CN109484405A - Vehicle and its cruise control method, device - Google Patents
Vehicle and its cruise control method, device Download PDFInfo
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- CN109484405A CN109484405A CN201811357285.9A CN201811357285A CN109484405A CN 109484405 A CN109484405 A CN 109484405A CN 201811357285 A CN201811357285 A CN 201811357285A CN 109484405 A CN109484405 A CN 109484405A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000001133 acceleration Effects 0.000 claims description 32
- 238000005096 rolling process Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 15
- 238000005516 engineering process Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
Classifications
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/16—Driving resistance
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of vehicle and its cruise control methods, device, wherein the cruise control method includes: the current vehicle speed and target vehicle speed for obtaining vehicle；The amendment torque of driving demand torque and vehicle is obtained according to current vehicle speed and target vehicle speed；And the cruise demand torque of vehicle is obtained according to driving demand torque and amendment torque, and cruise control is carried out to vehicle according to cruise demand torque.The cruise control method of vehicle according to the invention can not only carry out speed to stablize, accurately control, improve the comfort of vehicle, and be able to ascend the response speed of speed control, while can be improved the robustness of system.
Description
Technical field
The present invention relates to technical field of vehicle control, in particular to a kind of cruise control method of vehicle, a kind of vehicle
Cruise control apparatus and a kind of vehicle.
Background technique
In the related technology, after vehicle enters cruising condition, in the case where driver's nonintervention, generally by being based on
The control program of the speed difference of PI control, the control program based on speed difference and amendment acceleration control speed.
However, above-mentioned detection method have the disadvantage in that 1) when using the speed difference control program controlled based on PI to vehicle
When speed is controlled, the easy overshoot of speed can not accurately control speed, greatly affected the comfort of vehicle, together
When, regulating time is long, and response speed is slow；2) speed is controlled when using the control program based on speed difference and amendment acceleration
When processed, robustness is poor.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
First purpose is to propose a kind of cruise control method of vehicle, can not only carry out stablizing to speed, accurately control, mention
The comfort of high vehicle, and it is able to ascend the response speed of speed control, while can be improved the robustness of system.
Second object of the present invention is to propose a kind of cruise control apparatus of vehicle.
Third object of the present invention is to propose a kind of vehicle.
Fourth object of the present invention is to propose a kind of electronic equipment.
5th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
To achieve the above object, first aspect present invention embodiment proposes a kind of cruise control method of vehicle, comprising:
Obtain the current vehicle speed and target vehicle speed of the vehicle；Driving demand is obtained according to the current vehicle speed and the target vehicle speed to turn round
The amendment torque of square and the vehicle；And patrolling for the vehicle is obtained according to the driving demand torque and the amendment torque
Navigate demand torque, and carries out cruise control to the vehicle according to the cruise demand torque.
The cruise control method of vehicle according to an embodiment of the present invention obtains the current vehicle speed and target vehicle speed of vehicle, and
Obtain the amendment torque of driving demand torque and vehicle according to current vehicle speed and target vehicle speed, and according to driving demand torque and
The cruise demand torque that torque obtains vehicle is corrected, and cruise control is carried out to vehicle according to cruise demand torque.As a result, not only
Speed can be carried out stablizing, accurately controlled, improve the comfort of vehicle, and be able to ascend the response speed of speed control
Degree, while can be improved the robustness of system.
In addition, the cruise control method of vehicle according to the above embodiment of the present invention can also have following additional technology
Feature:
According to one embodiment of present invention, the cruise demand torque is that the driving demand torque and the amendment are turned round
The sum of square.
According to one embodiment of present invention, described that driving demand is obtained according to the current vehicle speed and the target vehicle speed
Torque, comprising: the acceleration resistance of the vehicle is obtained according to the current vehicle speed and the target vehicle speed；Obtain the vehicle institute
In the gradient of road, and obtain according to the gradient grade resistance of the vehicle；Obtain the rolling resistance and sky of the vehicle
Atmidometer；And it is obtained according to the rolling resistance of the vehicle, the air drag, the grade resistance and the acceleration resistance
The driving demand torque.
According to one embodiment of present invention, described that institute is obtained according to the current vehicle speed of the vehicle and the target vehicle speed
State the amendment torque of vehicle, comprising: adjustment factor is obtained according to the current vehicle speed；According to the adjustment factor, described current
Speed and the target vehicle speed obtain the amendment torque.
To achieve the above object, second aspect of the present invention embodiment proposes a kind of cruise control apparatus of vehicle, comprising:
First obtains module, and the first acquisition module is used to obtain the current vehicle speed and target vehicle speed of the vehicle；Second obtains mould
Block, described second, which obtains module, is used to obtain driving demand torque and the vehicle according to the current vehicle speed and the target vehicle speed
Amendment torque；Control module, the control module are used to be obtained according to the driving demand torque and the amendment torque
The cruise demand torque of the vehicle, and cruise control is carried out to the vehicle according to the cruise demand torque.
The cruise control apparatus of vehicle according to an embodiment of the present invention works as front truck by the first acquisition module acquisition vehicle
Speed and target vehicle speed, and obtain module by second and driving demand torque and vehicle are obtained according to current vehicle speed and target vehicle speed
Torque is corrected, and obtains the cruise demand torque of vehicle according to driving demand torque and amendment torque by control module, and
Cruise control is carried out to vehicle according to cruise demand torque.Speed can not only be carried out as a result, to stablize, accurately controlled, mentioned
The comfort of high vehicle, and it is able to ascend the response speed of speed control, while can be improved the robustness of system.
In addition, the cruise control apparatus of vehicle according to the above embodiment of the present invention can also have following additional technology
Feature:
According to one embodiment of present invention, the cruise demand torque is that the driving demand torque and the amendment are turned round
The sum of square.
According to one embodiment of present invention, the second acquisition module is specifically used for: according to the current vehicle speed and institute
State the acceleration resistance that target vehicle speed obtains the vehicle；The gradient of road where obtaining the vehicle, and obtained according to the gradient
Take the grade resistance of the vehicle；Obtain the rolling resistance and air drag of the vehicle；And the rolling according to the vehicle
Resistance, the air drag, the grade resistance and the acceleration resistance obtain the driving demand torque.
According to one embodiment of present invention, the second acquisition module is specifically used for: being obtained according to the current vehicle speed
Adjustment factor；The amendment torque is obtained according to the adjustment factor, the current vehicle speed and the target vehicle speed.
To achieve the above object, third aspect present invention embodiment proposes a kind of vehicle, including second aspect of the present invention
The cruise control apparatus of the vehicle of embodiment.
Vehicle according to an embodiment of the present invention, by the cruise control apparatus of above-mentioned vehicle, can not only to speed into
Row is stablized, is accurately controlled, and the comfort of vehicle is improved, and is able to ascend the response speed of speed control, while can mention
The robustness of high system.
To achieve the above object, fourth aspect present invention embodiment proposes a kind of electronic equipment, including memory, processing
Device；Wherein, the processor is run by reading the executable program code stored in the memory can be performed with described
The corresponding program of program code, with the cruise control method of the vehicle for realizing first aspect present invention embodiment.
Electronic equipment according to an embodiment of the present invention can not only by executing the cruise control method of above-mentioned vehicle
Speed stablize, is accurately controlled, the comfort of vehicle is improved, and is able to ascend the response speed of speed control, together
When can be improved the robustness of system.
To achieve the above object, fifth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, and the vehicle of first aspect present invention embodiment is realized when which is executed by processor
Cruise control method.
Non-transitorycomputer readable storage medium according to an embodiment of the present invention, by the cruise for executing above-mentioned vehicle
Control method can not only carry out speed to stablize, accurately control, improve the comfort of vehicle, and be able to ascend speed
The response speed of control, while can be improved the robustness of system.
Detailed description of the invention
Fig. 1 is the flow chart of the cruise control method of vehicle according to an embodiment of the present invention；
Fig. 2 is the flow chart of the cruise control method of vehicle according to an embodiment of the invention；
Fig. 3 is the block diagram of the cruise control apparatus of vehicle according to an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings come describe the vehicle proposed according to embodiments of the present invention cruise control method, vehicle cruise
Control device, vehicle, electronic equipment and non-transitorycomputer readable storage medium.
Fig. 1 is the flow chart of the cruise control method of vehicle according to an embodiment of the present invention.
It should be noted that the vehicle in the embodiment of the present invention, can be pure electric vehicle, hybrid vehicle and fuel vehicle
Etc., that is to say, that the cruise control method of the embodiment of the present invention can be applied to pure electric vehicle, hybrid vehicle and fuel oil
Vehicle etc..
As shown in Figure 1, the cruise control method of the vehicle of the embodiment of the present invention can comprise the following steps that
S1 obtains the current vehicle speed and target vehicle speed of vehicle.
Wherein, the current vehicle speed v of the vehicle speed sensor real-time detection vehicle of built-in vehicle can be passed throughc；Target vehicle speed vaIt can root
It is set, and is had previously been stored in the storage unit of vehicle according to actual conditions, therefore, can be transferred from the storage unit of vehicle
The target vehicle speed v of vehiclea。
S2 obtains the amendment torque of driving demand torque and vehicle according to current vehicle speed and target vehicle speed.
Specifically, in the current vehicle speed v for getting vehiclecWith target vehicle speed vaIt afterwards, can be according to the current vehicle speed v of vehiclec
With target vehicle speed va, calculate vehicle from current vehicle speed vcIt is adjusted to target vehicle speed vaRequired theoretical output torque, that is, drive
Demand torque Tt。
In order to timely and effectively obtain driving demand torque Tt, in one embodiment of the present of invention, propose one kind
According to current vehicle speed vcWith target vehicle speed vaObtain driving demand torque TtMethod, as shown in Fig. 2, this method may include following
Step:
S201 obtains the acceleration resistance of vehicle according to current vehicle speed and target vehicle speed.
Specifically, the acceleration resistance F of vehiclef, it is vehicle with aimed acceleration aa(that is, by vehicle from current vehicle speed vcIt adjusts
Whole is target vehicle speed vaRequired acceleration) corresponding acceleration resistance when driving, it is generally the case that the acceleration resistance F of vehiclef
With aimed acceleration aaThere is certain relationships, i.e. Ff=m*aa, m is that the quality of vehicle therefore can be according to aimed acceleration
aaObtain the acceleration resistance F of vehiclef。
It wherein, can be according to the target vehicle speed v of vehicleaWith current vehicle speed vcChoose suitable aimed acceleration aa, citing and
Speech, if the target vehicle speed v of vehicleaWith current vehicle speed vcThe absolute value of difference be greater than 20km/h, then aimed acceleration aaIt is exhausted
Maximum value 2m/s can reach to value2；If the target vehicle speed v of vehicleaWith current vehicle speed vcDifference be 0km/h, then target accelerate
Spend aaFor 0m/s2；If the target vehicle speed v of vehicleaWith current vehicle speed vcThe absolute value of difference be within the scope of 0~20m/h
When, aimed acceleration a can be chosen by way of linear interpolationaValue.
That is, the target vehicle speed v of vehicle can be passed throughaWith current vehicle speed vcChoose suitable aimed acceleration aa, then lead to
Cross aimed acceleration aaObtain the acceleration resistance F of vehiclef。
S202, the gradient of road where obtaining vehicle, and according to the grade resistance of gradient acquisition vehicle.
Specifically, the grade resistance F of vehiclei, be vehicle in up-hill journey, gravity along ramp inclined-plane component,
Show as a kind of resistance of vehicle driving.The grade resistance F of vehicleiWith the gradient of road where the current gravity of vehicle, vehicle
There is certain relationships, therefore, the slope of vehicle can be calculated according to the gradient of road where vehicle and the current gravitometer of vehicle
Spend resistance Fi。
S203 obtains the rolling resistance and air drag of vehicle.
Specifically, vehicle is in motion, wheel and ground are mutual in the radial, tangential of contact area and lateral generation
Also there is corresponding deformation with ground in active force, tire.Either tire or ground, deformation process are necessarily accompanied with centainly
Energy loss.These energy losses are generation rolling resistance F when turning a wheelfBasic reason.Under normal circumstances, vehicle
Total rolling resistance FfThere is certain relationships, i.e. F with the gravity G and coefficient of rolling resistance f of vehiclef=G*f.Wherein, it rolls
Dynamic resistance coefficient f can be determined by test, the structure of size and wheel, the air pressure of wheel, speed and road conditions etc.
Factor is related, and under normal circumstances, under conditions of determining vehicle and road surface, coefficient of rolling resistance f can be constant.
The air drag F of vehiclew, can be suffered when vehicle is relative to air movement for vehicle in air medium when driving
Component of the air effect power on vehicle heading, wherein air drag FwIt is square directly proportional to the speed v's of vehicle,
That is Fw=k*v2, wherein k is fixed coefficient, and v is the speed of vehicle, FwIt therefore can be according to vehicle for the air drag of vehicle
Target vehicle speed vaObtain the air drag F of vehiclew。
S204 obtains driving demand torque according to the rolling resistance of vehicle, air drag, grade resistance and acceleration resistance.
In the acceleration resistance F for calculating separately out vehiclef, grade resistance Fi, rolling resistance FfWith air drag FwAfterwards, can lead to
It crosses following formula and generates driving demand torque Tt:
Tt=(Ff+Fi+Ff+Fw) * r, (1)
Wherein, FfFor the acceleration resistance of vehicle；FiFor the grade resistance of vehicle；FfFor the rolling resistance of vehicle；FwFor vehicle
Air drag；R is the radius of wheel；TtTo drive demand torque.That is, in the acceleration resistance for calculating separately out vehicle
Ff, grade resistance Fi, rolling resistance FfWith air drag FwAfterwards, it substitutes into formula (1), driving demand torque T can be calculatedt。
It further, can also be according to the current vehicle speed v of vehiclecWith target vehicle speed vaObtain the amendment torque T of vehiclepi。
According to one embodiment of present invention, the amendment torque of vehicle is obtained according to the current vehicle speed target vehicle speed of vehicle,
It include: that adjustment factor is obtained according to current vehicle speed；Amendment torque is obtained according to adjustment factor, current vehicle speed and target vehicle speed.
Specifically, the amendment torque T of vehiclepiWith PI adjustment factor Kp、KiAnd the current vehicle speed v of vehiclecAnd target carriage
Fast vaThere are certain relationships, that is,
Tpi=Kp*(va-vc)+Ki*∫(va-vc)dt (2)
Wherein, Kp、KiFor PI adjustment factor, vcFor the current vehicle speed of vehicle, vaFor the target vehicle speed of vehicle.
Wherein, PI adjustment factor Kp、KiWith the current vehicle speed v of vehiclecThere is certain relationship, can before vehicle release,
PI adjustment factor K is obtained by largely testingp、KiWith the current vehicle speed v of vehiclecCorresponding relationship, statistics in the table, and
The table is stored in advance in the storage of vehicle, in order in the current vehicle speed v according to vehiclecObtain PI adjustment factor Kp、Ki
When call.Therefore, PI adjustment factor K can be obtained according to the current vehicle speed of vehiclep、Ki, also, system is adjusted getting PI respectively
Number Kp、KiAfterwards, the amendment torque T of vehicle can be calculated by formula (2)pi。
It should be noted that in practical applications, may there is the feelings of signal fluctuation when acquiring the speed signal of vehicle
Therefore condition in the speed signal for collecting vehicle, can be filtered the speed signal to disappear and tremble processing, to ensure to get
Speed signal accuracy, to improve the reliability and accuracy of system.
S3 obtains the cruise demand torque of vehicle according to driving demand torque and amendment torque, and is turned round according to cruise demand
Square carries out cruise control to vehicle.
According to one embodiment of present invention, cruise demand torque is the sum of driving demand torque and amendment torque.
Specifically, in the embodiment of the present invention, according to the driving demand torque of the speed of vehicle calculating vehicle, and according to
The speed of vehicle obtains PI adjustment factor, and the amendment torque of vehicle is calculated according to the speed of PI adjustment factor and vehicle, and
To driving demand torque and torque progress summation operation is corrected to calculate the cruise demand torque of vehicle, thus according to vehicle
Cruise demand torque adjusts the output torque of vehicle accordingly, for example, the output torque of vehicle, which is adjusted to cruise, to be needed
Torque is sought, so that speed progressivelyes reach and stablizes in target vehicle speed.That is, in the embodiment of the present invention, not only with being based on
Speed difference and the control program of amendment acceleration control speed, to promote the response speed of speed control and relaxing for vehicle
Adaptive, but also use the control program based on the PI speed difference controlled and speed is controlled, to eliminate different road surface feelings
Condition is influenced caused by speed.
Speed can not only be carried out as a result, to stablize, accurately controlled, improve the comfort of vehicle, and be able to ascend
The response speed of speed control, while can be improved the robustness of system.
In conclusion the cruise control method of vehicle according to an embodiment of the present invention, obtains the current vehicle speed and mesh of vehicle
Speed is marked, and obtains the amendment torque of driving demand torque and vehicle according to current vehicle speed and target vehicle speed, and according to driving
Demand torque and amendment torque obtain the cruise demand torque of vehicle, and carry out cruise control to vehicle according to cruise demand torque
System.Speed can not only be carried out as a result, to stablize, accurately controlled, improve the comfort of vehicle, and be able to ascend speed control
The response speed of system, while can be improved the robustness of system.
Fig. 3 is the block diagram of the cruise control apparatus of vehicle according to an embodiment of the present invention.As shown in figure 3, this hair
The cruise control apparatus of the vehicle of bright embodiment may include that the first acquisition module 100, second obtains module 200 and control module
300。
Wherein, the first acquisition module 100 is used to obtain the current vehicle speed and target vehicle speed of vehicle；Second obtains module 200
For obtaining the amendment torque of driving demand torque and vehicle according to current vehicle speed and target vehicle speed；Control module 300 is used for root
The cruise demand torque of vehicle is obtained according to driving demand torque and amendment torque, and vehicle is patrolled according to cruise demand torque
Boat control.
According to one embodiment of present invention, cruise demand torque is the sum of driving demand torque and amendment torque.
According to one embodiment of present invention, the second acquisition module 200 is specifically used for: according to current vehicle speed and target vehicle speed
Obtain the acceleration resistance of vehicle；The gradient of road where obtaining vehicle, and according to the grade resistance of gradient acquisition vehicle；Obtain vehicle
Rolling resistance and air drag；And it is obtained according to the rolling resistance of vehicle, air drag, grade resistance and acceleration resistance
Drive demand torque.
According to one embodiment of present invention, the second acquisition module 200 is specifically used for: being obtained according to current vehicle speed and adjusts system
Number；Amendment torque is obtained according to adjustment factor, current vehicle speed and target vehicle speed.
It should be noted that undisclosed details in the cruise control apparatus of the vehicle of the embodiment of the present invention, please refers to this
Details disclosed in the cruise control method of the vehicle of inventive embodiments, specific I will not elaborate.
The cruise control apparatus of vehicle according to an embodiment of the present invention works as front truck by the first acquisition module acquisition vehicle
Speed and target vehicle speed, and obtain module by second and driving demand torque and vehicle are obtained according to current vehicle speed and target vehicle speed
Torque is corrected, and obtains the cruise demand torque of vehicle according to driving demand torque and amendment torque by control module, and
Cruise control is carried out to vehicle according to cruise demand torque.Speed can not only be carried out as a result, to stablize, accurately controlled, mentioned
The comfort of high vehicle, and it is able to ascend the response speed of speed control, while can be improved the robustness of system.
In addition, the embodiment of the present invention also proposes a kind of vehicle comprising the cruise control apparatus of above-mentioned vehicle.
Vehicle according to an embodiment of the present invention, by the cruise control apparatus of above-mentioned vehicle, can not only to speed into
Row is stablized, is accurately controlled, and the comfort of vehicle is improved, and is able to ascend the response speed of speed control, while can mention
The robustness of high system.
In addition, the embodiment of the present invention also proposes a kind of electronic equipment, including memory, processor；Wherein, processor is logical
Cross and read in memory the executable program code that stores to run program corresponding with executable program code, with for realizing
The cruise control method of above-mentioned vehicle.
Electronic equipment according to an embodiment of the present invention can not only by executing the cruise control method of above-mentioned vehicle
Speed stablize, is accurately controlled, the comfort of vehicle is improved, and is able to ascend the response speed of speed control, together
When can be improved the robustness of system.
In addition, the embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium, it is stored thereon with
Computer program, the program realize the cruise control method of above-mentioned vehicle when being executed by processor.
Non-transitorycomputer readable storage medium according to an embodiment of the present invention, by the cruise for executing above-mentioned vehicle
Control method can not only carry out speed to stablize, accurately control, improve the comfort of vehicle, and be able to ascend speed
The response speed of control, while can be improved the robustness of system.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In addition, in the description of the present invention, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ",
"upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " clockwise ", " inverse time
The orientation or positional relationship of the instructions such as needle ", " axial direction ", " radial direction ", " circumferential direction " is to be based on the orientation or positional relationship shown in the drawings,
Be merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of cruise control method of vehicle characterized by comprising
Obtain the current vehicle speed and target vehicle speed of the vehicle；
The amendment torque of driving demand torque and the vehicle is obtained according to the current vehicle speed and the target vehicle speed；And
The cruise demand torque of the vehicle is obtained according to the driving demand torque and the amendment torque, and is patrolled according to described
The demand torque that navigates carries out cruise control to the vehicle.
2. the cruise control method of vehicle as described in claim 1, which is characterized in that the cruise demand torque is the drive
Dynamic the sum of demand torque and the amendment torque.
3. the cruise control method of vehicle as described in claim 1, which is characterized in that described according to the current vehicle speed and institute
It states target vehicle speed and obtains driving demand torque, comprising:
The acceleration resistance of the vehicle is obtained according to the current vehicle speed and the target vehicle speed；
The gradient of vehicle place road is obtained, and obtains the grade resistance of the vehicle according to the gradient；
Obtain the rolling resistance and air drag of the vehicle；And
The drive is obtained according to the rolling resistance of the vehicle, the air drag, the grade resistance and the acceleration resistance
Dynamic demand torque.
4. the cruise control method of vehicle as described in claim 1, which is characterized in that described to work as front truck according to the vehicle
The fast and described target vehicle speed obtains the amendment torque of the vehicle, comprising:
Adjustment factor is obtained according to the current vehicle speed；
The amendment torque is obtained according to the adjustment factor, the current vehicle speed and the target vehicle speed.
5. a kind of cruise control apparatus of vehicle characterized by comprising
First obtains module, and the first acquisition module is used to obtain the current vehicle speed and target vehicle speed of the vehicle；
Second obtains module, and described second, which obtains module, is used to obtain driving need according to the current vehicle speed and the target vehicle speed
Seek the amendment torque of torque and the vehicle；
Control module, the control module are used to obtain the vehicle according to the driving demand torque and the amendment torque
Cruise demand torque, and cruise control is carried out to the vehicle according to the cruise demand torque.
6. the cruise control apparatus of vehicle as claimed in claim 5, which is characterized in that the cruise demand torque is the drive
Dynamic the sum of demand torque and the amendment torque.
7. the cruise control apparatus of vehicle as claimed in claim 5, which is characterized in that the second acquisition module is specifically used
In:
The acceleration resistance of the vehicle is obtained according to the current vehicle speed and the target vehicle speed；
The gradient of vehicle place road is obtained, and obtains the grade resistance of the vehicle according to the gradient；
Obtain the rolling resistance and air drag of the vehicle；And
The drive is obtained according to the rolling resistance of the vehicle, the air drag, the grade resistance and the acceleration resistance
Dynamic demand torque.
8. the cruise control apparatus of vehicle as claimed in claim 5, which is characterized in that the second acquisition module is specifically used
In:
Adjustment factor is obtained according to the current vehicle speed；
The amendment torque is obtained according to the adjustment factor, the current vehicle speed and the target vehicle speed.
9. a kind of vehicle, which is characterized in that the cruise control apparatus including the vehicle as described in any one of claim 5-8.
10. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
The cruise control method of the vehicle as described in any in claim 1-4 is realized when being executed by processor.
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