CN111434545A - Cruise control method and system of vehicle and vehicle - Google Patents

Cruise control method and system of vehicle and vehicle Download PDF

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Publication number
CN111434545A
CN111434545A CN201910598145.9A CN201910598145A CN111434545A CN 111434545 A CN111434545 A CN 111434545A CN 201910598145 A CN201910598145 A CN 201910598145A CN 111434545 A CN111434545 A CN 111434545A
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CN
China
Prior art keywords
vehicle
torque
cruise
road
vehicle speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910598145.9A
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Chinese (zh)
Inventor
胡志敏
刁红宾
陈玉封
高天
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to CN201910598145.9A priority Critical patent/CN111434545A/en
Publication of CN111434545A publication Critical patent/CN111434545A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06Road conditions
    • B60W40/076Slope angle of the road
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02Control of vehicle driving stability
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/06Combustion engines, Gas turbines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/08Electric propulsion units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed

Abstract

The invention provides a cruise control method and system of a vehicle and the vehicle, wherein the method comprises the following steps: acquiring current vehicle speed, cruising target vehicle speed of a vehicle and gradient information of a road in front of the vehicle; obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target vehicle speed of the vehicle; the method comprises the steps of adjusting the cruise torque according to gradient information before a vehicle reaches the gradient of a road in front, and performing cruise control on the vehicle according to the adjusted torque, so that the cruise torque is adjusted in advance by combining the current vehicle speed, the cruise target vehicle speed of the vehicle and the gradient information of the road in front of the vehicle, the vehicle speed can be stably adjusted when the gradient of a road surface of the cruise vehicle changes, and the running stability and the comfort of the vehicle are improved.

Description

Cruise control method and system of vehicle and vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a cruise control method and system of a vehicle and the vehicle.
Background
An automobile cruise control system is an automatic automobile running device which can make an automobile work in a favorable engine speed range, automatically maintain the speed according to the speed required by a driver and make the automobile run at a fixed speed.
In practical application, after the automobile cruise control system is adopted on the vehicle, by means of the characteristic that the automobile cruise control system can automatically control the vehicle to run at a fixed speed, for a driver needing to run for a long time, the driver can not be required to control the stepping on the accelerator pedal any more, compared with the situation that the driver has to control the stepping on the accelerator pedal all the time, the labor intensity of the driver in driving operation can be effectively reduced, meanwhile, the driver is not required to control the stepping on the accelerator pedal all the time, so that unnecessary speed change caused by the operation of the driver can be reduced, the running comfort is improved, and fuel is saved.
In the vehicle running process, when the gradient of a road on which the vehicle runs appears, the automobile cruise control system needs to adjust the cruise torque so as to maintain the vehicle speed within the target vehicle speed range, thereby ensuring the running stability and comfort.
Currently, the automobile cruise control method for an automobile cruise control system includes: the cruise control system adjusts the cruise torque after the gradient of a road on which the vehicle runs changes, the vehicle speed changes to be out of a target vehicle speed range due to the change of the gradient, and in order to keep the vehicle speed in the target range as soon as possible, the cruise control system adjusts the cruise torque to enable the acceleration and deceleration of the vehicle to be large, so that the vehicle runs unstably, the running stability and the running comfort are reduced, and therefore the current automobile cruise control mode of the automobile cruise control system has control hysteresis.
Disclosure of Invention
In view of the above, the present invention is directed to a method for controlling a cruise of a vehicle, which combines a current vehicle speed, a cruise target vehicle speed of the vehicle, and gradient information of a road ahead of the vehicle to adjust a cruise torque in advance, so as to ensure that the cruise vehicle can smoothly adjust the vehicle speed when the gradient of the road surface changes, thereby improving driving stability and comfort of the vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a cruise control method of a vehicle, comprising the steps of: acquiring current vehicle speed, cruising target vehicle speed of a vehicle and gradient information of a road in front of the vehicle; obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target vehicle speed of the vehicle; and before the vehicle reaches the gradient of the road ahead, adjusting the cruise torque according to the gradient information, and performing cruise control on the vehicle according to the adjusted torque.
Further, acquiring gradient information of a road ahead of the vehicle includes: determining a location of the vehicle from a map; and obtaining the gradient information of the road in front of the vehicle from the map according to the position of the vehicle.
Further, the gradient information of the road ahead of the vehicle is specifically gradient information within a preset distance of the road ahead of the vehicle.
Further, obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target vehicle speed of the vehicle comprises: determining a difference value between the current vehicle speed and a cruising target vehicle speed of the vehicle; and inputting the difference value into a preset torque calculation model to obtain the cruise torque.
Further, a plurality of sets of corresponding relations between the vehicle speed difference and the torque are stored in the torque calculation model, wherein the smaller the vehicle speed difference is, the smaller the cruise torque corresponding to the vehicle speed difference is.
Compared with the prior art, the cruise control method of the vehicle has the following advantages:
the invention provides a cruise control method of a vehicle, which obtains the cruise torque of the vehicle according to the current vehicle speed and the cruise target vehicle speed of the vehicle; the method comprises the steps that before a vehicle reaches the gradient of a road in front, the cruise torque is adjusted according to the gradient information of the road in front of the vehicle, and cruise control is performed on the vehicle according to the adjusted torque, so that the cruise torque is adjusted in advance by combining the current vehicle speed, the cruise target vehicle speed of the vehicle and the gradient information of the road in front of the vehicle, the vehicle speed can be stably adjusted when the gradient of a road surface of the cruise vehicle changes, and the running stability and the comfort of the vehicle are improved.
Another objective of the present invention is to provide a cruise control system for a vehicle, which combines the current vehicle speed, the cruise target vehicle speed of the vehicle, and the gradient information of the road ahead of the vehicle to adjust the cruise torque in advance, so as to ensure that the cruise vehicle can smoothly adjust the vehicle speed when the gradient of the road changes, thereby improving the driving stability and comfort of the vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a cruise control system of a vehicle, comprising: the acquisition module is used for acquiring the current speed, the cruising target speed of the vehicle and the gradient information of a road in front of the vehicle; the calculating module is used for obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target vehicle speed of the vehicle; and the control module is used for adjusting the cruise torque according to the gradient information before the vehicle reaches the gradient of the road in front and performing cruise control on the vehicle according to the adjusted torque.
Further, the obtaining module is configured to: determining a location of the vehicle from a map; and obtaining the gradient information of the road in front of the vehicle from the map according to the position of the vehicle.
Further, the gradient information of the road ahead of the vehicle is specifically gradient information within a preset distance of the road ahead of the vehicle.
Further, the computing module is to: determining a difference value between the current vehicle speed and a cruising target vehicle speed of the vehicle; and inputting the difference value into a preset torque calculation model to obtain the cruise torque.
The vehicle cruise control system and the vehicle cruise control method have the same advantages compared with the prior art, and are not described in detail herein.
Another objective of the present invention is to provide a vehicle, which combines the current vehicle speed, the cruising target vehicle speed of the vehicle, and the gradient information of the road in front of the vehicle to adjust the cruising torque in advance, so as to ensure that the cruising vehicle can stably adjust the vehicle speed when the gradient of the road surface changes, thereby improving the driving stability and comfort of the vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle is provided with the cruise control system of the vehicle as described in the above embodiment.
The vehicle and the cruise control system of the vehicle have the same advantages compared with the prior art, and are not described in detail herein.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a cruise control method of a vehicle according to an embodiment of the present invention;
fig. 2 is a block diagram of a cruise control system of a vehicle according to an embodiment of the present invention.
Description of reference numerals:
the system includes a cruise control system 100 of a vehicle, an acquisition module 110, a calculation module 120, and a control module 130.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart of a cruise control method of a vehicle according to one embodiment of the present invention.
As shown in fig. 1, a cruise control method of a vehicle according to one embodiment of the present invention includes the steps of:
step S1: the method includes the steps of obtaining current vehicle speed, cruising target vehicle speed of a vehicle and gradient information of a road in front of the vehicle.
Specifically, the step of acquiring gradient information of a road ahead of the vehicle includes: determining the position of the vehicle through a map; gradient information of a road ahead of the vehicle is obtained from a map according to the position of the vehicle. The map is a high-precision map, which at least includes detailed road condition information of a road on which the vehicle is traveling, such as gradient information of the road. The position of the vehicle is monitored in real time through a high-precision map, and then the gradient information of the road in front of the vehicle is obtained according to the road gradient information recorded in the map.
Further, the gradient information of the road ahead of the vehicle is specifically gradient information within a preset distance of the road ahead of the vehicle. The method is characterized in that the vehicle is driven by the road speed sensor, and the gradient information of the vehicle in the preset distance in front of the current position of the road is acquired, so that the cruise torque can be adjusted in advance, the vehicle speed can be adjusted stably, and the driving stability of the vehicle is improved. The preset distance may be, for example, 50 meters, that is, gradient information of the vehicle within 50 meters ahead of the road is acquired.
In a specific example, the grade is expressed in percentage, 0-100% corresponding to a grade of 0-45 °, and road grade information is determined from a map over a predetermined distance (e.g., 50m) in front of the vehicle, including uphill and downhill grades, typically for positive and negative applications.
Specifically, a man-machine module can be arranged on the vehicle, the man-machine module is provided with a vehicle speed setting button, and a driver sets the cruising target vehicle speed through the vehicle speed setting button.
The current vehicle speed can be detected by a vehicle speed sensor, for example, the vehicle speed sensor converts the collected electric signal into a vehicle speed signal through calculation.
Step S2: and obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target vehicle speed of the vehicle.
Specifically, the step of obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target vehicle speed of the vehicle includes: determining a difference value between the current vehicle speed and a cruising target vehicle speed of the vehicle; and inputting the difference value into a preset torque calculation model to obtain the cruise torque. It can be understood that a plurality of sets of corresponding relationships between the vehicle speed difference and the torque are stored in the torque calculation model. The cruise torque is mainly adjusted according to the vehicle speed difference, and the smaller the vehicle speed difference is, the smaller the cruise torque corresponding to the vehicle speed difference is. The powertrain torque output capability decreases as the vehicle speed increases, so the cruise torque decreases as the vehicle speed increases, taking into account the effect of vehicle speed on the cruise torque.
Step S3: before the vehicle reaches the gradient of the road in front, the cruise torque is adjusted in advance according to the gradient information, and the vehicle is subjected to cruise control according to the adjusted torque, so that the vehicle speed is stably adjusted, and the running stability and the comfort are improved. If the front is an uphill, the cruising torque is adaptively increased according to the gradient; when the front is a downhill, the cruising torque is reduced according to the gradient adaptability, so that the cruising torque is adjusted in advance before the vehicle reaches the gradient of the front road, and the driving stability and the comfort are improved.
According to the cruise control method of the vehicle, the cruise torque of the vehicle is obtained according to the current vehicle speed and the cruise target vehicle speed of the vehicle; the method comprises the steps that before a vehicle reaches the gradient of a road in front, the cruise torque is adjusted according to the gradient information of the road in front of the vehicle, and cruise control is performed on the vehicle according to the adjusted torque, so that the cruise torque is adjusted in advance by combining the current vehicle speed, the cruise target vehicle speed of the vehicle and the gradient information of the road in front of the vehicle, the vehicle speed can be stably adjusted when the gradient of a road surface of the cruise vehicle changes, and the running stability and the comfort of the vehicle are improved.
A further embodiment of the present invention is directed to a cruise control system of a vehicle.
Fig. 2 is a block diagram of a cruise control system of a vehicle according to one embodiment of the present invention.
As shown in fig. 2, a cruise control system 100 of a vehicle according to one embodiment of the present invention includes: an acquisition module 110, a calculation module 120, and a control module 130.
The obtaining module 110 is configured to obtain a current vehicle speed, a cruising target vehicle speed of the vehicle, and gradient information of a road ahead of the vehicle.
Specifically, the obtaining module 110 is configured to: determining the position of the vehicle through a map; gradient information of a road ahead of the vehicle is obtained from a map according to the position of the vehicle. The map is a high-precision map, which at least includes detailed road condition information of a road on which the vehicle is traveling, such as gradient information of the road. The position of the vehicle is monitored in real time through a high-precision map, and then the gradient information of the road in front of the vehicle is obtained according to the road gradient information recorded in the map.
Further, the gradient information of the road ahead of the vehicle is specifically gradient information within a preset distance of the road ahead of the vehicle. The method is characterized in that the vehicle is driven by the road speed sensor, and the gradient information of the vehicle in the preset distance in front of the current position of the road is acquired, so that the cruise torque can be adjusted in advance, the vehicle speed can be adjusted stably, and the driving stability of the vehicle is improved. The preset distance may be, for example, 50 meters, that is, gradient information of the vehicle within 50 meters ahead of the road is acquired.
In a specific example, the grade is expressed in percentage, 0-100% corresponding to a grade of 0-45 °, and road grade information is determined from a map over a predetermined distance (e.g., 50m) in front of the vehicle, including uphill and downhill grades, typically for positive and negative applications.
Specifically, a man-machine module can be arranged on the vehicle, the man-machine module is provided with a vehicle speed setting button, and a driver sets the cruising target vehicle speed through the vehicle speed setting button.
The current vehicle speed can be detected by a vehicle speed sensor, for example, the vehicle speed sensor converts the collected electric signal into a vehicle speed signal through calculation.
The calculating module 120 is used for obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target vehicle speed of the vehicle.
Specifically, the step of obtaining the cruising torque of the vehicle by the calculating module 120 according to the current vehicle speed and the cruising target vehicle speed of the vehicle includes: determining a difference value between the current vehicle speed and a cruising target vehicle speed of the vehicle; and inputting the difference value into a preset torque calculation model to obtain the cruise torque. It can be understood that a plurality of sets of corresponding relationships between the vehicle speed difference and the torque are stored in the torque calculation model. The cruise torque is mainly adjusted according to the vehicle speed difference, and when the vehicle speed difference is smaller, the cruise torque corresponding to the vehicle speed difference is smaller. The powertrain torque output capability decreases as the vehicle speed increases, so the cruise torque decreases as the vehicle speed increases, taking into account the effect of vehicle speed on the cruise torque.
The control module 130 is configured to adjust the cruise torque according to the gradient information before the vehicle reaches the gradient of the road ahead, and perform cruise control on the vehicle according to the adjusted cruise torque, so that the vehicle can stably adjust the speed of the vehicle, and the driving stability and comfort are improved. If the front is an uphill, the cruising torque is adaptively increased according to the gradient; when the front is a downhill, the cruising torque is reduced according to the gradient adaptability, so that the cruising torque is adjusted in advance before the vehicle reaches the gradient of the front road, and the driving stability and the comfort are improved.
It should be noted that the specific implementation manner of the vehicle cruise control system according to the embodiment of the present invention is similar to the specific implementation manner of the vehicle cruise control method according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not described here in order to reduce redundancy.
According to the cruise control system of the vehicle, the cruise torque of the vehicle is obtained according to the current vehicle speed and the cruise target vehicle speed of the vehicle; the method comprises the steps that before a vehicle reaches the gradient of a road in front, the cruise torque is adjusted according to the gradient information of the road in front of the vehicle, and cruise control is performed on the vehicle according to the adjusted torque, so that the cruise torque is adjusted in advance by combining the current vehicle speed, the cruise target vehicle speed of the vehicle and the gradient information of the road in front of the vehicle, the vehicle speed can be stably adjusted when the gradient of a road surface of the cruise vehicle changes, and the running stability and the comfort of the vehicle are improved.
Further, an embodiment of the invention discloses a vehicle provided with the cruise control system of the vehicle as described in any one of the embodiments above. The vehicle combines the current speed, the cruising target speed of the vehicle and the gradient information of the road in front of the vehicle to adjust the cruising torque in advance, can ensure that the cruising vehicle can stably adjust the speed when the gradient of the road surface changes, and improves the running stability and the comfort of the vehicle.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A cruise control method of a vehicle, characterized by comprising the steps of:
acquiring current vehicle speed, cruising target vehicle speed of a vehicle and gradient information of a road in front of the vehicle;
obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target vehicle speed of the vehicle;
and before the vehicle reaches the gradient of the road ahead, adjusting the cruise torque according to the gradient information, and performing cruise control on the vehicle according to the adjusted torque.
2. The cruise control method of a vehicle according to claim 1, wherein acquiring gradient information of a road ahead of the vehicle includes:
determining a location of the vehicle from a map;
and obtaining the gradient information of the road in front of the vehicle from the map according to the position of the vehicle.
3. The cruise control method according to claim 2, characterized in that the gradient information of the road ahead of the vehicle is specifically gradient information within a preset distance of the road ahead of the vehicle.
4. The cruise control method for a vehicle according to claim 1, wherein obtaining the cruise torque of the vehicle based on the current vehicle speed and a cruise target vehicle speed of the vehicle includes:
determining a difference value between the current vehicle speed and a cruising target vehicle speed of the vehicle;
and inputting the difference value into a preset torque calculation model to obtain the cruise torque.
5. The cruise control method according to claim 4, wherein a plurality of sets of correspondence relationships of vehicle speed difference values and torques are stored in the torque calculation model, wherein the smaller the vehicle speed difference value, the smaller the cruise torque corresponding to the vehicle speed difference value.
6. A cruise control system for a vehicle, comprising:
the acquisition module is used for acquiring the current speed, the cruising target speed of the vehicle and the gradient information of a road in front of the vehicle;
the calculating module is used for obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target vehicle speed of the vehicle;
and the control module is used for adjusting the cruise torque according to the gradient information before the vehicle reaches the gradient of the road in front and performing cruise control on the vehicle according to the adjusted torque.
7. The vehicle cruise control system according to claim 6, wherein the obtaining module is configured to:
determining a location of the vehicle from a map;
and obtaining the gradient information of the road in front of the vehicle from the map according to the position of the vehicle.
8. Cruise control system according to claim 7, characterized in that the information on the gradient of the road ahead of the vehicle is in particular information on the gradient within a preset distance of the road ahead of the vehicle.
9. The vehicle cruise control system according to claim 6, wherein the calculation module is configured to:
determining a difference value between the current vehicle speed and a cruising target vehicle speed of the vehicle;
and inputting the difference value into a preset torque calculation model to obtain the cruise torque.
10. A vehicle characterized by being provided with a cruise control system of the vehicle according to any of claims 6-9.
CN201910598145.9A 2019-07-04 2019-07-04 Cruise control method and system of vehicle and vehicle Pending CN111434545A (en)

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CN201910598145.9A CN111434545A (en) 2019-07-04 2019-07-04 Cruise control method and system of vehicle and vehicle
PCT/CN2020/099660 WO2021000882A1 (en) 2019-07-04 2020-07-01 Method and system for vehicle cruise control, and vehicle

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