CN108515971A - A kind of cruise function control method, system, device and readable storage medium storing program for executing - Google Patents
A kind of cruise function control method, system, device and readable storage medium storing program for executing Download PDFInfo
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- CN108515971A CN108515971A CN201810310816.2A CN201810310816A CN108515971A CN 108515971 A CN108515971 A CN 108515971A CN 201810310816 A CN201810310816 A CN 201810310816A CN 108515971 A CN108515971 A CN 108515971A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
Abstract
This application discloses a kind of cruise function control method, system, device and readable storage medium storing program for executing, including：Obtain actual vehicle speed, cruise target speed and turning angle of steering wheel；According to actual vehicle speed, cruise target speed, corresponding initial cruise torque is calculated；Judge whether initial cruise torque exceeds torque limit corresponding with turning angle of steering wheel section；If so, the nearest boundary point of distance cruise torque on initial torque limit section is determined as the torque that finally cruises；The final cruise torque of output.The present invention adjusts the cruise torque of output during cruise, to make vapour speed be always held in safety traffic range.If it is excessively high to cross curved speed, corresponding initial cruise torque exceeds torque limit section, it then will initially cruise and export again in torque limit to torque limit section, namely when excessively curved, the rapid braking vehicle before driver carries out brake measure, avoid driver takes brake measure to generate dangerous situation appearance not in time, improves the safety of driving.
Description
Technical field
The present invention relates to Automobile drive control technology field, more particularly to a kind of cruise function control method, system, device
And readable storage medium storing program for executing.
Background technology
With the problems such as global energy is in short supply and vehicle emission pollution getting worse, the energy of low energy consumption, low emission is promoted
Automobile has become common recognition.In new-energy automobile dynamical system scheme, pure electric vehicle and strong mix are current main-stream directions.
Cruise is a kind of automobile control method, can control automobile suitable for lasting progress, close to constant-speed traveling
Transport condition applies cruise function when driver can drive over a long distance, oil is stepped on from long-time without stepping on the gas for a long time, is avoided
It is tired caused by door.Cruise function is substantially achieved universal on configuring higher conventional vehicle and new-energy automobile at present.Though
The long-time that right cruise function solves driver is tired, but then there may be blunt phenomenon is braked, because patrolling
The right crus of diaphragm of driver has been moved off throttle under boat function and brake pedal has been placed on more comfortable position.In this driving situation
Under, if vehicle enters certain bend, driver cannot take brake measure, if the speed of vehicle is higher at this time, exceed in time
Bend allow maximum speed, may run-off-road, to have a car accident even influence personal safety.
Therefore, how to provide a kind of scheme solving above-mentioned technical problem is that current those skilled in the art need to solve
Problem.
Invention content
In view of this, the purpose of the present invention is to provide a kind of cruise function control method for capableing of safety bend,
System, device and readable storage medium storing program for executing.Its concrete scheme is as follows：
A kind of cruise function control method, including：
Obtain actual vehicle speed, cruise target speed and turning angle of steering wheel；
According to the actual vehicle speed, the cruise target speed, corresponding initial cruise torque is calculated；
Judge whether the initial cruise torque exceeds torque limit corresponding with turning angle of steering wheel section；
If so, the nearest boundary point of torque that initially cruises described in distance on the torque limit section is determined as finally
Cruise torque simultaneously exports the final cruise torque.
Preferably, described according to the actual vehicle speed and the cruise target speed, calculate corresponding initial cruise torque
Process, including：
Difference is obtained as difference to the cruise target speed and the actual vehicle speed；
The initial cruise torque is obtained after doing PID control and first-order filtering processing according to the difference.
Preferably, the process for obtaining cruise target speed, specifically includes：
Obtain initial target speed and cruise Maximum speed limit；
Judge whether the initial target speed exceeds the cruise Maximum speed limit；If so, the cruise highest is limited
Speed is determined as the cruise target speed, if not, the initial target speed is directly determined as the cruise target speed.
Preferably, the process for obtaining cruise target speed, specifically includes：
Obtain initial target speed and cruise Maximum speed limit；
According to the cruise Maximum speed limit and the turning angle of steering wheel, the corresponding bend of the turning angle of steering wheel is obtained
Maximum speed limit；
Judge whether the initial target speed exceeds the bend Maximum speed limit；If so, the bend highest is limited
Speed is determined as the cruise target speed, if not, the initial target speed is directly determined as the cruise target speed.
Preferably, the torque limit section is specially：
Pass through the corresponding torque limit section that the turning angle of steering wheel is calculated with the cruise target speed.
Preferably, the arbitrary value on the torque limit section is all higher than maximum negative torque and less than maximum positive-torque；
Wherein, the maximum negative torque is electric system maximum feedback torque, the maximum positive-torque be engine most
The sum of the max. output torque of big output torque and motor.
Preferably, have and force the automobile of kinetic force to be pure electric automobile or mix power vehicle by force.
Correspondingly, the invention also discloses a kind of cruise function control systems, including：
Acquisition module, for obtaining actual vehicle speed, cruise target speed and turning angle of steering wheel；
Computing module, for according to the actual vehicle speed, the cruise target speed, calculating corresponding initial cruise and turning round
Square；
Determination module, for judging whether the initial cruise torque exceeds torque corresponding with the turning angle of steering wheel
Limit section；If so, triggering resetting module；
The resetting module is used for the initial torque limit section boundary point nearest apart from the interior cruise torque
It is determined as the torque that finally cruises；
Output module, for exporting the final cruise torque.
Correspondingly, the invention also discloses a kind of cruise function control devices, including：
Memory, for storing computer program；
Processor, the step of cruise function control method as described above is realized when for executing the computer program.
Correspondingly, the invention also discloses a kind of readable storage medium storing program for executing, computer is stored on the readable storage medium storing program for executing
Program is realized as described in any one above when the computer program is executed by processor the step of cruise function control method.
The invention discloses a kind of cruise function control methods, including：Obtain actual vehicle speed, cruise target speed and direction
Disk steering angle；According to the actual vehicle speed, the cruise target speed, corresponding initial cruise torque is calculated；Judge described first
Whether cruise torque begin beyond torque limit corresponding with turning angle of steering wheel section；If so, by the torque limit
The nearest boundary point of torque that initially cruises described in distance on section is determined as the torque that finally cruises；The final cruise is exported to turn round
Square.Wherein, the corresponding torque limit section of turning angle of steering wheel indicates that automobile puts safety when crossing bend to disk steering angle with this
Torque range.The present invention can adjust the cruise torque of output during cruise, to make car speed be always held at safety
In driving range.If it is excessively high to cross curved speed, corresponding initial cruise torque exceeds torque limit section, then will initially cruise torsion
Square is restricted to export again in torque limit section, changes speed by changing output torque value, and speed is made to be in safety traffic
Range, namely it is excessively curved when, driver carry out brake measure before rapid braking vehicle, avoid driver and take system not in time
Dynamic measure, which generates dangerous situation, to be occurred, and the safety of driving is improved.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of step flow chart of cruise function control method in the embodiment of the present invention；
Fig. 2 is a kind of structure distribution figure of cruise function control system in the embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is shown in Figure 1 the embodiment of the invention discloses a kind of cruise function control method, including：
S1：Obtain actual vehicle speed, cruise target speed and turning angle of steering wheel；
Wherein, cruise target speed is the preset vehicle speed value of driver, and actual vehicle speed and turning angle of steering wheel are then
The speed and steering angle data obtained in real time during car steering.Turning angle of steering wheel indicates driving procedure middle rolling car path
Bending degree.
According to cruise target speed and actual vehicle speed, the cruise function of automobile can design corresponding traveling scheme, make reality
Speed moves closer to cruise target speed, which is usually the travel acceleration pattern set according to driver and driving
Comfort level is designed speed.
S2：According to the actual vehicle speed, the cruise target speed, corresponding initial cruise torque is calculated；
Above-mentioned traveling scheme is actually executed, is that torque is cruised by output to adjust speed.Therefore according to actual vehicle speed
With cruise target speed, initial cruise torque required when traveling scheme is further executed to calculate.
S3：Judge whether the initial cruise torque exceeds torque limit corresponding with turning angle of steering wheel section；
It can pacify when driving with corresponding turning angle of steering wheel it is understood that above-mentioned torque limit section is automobile
The torque limit range travelled entirely.In general, turning angle of steering wheel is bigger, and the bending degree of bend is bigger in driving path,
Cross that curved safe speed is lower, therefore the maximum torque in its torque limit section is also lower.Therefore, judge initial cruise torque
It is the driving safety in order to ensure driver when excessively curved whether in torque limit section.
Specifically, the torque limit section can also be by the turning angle of steering wheel and the cruise target vehicle
The corresponding torque limit section that speed is calculated.
Certainly, further, the arbitrary value on the torque limit section is all higher than maximum negative torque and is less than maximum just
Torque；Wherein, the maximum negative torque is electric system maximum feedback torque, and the maximum positive-torque is that the maximum of engine is defeated
Go out the sum of the max. output torque of torque and motor.
S4：If so, the nearest boundary point of torque that initially cruises described in distance on the torque limit section is determined as
Final cruise torque simultaneously exports the final cruise torque.
Specifically, being calculated corresponding initial according to the actual vehicle speed and the cruise target speed described in step S4
Cruise torque process, may include：
Difference is obtained as difference to the cruise target speed and the actual vehicle speed；
Making PID according to the difference, (proportion, integration, differentiation ratio, integral are micro-
Point) control and first-order filtering processing after obtain the initial cruise torque.
Certainly, if the judging result in S3 is no, directly initial cruise torque can be determined as finally cruising
Torque exports.
It is understood that realize the method mentioned in the present embodiment, the automobile dynamic system of output torque needs by force
Stopping power can carry out automatic retarding to reduce torque.It is this that dynamic automobile is forced to be usually pure electric automobile or mix by force
Power vehicle (plug hybrid electric vehicle, PHEV), the limited sheet difficult to realize of towing astern ability of orthodox car
Embodiment.
In general, the embodiment of the present invention is realized by VCU (vehicle control unit, full-vehicle control unit), VCU
The operational motion of driver is obtained by human-computer interaction module to realize cruise function, and the operational motion of driver includes cruise shape
State controls and cruise parameter setting, and it includes unlatching cruise, activation cruise that cruising condition, which controls, standby and closing of cruising is cruised etc.,
Parameter setting of cruising includes the multiple functions such as the setting, reset, cancellation of cruise target speed.Wherein, cruise namely control are opened
The VCU of cruise function connects electricity；Above-mentioned VCU enables cruise function when activation cruise, and automobile enters cruise mode；Cruise it is standby namely
Cruise mode is exited, but above-mentioned VCU still connects electricity, can be activated again at any time；Close cruise then above-mentioned VCU power-off.It needs
It is noted that only when closing cruise, driver cannot set cruise parameter, under other cruising conditions, even if automobile
Cruise mode is come into, driver can still set cruise parameter again.
Specifically, cruise parameter setting can also include the selection of travel acceleration pattern mentioned above, such as cruise
The point of speed adds or point subtracts, and the company of cruise speed adds or even subtracts etc..Choosing according to driver to travel acceleration pattern
It selects, further traveling scheme of the design to cruise target speed smoothing processing.
The invention discloses a kind of cruise function control methods, are applied to the automobile for forcing kinetic force, including：It obtains
Actual vehicle speed, cruise target speed and turning angle of steering wheel；According to the actual vehicle speed, the cruise target speed, calculating pair
The initial cruise torque answered；Judge whether the initial cruise torque exceeds torque limit corresponding with the turning angle of steering wheel
Section；If so, the nearest boundary point of torque that initially cruises described in distance on the torque limit section is determined as finally patrolling
Navigate torque；Export the final cruise torque.Wherein, the corresponding torque limit section of turning angle of steering wheel indicates that automobile is put with this
Safe torque range when line crosses from bend to disk steering angle.The present invention can adjust the cruise torque of output during cruise, from
And car speed is made to be always held in safety traffic range.If it is excessively high to cross curved speed, corresponding initial cruise torque exceeds
Torque limit section is exported again in the torque limit to torque limit section that then will initially cruise, by change output torque value come
Change speed, make speed be in safety traffic range, namely it is excessively curved when, driver carry out brake measure before brake vapour rapidly
Vehicle avoids driver and brake measure is taken to generate dangerous situation appearance not in time, improves the safety of driving.
The embodiment of the invention discloses a kind of specific cruise function control methods, relative to a upper embodiment, this implementation
Example has made further instruction and optimization to technical solution.Specifically, the process of cruise target speed is obtained in step S1, packet
It includes：
Obtain initial target speed and cruise Maximum speed limit；
Judge whether the initial target speed exceeds the cruise Maximum speed limit；If so, the cruise highest is limited
Speed is determined as the cruise target speed, if not, the initial target speed is directly determined as the cruise target speed.
Wherein, initial target speed is by driver's sets itself.It the considerations of for automobile function and traffic safety, needs
Obtain cruise Maximum speed limit.The cruise Maximum speed limit can be that automobile vendor is set in advance, and can also be the road that networking obtains
Segment information, such as road speed limit or traffic information, traffic information may include whether congestion, road are flat etc..
It is understood that if the initial target speed of driver's setting has exceeded cruise Maximum speed limit, for driving
The considerations of safety, needs to be re-used as cruise target speed after turning down initial target speed to cruise Maximum speed limit.If just
Beginning target vehicle speed without departing from cruise Maximum speed limit, then illustrate the initial target speed be it is safe, can directly by its directly
It is determined as cruise target speed.
The embodiment of the invention discloses a kind of specific cruise function control methods, relative to one embodiment, this reality
It applies example and further instruction and optimization has been made to technical solution.Specifically, the process of cruise target speed is obtained in step S1, packet
It includes：
Obtain initial target speed and cruise Maximum speed limit；
According to the cruise Maximum speed limit and the turning angle of steering wheel, the corresponding bend of the turning angle of steering wheel is obtained
Maximum speed limit；
Judge whether the initial target speed exceeds the bend Maximum speed limit；If so, the bend highest is limited
Speed is determined as the cruise target speed, if not, the initial target speed is directly determined as the cruise target speed.
It is similar to a upper embodiment, cruise target speed is defined.But the present embodiment further contemplates bend most
High speed limit.Bend Maximum speed limit is different from cruise Maximum speed limit, and cruise Maximum speed limit is the travel speed of automobile, with steering wheel
Steering angle is unrelated.And bend Maximum speed limit is related to the angle that automobile is excessively curved, the bend angle of general running car is bigger, direction
Disk steering angle is bigger, and the excessively curved speed of safety is lower namely bend Maximum speed limit is lower.
The mapping table that cruise Maximum speed limit, turning angle of steering wheel and bend Maximum speed limit can be obtained in advance, is looked into
It askes the mapping table and obtains corresponding bend Maximum speed limit.
Correspondingly, the embodiment of the invention also discloses a kind of cruise function control system, it is shown in Figure 2, including：
Acquisition module 1, for obtaining actual vehicle speed, cruise target speed and turning angle of steering wheel；
Computing module 2, for according to the actual vehicle speed, the cruise target speed, calculating corresponding initial cruise and turning round
Square；
Determination module 3, for judging whether the initial cruise torque exceeds torsion corresponding with the turning angle of steering wheel
Square limit section；If so, triggering resetting module；
The resetting module 4 is used for the initial torque limit section boundary nearest apart from the interior cruise torque
Point is determined as the torque that finally cruises；
Output module 5, for exporting the final cruise torque.
The present embodiment has advantageous effect same as the previously described embodiments.
Correspondingly, the embodiment of the invention also discloses a kind of cruise function control devices, including：
Memory, for storing computer program；
Processor, realizing the cruise function control method as described in foregoing embodiments when for executing the computer program
Step.
Wherein, the detail in relation to cruise function control device is referred to cruise function controlling party in above-described embodiment
The description of method, is no longer repeated herein.
Correspondingly, the present embodiment has advantageous effect same as the previously described embodiments.
Correspondingly, the embodiment of the invention also discloses a kind of readable storage medium storing program for executing, it is stored on the readable storage medium storing program for executing
Computer program realizes that cruise function controls as described in any one of foregoing embodiments when the computer program is executed by processor
The step of method.
Wherein, the detail in relation to readable storage medium storing program for executing is referred to cruise function control method in above-described embodiment
Description, is no longer repeated herein.
Correspondingly, the present embodiment has advantageous effect same as the previously described embodiments.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
A kind of cruise function control method provided by the present invention, system, device and readable storage medium storing program for executing are carried out above
It is discussed in detail, principle and implementation of the present invention are described for specific case used herein, above example
It is merely used to help understand the method and its core concept of the present invention；Meanwhile for those of ordinary skill in the art, according to this
The thought of invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of cruise function control method, which is characterized in that including：
Obtain actual vehicle speed, cruise target speed and turning angle of steering wheel；
According to the actual vehicle speed, the cruise target speed, corresponding initial cruise torque is calculated；
Judge whether the initial cruise torque exceeds torque limit corresponding with turning angle of steering wheel section；
If so, the nearest boundary point of torque that initially cruises described in distance on the torque limit section is determined as finally cruising
Torque simultaneously exports the final cruise torque.
2. cruise function control method according to claim 1, which is characterized in that described according to the actual vehicle speed and described
Cruise target speed calculates the process of corresponding initial cruise torque, including：
Difference is obtained as difference to the cruise target speed and the actual vehicle speed；
The initial cruise torque is obtained after doing PID control and first-order filtering processing according to the difference.
3. cruise function control method according to claim 1, which is characterized in that the mistake for obtaining cruise target speed
Journey specifically includes：
Obtain initial target speed and cruise Maximum speed limit；
Judge whether the initial target speed exceeds the cruise Maximum speed limit；If so, the cruise Maximum speed limit is true
It is set to the cruise target speed, if not, the initial target speed is directly determined as the cruise target speed.
4. cruise function control method according to claim 1, which is characterized in that the mistake for obtaining cruise target speed
Journey specifically includes：
Obtain initial target speed and cruise Maximum speed limit；
According to the cruise Maximum speed limit and the turning angle of steering wheel, the corresponding bend highest of the turning angle of steering wheel is obtained
Speed limit；
Judge whether the initial target speed exceeds the bend Maximum speed limit；If so, the bend Maximum speed limit is true
It is set to the cruise target speed, if not, the initial target speed is directly determined as the cruise target speed.
5. according to any one of Claims 1-4 cruise function control method, which is characterized in that the torque limit section
Specially：
Pass through the corresponding torque limit section that the turning angle of steering wheel is calculated with the cruise target speed.
6. cruise function control method according to claim 5, which is characterized in that the arbitrary value on the torque limit section
It is all higher than maximum negative torque and less than maximum positive-torque；
Wherein, the maximum negative torque is electric system maximum feedback torque, and the maximum positive-torque is that the maximum of engine is defeated
Go out the sum of the max. output torque of torque and motor.
7. cruise function control method according to claim 6, which is characterized in that
Automobile with pressure kinetic force is pure electric automobile or mixes power vehicle by force.
8. a kind of cruise function control system, which is characterized in that including：
Acquisition module, for obtaining actual vehicle speed, cruise target speed and turning angle of steering wheel；
Computing module, for according to the actual vehicle speed, the cruise target speed, calculating corresponding initial cruise torque；
Determination module, for judging whether the initial cruise torque exceeds torque limit corresponding with the turning angle of steering wheel
Section；If so, triggering resetting module；
The resetting module, for determining the initial torque limit section boundary point nearest apart from the interior cruise torque
For the torque that finally cruises；
Output module, for exporting the final cruise torque.
9. a kind of cruise function control device, which is characterized in that including：
Memory, for storing computer program；
Processor realizes the cruise function controlling party as described in any one of claim 1 to 7 when for executing the computer program
The step of method.
10. a kind of readable storage medium storing program for executing, which is characterized in that be stored with computer program, the meter on the readable storage medium storing program for executing
It is realized when calculation machine program is executed by processor as described in any one of claim 1 to 7 the step of cruise function control method.
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Cited By (10)
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| CN109291924A (en) * | 2018-11-29 | 2019-02-01 | 重庆长安汽车股份有限公司 | Cruise function supplying system, method and computer readable storage medium |
| CN109484405A (en) * | 2018-11-15 | 2019-03-19 | 北汽福田汽车股份有限公司 | Vehicle and its cruise control method, device |
| CN111731298A (en) * | 2020-06-30 | 2020-10-02 | 重庆长安汽车股份有限公司 | Speed limit control method and device for new energy automobile and new energy automobile |
| CN111824168A (en) * | 2019-04-15 | 2020-10-27 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN112172541A (en) * | 2020-09-28 | 2021-01-05 | 武汉格罗夫氢能汽车有限公司 | Control method for fuel cell hydrogen energy automobile speed limit |
| CN112208526A (en) * | 2020-10-09 | 2021-01-12 | 潍柴动力股份有限公司 | Cruise control method and device, vehicle and storage medium |
| CN112319239A (en) * | 2020-11-17 | 2021-02-05 | 睿驰电装(大连)电动系统有限公司 | Torque control method and device based on navigation information and electric vehicle |
| CN113353089A (en) * | 2021-06-10 | 2021-09-07 | 东风华神汽车有限公司 | Vehicle safe driving control method, device and equipment and readable storage medium |
| CN113954820A (en) * | 2020-07-02 | 2022-01-21 | 宝能汽车集团有限公司 | Drive control method, system, device, and storage medium for vehicle |
| CN114228712A (en) * | 2022-01-21 | 2022-03-25 | 一汽解放汽车有限公司 | Braking negative torque determination method and device in vehicle cruising, vehicle and storage medium |
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Application publication date: 20180911 Assignee: Chongqing Changan New Energy Automotive Technology Co., Ltd. Assignor: Chongqing Changan Automobile Co., Ltd. Contract record no.: 2018500000017 Denomination of invention: A kind of cruise function control method, system, device and readable storage medium storing program for executing License type: Exclusive License Record date: 20181121 |
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