CN110217221A

CN110217221A - Cruise control method, device, entire car controller, vehicle and readable storage medium storing program for executing

Info

Publication number: CN110217221A
Application number: CN201910559041.7A
Authority: CN
Inventors: 王亚伟; 傅彬; 宣奇武
Original assignee: Sichuan New Energy Automotive Co Ltd
Current assignee: Sichuan New Energy Automotive Co Ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2019-09-10
Anticipated expiration: 2039-06-25
Also published as: CN110217221B

Abstract

The embodiment of the present application provides a kind of cruise control method, device, entire car controller, vehicle and readable storage medium storing program for executing, by when hybrid vehicle is in cruise mode, it determines the demand torque of current dynamic mode and hybrid vehicle, and then demand torque is distributed to by the corresponding actuator of the dynamic mode according to the corresponding allocation plan of dynamic mode.In this way, it allows in hybrid vehicle, demand torque can be distributed to actuator corresponding with current power mode to realize cruise function according to dynamic mode, different dynamic modes in hybrid vehicle is allowed to match different allocation plans to realize the adaptability distribution of demand torque, the adaptability torque distribution to hybrid vehicle different dynamic mode is realized, cruise function can be run well under different dynamic mode.

Description

Cruise control method, device, entire car controller, vehicle and readable storage medium storing program for executing

Technical field

This application involves new energy vehicle technical fields, in particular to a kind of cruise control method, device, vehicle Controller, vehicle and readable storage medium storing program for executing.

Background technique

With the increase of car ownership, orthodox car is faced with energy shortage, environmental pollution and the row being increasingly stringenter The problems such as putting regulation, transition of the hybrid vehicle as traditional combustion engine and pure electric automobile are that the current energy that solves lacks With most realistic technology path the problems such as environmental pollution, has course continuation mileage length, good dynamic property, discharges small and energy consumption Low advantage builds without ground charging station, is the vehicle for most possibly realizing industrialization at this stage.The increasing of car ownership Add, another serious problem of society today of bring is exactly that road traffic accident takes place frequently, year by year because of casualties caused by traffic accident Rise, and the reason of cause traffic accident, 80% or more be due to driver is mishandling, caused by reaction not in time, Vehicle safety is brought into schedule, and the emphasis of vehicle safety is partially or completely to replace driver's operation, is subtracted Light driver's burden, avoids fatigue driving, reminds driver to take measures in time before danger occurs, therefore intelligent vehicle Cruise drive become future automobile development inexorable trend.

Currently, more mature cruise control scheme is mostly the cruise control scheme applied to traditional combustion engine automobile, It is compatible with the structure of traditional combustion engine automobile and dynamic mode.And since hybrid vehicle has dual power source (electricity Machine and engine), it there is a variety of dynamic modes (such as electric-only mode, hybrid mode etc.), this is compared to tradition For internal-combustion engines vehicle, structure and dynamic mode are increasingly complex, result in the cruise that can be applied to traditional internal-combustion engines vehicle Control program is not particularly suited for hybrid vehicle, therefore provides a kind of cruise control scheme suitable for hybrid vehicle just Seem very it is necessary to.

Summary of the invention

The embodiment of the present application is designed to provide a kind of cruise control method, device, entire car controller, vehicle and readable Storage medium, to realize the cruise control for hybrid vehicle.

The embodiment of the present application provides a kind of cruise control method, is applied on hybrid vehicle, comprising: described mixed When conjunction power car is in cruise mode, the demand torque of current dynamic mode and the hybrid vehicle is determined；Root The demand torque is distributed into the corresponding actuator of the dynamic mode according to the dynamic mode corresponding allocation plan.

During above-mentioned realization, by determining current dynamic mode when hybrid vehicle is in cruise mode And the demand torque of hybrid vehicle, and then demand torque is distributed to by this according to the corresponding allocation plan of dynamic mode and is moved The corresponding actuator of force mode.In this way, allowing in hybrid vehicle, demand torque can be divided according to dynamic mode Actuator corresponding with current power mode is assigned to realize cruise function, so that dynamic mode different in hybrid vehicle Different allocation plans can be matched to realize the adaptability distribution of demand torque, realized to hybrid vehicle different dynamic The adaptability torque of mode distributes, and cruise function can be run well under different dynamic mode.

Further, the current dynamic mode of the determination includes: patrolling of obtaining that the hybrid vehicle is presently in Boat situation；Obtain the current car status information of the hybrid vehicle；Believed according to the cruise situation and vehicle-state The dynamic mode that breath determination need to use；It controls the hybrid vehicle to be under the dynamic mode that need to be used, and determines The dynamic mode that need to be used is the current dynamic mode.

During above-mentioned realization, by obtaining the cruise situation and hybrid electric vehicle that hybrid vehicle is presently in Current car status information, and then the dynamic mode that need to be used according to cruise situation and car status information determination, into And it controls hybrid vehicle and is under the dynamic mode, and determine that the dynamic mode is the current dynamic mode.In this way Vehicle-state that can be current according to the cruise situation being presently in during cruise selects dynamic mode appropriate to run Vehicle enables vehicle to run with more suitable dynamic mode, and then guarantees the cruise effect of vehicle.

Further, the cruise situation includes constant speed situation；The constant speed situation be the hybrid vehicle not It was found that travel situations when front vehicles；The car status information includes vehicle speed information, power battery status information and parallel connection Mode flag information；The vehicle speed information includes preset target vehicle speed；The power battery status information includes power battery Remaining capacity；The paralleling model flag information includes paralleling model mark speed upper limit value；It is described according to the cruise situation And the dynamic mode that car status information determination need to use includes: to be lower than default battery electricity in the power battery remaining capacity Lower limit value is measured, the target vehicle speed is higher than the paralleling model mark speed upper limit value, and current cruise situation is constant speed situation When, determine the dynamic mode that need to be used for hybrid mode.

It is to be appreciated that when under hybrid mode, vehicle can pass through hair simultaneously for hybrid vehicle Motivation and motor provide power, to guarantee that vehicle has better power performance.But if vehicle in use Frequently enter or exit hybrid mode, certain damage can be caused for engine and motor.Therefore in above-mentioned reality During now, it is lower than default battery capacity lower limit value by being limited to power battery remaining capacity, target vehicle speed is higher than the mould Formula mark speed upper limit value, and when current cruise situation is constant speed situation, hybrid mode is just used, thus to a certain degree On avoid vehicle and frequently enter or exit hybrid mode situation in use, improve vehicle uses the longevity Life.

Further, the cruise situation includes accelerating situation；The acceleration situation is to deposit in the hybrid vehicle In front vehicles, and the hybrid vehicle with the front vehicles it is current at a distance from meet default condition of giving it the gun Situation；The car status information includes vehicle speed information, power battery status information and paralleling model flag information；The speed Information includes preset target vehicle speed；The power battery status information includes power battery remaining capacity；The paralleling model Flag information includes paralleling model mark speed upper limit value；It is described that need are determined according to the cruise situation and car status information The dynamic mode of use includes: to be lower than default battery capacity lower limit value, the target vehicle speed in the power battery remaining capacity Higher than the paralleling model mark speed upper limit value, and current cruise situation is when accelerating situation, determine it is described need to use it is dynamic Force mode is hybrid mode.

During above-mentioned realization, it is lower than default battery capacity lower limit value, mesh by being limited to power battery remaining capacity It marks speed and is higher than the mode flags speed upper limit value, and current cruise situation is when accelerating situation, just to use hybrid power mould Formula mentions so that avoiding vehicle to a certain extent frequently enters in use or exit hybrid mode situation The service life of vehicle is risen.

Further, the method also includes: when controlling the hybrid vehicle and being in the hybrid mode, Revolving speed control instruction is exported to the clutch controller of the hybrid vehicle, so that the clutch controller is according to Revolving speed control instruction controls the clutch both ends revolving speed of the hybrid vehicle, so that clutch both ends revolving speed matches.

During above-mentioned realization, when using hybrid mode, the clutch to hybrid vehicle can be passed through Controller exports revolving speed control instruction, so that clutch controller controls hybrid vehicle according to revolving speed control instruction Clutch both ends revolving speed, so that clutch both ends revolving speed matches.It can thus make hybrid vehicle mixed in entrance It is more smooth when conjunction dynamic mode, enhance the riding experience of vehicle.

Further, it is determined that the demand torque of the hybrid vehicle includes: to obtain working as the hybrid vehicle Preceding speed；The demand torque is determined according to the difference of the current vehicle speed and preset target vehicle speed.

During above-mentioned realization, by obtaining the current vehicle speed of hybrid vehicle, and then according to current vehicle speed and in advance If the difference of target vehicle speed determine demand torque.And in practical applications, speed is associated with torque, therefore by current Speed corresponding well can be sought obtaining actually required demand torque with the difference of preset target vehicle speed, to ensure that The accuracy for the demand torque determined.

Further, the current dynamic mode is hybrid mode；It is described corresponding according to the dynamic mode The demand torque is distributed to the corresponding actuator of the dynamic mode includes: whether to judge the demand torque by allocation plan Greater than the peak torque of the engine of the hybrid vehicle；If the demand torque is greater than the hair of the hybrid vehicle The peak torque of motivation then distributes the peak torque to the engine, and the demand torque is distributed the maximum Surplus torque after torque distributes to the motor of the hybrid vehicle；If it is dynamic that the demand torque is less than or equal to the mixing The demand torque is then distributed to the engine by the peak torque of the engine of power vehicle.

During above-mentioned realization, demand torque is preferentially distributed into engine, is greater than in engine demand torque and starts When the peak torque of machine, peak torque is distributed to engine, and demand torque is distributed to the surplus torque point after peak torque The motor of dispensing hybrid vehicle.It makes full use of the performance of engine to provide kinetic energy for vehicle in this way, is moved by motor Power auxiliary, so that the usage amount of electric energy be effectively reduced, reaches energy-efficient effect.

Further, described that the demand torque is distributed to by described move according to the corresponding allocation plan of the dynamic mode The corresponding actuator of force mode includes: to judge institute when the current dynamic mode determined is pure power mode or series model State the cruise situation that hybrid vehicle is presently in；It is constant speed feelings in the cruise situation that the hybrid vehicle is presently in When condition, the demand torque is distributed to the motor of the hybrid vehicle；Wherein, the constant speed situation is in the mixing Power car does not find travel situations when front vehicles.

It should be understood that in practical applications, hybrid vehicle when using pure power mode or series model, be by Motor is responsible for the power provided.Therefore during above-mentioned realization, pure power mode or series model, and hybrid electric vehicle are being used When being currently at constant speed situation, demand torque can be distributed to motor, the power of constant-speed traveling is provided by motor, this symbol The vehicle actual conditions under pure power mode or series model are closed, the reliability of cruise can be effectively ensured.

Further, described that the demand torque is distributed to by described move according to the corresponding allocation plan of the dynamic mode The corresponding actuator of force mode includes: to judge institute when the current dynamic mode determined is pure power mode or series model State the cruise situation that hybrid vehicle is presently in；It is to accelerate feelings in the cruise situation that the hybrid vehicle is presently in When condition, the demand torque is distributed to the motor of the hybrid vehicle；Wherein, the acceleration situation is in the mixing Power car there are front vehicles, and the hybrid vehicle and the front vehicles it is current at a distance from meet and default accelerate row The case where sailing condition.

During above-mentioned realization, pure power mode or series model are being used, and hybrid vehicle is currently at acceleration When situation, demand torque can be distributed to motor, the power of constant-speed traveling is provided by motor, this meets pure power mode or string The reliability of the accelerator during cruise can be effectively ensured in vehicle actual conditions under gang mould formula.

Further, described that the demand torque is distributed to by described move according to the corresponding allocation plan of the dynamic mode The corresponding actuator of force mode includes: to judge institute when the current dynamic mode determined is pure power mode or series model State the cruise situation that hybrid vehicle is presently in；It is deceleration feelings in the cruise situation that the hybrid vehicle is presently in When condition, the demand torque is respectively allocated to the motor of the hybrid vehicle and described mixed according to default allocation proportion Close the body stabilization system of power car；Wherein, the deceleration situations be in the hybrid vehicle, there are front vehicles, and The hybrid vehicle with the front vehicles it is current at a distance from meet default Reduced Speed Now condition the case where.

It should be understood that in practical applications, hybrid vehicle is when using pure power mode or series model, vehicle Braking is collectively responsible for by motor and body stabilization system.Therefore during above-mentioned realization, pure power mode or string are being used Gang mould formula, and when hybrid vehicle is currently at deceleration situations, demand torque can be distributed to motor and hybrid power The body stabilization system of vehicle, this meets the vehicle actual conditions under pure power mode or series model, cruise can be effectively ensured The reliability of moderating process in the process.

Further, described that the demand torque is distributed to by described move according to the corresponding allocation plan of the dynamic mode The corresponding actuator of force mode includes: to judge institute when the current dynamic mode determined is pure power mode or series model State the cruise situation that hybrid vehicle is presently in；It is urgent system in the cruise situation that the hybrid vehicle is presently in Emotionally when condition, the demand torque is respectively allocated to motor and the institute of the hybrid vehicle according to default allocation proportion State the body stabilization system of hybrid vehicle；Wherein, the emergency braking situation is before hybrid vehicle presence Square vehicle, and the hybrid vehicle and the front vehicles it is current at a distance from the case where meeting pre-programmed emergency braking condition.

During above-mentioned realization, pure power mode or series model are being used, and hybrid vehicle is currently at promptly When brake condition, demand torque can be distributed to the body stabilization system of motor and hybrid vehicle, this meets pure electricity The reliability of the emergency braking process during cruise can be effectively ensured in vehicle actual conditions under mode or series model.

The embodiment of the present application also provides a kind of cruise control methods, are applied on hybrid vehicle, comprising: described mixed The self-adaption cruise system for closing power car monitors whether that there are front vehicles；The self-adaption cruise system is according to before described The monitoring result of square vehicle determines the cruise situation that the hybrid vehicle is presently in, and the cruise situation is sent to The entire car controller of the hybrid vehicle；The entire car controller obtains the current vehicle-state of the hybrid vehicle Information；The dynamic mode that the entire car controller need to be used according to the cruise situation and car status information determination；It is described Hybrid vehicle described in vehicle control unit controls is under the dynamic mode, and according to the dynamic mode pair that need to be used The demand torque is distributed to the corresponding actuator of the dynamic mode that need to be used by the allocation plan answered.

During above-mentioned realization, self-adaption cruise system can monitor whether to determine current move there are front vehicles The demand torque of force mode and hybrid vehicle, and then hybrid vehicle is determined according to the monitoring result to front vehicles The cruise situation being presently in, and the situation that will cruise is sent to the entire car controller of hybrid vehicle.Entire car controller obtains The current car status information of hybrid vehicle, and then moved according to what cruise situation and car status information determination need to use Force mode, and control hybrid vehicle and be under the dynamic mode, and then will according to the corresponding allocation plan of the dynamic mode Demand torque distributes to the corresponding actuator of the dynamic mode.In this way, allow for during the cruise of hybrid vehicle, it can To select dynamic mode appropriate automatically into the vehicle-state current according to the cruise situation being presently according to actual needs Vehicle is run, vehicle is run with more suitable dynamic mode, and can by demand torque according to used dynamic The corresponding allocation plan of force mode realizes the adaptability distribution of demand torque, and then ensure that the cruise effect of vehicle.

Further, the self-adaption cruise system determines that the mixing is dynamic according to the monitoring result to the front vehicles It is described mixed there is no determining when the front vehicles that the cruise situation that power vehicle is presently in, which includes: in the monitoring result, Closing cruise situation locating for power car is constant speed situation；It is to obtain institute there are when the front vehicles in the monitoring result State distance of the hybrid vehicle away from the front vehicles；When the distance satisfaction is preset and gives it the gun condition, described in determination Cruise situation locating for hybrid vehicle is to accelerate situation；When the distance meets default Reduced Speed Now condition, institute is determined Stating cruise situation locating for hybrid vehicle is deceleration situations；When the distance meets pre-programmed emergency braking condition, determine Cruise situation locating for the hybrid vehicle is emergency braking situation.

During above-mentioned realization, by whether there are front vehicles, and there are when front vehicles and front vehicles Distance determines that the cruise situation that hybrid vehicle is presently in (is to need constant-speed traveling, it is desired nonetheless to accelerate, slow down Or emergency braking), the dynamic mode that ensure that the intelligentized control method of cruise process, and carried out for after, which determines, to be provided effectively Informational support.

The embodiment of the present application also provides a kind of cruise control apparatus, are applied on hybrid vehicle, comprising: determine mould Block and distribution module；The determining module is used for when the hybrid vehicle is in cruise mode, determines current power The demand torque of mode and the hybrid vehicle；The distribution module is used for according to the corresponding distribution of the dynamic mode The demand torque is distributed to the corresponding actuator of the dynamic mode by scheme.

The embodiment of the present application also provides a kind of cruise control apparatus, are applied on hybrid vehicle, comprising: cruise mould Block and control module；The cruise module is for monitoring whether that there are front vehicles, and according to the monitoring to the front vehicles As a result it determines the cruise situation that the hybrid vehicle is presently in, the cruise situation is sent to the control module； The control module is for obtaining the current car status information of the hybrid vehicle；According to the cruise situation and vehicle The dynamic mode that status information determination need to use；It controls the hybrid vehicle and is in the dynamic mode that need to be used Under, and according to the corresponding allocation plan of the dynamic mode that need to be used by the demand torque distribute to it is described need to use it is dynamic The corresponding actuator of force mode.

The embodiment of the present application also provides a kind of hybrid vehicles, including self-adaption cruise system and entire car controller； The self-adaption cruise system is determined for monitoring whether that there are front vehicles, and according to the monitoring result to the front vehicles The cruise situation is sent to the vehicle of the hybrid vehicle by the cruise situation that the hybrid vehicle is presently in Controller；The entire car controller is for obtaining the current car status information of the hybrid vehicle；According to the cruise The dynamic mode that situation and car status information determination need to use；Using the dynamic mode that need to be used, and according to described It is corresponding that the demand torque is distributed to the dynamic mode that need to be used by the corresponding allocation plan of the dynamic mode that need to be used Actuator.

The embodiment of the present application also provides a kind of entire car controllers, including processor, memory and communication bus；It is described logical Believe bus for realizing the connection communication between processor and memory；The processor is for executing one stored in memory A or multiple programs, the step of to realize any of the above-described kind of cruise control method.

Additionally provide a kind of readable storage medium storing program for executing in the embodiment of the present application, the readable storage medium storing program for executing be stored with one or Multiple programs, one or more of programs can execute by one or more processor, to realize that any of the above-described kind is patrolled The step of control method of navigating.

Detailed description of the invention

Technical solution in ord to more clearly illustrate embodiments of the present application will make below to required in the embodiment of the present application Attached drawing is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore should not be seen Work is the restriction to range, for those of ordinary skill in the art, without creative efforts, can be with Other relevant attached drawings are obtained according to these attached drawings.

Fig. 1 is a kind of flow diagram of cruise control method provided by the embodiments of the present application；

Fig. 2 is a kind of determination flow diagram of current power mode provided by the embodiments of the present application；

Fig. 3 is a kind of structural schematic diagram of hybrid vehicle provided by the embodiments of the present application；

Fig. 4 is a kind of control system figure of hybrid vehicle provided by the embodiments of the present application；

Fig. 5 is that a kind of demand torque under hybrid mode provided by the embodiments of the present application distributes schematic diagram；

Fig. 6 is a kind of structural block diagram of cruise control apparatus provided by the embodiments of the present application；

Fig. 7 is the structural block diagram of the more specific cruise control apparatus of one kind provided by the embodiments of the present application；

Fig. 8 is the structural block diagram of another cruise control apparatus provided by the embodiments of the present application；

Fig. 9 is a kind of structural block diagram of entire car controller provided by the embodiments of the present application.

Specific embodiment

Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application is described.

Embodiment one:

Fig. 1 is please referred to, Fig. 1 is a kind of flow diagram of cruise control method provided by the embodiments of the present application.In this Shen Please be in embodiment, cruise control method is applied on hybrid vehicle, comprising:

S101: when hybrid vehicle is in cruise mode, current dynamic mode and hybrid vehicle are determined Demand torque.

It should be noted that hybrid electric vehicle is the inside referred to while being equipped with engine and motor, it can pass through hair Motivation driving, can also pass through motor-driven vehicle.It, can also be with and since hybrid electric vehicle can be by engine driving It, can be in the presence of there are many different dynamic modes by motor driven, therefore in hybrid vehicle.Such as there may be pure electricity Mode (driving function is individually undertaken by motor), hybrid mode (by motor and engine shared driving function).

It should also be noted that, most hybrid electric vehicles all have the function of automatic cruising, Yong Huke on the market at present With by advance there are button or knob enter automatic cruise mode to control vehicle.

In the embodiment of the present application, when hybrid vehicle is in cruise mode, entire car controller can be determined currently Dynamic mode, which can be the practical dynamic mode used of current hybrid vehicle.But it should reason Solution, when vehicle carries out automatic cruising, actual travel environment is complicated, therefore when vehicle progress automatic cruising, vehicle Controller can also according to the state of current actual travel environment and vehicle itself, automatically select corresponding dynamic mode come into Row operation, to provide better riding experience for driver and passenger.

Optionally, shown in Figure 2, entire car controller can by following steps realize dynamic mode automatically select with And the determination of current power mode:

S201: the cruise situation that hybrid vehicle is presently in is obtained.

In the embodiment of the present application, it can be realized by the self-adaption cruise system in hybrid vehicle dynamic to mixing The determination for the cruise situation that power vehicle is presently in, and it is sent to entire car controller.

Optionally, self-adaption cruise system can whether there is front vehicles by equipment monitorings such as radar or cameras, And then the cruise situation that hybrid vehicle is presently in is determined according to the monitoring result of front vehicles, and cruise situation is sent To the entire car controller of hybrid vehicle.

Optionally, in the embodiment of the present application, cruise situation may include constant speed situation, accelerate situation, deceleration situations and At least one of emergency braking situation situation.With cruise situation and meanwhile include constant speed situation, accelerate situation, deceleration situations and tight In case where anxious brake condition, self-adaption cruise system is that can determine mixing there is no when front vehicles in monitoring result Cruise situation locating for power car is constant speed situation；Self-adaption cruise system monitoring result be there are when front vehicles, can Distance of the hybrid vehicle away from front vehicles is obtained to pass through, to determine current cruise situation.Illustratively, it adaptively patrols Boat system can determine cruise situation locating for hybrid vehicle when distance satisfaction is preset and gives it the gun condition to accelerate feelings Condition；When distance meets default Reduced Speed Now condition, determine that cruise situation locating for hybrid vehicle is deceleration situations；Away from When from meeting pre-programmed emergency braking condition, determine that cruise situation locating for hybrid vehicle is emergency braking situation.It needs to manage Solution, in the embodiment of the present application, default condition of giving it the gun, default Reduced Speed Now condition and pre-programmed emergency braking condition can be with It is set according to actual needs by engineer, for example, it can be set to default condition of giving it the gun is to be greater than 200 meters at a distance from front truck, Default Reduced Speed Now condition is to be greater than 50 meters at a distance from front truck less than 100 meters, pre-programmed emergency braking condition be with front truck away from From less than 50 meters etc..

Significantly, since in practical applications, braking distance is also related with speed, and (speed is faster, required system Dynamic distance is bigger).Therefore in the embodiment of the present application, engineer is in default condition of giving it the gun, Reduced Speed Now condition and urgent When braking condition, it can be different travel speeds, different driving conditions are set.And then self-adaption cruise system is in determination When situation of cruising, current Vehicle Speed can be first obtained, and then according to current driving data and current driving speed Corresponding default condition of giving it the gun, Reduced Speed Now condition and emergency braking condition, to determine that hybrid vehicle is current Locating cruise situation.

It is to be appreciated that can be combined with the current vehicle speed and front vehicles of front vehicles in the embodiment of the present application Acceleration determines cruise situation that hybrid vehicle is presently in, for example, it can be set to working as front truck in hybrid vehicle The current vehicle speed of speed ratio front vehicles is fast, and the difference of the current vehicle speed of the current vehicle speed and front vehicles of hybrid vehicle is greater than Pre-set velocity difference threshold value, and the acceleration of front vehicles be less than calculated according to the current vehicle speed of current spacing and front vehicles The minimum acceleration that will not bump against of two vehicles, it is determined that the cruise situation that hybrid vehicle is presently in is deceleration situations.It needs It is to be understood that aforementioned is only the feasible certain example that the application can use, do not represent in the application for hybrid electric vehicle The method of determination of the cruise situation being presently in is only capable of being determined using foregoing manner.

It is to be appreciated that the current of front vehicles can be calculated in the embodiment of the present application by radar range finding algorithm Speed, the acceleration of front vehicles and the data such as at a distance from front vehicles.

S202: the current car status information of hybrid vehicle is obtained.

In the embodiment of the present application, car status information may include: vehicle speed information, power battery status information, vehicle At least one of operational mode information, engine condition information, paralleling model flag information, vehicle diagnosis information information.It needs It is noted that vehicle can have and can be total to by engine and motor under paralleling model paralleling model in the embodiment of the present application With driving vehicle.Paralleling model flag information is that vehicle is in the flag information under paralleling model, may include paralleling model Indicate speed upper limit value.So-called paralleling model mark speed upper limit value refers to the speed upper limit that vehicle is under paralleling model Value.

S203: the dynamic mode that need to be used according to cruise situation and car status information determination.

In the embodiment of the present application, dynamic mode may include hybrid mode.And it is to be appreciated that dynamic to mixing For power vehicle, when under hybrid mode, vehicle can provide power by engine and motor simultaneously, to guarantee Vehicle has better power performance.But if vehicle frequently enters in use or exits hybrid mode, Certain damage can be caused for engine and motor.Therefore it in a kind of embodiments possible of the embodiment of the present application, patrols Situation of navigating may include constant speed situation；Car status information may include vehicle speed information, power battery status information and simultaneously gang mould Formula flag information.Wherein, vehicle speed information includes preset target vehicle speed, and power battery status information includes the remaining electricity of power battery Amount, paralleling model flag information includes paralleling model mark speed upper limit value.At this point, may is that can be for a kind of possible example Power battery remaining capacity is lower than default battery capacity lower limit value, and target vehicle speed is higher than paralleling model mark speed upper limit value, and When current cruise situation is constant speed situation, the dynamic mode that determination need to use is hybrid mode.Another possible example is: Default battery capacity lower limit value can be lower than in power battery remaining capacity, target vehicle speed is higher than the paralleling model mark speed upper limit Value, and current cruise situation is when accelerating situation, the dynamic mode that determination need to use is hybrid mode.It is understood that It is that the scheme of aforementioned two kinds of possible examples can be applied in entire car controller simultaneously, namely may be set in power battery and remain Remaining electricity is lower than default battery capacity lower limit value, and target vehicle speed is higher than paralleling model mark speed upper limit value, and feelings of currently cruising When condition is constant speed situation or accelerates situation, the dynamic mode that determination need to use is hybrid mode.

It should be understood that typically user needs to set target vehicle speed when enabling automatic cruising function, so that Vehicle carries out cruise according to the target vehicle speed of setting in constant speed.In the embodiment of the present application, target vehicle speed can To be target vehicle speed that user sets when enabling automatic cruising function.In addition, in the embodiment of the present application, target vehicle speed can also To be a vehicle speed value being previously written by engineer in entire car controller.

Optionally, a vehicle speed value can be written in engineer in entire car controller in advance, and provides cruise vehicle for user Fast set-up function.And if then user sets speed when enabling automatic cruising function, is made using speed set by user For target vehicle speed；If user does not set speed when enabling automatic cruising function, using the vehicle speed value of engineer's write-in as mesh Mark speed.

In the embodiment of the present application, dynamic mode also may include pure power mode and/or series model.It needs to illustrate It is that under pure power mode, vehicle is responsible for being driven by motor, and is collectively responsible for being made by motor and body stabilization system It is dynamic；Under series model, vehicle is responsible for being driven by motor, and is collectively responsible for being braked by motor and body stabilization system And engine according to status informations such as the remaining capacities of power battery to power battery charging.

In the embodiment of the present application, cruise situation may include constant speed situation, accelerate situation, deceleration situations and emergency braking Situation；Car status information may include vehicle speed information, power battery status information, paralleling model flag information, diagnostic message. Wherein, vehicle speed information includes preset target vehicle speed, and power battery status information includes power battery remaining capacity, paralleling model Flag information include paralleling model mark speed upper limit value, diagnostic message include vehicle whether the information of failure.At this point, one kind can Row example, which may is that, can be higher than default battery capacity upper limit value in power battery remaining capacity, and target vehicle speed is lower than simultaneously gang mould Formula mark speed upper limit value, and when current cruise situation is constant speed situation or accelerates situation, the dynamic mode that determination need to use for Pure power mode.Another possible example, which may is that, can be lower than default battery capacity lower limit value, mesh in power battery remaining capacity It marks speed and is lower than paralleling model mark speed upper limit value, and when current cruise situation is deceleration situations or emergency braking situation, really Surely the dynamic mode that need to be used is series model.

S204: control hybrid vehicle is under dynamic mode, and determines that dynamic mode is current dynamic mode.

It is to be appreciated that there are two kinds of situations at this time after determining dynamic mode that hybrid vehicle need to use. First, the dynamic mode of the currently practical use of hybrid vehicle is exactly the dynamic mode that the need determined use, vehicle at this time Controller does not do any operation substantially, keeps dynamic mode locating for hybrid vehicle constant.Second, hybrid vehicle is worked as The preceding dynamic mode actually used is not the dynamic mode that the need determined use, and entire car controller will do it dynamic mode at this time Switching, determined so that the dynamic mode of the currently practical use of hybrid vehicle is switched to by the dynamic mode of script Dynamic mode.

Optionally, in the embodiment of the present application, if desired by the dynamic mode of currently practical use by the power mould of script Formula is switched to hybrid mode, then can be in mode handover procedure, while carrying out dynamic mode switching, by vehicle control Device processed exports revolving speed control instruction to clutch controller, mixes so that clutch controller is controlled according to the revolving speed control instruction The clutch both ends revolving speed of power car, so that clutch both ends revolving speed is matched.It is to be appreciated that dynamic in incision mixing It when force mode, is driven due to needing to enable transmitter, this just needs the cooperation of clutch.In incision hybrid mode When, it can be identical by controlling the revolving speed at the both ends of clutch, so that vehicle is able to smoothly enter hybrid mode. It should be noted that the mode switching manner in hybrid vehicle is very mature at present, therefore about hybrid electric vehicle How from non-mixed dynamic mode incision hybrid mode detailed process just repeat no more in the embodiment of the present application.

In the embodiment of the present application, the current vehicle speed of the available hybrid vehicle of entire car controller, and according to current The difference of speed and preset target vehicle speed determines demand torque.It illustratively, can be to current vehicle speed and preset target carriage The difference of speed carries out PID (proportional, integral-derivative) and a demand torque is calculated.

It can in advance be different dynamic modes in a kind of embodiments possible of the embodiment of the present application, configuration is different Correction coefficient.When calculating, first the difference to current vehicle speed and preset target vehicle speed it can carry out PID and be calculated one Initial torque, then the initial torque being calculated is corrected by correction coefficient corresponding to current dynamic mode, To obtain required demand torque.

S102: demand torque is distributed to by the corresponding actuator of dynamic mode according to the corresponding allocation plan of dynamic mode.

In a kind of embodiments possible of the embodiment of the present application, dynamic mode may include hybrid mode.Working as When preceding dynamic mode is hybrid mode, one kind is feasible to divide demand torque according to the corresponding allocation plan of dynamic mode The mode of the corresponding actuator of dispensing dynamic mode may is that the engine for judging whether demand torque is greater than hybrid vehicle Peak torque；If demand torque is greater than the peak torque of the engine of hybrid vehicle, maximum turn round is distributed to engine Square, and demand torque is distributed to the motor that the surplus torque after peak torque distributes to hybrid vehicle；If demand torque Less than or equal to the peak torque of the engine of hybrid vehicle, then demand torque is distributed into engine.

It is worth noting that, in actual application, in order to enable the traveling of vehicle is more energy efficient, engineer is in design The peak torque for often designing an engine economic zone, by user when using economic model operation vehicle, engine The peak torque that can be output is limited in the peak torque in engine economic zone.In the embodiment of the present application, if user uses When economic model runs vehicle, the peak torque of engine that when aforementioned distribution for carrying out demand torque is considered should adaptability The peak torque for becoming engine economic zone.

In a kind of embodiments possible of the embodiment of the present application, dynamic mode may include pure power mode and/or series connection Mode.

In this embodiments possible, cruise situation may include constant speed situation, a kind of at this time feasible according to power mould The corresponding allocation plan of formula may is that the mode that demand torque distributes to the corresponding actuator of dynamic mode to be worked as what is determined Preceding dynamic mode is pure power mode or series model, and the cruise situation that hybrid vehicle is presently in is constant speed situation When, demand torque is distributed into motor.

In this embodiments possible, cruise situation may include accelerating situation, a kind of at this time feasible according to power mould The corresponding allocation plan of formula may is that the mode that demand torque distributes to the corresponding actuator of dynamic mode to be worked as what is determined Preceding dynamic mode is pure power mode or series model, and the cruise situation that hybrid vehicle is presently in is addition situation When, demand torque is distributed into motor.

In this embodiments possible, cruise situation may include deceleration situations, a kind of at this time feasible according to power mould The corresponding allocation plan of formula may is that the mode that demand torque distributes to the corresponding actuator of dynamic mode to be worked as what is determined Preceding dynamic mode is pure power mode or series model, and the cruise situation that hybrid vehicle is presently in is deceleration situations When, demand torque is respectively allocated to the body stabilization system of motor and hybrid vehicle according to default allocation proportion.

In this embodiments possible, cruise situation may include emergency braking situation, and feasible basis a kind of at this time is dynamic The mode that demand torque distributes to the corresponding actuator of dynamic mode may is that and determining by the corresponding allocation plan of force mode Current dynamic mode be pure power mode or series model, and the cruise situation that is presently in of hybrid vehicle is urgent system Emotionally when condition, demand torque is respectively allocated to the vehicle body stability series of motor and hybrid vehicle according to default allocation proportion System.

In conclusion cruise control method provided by the embodiments of the present application, by being in cruise mould in hybrid vehicle When formula, the demand torque of current dynamic mode and hybrid vehicle is determined, and then according to the corresponding distribution of dynamic mode Demand torque is distributed to the corresponding actuator of the dynamic mode by scheme.In this way, allowing in hybrid vehicle, Ke Yigen Demand torque is distributed to actuator corresponding with current power mode to realize cruise function according to dynamic mode, so that mixing Different dynamic modes can match different allocation plans to realize the adaptability distribution of demand torque in power car, realize The adaptability torque of hybrid vehicle different dynamic mode is distributed, allows cruise function under different dynamic mode It can be run well.

Embodiment two:

Shown in Figure 3, Fig. 3 is a kind of hybrid vehicle that the embodiment of the present application provides on the basis of example 1 Structural schematic diagram comprising self-adaption cruise system 20 and entire car controller 10.Wherein:

Self-adaption cruise system is for monitoring whether that there are front vehicles, and according to the monitoring result to the front vehicles It determines the cruise situation that the hybrid vehicle is presently in, the cruise situation is sent to the hybrid vehicle Entire car controller.

Entire car controller is for obtaining the current car status information of hybrid vehicle；According to cruise situation and vehicle The dynamic mode that status information determination need to use；Using the dynamic mode, and according to the corresponding allocation plan of dynamic mode by need Torque is asked to distribute to the corresponding actuator of the dynamic mode (such as motor and/or engine etc.).

For how determining the dynamic mode that need to be used, and how according to the corresponding allocation plan of dynamic mode by demand Torque distributes to the corresponding actuator of the dynamic mode, is described in example 1, details are not described herein.

In the embodiment of the present application, self-adaption cruise system may include radar or camera, and then passes through radar or take the photograph The monitoring to front vehicles is realized as head.

In the embodiment of the present application, cruise situation may include constant speed situation, accelerate situation, deceleration situations and emergency braking At least one of situation situation.In example 1 described self-adaption cruise system how according to front vehicles away from From the determining cruise situation being presently in, so this is also repeated no more again.

Hybrid vehicle provided by the embodiments of the present application can monitor whether that there are fronts by self-adaption cruise system Vehicle determines the demand torque of current dynamic mode and hybrid vehicle, and then according to the monitoring knot to front vehicles Fruit determines the cruise situation that hybrid vehicle is presently in, and situation of cruising is sent to the full-vehicle control of hybrid vehicle Device.Entire car controller obtains the current car status information of hybrid vehicle, and then according to cruise situation and vehicle-state The dynamic mode that information determination need to use, and control hybrid vehicle and be under the dynamic mode, and then according to the power mould Demand torque is distributed to the corresponding actuator of the dynamic mode by the corresponding allocation plan of formula.In this way, allowing in hybrid power It, can be according to actual needs automatically into the vehicle-state current according to the cruise situation being presently in during the cruise of vehicle It selects dynamic mode appropriate to run vehicle, vehicle is run with more suitable dynamic mode, and can by demand Torque realizes the adaptability distribution of demand torque according to the corresponding allocation plan of used dynamic mode, and then ensure that vehicle Cruise effect.

Embodiment three:

The present embodiment on the basis of example 1, with a kind of more specific PHEV (plug in hybrid electric Vehicle, plug-in hybrid electric vehicle) hybrid vehicle structure and cruise Control for, be this Shen It please do further illustration.

As shown in connection with fig. 4, hybrid vehicle include self-adaption cruise system, entire car controller, power battery controller, Engine controller and engine, electric machine controller and motor, clutch controller and clutch, body stabilization system and vehicle body Stablize and execute structure and combination instrument (such as speedometer, revolution counter etc.), wherein self-adaption cruise system, entire car controller, Power battery controller, engine controller, electric machine controller, clutch controller and body stabilization system pass through CAN The connection of (Controller Area Network, controller local area network) bus, self-adaption cruise system and combination instrument, it is whole Vehicle controller is connect with combination instrument by CAN bus.

In the embodiment of the present application, in front without vehicle, in when being traveled freely state, self-adaption cruise system judges vehicle Vehicle is in constant speed situation, and vehicle carries out cruise according to the speed that driver sets at this time；If radar monitors front There is a vehicle, self-adaption cruise system judges that vehicle enters and follows region, and then self-adaption cruise system is according to front vehicles speed, preceding Square vehicle acceleration, following distance, this vehicle current vehicle speed and two vehicles with respect to speed (i.e. the speed of this vehicle speed and front vehicles is poor, Wherein speed difference, which is positive, indicates that this vehicle speed is faster than front vehicles speed, and speed difference, which is negative, indicates this vehicle speed than front vehicles vehicle It is fast slow) etc. signals determine that vehicle should be at accelerating situation, deceleration situations or emergency braking situation.For example, in two vehicles with respect to vehicle Speed is less than default first speed threshold value, and following distance is greater than two vehicle with respect to when spacing threshold value, determining vehicle corresponding to speed It should be at accelerating situation；It is greater than default first speed threshold value with respect to speed in two vehicles or following distance is less than two vehicle with respect to speed When corresponding spacing threshold value, determine that vehicle should be at deceleration situations；It is greater than default second speed threshold value with respect to speed in two vehicles, Or following distance be less than two vehicle with respect to emergency stopping distance corresponding to speed when, determine that vehicle should be at emergency braking situation.

In the embodiment of the present application, PHEV hybrid vehicle is there are three types of dynamic mode: pure power mode, series model and mixed Close dynamic mode.Entire car controller cruises situation, power battery status information (such as electricity according to determined by self-adaption cruise system Pond remaining capacity, battery temperature etc.), vehicle operating modes (economic model/motor pattern etc.), engine condition information (in this way It is no to allow to start, whether in warm-up mode etc.), (whether vehicle faulty, occurs for paralleling model mark and diagnosis solicited status Which fault message etc.), judge that vehicle should be run under any dynamic mode.For example, in the remaining battery of power battery Electricity is less than default power threshold, and battery temperature is lower than preset temperature warning value, and vehicle operating modes are economic model, and Engine shape allows to start, and vehicle speed is less than paralleling model mark upper limit value, and when vehicular electric machine fault-free, enables series connection Mode.It is greater than default power threshold in the battery dump energy in power battery, and battery temperature is lower than preset temperature warning value, And vehicle operating modes are motor pattern, and vehicle speed is less than paralleling model mark upper limit value, and when vehicular electric machine fault-free, Enable pure power mode.

When carrying out vehicle power mode decision, in order to avoid vehicle frequently enters release hybrid mode, in this Shen It please may be set in and meet battery dump energy lower than preset lower limit value, and target vehicle speed is higher than paralleling model mark in embodiment Will speed upper limit value, and situation of cruising is in constant speed situation；Or it is lower than preset lower limit value, and target meeting battery dump energy Speed is higher than paralleling model mark speed upper limit value, and situation of cruising is in when accelerating situation, just allows vehicle to enter mixing dynamic Force mode.When into hybrid mode, it can issue and order to clutch controller, adjust clutch both ends revolving speed, make to send out Motivation smoothly enters state required under hybrid mode.

It should be noted that motor is responsible for vehicle traction torque, and stablizes with vehicle body if vehicle operates in pure power mode System is collectively responsible for vehicle braking torque.If vehicle operates in series model, motor is responsible for vehicle traction torque, and and vehicle body Systems stabilisation is collectively responsible for vehicle braking torque；Entire car controller starts according to the control of the status informations such as power battery remaining capacity Whether machine gives power battery charging.If vehicle operates in hybrid mode, engine and motor under hybrid mode It is collectively responsible for vehicle traction torque, motor and body stabilization system are collectively responsible for vehicle braking torque.

In the embodiment of the present application, entire car controller can be counted according to the difference of current vehicle speed and target vehicle speed by PID It calculates, and combines current torque, diagnosis solicited status and vehicle operating modes, calculate demand torque, and by filtering Reason, obtains final demand torque.For example, can be when diagnosing solicited status is vehicle fault-free, the fortune current according to vehicle The difference of current vehicle speed and target vehicle speed is calculated one tentatively by the PID by PID calculation formula corresponding to row mode Demand torque, then smoothing processing is filtered to it, obtains final demand torque.

In the embodiment of the present application, if vehicle power mode is pure power mode or series model, when adaptive cruise system When the determining cruise situation of system is constant speed situation or accelerates situation, calculated demand torque can distribute to motor, when adaptive When the cruise situation for answering cruise system to determine is deceleration situations or emergency braking situation, the vehicle demand torque of calculating is assigned to Motor and body stabilization system.

In conjunction with described in Fig. 5, if vehicle power mode is hybrid mode, when carrying out torque distribution, based on economy Property consider, demand torque distributes to maximum value of the torque no more than engine economic zone torque of engine.If demand is turned round Square is less than the peak torque in engine economic zone, demand torque is distributed to engine, so that engine reaches economic zone most Large torque, that is, engine torque=demand torque after distributing；If demand torque is greater than maximum engine torque, by demand torque Engine is distributed to, so that engine reaches the peak torque in economic zone, and engine economic zone will be greater than in demand torque Peak torque part torque distributes to motor, i.e., engine torque=engine economic zone is maximum turns round, Motor torque=demand Torque-engine economic zone is maximum to be turned round.Its assigning process may refer to shown in Fig. 5.

Cruise Control provided by the embodiments of the present application, can according to dynamic mode come by demand torque distribute to work as The preceding corresponding actuator of dynamic mode matches different dynamic modes in hybrid vehicle to realize cruise function Different allocation plans come realize demand torque adaptability distribution, realize and hybrid vehicle different dynamic mode fitted The distribution of answering property torque, be run cruise function can well under different dynamic mode.

Example IV:

Referring to Fig. 6, Fig. 6 is shown using the one-to-one cruise control apparatus of cruise control method shown in FIG. 1, answer Understanding, the device 100 is corresponding with the embodiment of the method for above-mentioned Fig. 1, it is able to carry out each step that above method embodiment is related to, The specific function of device 100 may refer to it is described above, it is appropriate herein to omit detailed description to avoid repeating.Device 100 include that at least one can be stored in memory or be solidificated in device 100 in the form of software or firmware (firmware) Software function module in operating system (operating system, OS).Specifically, which is applied to hybrid power On vehicle, comprising: determining module 101 and distribution module 102.Wherein,

Determining module 101 is used for when hybrid vehicle is in cruise mode, is determined current dynamic mode and is mixed Close the demand torque of power car；

Distribution module 102 is used to that demand torque to be distributed to dynamic mode according to dynamic mode corresponding allocation plan corresponding Actuator.

In the embodiment of the present application, determining module 101 is specifically used for obtaining the cruise feelings that hybrid vehicle is presently in Condition；Obtain the current car status information of hybrid vehicle；It needs to use according to cruise situation and car status information determination Dynamic mode；Control hybrid vehicle is under dynamic mode, and determines that dynamic mode is current dynamic mode.

It should be noted that cruise situation be according to hybrid vehicle currently with the information such as the following state of front vehicles Come the hybrid vehicle that determines currently for the service condition of cruise function.It includes constant speed situation, accelerates situation, deceleration feelings Condition and emergency braking situation.Constant speed situation accelerates situation, deceleration situations and emergency braking situation to illustrate in embodiment one In description has been carried out, therefore details are not described herein.

In the embodiment of the present application, dynamic mode includes hybrid mode；Situation of cruising includes constant speed situation；Constant speed feelings Condition is the travel situations when hybrid vehicle does not find front vehicles；Car status information includes vehicle speed information, power electric Pond status information and paralleling model flag information；Vehicle speed information includes preset target vehicle speed；Power battery status information includes Power battery remaining capacity；Paralleling model flag information includes paralleling model mark speed upper limit value.Determining module 101 is according to patrolling The process for the dynamic mode that boat situation and car status information determination need to use can specifically include: in the remaining electricity of power battery Amount is lower than default battery capacity lower limit value, and target vehicle speed is higher than paralleling model mark speed upper limit value, and current cruise situation is When constant speed situation, the dynamic mode that determination need to use is hybrid mode.

In the embodiment of the present application, dynamic mode includes hybrid mode；Situation of cruising includes accelerating situation；Accelerate feelings Condition is in hybrid vehicle there are front vehicles, and hybrid vehicle with front vehicles it is current at a distance from meet it is default plus The case where fast driving conditions；Car status information includes vehicle speed information, power battery status information and paralleling model flag information； Vehicle speed information includes preset target vehicle speed；Power battery status information includes power battery remaining capacity；Paralleling model mark Information includes paralleling model mark speed upper limit value.Determining module 101 determines need according to cruise situation and car status information The process of the dynamic mode of use can specifically include: be lower than default battery capacity lower limit value, mesh in power battery remaining capacity It marks speed and is higher than paralleling model mark speed upper limit value, and current cruise situation is the power that determination need to use when accelerating situation Mode is hybrid mode.

In the embodiment of the present application, shown in Figure 7, cruise control apparatus 100 further includes sending module 103, is used for When using hybrid mode, revolving speed control instruction is exported to the clutch controller of hybrid vehicle, so that clutch control Device processed controls the clutch both ends revolving speed of hybrid vehicle according to revolving speed control instruction, so that clutch both ends revolving speed matches.

In the embodiment of the present application, determining module 101 determines that the process of the demand torque of hybrid vehicle may include: Obtain the current vehicle speed of hybrid vehicle；Demand torque is determined according to the difference of current vehicle speed and preset target vehicle speed.

In the embodiment of the present application, current dynamic mode is hybrid mode.Distribution module 102 is specifically used for judgement Whether demand torque is greater than the peak torque of the engine of hybrid vehicle；If demand torque is greater than the hair of hybrid vehicle The peak torque of motivation then distributes peak torque to engine, and demand torque is distributed to the surplus torque after peak torque Distribute to the motor of hybrid vehicle；If demand torque is less than or equal to the peak torque of the engine of hybrid vehicle, Demand torque is distributed into engine.

In the embodiment of the present application, dynamic mode includes pure power mode or series model；Situation of cruising includes constant speed situation； Constant speed situation is the travel situations when hybrid vehicle does not find front vehicles.Distribution module 102 is specifically used in determination When current dynamic mode out is pure power mode or series model, the cruise situation that hybrid vehicle is presently in is judged； When the cruise situation that hybrid vehicle is presently in is constant speed situation, demand torque is distributed into motor.

In the embodiment of the present application, dynamic mode includes pure power mode or series model；Situation of cruising includes accelerating situation； Accelerating situation is in hybrid vehicle there are front vehicles, and hybrid vehicle with front vehicles it is current at a distance from meet Preset the case where giving it the gun condition.Distribution module 102 is specifically used in the current dynamic mode determined being pure power mode Or when series model, the cruise situation that hybrid vehicle is presently in is judged；In the cruise that hybrid vehicle is presently in Situation is that when situation is added, demand torque is distributed to motor.

In the embodiment of the present application, dynamic mode includes pure power mode or series model；Situation of cruising includes deceleration situations； Deceleration situations are in hybrid vehicle there are front vehicles, and hybrid vehicle with front vehicles it is current at a distance from meet The case where default Reduced Speed Now condition.Distribution module 102 is specifically used in the current dynamic mode determined being pure power mode Or when series model, the cruise situation that hybrid vehicle is presently in is judged；In the cruise that hybrid vehicle is presently in When situation is deceleration situations, demand torque is respectively allocated to the vehicle of motor and hybrid vehicle according to default allocation proportion Body systems stabilisation.

In the embodiment of the present application, dynamic mode includes pure power mode or series model；Situation of cruising includes emergency braking Situation；Emergency braking situation is that in hybrid vehicle, there are front vehicles, and hybrid vehicle is current with front vehicles Distance the case where meeting pre-programmed emergency braking condition.Distribution module 102 is specifically used in the current dynamic mode determined When for pure power mode or series model, the cruise situation that hybrid vehicle is presently in is judged；It is current in hybrid vehicle When locating cruise situation is emergency braking situation, demand torque is respectively allocated to motor according to default allocation proportion and is mixed Close the body stabilization system of power car.

Shown in Figure 8, the embodiment of the present application also provides a kind of cruise control apparatus 200, are applied to hybrid electric vehicle On, comprising: cruise module 201 and control module 202.Wherein,

Cruise module 201 is determined according to the monitoring result to front vehicles and is mixed for monitoring whether that there are front vehicles The cruise situation that power car is presently in is closed, cruise situation is sent to control module 202；

Control module 202 is for obtaining the current car status information of hybrid vehicle；According to cruise situation and vehicle The dynamic mode that status information determination need to use；Control hybrid vehicle is under dynamic mode, and according to dynamic mode Demand torque is distributed to the corresponding actuator of dynamic mode by corresponding allocation plan.

In the embodiment of the present application, cruise situation includes constant speed situation, accelerates situation, deceleration situations and emergency braking feelings Condition.Cruise module 201 determines the mistake of cruise situation that hybrid vehicle is presently according to the monitoring result to front vehicles Journey may include:

It is that there is no when front vehicles, determine that cruise situation locating for hybrid vehicle is constant speed feelings in monitoring result Condition；

It is to obtain distance of the hybrid vehicle away from front vehicles there are when front vehicles in monitoring result；

When distance satisfaction is preset and gives it the gun condition, cruise situation locating for hybrid vehicle is determined to accelerate feelings Condition；

When distance meets default Reduced Speed Now condition, determine that cruise situation locating for hybrid vehicle is deceleration feelings Condition；

When distance meets pre-programmed emergency braking condition, determine that cruise situation locating for hybrid vehicle is emergency braking Situation.

To sum up, cruise control method provided by the embodiments of the present application, by when hybrid vehicle is in cruise mode, Determine the demand torque of current dynamic mode and hybrid vehicle, and then will according to the corresponding allocation plan of dynamic mode Demand torque distributes to the corresponding actuator of the dynamic mode.In this way, allow in hybrid vehicle, it can be according to power Mode distributes demand torque to actuator corresponding with current power mode to realize cruise function, so that hybrid electric vehicle Different dynamic modes can match different allocation plans to realize the adaptability distribution of demand torque in, realize to mixed The adaptability torque distribution for closing power car different dynamic mode, allows cruise function can be very under different dynamic mode Good is run.

Embodiment five:

Present embodiments provide a kind of entire car controller, it is shown in Figure 9 comprising processor 901, memory 902 with And communication bus 903.Wherein:

Communication bus 903 is for realizing the connection communication between processor 901 and memory 902.

Processor 901 for executing the one or more programs stored in memory 902, with realize above-described embodiment one to Each step of the cruise control method of any embodiment in embodiment three.

It is appreciated that structure shown in Fig. 9 is only to illustrate, entire car controller may also include it is more than shown in Fig. 9 or Less component, or with the configuration different from shown in Fig. 9.

The present embodiment additionally provides a kind of readable storage medium storing program for executing, such as floppy disk, CD, hard disk, flash memory, USB flash disk, SD (Secure Digital Memory Card, safe digital card) card, MMC (Multimedia Card, multimedia card) card etc., it is readable at this One or more program for realizing above-mentioned each step is stored in storage medium, this one or more program can be by one Or multiple processors execute, with realize above-described embodiment one into embodiment three cruise control method of any embodiment it is each Step.Details are not described herein.

In several embodiments provided herein, it should be understood that disclosed device and method can also pass through Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing Show the device of multiple embodiments according to the application, the architectural framework in the cards of method and computer program product, Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.

In addition, each functional module in each embodiment of the application can integrate one independent portion of formation together Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.

It, can be with if the function is realized and when sold or used as an independent product in the form of software function module It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps. And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.

The above description is only an example of the present application, the protection scope being not intended to limit this application, for ability For the technical staff in domain, various changes and changes are possible in this application.Within the spirit and principles of this application, made Any modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this application.It should also be noted that similar label and Letter indicates similar terms in following attached drawing, therefore, once it is defined in a certain Xiang Yi attached drawing, then in subsequent attached drawing In do not need that it is further defined and explained.

The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain Lid is within the scope of protection of this application.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.

It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

Claims

1. a kind of cruise control method, which is characterized in that be applied on hybrid vehicle, comprising:

When the hybrid vehicle is in cruise mode, current dynamic mode and the hybrid vehicle are determined Demand torque；

The demand torque is distributed into the corresponding execution of the dynamic mode according to the dynamic mode corresponding allocation plan Device.

2. cruise control method as described in claim 1, which is characterized in that the current dynamic mode of the determination includes:

Obtain the cruise situation that the hybrid vehicle is presently in；

Obtain the current car status information of the hybrid vehicle；

The dynamic mode that need to be used according to the cruise situation and car status information determination；

It controls the hybrid vehicle to be under the dynamic mode that need to be used, the dynamic mode that need to be used is described Current dynamic mode.

3. cruise control method as claimed in claim 2, which is characterized in that the cruise situation includes constant speed situation；It is described Constant speed situation is the travel situations when the hybrid vehicle does not find front vehicles；

The car status information includes vehicle speed information, power battery status information and paralleling model flag information；The speed Information includes preset target vehicle speed；The power battery status information includes power battery remaining capacity；The paralleling model Flag information includes paralleling model mark speed upper limit value；

It is described to include: according to the cruise situation and the dynamic mode that use of car status information determination

It is lower than default battery capacity lower limit value in the power battery remaining capacity, the target vehicle speed is higher than the paralleling model Indicate speed upper limit value, and when current cruise situation is constant speed situation, determines the dynamic mode that need to be used for hybrid power Mode.

4. cruise control method as claimed in claim 2, which is characterized in that the cruise situation includes accelerating situation；It is described To accelerate situation be in the hybrid vehicle there are front vehicles, and the hybrid vehicle is worked as with the front vehicles Preceding distance, which meets, presets the case where giving it the gun condition；

It is lower than default battery capacity lower limit value in the power battery remaining capacity, the target vehicle speed is higher than the paralleling model Indicate speed upper limit value, and current cruise situation is when accelerating situation, to determine the dynamic mode that need to be used for hybrid power Mode.

5. cruise control method as described in claim 3 or 4, which is characterized in that the method also includes:

When the control hybrid vehicle is in the hybrid mode, the clutch control of Xiang Suoshu hybrid vehicle Device processed exports revolving speed control instruction, so that the clutch controller controls the hybrid power according to the revolving speed control instruction The clutch both ends revolving speed of vehicle, so that clutch both ends revolving speed matches.

6. cruise control method according to any one of claims 1-4, which is characterized in that determine the hybrid vehicle Demand torque includes:

Obtain the current vehicle speed of the hybrid vehicle；

The demand torque is determined according to the difference of the current vehicle speed and preset target vehicle speed.

7. cruise control method according to any one of claims 1-4, which is characterized in that the current dynamic mode is mixed Close dynamic mode；

It is described that according to the dynamic mode corresponding allocation plan the demand torque to be distributed to the dynamic mode corresponding Actuator includes:

Judge whether the demand torque is greater than the peak torque of the engine of the hybrid vehicle；

If the demand torque is greater than the peak torque of the engine of the hybrid vehicle, institute is distributed to the engine Peak torque is stated, and the surplus torque demand torque distributed after the peak torque distributes to the hybrid electric vehicle Motor；

If the demand torque is less than or equal to the peak torque of the engine of the hybrid vehicle, by the demand torque Distribute to the engine.

8. cruise control method according to any one of claims 1-4, which is characterized in that described according to the dynamic mode pair The demand torque is distributed to the corresponding actuator of the dynamic mode by the allocation plan answered

When the current dynamic mode determined is pure power mode or series model, the current institute of the hybrid vehicle is judged The cruise situation at place；

When the cruise situation that the hybrid vehicle is presently in is constant speed situation, the demand torque is distributed to described The motor of hybrid vehicle；Wherein, the constant speed situation is the row when the hybrid vehicle does not find front vehicles Sail situation.

9. cruise control method according to any one of claims 1-4, which is characterized in that described according to the dynamic mode pair The demand torque is distributed to the corresponding actuator of the dynamic mode by the allocation plan answered

When the cruise situation that the hybrid vehicle is presently in is to accelerate situation, the demand torque is distributed to described The motor of hybrid vehicle；Wherein, the acceleration situation is in the hybrid vehicle there are front vehicles, and described mixed Close power car and the front vehicles it is current at a distance from meet preset give it the gun condition the case where.

10. cruise control method according to any one of claims 1-4, which is characterized in that described according to the dynamic mode The demand torque is distributed to the corresponding actuator of the dynamic mode by corresponding allocation plan

When the cruise situation that the hybrid vehicle is presently in is deceleration situations, by the demand torque according to default point The motor of the hybrid vehicle and the body stabilization system of the hybrid vehicle are respectively allocated to ratio；Its In, the deceleration situations are in the hybrid vehicle there are front vehicles, and the hybrid vehicle with it is described before The case where current distance of square vehicle meets default Reduced Speed Now condition.

11. cruise control method according to any one of claims 1-4, which is characterized in that described according to the dynamic mode The demand torque is distributed to the corresponding actuator of the dynamic mode by corresponding allocation plan

When the cruise situation that the hybrid vehicle is presently in is emergency braking situation, by the demand torque according to pre- If allocation proportion is respectively allocated to the motor of the hybrid vehicle and the body stabilization system of the hybrid vehicle； Wherein, the emergency braking situation is in the hybrid vehicle there are front vehicles, and the hybrid vehicle and institute State the case where current distance of front vehicles meets pre-programmed emergency braking condition.

12. a kind of cruise control method, which is characterized in that be applied on hybrid vehicle, comprising:

The self-adaption cruise system of the hybrid vehicle monitors whether that there are front vehicles；

The self-adaption cruise system determines the current institute of the hybrid vehicle according to the monitoring result to the front vehicles The cruise situation at place, and the cruise situation is sent to the entire car controller of the hybrid vehicle；

The entire car controller obtains the current car status information of the hybrid vehicle；

The dynamic mode that the entire car controller need to be used according to the cruise situation and car status information determination；

Hybrid vehicle described in the vehicle control unit controls is under the dynamic mode that need to be used, and according to the need The demand torque is distributed to that the dynamic mode that need to be used is corresponding to be held by the corresponding allocation plan of the dynamic mode of use Row device.

13. cruise control method as claimed in claim 12, which is characterized in that the self-adaption cruise system is according to described The cruise situation that the monitoring result of front vehicles determines that the hybrid vehicle is presently in includes:

It is that there is no when the front vehicles, determine that cruise situation locating for the hybrid vehicle is in the monitoring result Constant speed situation；

The monitoring result be there are when the front vehicles, obtain the hybrid vehicle away from the front vehicles away from From；

When the distance satisfaction is preset and gives it the gun condition, cruise situation locating for the hybrid vehicle is determined to accelerate Situation；

When the distance meets default Reduced Speed Now condition, cruise situation locating for the hybrid vehicle is determined to slow down Situation；

When the distance meets pre-programmed emergency braking condition, determine that cruise situation locating for the hybrid vehicle is urgent Brake condition.

14. a kind of cruise control apparatus, which is characterized in that be applied on hybrid vehicle, comprising: determining module and distribution mould Block；

The determining module is used for when the hybrid vehicle is in cruise mode, determines current dynamic mode and institute State the demand torque of hybrid vehicle；

The distribution module is used to be distributed to the demand torque according to the corresponding allocation plan of the dynamic mode described dynamic The corresponding actuator of force mode.

15. a kind of cruise control apparatus, which is characterized in that be applied on hybrid vehicle, comprising: cruise module and control mould Block；

The cruise module determines institute according to the monitoring result to the front vehicles for monitoring whether that there are front vehicles The cruise situation that hybrid vehicle is presently in is stated, the cruise situation is sent to the control module；

The control module is for obtaining the current car status information of the hybrid vehicle；According to the cruise situation with And the dynamic mode that car status information determination need to use；It controls the hybrid vehicle and is in the power mould that need to be used Under formula, and it the demand torque is distributed to according to the dynamic mode that need to be used corresponding allocation plan described need to use The corresponding actuator of dynamic mode.

16. a kind of entire car controller, which is characterized in that including processor, memory and communication bus；

The communication bus is for realizing the connection communication between processor and memory；

The processor is for executing one or more program stored in memory, to realize as in claim 1 to 11 The step of described in any item cruise control methods.

17. a kind of hybrid vehicle, which is characterized in that including self-adaption cruise system and entire car controller；

The self-adaption cruise system is for monitoring whether that there are front vehicles, and according to the monitoring result to the front vehicles It determines the cruise situation that the hybrid vehicle is presently in, the cruise situation is sent to the hybrid vehicle Entire car controller；

The entire car controller is for obtaining the current car status information of the hybrid vehicle；According to the cruise situation And the dynamic mode that car status information determination need to use；It need to be adopted using the dynamic mode that need to be used, and according to described The demand torque is distributed to the corresponding execution of the dynamic mode that need to be used by the corresponding allocation plan of dynamic mode Device.

18. a kind of readable storage medium storing program for executing, which is characterized in that the readable storage medium storing program for executing is stored with one or more program, institute Stating one or more program can be executed by one or more processor, to realize such as any one of claims 1 to 11 institute The step of cruise control method stated.