque of the vehicle control system when a cruise control duration reaches a preset duration in a process in which the vehicle control system controls the vehicle to cruise at a target vehicle speed; the feedforward torque includes at least one of a rolling resistance torque and a wind resistance torque, and the feedback torque includes a torque required to adjust an actual vehicle speed to the target vehicle speed; a determining unit configured to: determine a target value for a cruising torque when the vehicle is traveling on a flat road, and not to include a gradient resistance torque; an acquisition unit configured to acquire an actual vehicle speed of the vehicle at a current time; a determining unit configured to determine whether the actual vehicle speed at the current time is within a target range, the target range being determined based on an allowable error range of the target vehicle speed of the vehicle, the allowable error range being a range of allowed variation of the target vehicle speed; a control unit configured to: control the vehicle to cruise at the target value of the cruising torque if the actual vehicle speed at the current time is within the target range; or, if the actual vehicle speed at the current time is not within the target range, adjust the target value to control the actual vehicle speed of the vehicle at a first time point to be within the target range, wherein the first time point is any time point after the current time point; A vehicle cruise control device comprising:

4. the target range is determined based on the tolerance range of the target vehicle speed and a speed limit range of a road on which the vehicle is located.

4. The apparatus of claim 3.

5. 3. A vehicle cruise control device, the vehicle cruise control device including a memory and one or more processors, the memory configured to store computer instructions, and the processors configured to invoke the computer instructions to perform the method of claim 1 or 2. Vehicle cruise control system.

6. A computer-readable storage medium storing a computer program, the computer program causing the computer to perform the method of claim 1 or 2 when the computer program is executed on the computer. A computer-readable storage medium.

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