CN110217221B

CN110217221B - Cruise control method and device, vehicle control unit, vehicle and readable storage medium

Info

Publication number: CN110217221B
Application number: CN201910559041.7A
Authority: CN
Inventors: 王亚伟; 傅彬; 宣奇武
Original assignee: Sichuan Iat New Energy Automobile Co ltd
Current assignee: Sichuan Iat New Energy Automobile Co ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2021-02-19
Anticipated expiration: 2039-06-25
Also published as: CN110217221A

Abstract

The embodiment of the application provides a cruise control method, a cruise control device, a vehicle controller, a vehicle and a readable storage medium. Therefore, in the hybrid vehicle, the required torque can be distributed to the actuator corresponding to the current power mode according to the power mode to realize the cruise function, different power modes in the hybrid vehicle can be matched with different distribution schemes to realize the adaptive distribution of the required torque, the adaptive torque distribution of different power modes of the hybrid vehicle is realized, and the cruise function can be well operated in different power modes.

Description

Cruise control method and device, vehicle control unit, vehicle and readable storage medium

Technical Field

The application relates to the technical field of new energy vehicles, in particular to a cruise control method, a cruise control device, a vehicle controller, a vehicle and a readable storage medium.

Background

With the increase of the automobile holding capacity, the traditional automobile is facing to the problems of energy shortage, environmental pollution, stricter and stricter emission regulations and the like, the hybrid electric automobile is used as the transition of the traditional internal combustion engine and the pure electric automobile, is the most practical technical route for solving the problems of energy shortage, environmental pollution and the like at present, has the advantages of long endurance, good dynamic property, small emission, low energy consumption and the like, does not need to be built on a ground charging station, and is the automobile model which can most possibly realize industrialization at the present stage. The increase of the automobile holding capacity brings another serious social problem that road traffic accidents occur frequently, casualties caused by the traffic accidents rise year by year, and the traffic accidents are caused, more than 80% of the accidents are caused by improper handling and untimely response of drivers, so the automobile driving safety is promoted to a schedule, the automobile driving safety is mainly characterized in that the drivers are partially or completely replaced to operate, the driver burden is reduced, the fatigue driving is avoided, the drivers are timely reminded to take measures before dangers occur, and the intelligent automobile cruising driving becomes the inevitable trend of future automobile development.

At present, the more mature cruise control schemes are mainly applied to the cruise control schemes of the traditional internal combustion engine automobiles and are matched with the structure and the power mode of the traditional internal combustion engine automobiles. Since the hybrid vehicle has two power sources (motor and engine), and there are multiple power modes (e.g. pure electric mode, hybrid mode, etc.), which are more complicated than the conventional internal combustion engine vehicle, the cruise control scheme applicable to the conventional internal combustion engine vehicle is not applicable to the hybrid vehicle, and therefore it is necessary to provide a cruise control scheme applicable to the hybrid vehicle.

Disclosure of Invention

An object of the embodiments of the present application is to provide a cruise control method, apparatus, vehicle controller, vehicle and readable storage medium, which are used to implement cruise control for a hybrid vehicle.

The embodiment of the application provides a cruise control method, which is applied to a hybrid vehicle and comprises the following steps: determining a current power mode and a required torque of the hybrid vehicle when the hybrid vehicle is in a cruise mode; and distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode.

In the implementation process, when the hybrid vehicle is in the cruise mode, the current power mode and the required torque of the hybrid vehicle are determined, and the required torque is distributed to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode. Therefore, in the hybrid vehicle, the required torque can be distributed to the actuator corresponding to the current power mode according to the power mode to realize the cruise function, different power modes in the hybrid vehicle can be matched with different distribution schemes to realize the adaptive distribution of the required torque, the adaptive torque distribution of different power modes of the hybrid vehicle is realized, and the cruise function can be well operated in different power modes.

Further, the determining the current power mode includes: acquiring the current cruising condition of the hybrid power vehicle; acquiring current vehicle state information of the hybrid vehicle; determining a power mode to be adopted according to the cruising condition and the vehicle state information; and controlling the hybrid vehicle to be in the power mode to be adopted, and determining the power mode to be adopted as the current power mode.

In the implementation process, the power mode to be adopted is determined according to the cruise condition and the vehicle state information by acquiring the cruise condition of the hybrid vehicle and the current vehicle state information of the hybrid vehicle, so that the hybrid vehicle is controlled to be in the power mode, and the power mode is determined to be the current power mode. Therefore, the appropriate power mode can be selected to operate the vehicle according to the current vehicle state under the current cruising condition in the cruising process, so that the vehicle can operate in a more appropriate power mode, and the cruising effect of the vehicle is further ensured.

Further, the cruise condition comprises a constant speed condition; the constant speed condition is a running condition when the hybrid vehicle does not find a preceding vehicle; the vehicle state information comprises vehicle speed information, power battery state information and parallel mode mark information; the vehicle speed information comprises a preset target vehicle speed; the power battery state information comprises the residual electric quantity of the power battery; the parallel mode flag information comprises a parallel mode flag vehicle speed upper limit value; the determining of the power mode to be adopted according to the cruise condition and the vehicle state information comprises: and when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is a constant speed condition, determining that the power mode to be adopted is a hybrid power mode.

It should be understood that, for a hybrid vehicle, when in the hybrid mode, the vehicle is powered by both the engine and the electric machine, thereby ensuring better vehicle performance. However, if the vehicle frequently enters or exits the hybrid mode during use, certain damage may be caused to the engine as well as the electric machine. Therefore, in the implementation process, the situation that the vehicle frequently enters or exits the hybrid power mode in the use process is avoided to a certain extent by limiting that the residual electric quantity of the power battery is lower than the preset battery electric quantity lower limit value, the target vehicle speed is higher than the mode mark vehicle speed upper limit value and the current cruise situation is the constant speed situation, and the service life of the vehicle is prolonged.

Further, the cruise condition comprises an acceleration condition; the acceleration condition is that a front vehicle exists in the hybrid vehicle, and the current distance between the hybrid vehicle and the front vehicle meets a preset acceleration running condition; the vehicle state information comprises vehicle speed information, power battery state information and parallel mode mark information; the vehicle speed information comprises a preset target vehicle speed; the power battery state information comprises the residual electric quantity of the power battery; the parallel mode flag information comprises a parallel mode flag vehicle speed upper limit value; the determining of the power mode to be adopted according to the cruise condition and the vehicle state information comprises: and when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is an acceleration condition, determining that the power mode to be adopted is a hybrid power mode.

In the implementation process, the situation that the residual electric quantity of the power battery is lower than the preset battery electric quantity lower limit value, the target vehicle speed is higher than the mode mark vehicle speed upper limit value, and the hybrid power mode is adopted when the current cruising condition is the accelerating condition, so that the frequent entering or exiting of the hybrid power mode of the vehicle in the use process is avoided to a certain extent, and the service life of the vehicle is prolonged.

Further, the method further comprises: when the hybrid vehicle is controlled to be in the hybrid mode, a rotating speed control instruction is output to a clutch controller of the hybrid vehicle, so that the clutch controller controls the rotating speeds of two ends of a clutch of the hybrid vehicle according to the rotating speed control instruction, and the rotating speeds of two ends of the clutch are matched.

In the implementation process, when the hybrid power mode is adopted, the rotating speed control instruction can be output to the clutch controller of the hybrid power vehicle, so that the clutch controller controls the rotating speeds at two ends of the clutch of the hybrid power vehicle according to the rotating speed control instruction, and the rotating speeds at two ends of the clutch are matched. Therefore, the hybrid power vehicle can be smoother when entering the hybrid power mode, and the driving experience of the vehicle is enhanced.

Further, determining the required torque of the hybrid vehicle includes: acquiring the current speed of the hybrid vehicle; and determining the required torque according to the difference value between the current vehicle speed and a preset target vehicle speed.

In the implementation process, the required torque is determined according to the difference value between the current vehicle speed and the preset target vehicle speed by acquiring the current vehicle speed of the hybrid vehicle. In practical application, the vehicle speed is associated with the torque, so that the actually required torque can be obtained through the difference value between the current vehicle speed and the preset target vehicle speed, and the accuracy of the determined required torque is ensured.

Further, the current power mode is a hybrid power mode; the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes: determining whether the required torque is greater than a maximum torque of an engine of the hybrid vehicle; if the required torque is larger than the maximum torque of an engine of the hybrid vehicle, distributing the maximum torque to the engine, and distributing the residual torque after distributing the maximum torque to the required torque to a motor of the hybrid vehicle; distributing the required torque to an engine of the hybrid vehicle if the required torque is equal to or less than a maximum torque of the engine.

In the implementation, the required torque is preferentially distributed to the engine, the maximum torque is distributed to the engine when the required torque of the engine is greater than the maximum torque of the engine, and the residual torque after the maximum torque is distributed to the required torque is distributed to the motor of the hybrid vehicle. Therefore, the performance of the engine is fully utilized to provide kinetic energy for the vehicle, and the motor is used for power assistance, so that the use amount of electric energy is effectively reduced, and the energy-saving effect is achieved.

Further, the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes: when the determined current power mode is the pure electric mode or the series mode, judging the cruise condition of the hybrid vehicle at present; distributing the required torque to a motor of the hybrid vehicle when the cruise condition of the hybrid vehicle is a constant speed condition; wherein the constant speed condition is a running condition when the hybrid vehicle does not find a preceding vehicle.

It should be understood that, in practical applications, the hybrid vehicle is the power provided by the electric machine when the electric vehicle adopts the pure electric mode or the series mode. Therefore, in the implementation process, when the pure electric mode or the series mode is adopted and the hybrid vehicle is in the constant speed condition at present, the required torque can be distributed to the motor, the motor provides the power for constant speed running, the actual condition of the vehicle in the pure electric mode or the series mode is met, and the reliability of constant speed cruising can be effectively ensured.

Further, the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes: when the determined current power mode is the pure electric mode or the series mode, judging the cruise condition of the hybrid vehicle at present; distributing the required torque to a motor of the hybrid vehicle when a cruise condition in which the hybrid vehicle is currently located is an acceleration condition; the acceleration condition is that a front vehicle exists in the hybrid vehicle, and the current distance between the hybrid vehicle and the front vehicle meets a preset acceleration running condition.

In the implementation process, when the pure electric mode or the series mode is adopted and the hybrid vehicle is in the acceleration condition at present, the required torque can be distributed to the motor, the motor provides the power for driving at the constant speed, the actual condition of the vehicle in the pure electric mode or the series mode is met, and the reliability of the acceleration process in the cruising process can be effectively guaranteed.

Further, the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes: when the determined current power mode is the pure electric mode or the series mode, judging the cruise condition of the hybrid vehicle at present; when the cruise condition of the hybrid vehicle is a deceleration condition, distributing the required torque to a motor of the hybrid vehicle and a vehicle body stabilizing system of the hybrid vehicle according to a preset distribution proportion; the deceleration condition is that a front vehicle exists in the hybrid vehicle, and the current distance between the hybrid vehicle and the front vehicle meets a preset deceleration running condition.

It should be understood that in practical applications, when the hybrid vehicle adopts the pure electric mode or the series mode, the vehicle braking is jointly responsible for the electric machine and the body stabilizing system. Therefore, in the implementation process, when the pure electric mode or the series mode is adopted and the hybrid vehicle is in the deceleration condition at present, the required torque can be distributed to the motor and the vehicle body stabilizing system of the hybrid vehicle, so that the actual condition of the vehicle in the pure electric mode or the series mode is met, and the reliability of the deceleration process in the cruising process can be effectively ensured.

Further, the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes: when the determined current power mode is the pure electric mode or the series mode, judging the cruise condition of the hybrid vehicle at present; when the cruise condition of the hybrid vehicle is an emergency braking condition, distributing the required torque to a motor of the hybrid vehicle and a vehicle body stabilizing system of the hybrid vehicle according to a preset distribution proportion; the emergency braking condition is that a front vehicle exists in the hybrid vehicle, and the current distance between the hybrid vehicle and the front vehicle meets a preset emergency braking condition.

In the implementation process, when the pure electric mode or the series mode is adopted and the hybrid vehicle is in the emergency braking condition at present, the required torque can be distributed to the motor and the vehicle body stabilizing system of the hybrid vehicle, so that the actual condition of the vehicle in the pure electric mode or the series mode is met, and the reliability of the emergency braking process in the cruising process can be effectively ensured.

The embodiment of the present application further provides a cruise control method, applied to a hybrid vehicle, including: an adaptive cruise system of the hybrid vehicle monitors whether a vehicle ahead exists; the self-adaptive cruise system determines the current cruise condition of the hybrid vehicle according to the monitoring result of the front vehicle and sends the cruise condition to the whole vehicle controller of the hybrid vehicle; the vehicle control unit acquires current vehicle state information of the hybrid vehicle; the vehicle control unit determines a power mode to be adopted according to the cruising condition and the vehicle state information; and the vehicle control unit controls the hybrid vehicle to be in the power mode, and distributes the required torque to the actuator corresponding to the power mode to be adopted according to the distribution scheme corresponding to the power mode to be adopted.

In the implementation process, the adaptive cruise system can monitor whether a front vehicle exists or not, determine the current power mode and the required torque of the hybrid vehicle, further determine the current cruise condition of the hybrid vehicle according to the monitoring result of the front vehicle, and send the cruise condition to the whole vehicle controller of the hybrid vehicle. The vehicle control unit acquires current vehicle state information of the hybrid vehicle, determines a power mode to be adopted according to the cruise condition and the vehicle state information, controls the hybrid vehicle to be in the power mode, and distributes required torque to an actuator corresponding to the power mode according to a distribution scheme corresponding to the power mode. Therefore, in the cruising process of the hybrid electric vehicle, the vehicle can automatically enter the current vehicle state according to the current cruising condition to select the proper power mode to operate the vehicle according to actual needs, so that the vehicle can operate in the more proper power mode, the required torque can be adaptively distributed according to the distribution scheme corresponding to the adopted power mode, and the cruising effect of the vehicle is further ensured.

Further, the adaptive cruise system determining the current cruise condition of the hybrid vehicle according to the monitoring result of the front vehicle comprises: when the monitoring result indicates that the front vehicle does not exist, determining that the cruise condition of the hybrid vehicle is a constant speed condition; when the monitoring result is that the front vehicle exists, acquiring the distance between the hybrid vehicle and the front vehicle; when the distance meets a preset acceleration running condition, determining that the cruise condition of the hybrid vehicle is an acceleration condition; when the distance meets a preset deceleration running condition, determining that the cruise condition of the hybrid vehicle is a deceleration condition; and when the distance meets a preset emergency braking condition, determining that the cruise condition of the hybrid vehicle is an emergency braking condition.

In the implementation process, the cruising condition (namely whether constant-speed running or acceleration, deceleration or emergency braking is needed) of the hybrid vehicle is determined according to the existence of the front vehicle and the distance between the front vehicle and the front vehicle when the front vehicle exists, so that the intelligent control of the cruising process is ensured, and powerful information support is provided for the subsequent power mode determination.

The embodiment of the present application further provides a cruise control device, which is applied to a hybrid vehicle, and includes: a determining module and a distributing module; the determination module is used for determining a current power mode and a required torque of the hybrid vehicle when the hybrid vehicle is in a cruise mode; the distribution module is used for distributing the required torque to the actuator corresponding to the power mode according to a distribution scheme corresponding to the power mode.

The embodiment of the present application further provides a cruise control device, which is applied to a hybrid vehicle, and includes: a cruise module and a control module; the cruise module is used for monitoring whether a front vehicle exists or not, determining the current cruise condition of the hybrid vehicle according to the monitoring result of the front vehicle, and sending the cruise condition to the control module; the control module is used for acquiring the current vehicle state information of the hybrid vehicle; determining a power mode to be adopted according to the cruising condition and the vehicle state information; and controlling the hybrid vehicle to be in the required power mode, and distributing the required torque to the actuator corresponding to the required power mode according to a distribution scheme corresponding to the required power mode.

The embodiment of the application also provides a hybrid vehicle which comprises an adaptive cruise system and a vehicle control unit; the self-adaptive cruise system is used for monitoring whether a front vehicle exists or not, determining the current cruise condition of the hybrid vehicle according to the monitoring result of the front vehicle, and sending the cruise condition to the whole vehicle controller of the hybrid vehicle; the vehicle control unit is used for acquiring current vehicle state information of the hybrid vehicle; determining a power mode to be adopted according to the cruising condition and the vehicle state information; and distributing the required torque to the actuator corresponding to the power mode to be adopted according to the distribution scheme corresponding to the power mode to be adopted.

The embodiment of the application also provides a vehicle control unit, which comprises a processor, a memory and a communication bus; the communication bus is used for realizing connection communication between the processor and the memory; the processor is configured to execute one or more programs stored in the memory to implement the steps of any of the cruise control methods described above.

Also provided in an embodiment of the present application is a readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the steps of any of the cruise control methods described above.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic flowchart of a cruise control method according to an embodiment of the present application;

FIG. 2 is a schematic view of a process for determining a current power mode according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a hybrid vehicle according to an embodiment of the present application;

fig. 4 is a control system diagram of a hybrid vehicle according to an embodiment of the present application;

FIG. 5 is a schematic illustration of a requested torque distribution in a hybrid mode according to an embodiment of the present application;

fig. 6 is a block diagram illustrating a configuration of a cruise control apparatus according to an embodiment of the present application;

FIG. 7 is a block diagram illustrating a more detailed configuration of a cruise control apparatus according to an embodiment of the present disclosure;

fig. 8 is a block diagram showing a configuration of still another cruise control apparatus according to an embodiment of the present application;

fig. 9 is a structural block diagram of a vehicle control unit according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

The first embodiment is as follows:

referring to fig. 1, fig. 1 is a schematic flow chart of a cruise control method according to an embodiment of the present application. In the embodiment of the present application, a cruise control method is applied to a hybrid vehicle, including:

s101: when the hybrid vehicle is in the cruise mode, the current power mode and the required torque of the hybrid vehicle are determined.

The hybrid vehicle is a vehicle in which an engine and a motor are both provided, and which can be driven by the engine or the motor. Hybrid vehicles may be driven by both an engine and a motor, and thus, there may be a variety of different power modes in a hybrid vehicle. For example, an electric-only mode (in which the electric machine solely performs the drive function), a hybrid mode (in which the electric machine and the engine share the drive function) may be provided.

It should be noted that most hybrid vehicles on the market currently have an auto-cruise function, and a user can control the vehicle to enter an auto-cruise mode through a pre-reserved button or knob.

In the embodiment of the application, when the hybrid vehicle is in the cruise mode, the vehicle control unit may determine a current power mode, which may be a power mode actually adopted by the current hybrid vehicle. However, it should be understood that, when the vehicle is automatically cruising, the actual driving environment is complex, so that the vehicle controller may also automatically select a corresponding power mode to operate according to the current actual driving environment and the state of the vehicle itself, thereby providing better driving experience for the driver and the passengers.

Alternatively, referring to fig. 2, the vehicle control unit may implement automatic selection of the power mode and determination of the current power mode by the following steps:

s201: the cruise condition of the hybrid vehicle is obtained.

In the embodiment of the application, the cruise condition of the hybrid vehicle at present can be determined by an adaptive cruise system in the hybrid vehicle and is sent to the vehicle control unit.

Optionally, the adaptive cruise system may monitor whether a vehicle ahead exists through a radar or a camera, and the like, and then determine a cruise condition of the hybrid vehicle according to a monitoring result of the vehicle ahead, and send the cruise condition to the vehicle control unit of the hybrid vehicle.

Optionally, in the embodiment of the present application, the cruise condition may include at least one of a constant speed condition, an acceleration condition, a deceleration condition, and an emergency braking condition. Taking the cruise condition as the condition of the constant speed condition, the acceleration condition, the deceleration condition and the emergency braking condition as an example, when the self-adaptive cruise system has no front vehicle in the monitoring result, the cruise condition of the hybrid vehicle can be determined as the constant speed condition; the adaptive cruise system can determine the current cruise condition by acquiring the distance between the hybrid vehicle and the front vehicle when the monitoring result shows that the front vehicle exists. For example, the adaptive cruise system may determine that the cruise condition of the hybrid vehicle is an acceleration condition when the distance satisfies a preset acceleration running condition; when the distance meets the preset deceleration running condition, determining the cruise condition of the hybrid vehicle as the deceleration condition; and when the distance meets the preset emergency braking condition, determining the cruise condition of the hybrid vehicle as the emergency braking condition. It should be understood that, in the embodiment of the present application, the preset acceleration running condition, the preset deceleration running condition and the preset emergency braking condition may be set by an engineer according to actual needs, for example, the preset acceleration running condition may be set to be a distance from a preceding vehicle greater than 200 meters, the preset deceleration running condition may be set to be a distance from a preceding vehicle greater than 50 meters and less than 100 meters, and the preset emergency braking condition may be set to be a distance from a preceding vehicle less than 50 meters.

It is worth noting that in practical applications, the braking distance is also related to the vehicle speed (the faster the vehicle speed, the greater the braking distance required). In the embodiment of the present application, therefore, the engineer can set different running conditions for different running speeds when the acceleration running condition, the deceleration running condition and the sudden braking condition are preset. When the adaptive cruise system determines the cruise condition, the current vehicle running speed can be obtained, and the current cruise condition of the hybrid vehicle can be determined according to the current running data and the preset acceleration running condition, deceleration running condition and emergency braking condition corresponding to the current running speed.

It should be understood that, in the embodiment of the present application, the current speed of the front vehicle and the acceleration of the front vehicle may also be combined to determine the cruise condition of the hybrid vehicle, for example, if the current speed of the hybrid vehicle is faster than the current speed of the front vehicle, the difference between the current speed of the hybrid vehicle and the current speed of the front vehicle is greater than a preset speed difference threshold, and the acceleration of the front vehicle is less than the minimum acceleration at which the two vehicles do not collide, which is calculated according to the current inter-vehicle distance and the current speed of the front vehicle, then the cruise condition of the hybrid vehicle is determined to be a deceleration condition. It should be understood that the foregoing is merely an example of a possible determination that can be made by the present application and is not intended to represent that the manner in which the hybrid vehicle is currently cruising can only be determined in the foregoing manner.

It should be understood that, in the embodiment of the present application, data such as the current vehicle speed of the vehicle in front, the acceleration of the vehicle in front, and the distance to the vehicle in front may be calculated by a radar ranging algorithm.

S202: the current vehicle state information of the hybrid vehicle is acquired.

In the embodiment of the present application, the vehicle state information may include: at least one of vehicle speed information, power battery state information, vehicle operation mode information, engine state information, parallel mode flag information, and vehicle diagnostic information. In the embodiment of the application, the vehicle can have a parallel mode, and the vehicle can be driven by the engine and the motor together in the parallel mode. The parallel mode flag information is flag information that the vehicle is in the parallel mode, and may include a parallel mode flag vehicle speed upper limit value. The parallel mode flag vehicle speed upper limit value means a vehicle speed upper limit value at which the vehicle is in the parallel mode.

S203: and determining the power mode to be adopted according to the cruising condition and the vehicle state information.

In the embodiment of the present application, the power mode may include a hybrid mode. It should be understood that, for a hybrid vehicle, when in the hybrid mode, the vehicle is powered by both the engine and the motor, thereby ensuring better power performance of the vehicle. However, if the vehicle frequently enters or exits the hybrid mode during use, certain damage may be caused to the engine as well as the electric machine. Thus in one possible implementation of the embodiment of the present application, the cruise condition may comprise a constant speed condition; the vehicle state information may include vehicle speed information, power battery state information, and parallel mode flag information. The vehicle speed information comprises a preset target vehicle speed, the power battery state information comprises power battery residual capacity, and the parallel mode mark information comprises a parallel mode mark vehicle speed upper limit value. At this time, one possible example may be: when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than a parallel mode mark vehicle speed upper limit value, and the current cruise condition is a constant speed condition, the power mode to be adopted is determined to be a hybrid power mode. Another possible example is: when the remaining electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than a parallel mode mark vehicle speed upper limit value, and the current cruise condition is an acceleration condition, the power mode to be adopted is determined to be a hybrid power mode. It should be understood that the foregoing two possible example schemes may be applied to the vehicle controller at the same time, that is, when the remaining power of the power battery is lower than the preset battery power lower limit, the target vehicle speed is higher than the parallel mode flag vehicle speed upper limit, and the current cruise condition is a constant speed condition or an acceleration condition, it may be determined that the power mode to be adopted is the hybrid mode.

It should be understood that, in general, when the automatic cruise function is activated, the user needs to set the target vehicle speed so that the vehicle will cruise at a constant speed according to the set target vehicle speed. In the embodiment of the present application, the target vehicle speed may be a target vehicle speed set by the user when the auto cruise function is activated. In addition, in the embodiment of the present application, the target vehicle speed may also be a vehicle speed value that is written into the vehicle control unit by an engineer in advance.

Optionally, the engineer may write a vehicle speed value in the vehicle controller in advance, and provide a cruise vehicle speed setting function for the user. If the user sets the vehicle speed when the automatic cruise function is started, the vehicle speed set by the user is used as the target vehicle speed; and if the vehicle speed is not set when the user starts the automatic cruise function, the vehicle speed value written by an engineer is used as the target vehicle speed.

In the embodiments of the present application, the power mode may also include an electric only mode and/or a series mode. It should be noted that, in the pure electric mode, the vehicle is driven by the motor and is braked by the motor and the vehicle body stabilizing system; in the series mode, the vehicle is driven by the motor, the motor and the vehicle body stabilizing system are jointly responsible for braking, and the engine charges the power battery according to state information such as the residual capacity of the power battery.

In the present embodiment, the cruise conditions may include a constant speed condition, an acceleration condition, a deceleration condition, and an emergency braking condition; the vehicle state information may include vehicle speed information, power battery state information, parallel mode flag information, diagnostic information. The vehicle speed information comprises a preset target vehicle speed, the power battery state information comprises the residual electric quantity of the power battery, the parallel mode mark information comprises the upper limit value of the parallel mode mark vehicle speed, and the diagnosis information comprises the information whether the vehicle is in fault or not. At this time, one possible example may be: when the residual electric quantity of the power battery is higher than the preset battery electric quantity upper limit value, the target vehicle speed is lower than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is a constant speed condition or an acceleration condition, the power mode to be adopted is determined to be the pure electric mode. Another possible example may be: when the residual electric quantity of the power battery is lower than the preset battery electric quantity lower limit value, the target vehicle speed is lower than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is a deceleration condition or an emergency braking condition, the power mode to be adopted is determined to be the series mode.

S204: the hybrid vehicle is controlled to be in a power mode, and the power mode is determined to be the current power mode.

It is to be understood that after the determination of the power mode to be employed by the hybrid vehicle, there are two situations. Firstly, the power mode actually adopted by the hybrid electric vehicle at present is the determined power mode to be adopted, and at the moment, the vehicle control unit does not substantially perform any operation, so that the power mode of the hybrid electric vehicle is kept unchanged. And secondly, the power mode actually adopted by the hybrid vehicle at present is not the determined power mode to be adopted, and the vehicle control unit can switch the power mode at the moment, so that the power mode actually adopted by the hybrid vehicle at present is switched to the determined power mode from the original power mode.

Optionally, in this embodiment of the application, if the power mode actually adopted at present needs to be switched from the original power mode to the hybrid power mode, the vehicle controller may output a rotation speed control instruction to the clutch controller while the power mode is switched in the mode switching process, so that the clutch controller controls the rotation speeds of the two ends of the clutch of the hybrid vehicle according to the rotation speed control instruction, so as to match the rotation speeds of the two ends of the clutch. It will be appreciated that engagement of the clutch is required when switching into hybrid mode due to the need to activate the transmitter for driving. When the hybrid power mode is switched in, the rotating speeds of the two ends of the clutch can be controlled to be the same, so that the vehicle can smoothly enter the hybrid power mode. It should be noted that, mode switching manners in the conventional hybrid vehicle are quite mature, and therefore, detailed descriptions about how the hybrid vehicle switches from the non-hybrid mode to the hybrid mode are omitted in the embodiment of the present application.

In the embodiment of the application, the vehicle control unit can acquire the current vehicle speed of the hybrid vehicle and determine the required torque according to the difference value between the current vehicle speed and the preset target vehicle speed. For example, a required torque may be calculated by PID (proportional-integral-derivative) calculation of a difference between the current vehicle speed and a preset target vehicle speed.

In a possible implementation of the embodiment of the present application, different correction coefficients may be configured in advance for different power modes. During calculation, a difference value between the current vehicle speed and the preset target vehicle speed can be subjected to PID calculation to obtain an initial torque, and then the calculated initial torque is corrected through a correction coefficient corresponding to the current power mode, so that the required torque is obtained.

S102: and distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode.

In one possible implementation of the embodiments of the present application, the power modes may include a hybrid mode. When the current power mode is the hybrid mode, one possible way to distribute the required torque to the actuators corresponding to the power modes according to the distribution scheme corresponding to the power modes may be: judging whether the required torque is larger than the maximum torque of an engine of the hybrid vehicle; if the required torque is larger than the maximum torque of an engine of the hybrid vehicle, distributing the maximum torque to the engine, and distributing the residual torque after the maximum torque is distributed to the motor of the hybrid vehicle; the required torque is distributed to the engine if the required torque is equal to or less than a maximum torque of the engine of the hybrid vehicle.

It should be noted that in practical applications, in order to make the vehicle more energy-saving, engineers often design a maximum torque in the engine economy zone to limit the maximum torque that can be output by the engine when the user operates the vehicle in the economy mode to the maximum torque in the engine economy zone. In the embodiment of the present application, if the user operates the vehicle in the economy mode, the aforementioned maximum torque of the engine considered in the distribution of the required torque should be adaptively changed to the maximum torque of the engine economy region.

In one possible implementation of the embodiments of the present application, the power modes may include an electric-only mode and/or a series mode.

In the present possible embodiment, the cruise condition may include a constant speed condition, and one possible way of distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode may be: and distributing the required torque to the motor when the determined current power mode is the pure electric mode or the series mode and the cruise condition of the hybrid vehicle is the constant speed condition.

In the present possible embodiment, the cruise condition may include an acceleration condition, and one possible way of distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode may be: and when the determined current power mode is the pure electric mode or the series mode and the cruise condition of the hybrid vehicle is the joining condition, distributing the required torque to the motor.

In the present possible embodiment, the cruise condition may include a deceleration condition, and one possible way of distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode may be: and when the determined current power mode is the pure electric mode or the series mode and the cruise condition of the hybrid vehicle is the deceleration condition, respectively distributing the required torque to the motor and a vehicle body stabilizing system of the hybrid vehicle according to a preset distribution proportion.

In this possible embodiment, the cruise condition may include an emergency braking condition, and one possible way of distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode may be: and when the determined current power mode is the pure electric mode or the series mode and the cruise condition of the hybrid vehicle is the emergency braking condition, respectively distributing the required torque to the motor and a vehicle body stabilizing system of the hybrid vehicle according to a preset distribution proportion.

In summary, the cruise control method provided by the embodiment of the application determines the current power mode and the required torque of the hybrid vehicle when the hybrid vehicle is in the cruise mode, and then distributes the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode. Therefore, in the hybrid vehicle, the required torque can be distributed to the actuator corresponding to the current power mode according to the power mode to realize the cruise function, different power modes in the hybrid vehicle can be matched with different distribution schemes to realize the adaptive distribution of the required torque, the adaptive torque distribution of different power modes of the hybrid vehicle is realized, and the cruise function can be well operated in different power modes.

Example two:

referring to fig. 3, fig. 3 is a schematic structural diagram of a hybrid vehicle provided in the first embodiment of the present application, which includes an adaptive cruise system 20 and a vehicle control unit 10. Wherein:

the self-adaptive cruise system is used for monitoring whether a front vehicle exists or not, determining the current cruise condition of the hybrid vehicle according to the monitoring result of the front vehicle, and sending the cruise condition to the whole vehicle controller of the hybrid vehicle.

The vehicle control unit is used for acquiring current vehicle state information of the hybrid vehicle; determining a power mode to be adopted according to the cruising condition and the vehicle state information; the power mode is adopted, and the required torque is distributed to the actuator (such as a motor and/or an engine) corresponding to the power mode according to the distribution scheme corresponding to the power mode.

How to determine the power mode to be adopted and how to distribute the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode are described in the first embodiment, and are not described again here.

In the embodiment of the application, the adaptive cruise system can comprise a radar or a camera, and then the monitoring of the front vehicle is realized through the radar or the camera.

In embodiments of the present application, the cruise condition may include at least one of a constant speed condition, an acceleration condition, a deceleration condition, and an emergency braking condition. How the adaptive cruise system determines the current cruise condition according to the distance from the vehicle ahead has been described in the first embodiment, and therefore, the details are not repeated here.

According to the hybrid vehicle provided by the embodiment of the application, whether a front vehicle exists or not can be monitored through the self-adaptive cruise system, the current power mode and the required torque of the hybrid vehicle are determined, the cruise condition of the hybrid vehicle at present is determined according to the monitoring result of the front vehicle, and the cruise condition is sent to the whole vehicle controller of the hybrid vehicle. The vehicle control unit acquires current vehicle state information of the hybrid vehicle, determines a power mode to be adopted according to the cruise condition and the vehicle state information, controls the hybrid vehicle to be in the power mode, and distributes required torque to an actuator corresponding to the power mode according to a distribution scheme corresponding to the power mode. Therefore, in the cruising process of the hybrid electric vehicle, the vehicle can automatically enter the current vehicle state according to the current cruising condition to select the proper power mode to operate the vehicle according to actual needs, so that the vehicle can operate in the more proper power mode, the required torque can be adaptively distributed according to the distribution scheme corresponding to the adopted power mode, and the cruising effect of the vehicle is further ensured.

Example three:

the present embodiment is further illustrated in the first embodiment by taking a more specific structure of a PHEV (plug in hybrid electric vehicle) hybrid vehicle and a cruise control process as an example.

As shown in fig. 4, the hybrid vehicle includes an adaptive cruise system, a vehicle control unit, a power battery Controller, an engine Controller and an engine, a motor Controller and a motor, a clutch Controller and a clutch, a vehicle body stabilization system and a vehicle body stabilization execution structure, and a combination meter (e.g., a speedometer, a tachometer, etc.), wherein the adaptive cruise system, the vehicle control unit, the power battery Controller, the engine Controller, the motor Controller, the clutch Controller and the vehicle body stabilization system are connected by a CAN (Controller Area Network) bus, the adaptive cruise system is connected with the combination meter, and the vehicle control unit is connected with the combination meter by a CAN bus.

In the embodiment of the application, when no vehicle exists in the front and the vehicle is in a free running state, the self-adaptive cruise system judges that the vehicle is in a constant speed condition, and the vehicle performs constant speed cruise according to the speed set by a driver at the moment; if the radar monitors that a vehicle exists in front, the adaptive cruise system judges that the vehicle enters a following area, and then the adaptive cruise system determines whether the vehicle is in an acceleration condition, a deceleration condition or an emergency braking condition according to signals such as the speed of the vehicle in front, the acceleration of the vehicle in front, the distance between vehicles, the current speed of the vehicle and the relative speed of the two vehicles (namely the speed difference between the speed of the vehicle and the speed of the vehicle in front, wherein the speed difference is positive to indicate that the speed of the vehicle in front is higher than that of the vehicle in front, and the speed difference is negative to indicate that the speed of the vehicle in front is lower. For example, when the relative speed of the two vehicles is smaller than a preset first vehicle speed threshold value and the distance between the two vehicles is larger than a vehicle distance threshold value corresponding to the relative speed of the two vehicles, it is determined that the vehicles are in an acceleration condition; when the relative speed of the two vehicles is greater than a preset first vehicle speed threshold value or the vehicle distance is smaller than a vehicle distance threshold value corresponding to the relative speed of the two vehicles, determining that the vehicles are in a deceleration condition; and when the relative speed of the two vehicles is greater than a preset second vehicle speed threshold value, or the distance between the two vehicles is less than the emergency braking distance corresponding to the relative speed of the two vehicles, determining that the vehicles are in the emergency braking condition.

In the embodiment of the application, the PHEV hybrid electric vehicle has three power modes: an electric only mode, a series mode, and a hybrid mode. The vehicle control unit determines in which power mode the vehicle should operate according to the cruise condition determined by the adaptive cruise system, power battery state information (such as battery remaining capacity, battery temperature, etc.), vehicle operation modes (economy mode/sport mode, etc.), engine state information (such as whether starting is allowed or not, whether a warm-up state is in, etc.), a parallel mode flag, and a diagnosis request state (whether the vehicle is faulty or not, which fault information is present, etc.). For example, when the battery residual capacity of the power battery is less than a preset capacity threshold value, the battery temperature is lower than a preset temperature alarm value, the vehicle running mode is an economic mode, the engine is allowed to start, the vehicle speed is less than the upper limit value of the parallel mode mark, and the vehicle motor has no fault, the series mode is started. And when the battery residual electric quantity of the power battery is greater than a preset electric quantity threshold value, the battery temperature is lower than a preset temperature warning value, the vehicle running mode is a moving mode, the vehicle speed is less than the upper limit value of the parallel mode mark, and the vehicle motor has no fault, starting the pure electric mode.

When the power mode of the vehicle is judged, in order to avoid that the vehicle frequently enters a push-out hybrid power mode, in the embodiment of the application, the condition that the remaining battery capacity is lower than a preset lower limit value, the target vehicle speed is higher than a parallel mode mark vehicle speed upper limit value, and the cruise condition is in a constant speed condition can be set; or when the condition that the residual electric quantity of the battery is lower than the preset lower limit value, the target vehicle speed is higher than the upper limit value of the parallel mode mark vehicle speed and the cruising condition is in the accelerating condition is met, the vehicle is allowed to enter the hybrid power mode. When the engine enters the hybrid power mode, a command can be sent to the clutch controller to adjust the rotating speeds of the two ends of the clutch, so that the engine smoothly enters a required state in the hybrid power mode.

It should be noted that if the vehicle is operating in the electric only mode, the electric machine is responsible for the vehicle driving torque and is responsible for the vehicle braking torque together with the body stabilizing system. If the vehicle runs in a series mode, the motor is responsible for vehicle driving torque and is responsible for vehicle braking torque together with a vehicle body stabilizing system; and the vehicle control unit controls whether the engine charges the power battery according to the state information such as the residual electric quantity of the power battery. If the vehicle is operating in a hybrid mode, the engine and the electric machine are jointly responsible for vehicle drive torque and the electric machine and the body stability system are jointly responsible for vehicle brake torque in the hybrid mode.

In the embodiment of the application, the vehicle control unit can calculate the required torque according to the difference value between the current vehicle speed and the target vehicle speed through PID calculation and by combining the current torque, the diagnosis request state and the vehicle operation mode, and obtains the final required torque through filtering and smoothing. For example, when the diagnosis request state is that the vehicle is not in fault, according to a PID calculation formula corresponding to the current operation mode of the vehicle, the difference between the current vehicle speed and the target vehicle speed is calculated by the PID to obtain a preliminary required torque, and then the preliminary required torque is filtered and smoothed to obtain the final required torque.

In the present embodiment, if the vehicle power mode is the electric only mode or the series mode, the calculated required torque may be distributed to the electric machine when the cruise condition determined by the adaptive cruise system is a constant speed condition or an acceleration condition, and the calculated vehicle required torque may be distributed to the electric machine and the body stability system when the cruise condition determined by the adaptive cruise system is a deceleration condition or an emergency braking condition.

As described in connection with fig. 5, if the vehicle power mode is the hybrid mode, the torque allocated to the engine by the required torque cannot exceed the maximum value of the engine economy zone torque based on the economical consideration when performing the torque allocation. If the required torque is smaller than the maximum torque of the economic zone of the engine, distributing the required torque to the engine to enable the engine to reach the maximum torque of the economic zone, namely the distributed engine torque is equal to the required torque; and if the required torque is larger than the maximum torque of the engine, distributing the required torque to the engine to enable the engine to reach the maximum torque of the economic zone, and distributing the part of the required torque which is larger than the maximum torque of the economic zone of the engine to the motor, namely the engine torque is equal to the maximum torque of the economic zone of the engine, and the motor torque is equal to the required torque which is equal to the maximum torque of the economic zone of the engine. The allocation process can be seen in fig. 5.

The cruise control process that this application embodiment provided can distribute the demand torque to the executor corresponding with current power mode according to power mode in order to realize the cruise function for different power modes can match different distribution schemes and realize the adaptability distribution of demand torque among the hybrid vehicle, have realized the adaptability torque distribution to different power modes of hybrid vehicle, make the cruise function can all be fine under different power modes by the operation.

Example four:

referring to fig. 6, fig. 6 shows a cruise control device using the cruise control method shown in fig. 1, and it should be understood that the device 100 corresponds to the method embodiment shown in fig. 1, and can perform the steps related to the method embodiment, and the specific functions of the device 100 can be referred to the description above, and the detailed description is omitted here to avoid redundancy. The device 100 includes at least one software functional module that can be stored in a memory in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the device 100. Specifically, the apparatus 100 is applied to a hybrid vehicle, and includes: a determination module 101 and an assignment module 102. Wherein the content of the first and second substances,

the determination module 101 is used for determining a current power mode and a required torque of the hybrid vehicle when the hybrid vehicle is in a cruise mode;

the distribution module 102 is configured to distribute the required torque to the actuators corresponding to the power modes according to a distribution scheme corresponding to the power modes.

In the embodiment of the application, the determination module 101 is specifically configured to obtain a cruise condition of the hybrid vehicle at present; acquiring current vehicle state information of the hybrid vehicle; determining a power mode to be adopted according to the cruising condition and the vehicle state information; the hybrid vehicle is controlled to be in a power mode, and the power mode is determined to be the current power mode.

The cruise condition is a current use condition of the hybrid vehicle for the cruise function, which is determined based on information such as the current following state of the hybrid vehicle and the vehicle ahead. Including constant speed conditions, acceleration conditions, deceleration conditions, and emergency braking conditions. The specific descriptions of the constant speed condition, the acceleration condition, the deceleration condition and the emergency braking condition have been described in the first embodiment, and therefore are not described herein again.

In the embodiment of the present application, the power modes include a hybrid mode; cruise conditions include constant speed conditions; the constant speed situation is a running situation when the hybrid vehicle does not find a preceding vehicle; the vehicle state information comprises vehicle speed information, power battery state information and parallel mode mark information; the vehicle speed information comprises a preset target vehicle speed; the power battery state information comprises the residual electric quantity of the power battery; the parallel mode flag information includes a parallel mode flag vehicle speed upper limit value. The process of determining the power mode to be adopted by the determination module 101 according to the cruise condition and the vehicle state information may specifically include: and when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than a parallel mode mark vehicle speed upper limit value, and the current cruise condition is a constant speed condition, determining that the power mode to be adopted is a hybrid power mode.

In the embodiment of the present application, the power modes include a hybrid mode; cruise conditions include acceleration conditions; the acceleration condition is the condition that a front vehicle exists in the hybrid vehicle and the current distance between the hybrid vehicle and the front vehicle meets a preset acceleration running condition; the vehicle state information comprises vehicle speed information, power battery state information and parallel mode mark information; the vehicle speed information comprises a preset target vehicle speed; the power battery state information comprises the residual electric quantity of the power battery; the parallel mode flag information includes a parallel mode flag vehicle speed upper limit value. The process of determining the power mode to be adopted by the determination module 101 according to the cruise condition and the vehicle state information may specifically include: and when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than a parallel mode mark vehicle speed upper limit value, and the current cruise condition is an acceleration condition, determining that the power mode to be adopted is a hybrid power mode.

In the embodiment of the present application, referring to fig. 7, the cruise control apparatus 100 further includes a sending module 103 configured to output a rotational speed control command to a clutch controller of the hybrid vehicle when the hybrid mode is adopted, so that the clutch controller controls the rotational speeds of the two ends of the clutch of the hybrid vehicle according to the rotational speed control command, so as to match the rotational speeds of the two ends of the clutch.

In the embodiment of the present application, the process of the determination module 101 determining the required torque of the hybrid vehicle may include: acquiring the current speed of the hybrid vehicle; and determining the required torque according to the difference value between the current vehicle speed and the preset target vehicle speed.

In the embodiment of the present application, the current power mode is the hybrid mode. The distribution module 102 is specifically configured to determine whether the requested torque is greater than a maximum torque of an engine of the hybrid vehicle; if the required torque is larger than the maximum torque of an engine of the hybrid vehicle, distributing the maximum torque to the engine, and distributing the residual torque after the maximum torque is distributed to the motor of the hybrid vehicle; the required torque is distributed to the engine if the required torque is equal to or less than a maximum torque of the engine of the hybrid vehicle.

In the embodiment of the application, the power mode comprises an electric pure mode or a series mode; cruise conditions include constant speed conditions; the constant speed situation is a running situation when the hybrid vehicle does not find the preceding vehicle. The distribution module 102 is specifically configured to, when the determined current power mode is the pure electric mode or the series mode, determine a cruise condition of the hybrid vehicle at present; the required torque is distributed to the motor when the cruise condition at which the hybrid vehicle is currently at is a constant speed condition.

In the embodiment of the application, the power mode comprises an electric pure mode or a series mode; cruise conditions include acceleration conditions; the acceleration condition is a condition in which a vehicle ahead of the hybrid vehicle exists and a current distance of the hybrid vehicle from the vehicle ahead satisfies a preset acceleration running condition. The distribution module 102 is specifically configured to, when the determined current power mode is the pure electric mode or the series mode, determine a cruise condition of the hybrid vehicle at present; the required torque is distributed to the motor when the cruise condition in which the hybrid vehicle is currently located is a joining condition.

In the embodiment of the application, the power mode comprises an electric pure mode or a series mode; cruise conditions include deceleration conditions; the deceleration situation is a situation in which the hybrid vehicle exists in front of the vehicle and the current distance from the front vehicle of the hybrid vehicle satisfies a preset deceleration running condition. The distribution module 102 is specifically configured to, when the determined current power mode is the pure electric mode or the series mode, determine a cruise condition of the hybrid vehicle at present; when the cruise condition of the hybrid vehicle is a deceleration condition, the required torque is distributed to the motor and a vehicle body stabilizing system of the hybrid vehicle according to a preset distribution ratio.

In the embodiment of the application, the power mode comprises an electric pure mode or a series mode; cruise conditions include emergency braking conditions; the emergency braking condition is a condition in which a front vehicle exists in the hybrid vehicle and a current distance of the hybrid vehicle from the front vehicle satisfies a preset emergency braking condition. The distribution module 102 is specifically configured to, when the determined current power mode is the pure electric mode or the series mode, determine a cruise condition of the hybrid vehicle at present; when the cruise condition of the hybrid vehicle is an emergency braking condition, the required torque is distributed to the motor and a vehicle body stabilizing system of the hybrid vehicle according to a preset distribution proportion.

Referring to fig. 8, the present embodiment further provides a cruise control apparatus 200 applied to a hybrid vehicle, including: a cruise module 201 and a control module 202. Wherein the content of the first and second substances,

the cruise module 201 is used for monitoring whether a front vehicle exists, determining the current cruise condition of the hybrid vehicle according to the monitoring result of the front vehicle, and sending the cruise condition to the control module 202;

the control module 202 is used for acquiring current vehicle state information of the hybrid vehicle; determining a power mode to be adopted according to the cruising condition and the vehicle state information; and controlling the hybrid vehicle to be in a power mode, and distributing the required torque to an actuator corresponding to the power mode according to a distribution scheme corresponding to the power mode.

In the present embodiment, cruise conditions include a constant speed condition, an acceleration condition, a deceleration condition, and an emergency braking condition. The process of the cruise module 201 determining the cruise condition in which the hybrid vehicle is currently located according to the monitoring result of the vehicle ahead may include:

when the monitoring result shows that no front vehicle exists, determining that the cruise condition of the hybrid vehicle is a constant speed condition;

when the monitoring result shows that the front vehicle exists, the distance between the hybrid vehicle and the front vehicle is obtained;

when the distance meets the preset acceleration running condition, determining the cruise condition of the hybrid vehicle as the acceleration condition;

when the distance meets the preset deceleration running condition, determining the cruise condition of the hybrid vehicle as the deceleration condition;

and when the distance meets the preset emergency braking condition, determining the cruise condition of the hybrid vehicle as the emergency braking condition.

In summary, according to the cruise control method provided by the embodiment of the application, when the hybrid vehicle is in the cruise mode, the current power mode and the required torque of the hybrid vehicle are determined, and then the required torque is distributed to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode. Therefore, in the hybrid vehicle, the required torque can be distributed to the actuator corresponding to the current power mode according to the power mode to realize the cruise function, different power modes in the hybrid vehicle can be matched with different distribution schemes to realize the adaptive distribution of the required torque, the adaptive torque distribution of different power modes of the hybrid vehicle is realized, and the cruise function can be well operated in different power modes.

Example five:

the embodiment provides a vehicle control unit, which is shown in fig. 9 and includes a processor 901, a memory 902 and a communication bus 903. Wherein:

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

The processor 901 is configured to execute one or more programs stored in the memory 902 to implement the steps of the cruise control method according to any one of the first to third embodiments.

It will be appreciated that the configuration shown in fig. 9 is merely illustrative and that the vehicle control unit may include more or fewer components than shown in fig. 9, or may have a different configuration than shown in fig. 9.

The present embodiment further provides a readable storage medium, such as a floppy disk, an optical disk, a hard disk, a flash Memory, a usb (Secure Digital Memory Card), an MMC (Multimedia Card), etc., in which one or more programs for implementing the above steps are stored, and the one or more programs can be executed by one or more processors to implement the steps of the cruise control method according to any of the first to third embodiments. And will not be described in detail herein.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims

1. A cruise control method, applied to a hybrid vehicle, comprising:

determining a current power mode and a required torque of the hybrid vehicle when the hybrid vehicle is in a cruise mode;

distributing the required torque to an actuator corresponding to the power mode according to a distribution scheme corresponding to the power mode;

the determining the current power mode includes:

acquiring the current cruising condition of the hybrid power vehicle;

acquiring current vehicle state information of the hybrid vehicle;

determining a power mode to be adopted according to the cruising condition and the vehicle state information;

controlling the hybrid vehicle to be in the power mode to be adopted, wherein the power mode to be adopted is the current power mode;

wherein the cruise condition comprises a constant speed condition; the constant speed condition is a running condition when the hybrid vehicle does not find a preceding vehicle; the vehicle state information comprises vehicle speed information, power battery state information and parallel mode mark information; the vehicle speed information comprises a preset target vehicle speed; the power battery state information comprises the residual electric quantity of the power battery; the parallel mode flag information comprises a parallel mode flag vehicle speed upper limit value;

the determining of the power mode to be adopted according to the cruise condition and the vehicle state information comprises: when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is a constant speed condition, determining that the power mode to be adopted is a hybrid power mode;

and/or the presence of a gas in the gas,

the cruise condition comprises an acceleration condition; the acceleration condition is that a front vehicle exists in the hybrid vehicle, and the current distance between the hybrid vehicle and the front vehicle meets a preset acceleration running condition; the vehicle state information comprises vehicle speed information, power battery state information and parallel mode mark information; the vehicle speed information comprises a preset target vehicle speed; the power battery state information comprises the residual electric quantity of the power battery; the parallel mode flag information comprises a parallel mode flag vehicle speed upper limit value;

the determining of the power mode to be adopted according to the cruise condition and the vehicle state information comprises: and when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is an acceleration condition, determining that the power mode to be adopted is a hybrid power mode.

2. The cruise control method according to claim 1, further comprising:

when the hybrid vehicle is controlled to be in the hybrid mode, a rotating speed control instruction is output to a clutch controller of the hybrid vehicle, so that the clutch controller controls the rotating speeds of two ends of a clutch of the hybrid vehicle according to the rotating speed control instruction, and the rotating speeds of two ends of the clutch are matched.

3. The cruise control method according to claim 1 or 2, wherein determining the required torque of the hybrid vehicle includes:

acquiring the current speed of the hybrid vehicle;

and determining the required torque according to the difference value between the current vehicle speed and a preset target vehicle speed.

4. A cruise control method according to claim 1 or 2, characterised in that the current power mode is a hybrid mode;

the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes:

determining whether the required torque is greater than a maximum torque of an engine of the hybrid vehicle;

if the required torque is larger than the maximum torque of an engine of the hybrid vehicle, distributing the maximum torque to the engine, and distributing the residual torque after distributing the maximum torque to the required torque to a motor of the hybrid vehicle;

distributing the required torque to an engine of the hybrid vehicle if the required torque is equal to or less than a maximum torque of the engine.

5. The cruise control method according to claim 1 or 2, wherein the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes:

when the determined current power mode is the pure electric mode or the series mode, judging the cruise condition of the hybrid vehicle at present;

distributing the required torque to a motor of the hybrid vehicle when the cruise condition of the hybrid vehicle is a constant speed condition; wherein the constant speed condition is a running condition when the hybrid vehicle does not find a preceding vehicle.

6. The cruise control method according to claim 1 or 2, wherein the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes:

distributing the required torque to a motor of the hybrid vehicle when a cruise condition in which the hybrid vehicle is currently located is an acceleration condition; the acceleration condition is that a front vehicle exists in the hybrid vehicle, and the current distance between the hybrid vehicle and the front vehicle meets a preset acceleration running condition.

7. The cruise control method according to claim 1 or 2, wherein the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes:

when the cruise condition of the hybrid vehicle is a deceleration condition, distributing the required torque to a motor of the hybrid vehicle and a vehicle body stabilizing system of the hybrid vehicle according to a preset distribution proportion; the deceleration condition is that a front vehicle exists in the hybrid vehicle, and the current distance between the hybrid vehicle and the front vehicle meets a preset deceleration running condition.

8. The cruise control method according to claim 1 or 2, wherein the distributing the required torque to the actuator corresponding to the power mode according to the distribution scheme corresponding to the power mode includes:

when the cruise condition of the hybrid vehicle is an emergency braking condition, distributing the required torque to a motor of the hybrid vehicle and a vehicle body stabilizing system of the hybrid vehicle according to a preset distribution proportion; the emergency braking condition is that a front vehicle exists in the hybrid vehicle, and the current distance between the hybrid vehicle and the front vehicle meets a preset emergency braking condition.

9. A cruise control method, applied to a hybrid vehicle, comprising:

an adaptive cruise system of the hybrid vehicle monitors whether a vehicle ahead exists;

the self-adaptive cruise system determines the current cruise condition of the hybrid vehicle according to the monitoring result of the front vehicle and sends the cruise condition to the whole vehicle controller of the hybrid vehicle;

the vehicle control unit acquires current vehicle state information of the hybrid vehicle;

the vehicle control unit determines a power mode to be adopted according to the cruising condition and the vehicle state information;

the vehicle control unit controls the hybrid vehicle to be in the power mode to be adopted, and distributes the required torque to the actuator corresponding to the power mode to be adopted according to the distribution scheme corresponding to the power mode to be adopted;

and/or the presence of a gas in the gas,

10. The cruise control method according to claim 9, wherein the determining, by the adaptive cruise system, the cruise condition at which the hybrid vehicle is currently located based on the monitoring of the preceding vehicle includes:

when the monitoring result indicates that the front vehicle does not exist, determining that the cruise condition of the hybrid vehicle is a constant speed condition;

when the monitoring result is that the front vehicle exists, acquiring the distance between the hybrid vehicle and the front vehicle;

when the distance meets a preset acceleration running condition, determining that the cruise condition of the hybrid vehicle is an acceleration condition;

when the distance meets a preset deceleration running condition, determining that the cruise condition of the hybrid vehicle is a deceleration condition;

and when the distance meets a preset emergency braking condition, determining that the cruise condition of the hybrid vehicle is an emergency braking condition.

11. A cruise control apparatus, characterized by being applied to a hybrid vehicle, comprising: a determining module and a distributing module;

the determination module is used for determining a current power mode and a required torque of the hybrid vehicle when the hybrid vehicle is in a cruise mode;

the distribution module is used for distributing the required torque to the actuator corresponding to the power mode according to a distribution scheme corresponding to the power mode;

the determining module is specifically used for acquiring the current cruise condition of the hybrid electric vehicle, acquiring the current vehicle state information of the hybrid electric vehicle, determining a power mode to be adopted according to the cruise condition and the vehicle state information, controlling the hybrid electric vehicle to be in the power mode, and determining the power mode to be the current power mode;

wherein the content of the first and second substances,

the cruise condition comprises a constant speed condition; the constant speed condition is a running condition when the hybrid vehicle does not find a preceding vehicle; the vehicle state information comprises vehicle speed information, power battery state information and parallel mode mark information; the vehicle speed information comprises a preset target vehicle speed; the power battery state information comprises the residual electric quantity of the power battery; the parallel mode flag information comprises a parallel mode flag vehicle speed upper limit value;

the process that the determining module determines the power mode to be adopted according to the cruise condition and the vehicle state information specifically comprises the following steps: when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is a constant speed condition, determining that the power mode to be adopted is a hybrid power mode;

and/or the presence of a gas in the gas,

the specific process of determining the power mode to be adopted by the determining module according to the cruise condition and the vehicle state information comprises the following steps: and when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is an acceleration condition, determining that the power mode to be adopted is a hybrid power mode.

12. The vehicle control unit is characterized by comprising a processor, a memory and a communication bus;

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

the processor is adapted to execute one or more programs stored in the memory to implement the steps of the cruise control method according to any of claims 1-8.

13. A hybrid vehicle is characterized by comprising an adaptive cruise system and a vehicle control unit;

the self-adaptive cruise system is used for monitoring whether a front vehicle exists or not, determining the current cruise condition of the hybrid vehicle according to the monitoring result of the front vehicle, and sending the cruise condition to the whole vehicle controller of the hybrid vehicle;

the vehicle control unit is used for acquiring current vehicle state information of the hybrid vehicle; determining a power mode to be adopted according to the cruising condition and the vehicle state information; adopting the power mode to be adopted, and distributing the required torque to the actuator corresponding to the power mode to be adopted according to the distribution scheme corresponding to the power mode to be adopted;

the process that the vehicle control unit determines the power mode to be adopted according to the cruising condition and the vehicle state information comprises the following steps: when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is a constant speed condition, determining that the power mode to be adopted is a hybrid power mode;

and/or the presence of a gas in the gas,

the process that the vehicle control unit determines the power mode to be adopted according to the cruising condition and the vehicle state information comprises the following steps: and when the residual electric quantity of the power battery is lower than a preset battery electric quantity lower limit value, the target vehicle speed is higher than the parallel mode mark vehicle speed upper limit value, and the current cruise condition is an acceleration condition, determining that the power mode to be adopted is a hybrid power mode.

14. A readable storage medium, characterized in that it stores one or more programs executable by one or more processors to implement the steps of a cruise control method according to any one of claims 1 to 8.