Vehicle cruise control method and system, medium, electronic device, and in-vehicle infotainment

Abstract

The present application provides a vehicle cruise control method and system, a medium, an electronic device, and in-vehicle infotainment. The vehicle cruise control method comprises: calculating a speed deviation on the basis of a preset speed of a vehicle and an ego-vehicle speed; on the basis of a speed deviation range where the speed deviation is located, selecting variable control parameters, and performing segmented control on a requested acceleration, wherein the speed deviation range is a range obtained by division on the basis of the magnitude of speed deviation, and includes a negative large deviation zone, a negative small deviation zone, a positive small deviation zone, and a positive large deviation zone; and calculating a PID control quantity of vehicle cruise control on the basis of the variable control parameters and the speed deviation. The present application can improve the control precision of cruise control, and reduce the speed fluctuation generated in the control process.

Description

Vehicle cruise control method, system, medium, electronic device and vehicle computer Technical Field

[0001] The present application belongs to the field of intelligent driving technology and relates to a vehicle cruise control method, system, medium, electronic equipment and vehicle computer. Background Art

[0002] Adaptive cruise control (ACC) is gaining increasing attention in the field of assisted driving. It can adjust the vehicle's driving state in real time based on road conditions, alleviating the driver's workload. Cruise control, a sub-function of ACC, stabilizes the vehicle's speed, eliminating the need for the driver to frequently pedal. Traditional cruise control methods suffer from large speed deviations, making them prone to oscillations when going uphill or downhill.

[0003] Summary of the Invention

[0004] The present application provides a vehicle cruise control method, system, medium, electronic device and vehicle computer for improving the control accuracy of cruise control and reducing speed fluctuations generated during the control process.

[0005] In a first aspect, the present application provides a vehicle cruise control method. The vehicle cruise control method comprises: calculating a speed deviation based on a preset vehicle speed and a vehicle speed; selecting a variable control parameter based on the speed deviation zone in which the speed deviation is located, and performing segmented control on the requested acceleration; wherein the speed deviation zone is divided according to the size of the speed deviation, including a negative large deviation zone, a negative small deviation zone, a positive small deviation zone, and a positive large deviation zone; and calculating a PID control variable for the vehicle cruise control based on the variable control parameter and the speed deviation.

[0006] In an implementation of the first aspect, the speed deviation partitioning method includes: setting proportional control speed deviation partitions; and selecting corresponding proportional control variable parameters according to each proportional control speed deviation partition.

[0007] In an implementation of the first aspect, the speed deviation partitioning method includes: setting integral control speed deviation partitions; and selecting corresponding integral control variable parameters according to each integral control speed deviation partition.

[0008] In an implementation of the first aspect, calculating the PID control amount of the vehicle cruise control according to the variable control parameter and the speed deviation includes: the variable control parameter includes a proportional control variable parameter and an integral control variable parameter; calculating the proportional control amount according to the proportional control variable parameter; calculating the integral control amount according to the integral control variable parameter; and calculating the PID control amount of the vehicle cruise control according to the proportional control amount and the integral control amount.

[0009] In an implementation of the first aspect, the method further includes: limiting the integral control amount; and calculating the PID control amount of the vehicle cruise control based on the limited integral control amount and the proportional control amount.

[0010] In an implementation of the first aspect, the method further includes: if the speed deviation is in the integral dead zone, the integral control amount is cleared.

[0011] In an implementation of the first aspect, it also includes: when the vehicle enters a relief brake activation state, calculating the vehicle's relief brake deceleration; the PID control amount of the vehicle in the relief brake activation state is executed as the relief brake deceleration; when the vehicle enters a relief brake exit transition stage, the PID control amount of the vehicle in the relief brake exit transition stage is calculated based on the vehicle's relief brake deceleration and the PID control amount of the vehicle's cruise control; when the vehicle exits the relief brake exit transition stage and enters the cruise control activation state, the PID control amount of the vehicle's cruise control is executed.

[0012] In a second aspect, the present application provides a vehicle cruise control system. The vehicle cruise control system includes: a speed deviation calculation module, which calculates a speed deviation based on a preset vehicle speed and the vehicle's own speed; a variable control parameter selection module, which is in communication with the speed deviation calculation module and selects a variable control parameter based on a speed deviation zone in which the speed deviation is located, thereby performing segmented control on the requested acceleration; wherein the speed deviation zone is a zone divided according to the size of the speed deviation, including a negative large deviation zone, a negative small deviation zone, a positive small deviation zone, and a positive large deviation zone; and a PID control module, which is in communication with the speed deviation calculation module and the variable control parameter selection module, respectively, and calculates a PID control variable for the vehicle's cruise control based on the variable control parameter and the speed deviation.

[0013] In one implementation of the second aspect, it also includes: a relief brake fusion control module, which is communicatively connected to the PID control module, and calculates the vehicle's relief brake deceleration when the vehicle enters the relief brake activation state; the PID control amount of the vehicle in the relief brake activation state is executed as the relief brake deceleration; the relief brake fusion control module calculates the vehicle's PID control amount in the relief brake exit transition stage according to the vehicle's relief brake deceleration and the vehicle's cruise control PID control amount when the vehicle enters the relief brake exit transition stage; the relief brake fusion control module executes the vehicle's cruise control PID control amount when the vehicle exits the relief brake exit transition stage and enters the cruise control activation state.

[0014] In a third aspect, the present application provides an electronic device comprising: a memory storing a computer program; and a processor communicatively connected to the memory, for implementing any vehicle cruise control method described in the present application when the computer program is called.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle cruise control method described in any one of the items of the present application.

[0016] In a fifth aspect, the present application provides a vehicle computer, including: the vehicle computer includes the vehicle cruise control system described in any one of the items of the present application.

[0017] As described above, the vehicle cruise control method, system, medium, electronic device, and vehicle computer described in this application have the following beneficial effects:

[0018] This application implements a PID control strategy based on variable parameters. By performing cruise control with variable parameters, the cruise speed control can be made more precise and the speed fluctuations generated during the control process can be reduced.

[0019] This application implements a fusion control strategy based on relief braking, which reduces the engine torque request by integrating relief braking and reduces the vehicle speed to the speed set by the driver, making the vehicle run smoother and the braking effect more comfortable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 shows a hardware implementation scenario diagram of the vehicle cruise control method described in an embodiment of the present application.

[0021] FIG2A is a schematic diagram showing an implementation flow of the vehicle cruise control method according to an embodiment of the present application.

[0022] FIG2B is a schematic diagram showing another implementation flow of the vehicle cruise control method according to an embodiment of the present application.

[0023] FIG3 is a schematic diagram showing an implementation method of speed deviation partitioning according to an embodiment of the present application.

[0024] FIG4A is a schematic diagram showing an exemplary implementation flow of the vehicle cruise control method according to an embodiment of the present application.

[0025] FIG4B is a schematic diagram showing another exemplary implementation flow of the vehicle cruise control method according to an embodiment of the present application.

[0026] FIG5 is a schematic diagram showing a change in a vehicle braking relief state according to an embodiment of the present application.

[0027] FIG6 is a schematic diagram showing an implementation structure of a vehicle cruise control system according to an embodiment of the present application.

[0028] FIG7 is a schematic diagram showing an implementation structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0030] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0031] The Adaptive Cruise Control (ACC) system, also known as the Intelligent Cruise Control System or simply ACC, is a next-generation driver-assistance system developed based on traditional cruise control. It seamlessly integrates the Cruise Control System (CCS) with the Forward Collision Warning System (FCWS). ACC not only possesses all the functions of automatic cruise control but also monitors the road and traffic environment ahead of the vehicle through sensors such as onboard radar. If a vehicle in the current lane is detected, the vehicle's longitudinal speed is controlled by controlling the accelerator and brakes based on the relative distance and speed between the two vehicles, maintaining an appropriate safe distance between them. This vehicle's adaptive cruise control system reduces driver workload, significantly improves active safety, and expands the range of cruise control.

[0032] The cruise control system (CCS), also known as cruise control, speed control system, or automated driving system, is a sub-function of adaptive cruise control. It stabilizes vehicle speed, eliminating the need for the driver to frequently press the accelerator. By engaging the switch at the driver's desired speed, the system automatically maintains the vehicle's speed without the need to press the accelerator pedal, keeping the vehicle traveling at a constant speed. This eliminates the driver's need to press the accelerator pedal after extended highway driving, reducing fatigue, minimizing unnecessary speed fluctuations, and ultimately saving fuel. Therefore, this system has broad market prospects.

[0033] Traditional cruise control methods have large speed deviations, making the vehicle's speed prone to oscillations when going uphill or downhill. This application proposes a vehicle cruise control method, which is a variable-parameter cruise control method based on braking relief. It dynamically changes control parameters based on speed deviations, improving cruise control accuracy and reducing energy consumption during vehicle travel.

[0034] Figure 1 shows a hardware implementation scenario diagram of the vehicle cruise control method described in an embodiment of the present application. The execution subject of the vehicle cruise control method can be the vehicle itself, or other mobile electronic devices (such as smartphones, tablets, etc.) or cloud servers that can communicate with the vehicle in real time.

[0035] FIG2A is a schematic diagram showing a process flow of implementing a vehicle cruise control method according to an embodiment of the present application. As shown in FIG2A , the vehicle cruise control method includes steps S201 to S203 .

[0036] In step S201, a speed deviation is calculated based on a preset speed of the vehicle and the vehicle's own speed.

[0037] Step S202, select variable control parameters according to the speed deviation zone where the speed deviation is located, and perform segmented control on the requested acceleration; wherein the speed deviation zone is a zone divided according to the size of the speed deviation, including a negative large zone, a negative small zone, a positive small zone and a positive large zone.

[0038] Step S203 , calculating and obtaining a PID control variable for vehicle cruise control according to the variable control parameter and the speed deviation.

[0039] In the present application, steps S201 to S203 implement a PID control strategy based on variable parameters. By performing cruise control through variable parameters, cruise speed control can be made more precise and speed fluctuations generated during the control process can be reduced.

[0040] In one embodiment of the present application, in step S201 , a speed deviation is calculated based on a deviation between a driver-set speed (ie, a preset speed) and the vehicle speed, ie, speed deviation = set speed - vehicle speed.

[0041] In one embodiment of the present application, in step S202, a method for implementing the speed deviation partition is provided, including: dividing the speed deviation into four areas, namely, a negative biased large area, a negative biased small area, a positive biased small area and a positive biased large area, according to the size of the speed deviation. As shown in FIG3 , the interval division amounts (N_L, N_H, P_H, P_L) corresponding to proportional control and integral control are different, and these four interval division amounts are empirical values. In FIG3 , in order to prevent the speed deviation from oscillating back and forth between the biased large area and the biased small area, a hysteresis zone is added. Taking the negative hysteresis zone as an example, when the speed deviation (negative number) is less than N_H, it is in the negative biased large area; if the speed deviation at the previous moment is in the negative biased large area, then only when the speed deviation at the current moment is greater than N_L, it is considered to be in the negative biased small area. That is, when the speed deviation is in the hysteresis zone, the speed deviation at the previous moment belongs to which zone, and the speed deviation at the current moment belongs to which zone.

[0042] Negative deviation area: When the speed deviation is less than 0 and greater than N_L, it is in the control area with small negative deviation (referred to as negative deviation area).

[0043] Large negative deviation area: When the speed deviation is less than N_H, it is in the large negative deviation control area (referred to as the large negative deviation area).

[0044] Negative hysteresis zone: The section where the speed deviation is less than N_L and greater than N_H is the negative hysteresis zone, which prevents the speed deviation from oscillating back and forth between the negative large and negative small ranges, causing vehicle speed fluctuations.

[0045] Positive deviation zone: When the speed deviation is greater than 0 and less than P_L, it is in the control area with small positive deviation (referred to as positive deviation zone).

[0046] Positive deviation large area: When the speed deviation is greater than P_H, it is in the positive deviation large control area (referred to as the positive deviation large area).

[0047] Positive hysteresis zone: The interval where the speed deviation is less than P_H and greater than P_L is the positive hysteresis zone, which prevents the speed deviation from oscillating back and forth between the positive large and positive small ranges, causing vehicle speed fluctuations.

[0048] In this application, the interval division amounts N_L, N_H, P_H, and P_L based on proportional control are determined based on empirical values.

[0049] In one implementation of the present application, in step S202 , the speed deviation partitioning method includes: setting proportional control speed deviation partitions; and selecting corresponding proportional control variable parameters according to each proportional control speed deviation partition.

[0050] In one embodiment of the present application, according to the speed deviation zone in which the speed deviation is located, a variable control parameter (such as a proportional coefficient) is adjusted to perform segmented control on the requested acceleration, specifically including:

[0051] For speed deviation in the positive deviation area, it is necessary to slow down the speed adjustment, that is, reduce the control parameters;

[0052] For speed deviations in the positive bias area, it is necessary to speed up the speed adjustment, that is, increase the control parameters;

[0053] For speed deviations in the negative deviation zone, it is necessary to slow down the speed adjustment, that is, reduce the control parameters;

[0054] For speed deviations in the negative large area, it is necessary to speed up the speed adjustment, that is, increase the control parameters.

[0055] In the present application, the interval division amounts N_L, N_H, P_H, and P_L based on integral control are determined based on empirical values.

[0056] In one implementation of the present application, in step S202 , the speed deviation partition division method includes: setting integral control speed deviation partitions; and selecting corresponding integral control variable parameters according to each integral control speed deviation partition.

[0057] In one embodiment of the present application, the variable control parameter (such as the integral coefficient) is adjusted according to the speed deviation zone in which the speed deviation is located, and the requested acceleration is controlled in sections, specifically including:

[0058] For speed deviation in the positive deviation area, it is necessary to slow down the speed adjustment, that is, reduce the control parameters;

[0059] For speed deviations in the positive bias area, it is necessary to speed up the speed adjustment, that is, increase the control parameters;

[0060] For speed deviations in the negative deviation zone, it is necessary to slow down the speed adjustment, that is, reduce the control parameters;

[0061] For speed deviations in the negative large area, it is necessary to speed up the speed adjustment, that is, increase the control parameters.

[0062] In one implementation of the present application, in step S203, the PID control amount of the vehicle cruise control is calculated based on the variable control parameter and the speed deviation, specifically including steps S2031 to S2034, wherein the variable control parameter includes a proportional control variable parameter and an integral control variable parameter.

[0063] Step S2031, calculating and obtaining a proportional control amount according to the proportional control variable parameter;

[0064] Step S2032, calculating and obtaining the integral control amount according to the integral control variable parameter;

[0065] Step S2033: Calculate the PID control variable of the vehicle cruise control according to the proportional control variable and the integral control variable.

[0066] In one embodiment of the present application, step S203 calculates the PID control variable for the vehicle cruise control based on the variable control parameter and the speed deviation, and one implementation process is as follows: PID control variable = integral control variable + proportional control variable. Here, proportional control variable = proportional control variable × speed deviation; integral control variable = integral control variable × accumulated speed deviation + previous integral control variable.

[0067] In one implementation of the present application, in step S203, the integral control amount is limited; and the PID control amount of the vehicle cruise control is calculated based on the limited integral control amount and the proportional control amount.

[0068] In one implementation of the present application, in step S203, if the speed deviation is in the integral dead zone, the integral control amount is cleared.

[0069] Figure 2B shows another implementation flow diagram of the vehicle cruise control method according to an embodiment of the present application. As shown in Figure 2B , the vehicle cruise control method includes steps S204 to S206 in addition to steps S201 to S203.

[0070] Step S204 : When the vehicle enters the relief brake activation state, the relief brake deceleration of the vehicle is calculated; the PID control variable of the vehicle in the relief brake activation state is executed as the relief brake deceleration.

[0071] In step S205 , when the vehicle enters the braking relief exit transition phase, the PID control amount of the vehicle in the braking relief exit transition phase is calculated based on the braking relief deceleration of the vehicle and the PID control amount of the vehicle cruise control.

[0072] Step S206 , when the vehicle exits the braking relief exit transition phase and enters the cruise control activation state, the PID control amount of the vehicle cruise control is executed.

[0073] In the present application, steps S204 to S206 implement a fusion control strategy based on relief braking, which reduces the engine torque request by integrating relief braking and reduces the vehicle speed to the speed set by the driver, making the vehicle run smoother and the braking effect more comfortable.

[0074] Figures 4A and 4B are schematic diagrams illustrating a specific implementation process of the vehicle cruise control method described in an embodiment of the present application. As shown in Figures 4A and 4B, the vehicle cruise control method described in this embodiment includes: setting a speed deviation zone, calculating a speed deviation, setting a proportional control speed deviation zone, selecting a relevant proportional coefficient based on the proportional control speed deviation zone in which the speed deviation is located, and calculating a proportional control variable; setting an integral control speed deviation zone, and if the speed deviation is not within the integral dead zone, selecting a relevant integral coefficient based on the integral control speed deviation zone in which the speed deviation is located, calculating an integral control variable, and calculating a PID control variable based on the proportional control variable and the integral control variable; determining the activation state of the relief brake, calculating the relief brake deceleration, and calculating an output cruise control variable based on the relief brake state.

[0075] FIG5 shows a schematic diagram of a vehicle's braking relief state change according to an embodiment of the present application. As shown in FIG5 , in one embodiment of the present application, the vehicle's cruise control includes a braking relief cruise state (abbreviated as the braking relief state) and a non-braking braking cruise state. The braking relief cruise state includes a braking relief activation state and a braking relief exit transition state. When the driver releases the accelerator pedal after accelerating the vehicle to a speed greater than the set speed, it is considered to be a braking relief activation state; when the braking relief is exited for a certain time (empirical value, also called transition time), it is considered to be a braking relief exit transition stage; other cruise states are considered to be non-braking braking cruise states.

[0076] In one embodiment of the present application, when the vehicle enters the release brake activation state, the release brake deceleration (i.e., the release brake output acceleration) is calculated as follows: Release brake output acceleration = (rolling resistance + air resistance) / vehicle mass. Here, rolling resistance = rolling resistance coefficient × vehicle mass × acceleration due to gravity; air resistance = 0.5 × drag coefficient × air density × frontal area × vehicle speed^2.

[0077] In one embodiment of the present application, the process of calculating and outputting the cruise control amount according to the braking state is as follows:

[0078] When the vehicle is in the relief brake activation state, the cruise control deceleration is the relief brake deceleration, as shown by curve 1 in FIG5 .

[0079] When the vehicle is in the relief braking transition stage, the cruise control amount is as shown in curve 2 in Figure 5, which is the output control amount calculated by the relief braking deceleration when entering the relief braking transition stage and the PID control amount, that is, the output control amount = relief braking deceleration when entering the relief braking transition stage + (PID control amount - relief braking deceleration when entering the transition stage) / transition time.

[0080] When the vehicle exits the braking transition phase and enters the cruise control state, the cruise control variable is the PID control acceleration, as shown by curve 3 in FIG5 .

[0081] The protection scope of the vehicle cruise control method described in the embodiment of the present application is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing, or replacing steps in the prior art based on the principles of the present application are included in the protection scope of the present application.

[0082] An embodiment of the present application also provides a vehicle cruise control system, which can implement the vehicle cruise control method described in the present application. However, the implementation device of the vehicle cruise control method described in the present application includes but is not limited to the structure of the vehicle cruise control system listed in this embodiment. All structural deformations and replacements of the existing technology made according to the principles of the present application are included in the protection scope of the present application.

[0083] An embodiment of the present application provides a vehicle cruise control system, as shown in FIG6 , wherein the vehicle cruise control system 600 includes: a speed deviation calculation module 610 , a variable control parameter selection module 620 , a PID control module 630 and / or a relief brake fusion control module 640 .

[0084] The speed deviation calculation module 610 calculates the speed deviation according to the preset speed of the vehicle and the vehicle speed.

[0085] The variable control parameter selection module 620 is in communication with the speed deviation calculation module 610, and selects variable control parameters according to the speed deviation partition where the speed deviation is located, and performs segmented control on the requested acceleration; wherein, the speed deviation partition is a partition divided according to the size of the speed deviation, including a negative biased large area, a negative biased small area, a positive biased small area and a positive biased large area.

[0086] The PID control module 630 is in communication with the speed deviation calculation module 610 and the variable control parameter selection module 620 , and calculates a PID control variable for vehicle cruise control according to the variable control parameter and the speed deviation.

[0087] The relief brake fusion control module 640 is communicatively connected to the PID control module 630, and when the vehicle enters the relief brake activation state, the vehicle's relief brake deceleration is calculated; the PID control amount of the vehicle in the relief brake activation state is executed as the relief brake deceleration; when the vehicle enters the relief brake exit transition stage, the PID control amount of the vehicle in the relief brake exit transition stage is calculated based on the vehicle's relief brake deceleration and the PID control amount of the vehicle's cruise control; when the vehicle exits the relief brake exit transition stage and enters the cruise control activation state, the PID control amount of the vehicle's cruise control is executed.

[0088] The present application provides a complete vehicle cruise control system, including a speed deviation calculation module, a variable control parameter selection module and a PID control module, which implements a PID control strategy based on variable parameters. By performing cruise control with variable parameters, the cruise speed control can be made more precise and the speed fluctuations generated during the control process can be reduced.

[0089] The vehicle cruise control system described in this application also includes a braking fusion control module, which implements a fusion control strategy based on braking fusion. By integrating braking fusion to reduce the engine torque request and reduce the vehicle speed to the speed set by the driver, the vehicle can travel smoother and the braking effect can be more comfortable.

[0090] This application can improve the control accuracy of cruise control and reduce speed fluctuations generated during the control process, providing beneficial technical support for the development and practical application of intelligent driving systems.

[0091] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices or methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules or units, which can be electrical, mechanical or other forms.

[0092] The modules / units described as separate components may or may not be physically separate, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place or distributed across multiple network elements. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into a processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into a single module / unit.

[0093] Those skilled in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0094] An embodiment of the present application further provides an electronic device, as shown in FIG7 , which includes a memory 710 and a processor 720 .

[0095] The memory 710 is used to store computer programs. In some possible implementations, the memory may include a computer system readable medium in the form of a volatile memory, such as RAM and / or cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of each embodiment of the present application.

[0096] The processor 720 is communicatively connected to the memory 710 and is configured to execute the computer program stored in the storage module so that the electronic device 700 executes the vehicle cruise control method provided in any embodiment of the present application.

[0097] In some possible implementations, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0098] In some possible implementations, the electronic device 700 provided in the embodiments of the present application may further include a display 730. The display is communicatively connected to the memory and the processor, and is used to display a graphical user interface (GUI) related to the data processing method provided in any embodiment of the present application.

[0099] In an embodiment of the present application, the display may include a display screen (display panel). In some implementations, the display panel may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like. In addition, the display may also be a touch panel (touch screen, touch screen), which may include a display screen and a touch-sensitive surface. When the touch-sensitive surface detects a touch operation on or near it, it is transmitted to a processor to determine the type of touch event, and the processor then provides a corresponding visual output on the display device based on the type of touch event.

[0100] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the team collaboration service method for the task described in any one of the items of the present application.

[0101] Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiment can be performed by instructing a processor through a program, and the program can be stored in a computer-readable storage medium, which is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state drive, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0102] An embodiment of the present application further provides a vehicle computer, which includes the vehicle cruise control system described in any one of the embodiments of the present application.

[0103] The embodiment of the present application may also provide a computer program product, the computer program product including one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer or data center to another website, computer or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method.

[0104] When the computer program product is executed by a computer, the computer executes the method described in the above method embodiment. The computer program product can be a software installation package. When the above method is needed, the computer program product can be downloaded and executed on the computer.

[0105] The descriptions of the processes or structures corresponding to the above figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0106] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A vehicle cruise control method, characterized in that, Including: Calculating a speed deviation based on a preset speed of the vehicle and the self-vehicle speed; Selecting a variable control parameter according to the speed deviation zone where the speed deviation is located, and performing segmented control on the requested acceleration; wherein, the speed deviation zone is a zone divided according to the magnitude of the speed deviation, including a large negative deviation zone, a small negative deviation zone, a small positive deviation zone, and a large positive deviation zone; Calculating a PID control quantity for vehicle cruise control based on the variable control parameter and the speed deviation.

2. The vehicle cruise control method according to claim 1, characterized in that, The dividing method of the speed deviation zone includes: Setting a proportional control speed deviation zone; Selecting a corresponding proportional control variable parameter according to each proportional control speed deviation zone.

3. The vehicle cruise control method according to claim 1, wherein The dividing method of the speed deviation zone includes: Setting an integral control speed deviation zone; Selecting a corresponding integral control variable parameter according to each integral control speed deviation zone.

4. The vehicle cruise control method according to claim 1, characterized in that, Calculating a PID control quantity for vehicle cruise control based on the variable control parameter and the speed deviation includes: The variable control parameter includes a proportional control variable parameter and an integral control variable parameter; Calculating a proportional control quantity according to the proportional control variable parameter; Calculating an integral control quantity according to the integral control variable parameter; Calculating a PID control quantity for vehicle cruise control according to the proportional control quantity and the integral control quantity.

5. The vehicle cruise control method according to claim 4, characterized in that, Further including: Performing a limit processing on the integral control quantity; Calculating the PID control quantity of the vehicle cruise control according to the limited integral control quantity and the proportional control quantity.

6. The vehicle cruise control method according to claim 4, wherein Further including: If the speed deviation is within the integral dead zone, the integral control quantity is cleared.

7. The vehicle cruise control method according to claim 1, characterized in that, Further including: When the vehicle enters the gentle braking activation state, calculating the gentle braking deceleration of the vehicle; The PID control quantity of the vehicle in the gentle braking activation state is executed as the gentle braking deceleration; When the vehicle enters the gentle braking exit transition stage, calculating the PID control quantity of the vehicle in the gentle braking exit transition stage according to the gentle braking deceleration of the vehicle and the PID control quantity of the vehicle cruise control; When the vehicle exits the gentle braking exit transition stage and enters the cruise control activation state, executing the PID control quantity of the vehicle cruise control.

8. A vehicle cruise control system, characterized in that, Including: A speed deviation calculation module, calculating a speed deviation based on a preset speed of the vehicle and the self-vehicle speed; A variable control parameter selection module, communicatively connected to the speed deviation calculation module, selecting a variable control parameter according to the speed deviation zone where the speed deviation is located, and performing segmented control on the requested acceleration; wherein, the speed deviation zone is a zone divided according to the magnitude of the speed deviation, including a large negative deviation zone, a small negative deviation zone, a small positive deviation zone, and a large positive deviation zone; A PID control module, communicatively connected to the speed deviation calculation module and the variable control parameter selection module respectively, calculating a PID control quantity for vehicle cruise control based on the variable control parameter and the speed deviation.

9. The vehicle cruise control system according to claim 8, characterized in that, Further including: A gentle braking fusion control module, communicatively connected to the PID control module, when the vehicle enters the gentle braking activation state, calculating the gentle braking deceleration of the vehicle; the PID control quantity of the vehicle in the gentle braking activation state is executed as the gentle braking deceleration; When the vehicle enters the transition stage of easing braking exit, the easing braking fusion control module calculates the PID control quantity of the vehicle in the transition stage of easing braking exit according to the easing braking deceleration of the vehicle and the PID control quantity of the vehicle's constant speed cruise; When the vehicle exits the transition stage of easing braking exit and enters the constant speed cruise activation state, the easing braking fusion control module executes the PID control quantity of the vehicle's constant speed cruise.

10. An electronic device, characterized in that, It includes: A memory storing a computer program; A processor communicatively connected to the memory, and when calling the computer program, implements any one of claims 1 to 7 The vehicle cruise control method described above.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the vehicle cruise control method described in any one of claims 1 to 7.

12. A vehicle-mounted computer, characterized in that, The vehicle-mounted computer includes the vehicle cruise control system described in any one of claims 8 to 9.

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