CN117341689A

CN117341689A - Constant-speed cruising control method, device, equipment and storage medium

Info

Publication number: CN117341689A
Application number: CN202311258390.8A
Authority: CN
Inventors: 付超; 王伟; 何林林
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2023-09-26
Filing date: 2023-09-26
Publication date: 2024-01-05

Abstract

The application discloses a control method, a control device, control equipment and a storage medium for constant-speed cruising, and belongs to the technical field of vehicle control. The method comprises the following steps: determining that the vehicle enters a constant-speed cruising state, acquiring a first running speed of the vehicle, and controlling the vehicle to run according to the first running speed; under the condition that the speed adjustment of the vehicle is determined, acquiring an adjusted target vehicle speed, and controlling the vehicle to run according to the adjusted target vehicle speed; acquiring a signal of an accelerator pedal of the vehicle when the vehicle is switched from a constant-speed cruising state to a pre-cruising state, and controlling the running speed of the vehicle based on the signal of the accelerator pedal; controlling the vehicle to run according to the adjusted target vehicle speed based on the recovery of the vehicle from the pre-cruise state to the constant-speed cruise state; and controlling the regulated target vehicle speed to be cleared based on the vehicle exiting the pre-cruise state. The control of the extended-range vehicle in and out of the constant-speed cruising state is realized, and the driving comfort and safety are ensured.

Description

Constant-speed cruising control method, device, equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of vehicle control, in particular to a control method, a device, equipment and a storage medium for constant-speed cruising.

Background

The range extender vehicle generates power by combusting fuel through the range extender and stores the power, and provides electric energy for a battery when the battery of the vehicle is insufficient in electric quantity. Along with the gradual popularization of the constant-speed cruising function in the auxiliary driving technology of the extended-range vehicle, how to control the extended-range vehicle to enter the constant-speed cruising state and exit the constant-speed cruising state is important to ensure the driving comfort and safety.

Disclosure of Invention

The embodiment of the application provides a control method, a device, equipment and a storage medium for constant-speed cruising, which can be used for solving the problem of how to control an extended-range vehicle to enter a constant-speed cruising state and exit the constant-speed cruising state. The technical scheme is as follows:

in one aspect, an embodiment of the present application provides a method for controlling constant-speed cruising, where the method includes:

determining that a vehicle enters a constant-speed cruising state, acquiring a first running speed of the vehicle, and controlling the vehicle to run according to the first running speed;

under the condition that the speed adjustment of the vehicle is determined, acquiring an adjusted target vehicle speed, and controlling the vehicle to run according to the adjusted target vehicle speed;

acquiring a signal of an accelerator pedal of the vehicle when the vehicle is switched from the constant-speed cruising state to a pre-cruising state, and controlling the running speed of the vehicle based on the signal of the accelerator pedal;

Controlling the vehicle to run according to the adjusted target vehicle speed based on the vehicle returning from the pre-cruise state to the constant-speed cruise state;

and controlling the regulated target vehicle speed to be cleared based on the fact that the vehicle exits from the pre-cruising state.

In another aspect, there is provided a control apparatus for constant-speed cruising, the apparatus comprising:

the first control module is used for determining that the vehicle enters a constant-speed cruising state, acquiring a first running speed of the vehicle and controlling the vehicle to run according to the first running speed;

the second control module is used for acquiring an adjusted target vehicle speed under the condition that the speed adjustment of the vehicle is determined, and controlling the vehicle to run according to the adjusted target vehicle speed;

a third control module for acquiring a signal of an accelerator pedal of the vehicle in a case where the vehicle is switched from the constant-speed cruise state to a pre-cruise state, and controlling a running speed of the vehicle based on the signal of the accelerator pedal;

a fourth control module for controlling the vehicle to travel according to the adjusted target vehicle speed based on the vehicle returning from the pre-cruise state to the constant-speed cruise state;

And the fifth control module is used for controlling the regulated target vehicle speed to be cleared based on the fact that the vehicle exits from the pre-cruising state.

In another aspect, a computer device is provided, where the computer device includes a processor and a memory, where at least one computer program is stored in the memory, where the at least one computer program is loaded and executed by the processor, so that the computer device implements any one of the above control methods for constant speed cruising.

In another aspect, there is also provided a computer readable storage medium having stored therein at least one computer program loaded and executed by a processor to cause a computer to implement any one of the above-described control methods for constant speed cruising.

In another aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device executes any one of the above-described control methods of constant-speed cruising.

The technical scheme provided by the embodiment of the application at least brings the following beneficial effects:

according to the method and the device, under the condition that the vehicle enters the constant-speed cruising state, the first running speed of the vehicle is obtained, the vehicle is controlled to run according to the first running speed, and the control of the range-extended vehicle entering the constant-speed cruising state is achieved. When the speed of the vehicle is adjusted, the adjusted target vehicle speed is obtained, and the vehicle is controlled to travel according to the adjusted target vehicle speed. When the vehicle is switched from the cruise control state to the pre-cruise control state, a signal of an accelerator pedal of the vehicle is acquired, and a second running speed of the vehicle is controlled by the signal of the accelerator pedal. In the case where the vehicle is returned from the pre-cruise state to the constant-speed cruise state, the vehicle is controlled to travel at the adjusted target vehicle speed. And under the condition that the vehicle exits the pre-cruising state, the adjusted target vehicle speed is cleared. The control of the extended-range vehicle exiting the constant-speed cruising state is realized. The comfort and the safety of driving are ensured through controlling the extended range vehicle to enter the constant-speed cruising state and exit the constant-speed cruising state.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of an implementation environment provided by embodiments of the present application;

FIG. 2 is a flowchart of a control method for constant speed cruising according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a constant speed cruise control according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a control device for constant-speed cruising according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a server according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a control device for constant-speed cruising according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

An embodiment of the present application provides a control method for constant-speed cruising, please refer to fig. 1, which shows a schematic diagram of an implementation environment of the method provided in the embodiment of the present application. The implementation environment may include: a vehicle 11 and a vehicle control system 12.

Alternatively, it is determined that the vehicle 11 enters a constant-speed cruise state, the vehicle control system 12 acquires a first travel speed of the vehicle 11, the first travel speed is taken as a first target vehicle speed, and the vehicle control system 12 controls the vehicle 11 to travel at the first target vehicle speed; determining to perform speed adjustment on the vehicle 11, the vehicle control system 12 acquiring an adjusted target vehicle speed, and controlling the vehicle 11 to travel according to the adjusted target vehicle speed; in the case where it is determined that the vehicle is switched from the constant-speed cruise state to the pre-cruise state, the vehicle control system 12 acquires a signal of an accelerator pedal of the vehicle, and controls the second running speed of the vehicle 11 based on the signal of the accelerator pedal; based on the restoration of the vehicle 11 from the pre-cruise state to the constant-speed cruise state, the vehicle control system 12 controls the vehicle 11 to travel at the adjusted target vehicle speed; the adjusted target vehicle speed is controlled to be cleared based on the vehicle 11 exiting the pre-cruise state.

The vehicle control system 12 may store the first travel speed of the vehicle 11, so as to control the vehicle 11 to travel at the first travel speed, and the vehicle 11 may acquire the first travel speed from the vehicle control system 12.

Optionally, the vehicle 11 establishes a communication connection with the vehicle control system 12 via a wired or wireless network.

Those skilled in the art will appreciate that the above-described vehicle 11 and vehicle control system 12 are by way of example only, and that other existing or future vehicles 11 or vehicle control systems 12 may be employed as appropriate and are intended to be within the scope of the present application and are incorporated herein by reference.

Based on the implementation environment shown in fig. 1, the embodiment of the present application provides a control method for constant-speed cruising, as shown in fig. 2, and the method is applied to a vehicle control system, for example, and the method includes steps 201 to 205.

In step 201, it is determined that the vehicle enters a constant speed cruise state, a first travel speed of the vehicle is acquired, and the vehicle is controlled to travel at the first travel speed.

The embodiment of the application does not limit the manner of determining that the vehicle enters the constant-speed-cruise state, and by way of example, whether the vehicle enters the constant-speed-cruise state may be determined by detecting the states of the cruise main switch button and the cruise setting button on the vehicle. The cruise control system comprises a cruise control button, a cruise control button and a control button, wherein the cruise control button and the cruise control button are both positioned on a constant-speed cruise system of a vehicle, the cruise control button controls the vehicle to enter or exit from a pre-cruise state, and the cruise control button controls the vehicle to switch from the pre-cruise state to the constant-speed cruise state.

In one possible implementation, states of a cruise main switch button and a cruise setting button of the vehicle are detected, and when the cruise main switch button is pressed for the first time, the vehicle control system controls the vehicle to enter a pre-cruise state, and in the case where the cruise main switch is pressed, if the cruise setting button is also pressed, the vehicle control system controls the vehicle to switch from the pre-cruise state to the constant-speed cruise state.

The present embodiment also does not limit the apparatus for acquiring the first travel speed of the vehicle, and the first travel speed of the vehicle may be acquired by a speed sensor mounted on the vehicle, for example.

In one possible implementation, after the vehicle is determined to enter the cruise control state, a first running speed of the vehicle is acquired through a speed sensor installed on the vehicle, and the vehicle is controlled to run at the first running speed.

In step 202, when it is determined to adjust the speed of the vehicle, the adjusted target vehicle speed is acquired, and the vehicle is controlled to travel at the adjusted target vehicle speed.

In one possible implementation, the speed adjustment of the vehicle includes any one of accelerating the vehicle or decelerating the vehicle, and in a case where the speed adjustment of the vehicle is determined, obtaining the adjusted target vehicle speed includes: determining the adjusted target vehicle speed as a first target vehicle speed based on accelerating the vehicle, wherein the first target vehicle speed is greater than the first running speed; and determining the adjusted target vehicle speed as a second target vehicle speed based on decelerating the vehicle, wherein the second target vehicle speed is smaller than the first running speed.

The embodiment of the application does not limit the manner of judging to accelerate or decelerate the vehicle, and can determine to accelerate or decelerate the vehicle by detecting an acceleration button and a deceleration button on the vehicle, for example. Wherein, acceleration button and deceleration button are located on the constant speed cruising system of vehicle.

In one possible implementation, the states of the acceleration button and the deceleration button of the vehicle are detected, and when the acceleration button is pressed, the vehicle is accelerated, and the magnitude of the increase speed in acceleration is proportional to the duration of the pressing of the acceleration button. When the speed reduction button is pressed, the vehicle is decelerated, and the magnitude of the reduced speed in deceleration is proportional to the duration of the time the speed reduction button is pressed.

In one possible implementation manner, after determining the magnitude of the increasing speed or the magnitude of the decreasing speed, adding the increasing speed on the basis of the first target vehicle speed based on the fact that the accelerating button is pressed to obtain the first target vehicle speed, and controlling the vehicle to run at a constant speed according to the first target vehicle speed; and on the basis of the fact that the speed reducing button is pressed, subtracting the speed reduction speed from the first target vehicle speed to obtain a second target vehicle speed, and controlling the vehicle to run at a constant speed according to the second target vehicle speed.

In step 203, when the vehicle is switched from the cruise control state to the pre-cruise control state, a signal of an accelerator pedal of the vehicle is acquired, and the running speed of the vehicle is controlled based on the signal of the accelerator pedal.

The embodiment of the application does not limit the manner in which the vehicle is determined to be switched from the constant-speed-cruise state to the pre-cruise state, and it is possible to determine whether the vehicle is switched from the constant-speed-cruise state to the pre-cruise state by detecting the cruise cancel button, for example. The cruise canceling button is positioned on a constant-speed cruise system of the vehicle and can control the vehicle to switch from a constant-speed cruise state to a pre-cruise state.

In one possible implementation, the state of a cruise cancel button of the vehicle is detected, and when the cruise cancel button is pressed, the vehicle control system controls the vehicle to switch from the constant-speed cruise state to the pre-cruise state.

In the case where it is determined that the vehicle is switched from the constant-speed cruise state to the pre-cruise state, a signal of an accelerator pedal of the vehicle is acquired, wherein the signal of the accelerator pedal includes an opening degree of the accelerator pedal and a rate of change of the opening degree. Controlling a second travel speed of the vehicle based on the signal of the accelerator pedal, comprising: determining a second running speed based on the opening degree of the accelerator pedal, wherein the larger the opening degree of the accelerator pedal is, the larger the second running speed is; the target acceleration is determined based on the rate of change of the accelerator opening, the larger the target acceleration.

In addition to the case where the cruise cancel button is pressed, the case where the remaining cases cause the vehicle to switch from the constant-speed cruise state to the pre-cruise state are acquired, including: obtaining at least one of a first detection result, a second detection result, a third detection result, a fourth detection result, a fifth detection result, a sixth detection result, a seventh detection result, an eighth detection result or a ninth detection result, wherein the first detection result is used for indicating whether a brake pedal is stepped on, the second detection result is used for indicating whether a start-stop function is started, the third detection result is used for indicating whether the actual acceleration of the vehicle is greater than an acceleration threshold value, the fourth detection result is used for indicating whether the pedal required torque is greater than a cruise required torque, the fifth detection result is used for indicating whether the third running speed of the vehicle is smaller than a second reference speed or greater than a third reference speed, the sixth detection result is used for indicating whether the gradient of a road on which the vehicle is located is greater than a gradient threshold value, the seventh detection result is used for indicating whether an electronic parking system is started, the eighth detection result is used for indicating whether the electronic parking system is started, and the ninth detection result is used for indicating whether the vehicle exits from a forward gear.

And controlling the vehicle to switch from the constant-speed cruising state to the pre-cruising state based on at least one of the first detection result indicating that the brake pedal is depressed, the second detection result indicating that the start-stop function is on, the third detection result indicating that the actual acceleration of the vehicle is greater than the acceleration threshold, the fourth detection result indicating that the pedal demand torque is greater than the cruise demand torque, the fifth detection result indicating that the third travel speed of the vehicle is less than or greater than the second reference speed, the sixth detection result indicating that the gradient of the road on which the vehicle is located is greater than the gradient threshold, the seventh detection result indicating that the electronic parking system is on, the eighth detection result indicating that the electronic stability system is on, or the ninth detection result indicating that the vehicle is out of the forward gear.

Next, an example will be given of the manner of acquiring each detection result.

(1) Acquiring a first detection result for indicating whether a brake pedal is stepped on

Illustratively, obtaining a first test result indicative of whether a brake pedal is depressed includes: the vehicle control system obtains the state information of the brake pedal through the brake system, and the eighth detection result indicates that the brake pedal is stepped on based on the state of the brake pedal. The brake system is located on the vehicle and comprises a brake pedal, and the state information of the brake pedal comprises whether the brake pedal is stepped on or not.

(2) Obtaining a second detection result for indicating whether the start-stop function is started or not

In one possible implementation, a video recognition device is mounted on the vehicle, and the video recognition device can detect the on state of a start-stop indicator lamp on the instrument control system. The instrument control system is positioned on the vehicle, and when the start-stop function is started, a start-stop indicator lamp on the instrument control system is lightened.

Illustratively, acquiring a second detection result indicating whether a start-stop function of the vehicle is abnormal includes: the vehicle control system detects the lighting state of the start-stop indicator lamp on the instrument control system through the video identification device, the start-stop indicator lamp is on, the second detection result indicates that the start-stop function is on, the start-stop indicator lamp is off, and the ninth detection result indicates that the start-stop function is off.

(3) Acquiring a third detection result for indicating whether the actual acceleration of the vehicle is greater than the first acceleration threshold value or less than the second acceleration threshold value

In one possible implementation, an accelerometer is mounted on the vehicle, and the accelerometer can obtain the actual acceleration of the vehicle. Obtaining a third detection result for indicating whether the actual acceleration of the vehicle is greater than an acceleration threshold, including but not limited to: the vehicle control system acquires the actual acceleration of the vehicle through an accelerometer mounted on the vehicle, and the third detection result indicates that the actual acceleration of the vehicle is larger than the first acceleration threshold value or smaller than the second acceleration threshold value based on the acquired actual acceleration being larger than the first acceleration threshold value or smaller than the second acceleration threshold value.

The first acceleration threshold value and the second acceleration threshold value are not limited, and the first acceleration threshold value and the second acceleration threshold value can be set based on experience, or can be adjusted according to actual conditions.

(4) Acquiring a fourth detection result for indicating whether the pedal demand torque is greater than the cruise demand torque

Illustratively, obtaining a fourth detection result for indicating whether the pedal demand torque is greater than the cruise demand torque includes: determining a target acceleration of the vehicle based on the first travel speed and the adjusted target vehicle speed; the cruise demand torque is determined based on the actual acceleration and the target acceleration, and the fourth detection result indicates that the pedal demand torque is greater than the cruise demand torque based on the pedal demand torque being greater than the cruise demand torque.

Illustratively, determining the target acceleration of the vehicle based on the first travel speed and the adjusted target vehicle speed includes: and subtracting the first running speed from the adjusted target vehicle speed and dividing the first running speed by the acceleration duration to obtain the target acceleration of the vehicle. The embodiment of the application does not limit the acceleration duration, and the acceleration duration can be set based on experience and can be adjusted according to actual conditions.

Illustratively, determining the cruise demand torque based on the actual acceleration and the target acceleration includes: the actual acceleration and the target acceleration are input to an extended-range PID (proportion integral derivative, proportional-integral-derivative) controller, and cruise demand torque is output through proportional processing, integral processing, and derivative processing of the extended-range PID controller. The pedal demand torque is determined based on the signal from the accelerator pedal. Based on the pedal demand torque being greater than the cruise demand torque, the fourth detection result indicates that the pedal demand torque is greater than the cruise demand torque.

(5) Acquiring a fifth detection result for indicating that the third running speed of the vehicle is smaller than the second reference speed or larger than the third reference speed

In one possible implementation, the vehicle control system obtains a third running speed of the vehicle through a speed sensor mounted on the vehicle, and based on the obtained third running speed being smaller than the second reference speed or larger than the third reference speed, the fifth detection result indicates that the third running speed of the vehicle is smaller than the second reference speed or larger than the third reference speed.

The second reference speed and the third reference speed are not limited, and the second reference speed and the third reference speed can be set based on experience, or can be adjusted according to actual conditions.

(6) Obtaining a sixth detection result for indicating whether the gradient of the road on which the vehicle is located is greater than a gradient threshold value

Illustratively, a gradient sensor is mounted to the vehicle, which may detect the gradient of the road on which the vehicle is located. In one possible implementation, obtaining a sixth detection result for indicating whether a gradient of a road on which the vehicle is located is greater than a gradient threshold value includes: and detecting the gradient of the road where the vehicle is located through a gradient sensor arranged on the vehicle, and indicating that the gradient of the road where the vehicle is located is greater than a gradient threshold value based on the detected gradient.

The gradient threshold is not limited in the embodiment of the application, and may be set based on experience, or may be adjusted according to actual situations.

(7) Obtaining a seventh detection result for indicating whether to start the electronic parking system

Illustratively, acquiring a seventh detection result indicating whether to start the electronic parking system includes: the vehicle control system detects the lighting state of the electronic parking indicator lamp on the instrument control system through the video identification device, the electronic parking system is started based on the fact that the electronic parking indicator lamp is on, and the electronic parking system is closed based on the fact that the electronic parking indicator lamp is off.

(8) Obtaining an eighth detection result for indicating whether to start the electronic stabilization system

Illustratively, obtaining an eighth detection result indicating whether to turn on the electronic stability system includes: the vehicle control system detects the lighting state of the electronic stability indicator lamp on the instrument control system through the video recognition device, the electronic stability indicator lamp is on based on the fact that the electronic stability indicator lamp is on, the electronic stability system is started according to the eighth detection result, and the electronic stability system is closed according to the fact that the electronic stability indicator lamp is off.

(9) Acquiring a ninth detection result for indicating whether the vehicle exits the forward gear

Illustratively, obtaining a ninth detection result for indicating whether the vehicle exits the forward gear includes: the vehicle control system detects the state of a gear indicator lamp on the instrument control system through the video recognition device, and the ninth detection result indicates that the vehicle does not exit the forward gear based on the fact that the forward gear indicator lamp in the gear indicator lamp is on, and the ninth detection result indicates that the vehicle exits the forward gear based on the fact that any one indicator lamp in reverse gear, neutral gear or parking gear in the gear indicator lamp is on.

In step 204, the vehicle is controlled to travel at the adjusted target vehicle speed based on the vehicle returning from the pre-cruise state to the constant-speed cruise state.

The embodiments of the present application do not limit the manner in which it is determined that the vehicle is returned from the pre-cruise state to the constant-speed-cruise state, and it is determined whether the vehicle is returned from the pre-cruise state to the constant-speed-cruise state by detecting the cruise restoration button, for example. The cruise restoration button is positioned on a constant-speed cruise system of the vehicle and can control the vehicle to restore from a pre-cruise state to a constant-speed cruise state.

In one possible implementation, after the cruise cancel button is pressed, a state of the cruise restoration button of the vehicle is detected, and when the cruise restoration button is pressed, a second running speed of the vehicle is acquired, and the vehicle control system controls the vehicle to return from the pre-cruise state to the constant-speed cruise state based on the second running speed being greater than the first reference speed and less than the second reference speed.

In one possible implementation, when the cruise restoration button is pressed, the second running speed is smaller than the first reference speed or larger than the second reference speed, the second running speed of the vehicle may be adjusted by changing the depth of the accelerator pedal, and when the second running speed is larger than the first reference speed and smaller than the second reference speed, the vehicle control system controls the vehicle to restore from the pre-cruise state to the constant-speed cruise state.

The first reference speed and the second reference speed are not adjusted, and the first reference speed and the second reference speed can be set based on experience, or can be adjusted according to actual conditions.

After the vehicle is determined to return to the constant-speed cruising state from the pre-cruising state, the vehicle control system controls the vehicle to run at a constant speed according to the adjusted target vehicle speed.

In step 205, control clears the adjusted target vehicle speed based on the vehicle exiting the pre-cruise condition.

The method for determining whether the vehicle exits the pre-cruise state is not limited, and whether the vehicle exits the pre-cruise state can be determined by detecting a cruise main switch button, for example.

In one possible implementation, the state of the cruise main switch button of the vehicle is detected, and when the cruise main switch button is pressed again, the vehicle control system controls the vehicle to exit the pre-cruise state, and controls the adjusted target vehicle speed to be cleared, and controls the third running speed of the vehicle based on the accelerator pedal.

The cases that the vehicle is caused to exit the pre-cruise state, except for the case where the cruise main switch button is pressed again, include: at least one of a tenth detection result for indicating whether a function of the constant speed cruise system is abnormal, an eleventh detection result for indicating whether an airbag of the vehicle is abnormal, a twelfth detection result for indicating whether a brake system of the vehicle is abnormal, a thirteenth detection result for indicating whether a power battery of the vehicle is abnormal, a fourteenth detection result for indicating whether a driving motor of the vehicle is abnormal, a fifteenth detection result for indicating whether a generator of the vehicle is abnormal, or a sixteenth detection result for indicating whether an engine of the vehicle is abnormal is obtained.

The vehicle is controlled to exit the pre-cruise state based on at least one of the tenth detection result indicating a malfunction of the constant speed cruise system, the eleventh detection result indicating an airbag malfunction of the vehicle, the twelfth detection result indicating a braking system malfunction of the vehicle, the thirteenth detection result indicating a power battery malfunction of the vehicle, the fourteenth detection result indicating a driving motor malfunction of the vehicle, the fifteenth detection result indicating a generator malfunction of the vehicle, or the sixteenth detection result indicating an engine malfunction of the vehicle.

(1) Obtaining tenth detection result indicating whether the function of the cruise control system is abnormal

Illustratively, acquiring a tenth detection result indicating whether the function of the constant-speed-cruise system is abnormal includes: an AD (Analog to Digital, analog-to-digital) conversion function or signal input logic of the constant-speed-cruise system is detected, and if any one of the AD conversion function or signal input logic is abnormal, a tenth detection result indicates that the constant-speed-cruise system is abnormal in function.

(2) Acquiring an eleventh detection result indicating whether an airbag of the vehicle is abnormal

Illustratively, acquiring an eleventh detection result indicating whether an airbag of the vehicle is abnormal includes: the vehicle control system detects the lighting state of the air bag lamp on the instrument control system through the video recognition device, the air bag lamp is lightened based on the air bag lamp, the air bag of the vehicle is indicated to be abnormal based on the eleventh detection result, and the air bag of the vehicle is indicated to be normal based on the air bag lamp which is extinguished.

(3) Acquiring twelfth detection result indicating whether braking system of vehicle is abnormal

In one possible implementation, obtaining a twelfth detection result indicating whether a braking system of the vehicle is abnormal includes: the vehicle control system detects the lighting state of a hand brake lamp or an ABS (Anti-lock Brake System) alarm lamp on the instrument control system through the video recognition device, any one of the hand brake lamp or the ABS alarm lamp is lighted, a twelfth detection result indicates that the braking system of the vehicle is abnormal, and the twelfth detection result indicates that the braking system of the vehicle is normal based on the fact that the hand brake lamp and the ABS alarm lamp are both extinguished.

(4) Acquiring thirteenth detection result indicating whether power battery of vehicle is abnormal

Illustratively, a BMS (Battery Management System ) is mounted on the vehicle, and the BMS may detect SOH (State of health) of a power battery of the vehicle, which is normally greater than a reference percentage.

The embodiments of the present application are not limited to the reference percentage, which may be 80% by way of example.

In one possible implementation, obtaining a thirteenth detection result indicating whether the power battery of the vehicle is abnormal includes: the vehicle control system detects SOH of the power battery of the vehicle through the BMS, and indicates that the power battery of the vehicle is abnormal based on the SOH being less than a reference percentage, and indicates that the power battery of the vehicle is normal based on the SOH being greater than the reference percentage.

(5) Acquiring a fourteenth detection result indicating whether or not a drive motor of a vehicle is abnormal

In one possible implementation, acquiring a fourteenth detection result indicating whether the driving motor of the vehicle is abnormal includes: the vehicle control system detects the resistance values of the resistors between the three terminals of the driving motor, and the fourteenth detection result indicates that the driving motor of the vehicle is abnormal based on the fact that the resistance values of the resistors of the three terminals are not equal, and the fourteenth detection result indicates that the driving motor of the vehicle is normal based on the fact that the resistance values of the resistors of the three terminals are equal.

The terminal is located on the driving motor, and the device for detecting the resistance value of the resistor between the three terminals is not limited, and the resistance value of the resistor between the three terminals can be detected through the universal meter, wherein the universal meter is in an ohm range.

(6) Acquiring a fifteenth detection result indicating whether or not a generator of a vehicle is abnormal

In one possible implementation, acquiring a fifteenth detection result indicating whether a generator of the vehicle is abnormal includes: the vehicle control system reads at least one of the voltage number or the amperage of the generator meter through the video recognition device, if the voltage number is smaller than the first reference value or smaller than the second reference value, the voltage number of the generator meter is abnormal, if the amperage is smaller than the third reference value or smaller than the fourth reference value, the amperage of the generator meter is abnormal, if the voltage number or the amperage is abnormal, the fifteenth detection result indicates that the generator of the vehicle is abnormal.

The first reference value, the second reference value, the third reference value and the fourth reference value are not limited, and may be set based on experience, for example, where the first reference value is smaller than the second reference value and the third reference value is smaller than the fourth reference value.

(7) Acquiring a sixteenth detection result indicating whether an engine of a vehicle is abnormal

In one possible implementation, obtaining a sixteenth detection result indicating whether an engine of the vehicle is abnormal includes: the vehicle control system reads an engine fault indicator lamp on the instrument control system through the video recognition device, the sixteenth detection result indicates that the engine of the vehicle is abnormal based on the fact that the engine fault indicator lamp is red or yellow, and the sixteenth detection result indicates that the engine of the vehicle is normal based on the fact that the engine fault indicator lamp is turned off.

In the embodiment of the application, under the condition that the vehicle enters a constant-speed cruising state, the first running speed of the vehicle is acquired, and the vehicle is controlled to run according to the first running speed. The control of the extended-range vehicle to enter a constant-speed cruising state is realized. When the speed of the vehicle is adjusted, the adjusted target vehicle speed is obtained, and the vehicle is controlled to travel according to the adjusted target vehicle speed. When the vehicle is switched from the cruise control state to the pre-cruise control state, a signal of an accelerator pedal of the vehicle is acquired, and a second running speed of the vehicle is controlled by the signal of the accelerator pedal. In the case where the vehicle is returned from the pre-cruise state to the constant-speed cruise state, the vehicle is controlled to travel at the adjusted target vehicle speed. And under the condition that the vehicle exits the pre-cruising state, the adjusted target vehicle speed is cleared. The control of the extended-range vehicle exiting the constant-speed cruising state is realized. The comfort and the safety of driving are ensured through controlling the extended range vehicle to enter the constant-speed cruising state and exit the constant-speed cruising state.

In the control process of the constant-speed cruising of the vehicle, the determined cruising required torque and pedal required torque can also be used for judging whether a range extender needs to be started, wherein the range extender is positioned on the vehicle, and provides electric energy for the vehicle when the SOC of a power battery is insufficient. In one possible implementation, the battery management system determines a vehicle movement demand torque based on cruise demand torque and pedal demand torque coordination, and calculates a power demand of the entire vehicle based on the vehicle movement demand torque. The maximum power of the drive motor is calculated based on the maximum torque of the drive motor, and the output power of the power battery is calculated based on the SOC of the power battery. Subtracting the output power of the power battery and the maximum power of the driving motor from the power demand of the whole vehicle to obtain a calculation result, and starting the range extender if the calculation result is larger than 0. For example, a control schematic diagram of the constant speed cruising described in fig. 3 is taken as an example. The first driving speed 301 and the adjusted target vehicle speed 302 are input into the cruise module 303, the target acceleration is obtained through calculation of the cruise module 303, the target acceleration and the actual acceleration 305 are input into the torque calculation module 304, the cruise demand torque is obtained through calculation of the torque calculation module 304, the cruise demand torque and the pedal demand torque 306 are input into the torque coordination module 307, the vehicle movement demand torque is obtained through coordination of the torque coordination module 307, the vehicle movement demand torque is input into the driving motor module 310, and the vehicle movement demand torque is used for requesting the vehicle movement demand torque from the driving motor module 310 by the whole vehicle control module 311. The power demand of the whole vehicle is calculated based on the vehicle movement demand torque. The vehicle control module 311 determines the vehicle charging demand power based on the vehicle power demand and the maximum power of the driving motor module 310, and determines whether the range extender 309 needs to be started to provide electric energy for the vehicle in combination with the SOC of the power battery 308.

Referring to fig. 4, an embodiment of the present application provides a control device for constant-speed cruising, including:

a first control module 401, configured to determine that the vehicle enters a constant speed cruising state, obtain a first running speed of the vehicle, and control the vehicle to run at the first running speed;

a second control module 402, configured to obtain an adjusted target vehicle speed when determining to adjust the speed of the vehicle, and control the vehicle to travel according to the adjusted target vehicle speed;

a third control module 403 for acquiring a signal of an accelerator pedal of the vehicle and controlling a running speed of the vehicle based on the signal of the accelerator pedal in a case where the vehicle is switched from the constant speed cruise state to the pre-cruise state;

a fourth control module 404 for controlling the vehicle to travel at the adjusted target vehicle speed based on the vehicle returning from the pre-cruise state to the constant-speed cruise state;

and a fifth control module 405, configured to control the adjusted target vehicle speed to zero based on the vehicle exiting the pre-cruise state.

In one possible implementation, the speed adjustment of the vehicle includes any one of accelerating or decelerating the vehicle, and the second control module 402 is configured to determine, based on accelerating the vehicle, the adjusted target vehicle speed as a first target vehicle speed, the first target vehicle speed being greater than the first travel speed; and determining the adjusted target vehicle speed as a second target vehicle speed based on decelerating the vehicle, wherein the second target vehicle speed is smaller than the first running speed.

In one possible implementation, the apparatus further includes: the system comprises a first acquisition module, a second acquisition module, a third detection module, a fourth detection module, a fifth detection module, a sixth detection module, a seventh detection module, an eighth detection module or a ninth detection module, wherein the first detection module is used for acquiring at least one of a first detection result, a second detection result, a third detection result, a fourth detection result, a fifth detection result, a sixth detection result, a seventh detection result, an eighth detection result or a ninth detection result, the first detection result is used for indicating whether a brake pedal is stepped down, the second detection result is used for indicating whether a start-stop function is started, the third detection result is used for indicating whether the actual acceleration of a vehicle is larger than an acceleration threshold value, the fourth detection result is used for indicating whether the pedal required torque is larger than a cruise required torque, the fifth detection result is used for indicating whether the third running speed of the vehicle is smaller than a second reference speed or larger than the third reference speed, the sixth detection result is used for indicating whether the gradient of a road where the vehicle is larger than the gradient threshold value, the seventh detection result is used for indicating whether an electronic parking system is started, the eighth detection result is used for indicating whether the electronic parking system is started, and the ninth detection result is used for indicating whether the vehicle exits from a forward gear;

the sixth control module is used for controlling the vehicle to switch from the constant-speed cruising state to the pre-cruising state based on at least one of the first detection result indicating that the brake pedal is depressed, the second detection result indicating that the start-stop function is started, the third detection result indicating that the actual acceleration of the vehicle is larger than the acceleration threshold, the fourth detection result indicating that the pedal required torque is larger than the cruising required torque, the fifth detection result indicating that the third running speed of the vehicle is smaller than the second reference speed or larger than the third reference speed, the sixth detection result indicating that the gradient of the road on which the vehicle is located is larger than the gradient threshold, the seventh detection result indicating that the electronic parking system is started, the eighth detection result indicating that the electronic stabilizing system is started or the ninth detection result indicating that the vehicle is out of the forward gear.

In one possible implementation, the apparatus further includes: a first determination module for determining a target acceleration of the vehicle based on the first travel speed and the adjusted target vehicle speed; and a second determination module for determining a cruise demand torque based on the actual acceleration and the target acceleration.

In one possible implementation, the apparatus further includes: a second acquisition module configured to acquire at least one of a tenth detection result, an eleventh detection result, a twelfth detection result, a thirteenth detection result, a fourteenth detection result, a fifteenth detection result, or a sixteenth detection result, the tenth detection result being configured to indicate whether a function of the constant speed cruise system is abnormal, the eleventh detection result being configured to indicate whether an airbag of the vehicle is abnormal, the twelfth detection result being configured to indicate whether a brake system of the vehicle is abnormal, the thirteenth detection result being configured to indicate whether a power battery of the vehicle is abnormal, the fourteenth detection result being configured to indicate whether a drive motor of the vehicle is abnormal, the fifteenth detection result being configured to indicate whether a generator of the vehicle is abnormal, and the sixteenth detection result being configured to indicate whether an engine of the vehicle is abnormal;

a seventh control module for controlling the vehicle to exit the pre-cruise state based on at least one of a tenth detection result indicating a malfunction of the constant speed cruise system, an eleventh detection result indicating an airbag abnormality of the vehicle, a twelfth detection result indicating a brake system abnormality of the vehicle, a thirteenth detection result indicating a power battery abnormality of the vehicle, a fourteenth detection result indicating a drive motor abnormality of the vehicle, a fifteenth detection result indicating a generator abnormality of the vehicle, or a sixteenth detection result indicating an engine abnormality of the vehicle.

When the vehicle enters a constant-speed cruising state, the device acquires the first running speed of the vehicle and controls the vehicle to run at the first running speed. The control of the extended-range vehicle to enter a constant-speed cruising state is realized. When the speed of the vehicle is adjusted, the adjusted target vehicle speed is obtained, and the vehicle is controlled to travel according to the adjusted target vehicle speed. When the vehicle is switched from the cruise control state to the pre-cruise control state, a signal of an accelerator pedal of the vehicle is acquired, and a second running speed of the vehicle is controlled by the signal of the accelerator pedal. In the case where the vehicle is returned from the pre-cruise state to the constant-speed cruise state, the vehicle is controlled to travel at the adjusted target vehicle speed. And under the condition that the vehicle exits the pre-cruising state, the adjusted target vehicle speed is cleared. The control of the extended-range vehicle exiting the constant-speed cruising state is realized. The comfort and the safety of driving are ensured through controlling the extended range vehicle to enter the constant-speed cruising state and exit the constant-speed cruising state.

It should be noted that, when the apparatus provided in the foregoing embodiment performs the functions thereof, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to perform all or part of the functions described above. In addition, the apparatus and the method embodiments provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the apparatus and the method embodiments are detailed in the method embodiments and are not repeated herein.

Fig. 5 is a schematic structural diagram of a server provided in the embodiment of the present application, where the server may have a relatively large difference due to different configurations or performances, and may include one or more processors 901 and one or more memories 902, where at least one computer program is stored in the one or more memories 902, and the at least one computer program is loaded and executed by the one or more processors 901, so that the server implements the control method for constant-speed cruising provided in each method embodiment. Of course, the server may also have a wired or wireless network interface, a keyboard, an input/output interface, and other components for implementing the functions of the device, which are not described herein.

Fig. 6 is a schematic structural diagram of a control device for constant-speed cruising according to an embodiment of the present application. The device may be a terminal, for example: vehicle-mounted system, smart phone, tablet, player, notebook or desktop. Terminals may also be referred to by other names as user equipment, portable terminals, laptop terminals, desktop terminals, etc.

Generally, the terminal includes: a processor 1501 and a memory 1502.

The processor 1501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 1501 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 1501 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1501 may be integrated with a GPU (Graphics Processing Unit, image processor) for taking care of rendering and rendering of content to be displayed by the display screen. In some embodiments, the processor 1501 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 1502 may include one or more computer-readable storage media, which may be non-transitory. Memory 1502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1502 is configured to store at least one instruction for execution by the processor 1501 to cause the terminal to implement a control method for constant speed cruising provided by a method embodiment in the present application.

In some embodiments, the terminal may further optionally include: a peripheral interface 1503 and at least one peripheral device. The processor 1501, memory 1502 and peripheral interface 1503 may be connected by a bus or signal lines. The individual peripheral devices may be connected to the peripheral device interface 1503 via a bus, signal lines, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1504, a display 1505, a camera assembly 1506, audio circuitry 1507, and a power supply 1508.

A peripheral interface 1503 may be used to connect I/O (Input/Output) related at least one peripheral device to the processor 1501 and the memory 1502. In some embodiments, processor 1501, memory 1502, and peripheral interface 1503 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 1501, the memory 1502, and the peripheral interface 1503 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 1504 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1504 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 1504 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1504 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuit 1504 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuit 1504 may also include NFC (Near Field Communication, short range wireless communication) related circuits, which are not limited in this application.

Display 1505 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When display screen 1505 is a touch display screen, display screen 1505 also has the ability to collect touch signals at or above the surface of display screen 1505. The touch signal may be input to the processor 1501 as a control signal for processing. At this point, display 1505 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1505 may be one, disposed on the front panel of the terminal; in other embodiments, the display 1505 may be at least two, respectively disposed on different surfaces of the terminal or in a folded design; in other embodiments, the display 1505 may be a flexible display disposed on a curved surface or a folded surface of the terminal. Even more, the display 1505 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The display screen 1505 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly 1506 is used to capture images or video. Optionally, the camera assembly 1506 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal and the rear camera is disposed on the rear surface of the terminal. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 1506 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.

The audio circuitry 1507 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and the environment, converting the sound waves into electric signals, inputting the electric signals to the processor 1501 for processing, or inputting the electric signals to the radio frequency circuit 1504 for voice communication. For the purpose of stereo acquisition or noise reduction, a plurality of microphones can be respectively arranged at different parts of the terminal. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 1501 or the radio frequency circuit 1504 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuit 1507 may also include a headphone jack.

The power supply 1508 is used to power the various components in the terminal. The power source 1508 may be alternating current, direct current, disposable battery, or rechargeable battery. When the power source 1508 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the terminal further includes one or more sensors 1509. The one or more sensors 1509 include, but are not limited to: an acceleration sensor 1510, a gyro sensor 1511, a pressure sensor 1512, an optical sensor 1513, and a proximity sensor 1514.

The acceleration sensor 1510 may detect the magnitudes of accelerations on three coordinate axes of a coordinate system established with a terminal. For example, the acceleration sensor 1510 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 1501 may control the display screen 1505 to display the user interface in either a landscape view or a portrait view based on the gravitational acceleration signal collected by the acceleration sensor 1510. The acceleration sensor 1510 may also be used for acquisition of motion data of a game or user.

The gyro sensor 1511 may detect a body direction and a rotation angle of the terminal, and the gyro sensor 1511 may collect a 3D motion of the user to the terminal in cooperation with the acceleration sensor 1510. The processor 1501, based on the data collected by the gyro sensor 1511, may implement the following functions: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.

The pressure sensor 1512 may be disposed on a side frame of the terminal and/or below the display 1505. When the pressure sensor 1512 is disposed on a side frame of the terminal, a grip signal of the terminal by the user may be detected, and the processor 1501 performs a left-right hand recognition or a quick operation according to the grip signal collected by the pressure sensor 1512. When the pressure sensor 1512 is disposed at the lower layer of the display screen 1505, the processor 1501 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 1505. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The optical sensor 1513 is used to collect the ambient light intensity. In one embodiment, processor 1501 may control the display brightness of display screen 1505 based on the intensity of ambient light collected by optical sensor 1513. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1505 is turned up; when the ambient light intensity is low, the display luminance of the display screen 1505 is turned down. In another embodiment, the processor 1501 may also dynamically adjust the shooting parameters of the camera assembly 1506 based on the ambient light intensity collected by the optical sensor 1513.

A proximity sensor 1514, also referred to as a distance sensor, is typically provided on the front panel of the terminal. The proximity sensor 1514 is used to collect the distance between the user and the front face of the terminal. In one embodiment, when the proximity sensor 1514 detects a gradual decrease in the distance between the user and the front face of the terminal, the processor 1501 controls the display 1505 to switch from the on-screen state to the off-screen state; when the proximity sensor 1514 detects that the distance between the user and the front face of the terminal gradually increases, the processor 1501 controls the display screen 1505 to switch from the off-screen state to the on-screen state.

It will be appreciated by those skilled in the art that the structure shown in fig. 6 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.

In an exemplary embodiment, a computer device is also provided, the computer device comprising a processor and a memory, the memory having at least one computer program stored therein. The at least one computer program is loaded and executed by one or more processors to cause the computer arrangement to implement any one of the above-described methods of constant speed cruise control.

In an exemplary embodiment, there is also provided a computer-readable storage medium having stored therein at least one computer program loaded and executed by a processor of a computer device to cause the computer to implement any one of the above-described control methods of constant-speed cruising.

In one possible implementation, the computer readable storage medium may be a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), a compact disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs any one of the above-described control methods of constant-speed cruising.

It should be noted that, information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data for analysis, stored data, presented data, etc.), and signals referred to in this application are all authorized by the user or are fully authorized by the parties, and the collection, use, and processing of relevant data is required to comply with relevant laws and regulations and standards of relevant countries and regions. For example, reference herein to both a first travel speed and a second travel speed are obtained with sufficient authorization.

It should be understood that references herein to "a plurality" are to two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

It should be noted that the terms "first," "second," and the like in the description and in the claims of this application (if any) are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

The foregoing description of the exemplary embodiments of the present application is not intended to limit the invention to the particular embodiments of the present application, but to limit the scope of the invention to any modification, equivalents, or improvements made within the principles of the present application.

Claims

1. A control method of constant-speed cruising, characterized in that the method comprises:

2. The method of claim 1, wherein the adjusting the speed of the vehicle comprises one of accelerating the vehicle or decelerating the vehicle, the obtaining the adjusted target vehicle speed comprising:

Determining the adjusted target vehicle speed as a first target vehicle speed based on accelerating the vehicle, wherein the first target vehicle speed is greater than the first running speed;

and determining the adjusted target vehicle speed as a second target vehicle speed based on decelerating the vehicle, wherein the second target vehicle speed is smaller than the first running speed.

3. The method according to claim 1, wherein the method further comprises:

obtaining at least one of a first detection result, a second detection result, a third detection result, a fourth detection result, a fifth detection result, a sixth detection result, a seventh detection result, an eighth detection result or a ninth detection result, wherein the first detection result is used for indicating whether a brake pedal is stepped on, the second detection result is used for indicating whether a start-stop function is started, the third detection result is used for indicating whether the actual acceleration of the vehicle is greater than an acceleration threshold value, the fourth detection result is used for indicating whether a pedal demand torque is greater than a cruise demand torque, the fifth detection result is used for indicating whether a third running speed of the vehicle is less than a second reference speed or greater than a third reference speed, the sixth detection result is used for indicating whether the gradient of a road on which the vehicle is located is greater than a gradient threshold value, the seventh detection result is used for indicating whether an electronic parking system is started, the eighth detection result is used for indicating whether an electronic stability system is started, and the ninth detection result is used for indicating whether the vehicle exits from a forward gear;

And controlling the vehicle to switch from the constant-speed cruising state to the pre-cruising state based on at least one of the first detection result indicating that a brake pedal is depressed, the second detection result indicating that a start-stop function is on, the third detection result indicating that the actual acceleration of the vehicle is greater than an acceleration threshold, the fourth detection result indicating that a pedal demand torque is greater than a cruising demand torque, the fifth detection result indicating that a third running speed of the vehicle is less than a second reference speed or greater than a third reference speed, the sixth detection result indicating that a gradient of a road on which the vehicle is located is greater than a gradient threshold, the seventh detection result indicating that an electronic parking system is on, the eighth detection result indicating that an electronic stability system is on, or the ninth detection result indicating that the vehicle is out of a forward gear.

4. A method according to claim 3, characterized in that the method further comprises:

determining a target acceleration of the vehicle based on the first travel speed and the adjusted target vehicle speed;

the cruise demand torque is determined based on the actual acceleration and the target acceleration.

5. The method according to claim 1, wherein the method further comprises:

Obtaining at least one of a tenth detection result for indicating whether a function of the constant speed cruise system is abnormal, an eleventh detection result for indicating whether an airbag of the vehicle is abnormal, a twelfth detection result for indicating whether a brake system of the vehicle is abnormal, a thirteenth detection result for indicating whether a power battery of the vehicle is abnormal, a fourteenth detection result for indicating whether a driving motor of the vehicle is abnormal, a fifteenth detection result for indicating whether a generator of the vehicle is abnormal, or a sixteenth detection result for indicating whether an engine of the vehicle is abnormal;

controlling the vehicle to exit the pre-cruise state based on at least one of the tenth detection result indicating a malfunction of the constant speed cruise system, the eleventh detection result indicating an airbag abnormality of the vehicle, the twelfth detection result indicating a brake system abnormality of the vehicle, the thirteenth detection result indicating a power battery abnormality of the vehicle, the fourteenth detection result indicating a drive motor abnormality of the vehicle, the fifteenth detection result indicating a generator abnormality of the vehicle, or the sixteenth detection result indicating an engine abnormality of the vehicle.

6. A control device for constant-speed cruising, characterized in that it comprises:

7. The apparatus of claim 6, wherein the speed adjustment of the vehicle comprises any one of accelerating the vehicle or decelerating the vehicle, the second control module to determine the adjusted target vehicle speed as a first target vehicle speed based on accelerating the vehicle, the first target vehicle speed being greater than the first travel speed; and determining the adjusted target vehicle speed as a second target vehicle speed based on decelerating the vehicle, wherein the second target vehicle speed is smaller than the first running speed.

8. The apparatus of claim 6, wherein the apparatus further comprises:

a first obtaining module, configured to obtain at least one of a first detection result, a second detection result, a third detection result, a fourth detection result, a fifth detection result, a sixth detection result, a seventh detection result, an eighth detection result, or a ninth detection result, where the first detection result is used to indicate whether a brake pedal is depressed, the second detection result is used to indicate whether a start-stop function is turned on, the third detection result is used to indicate whether an actual acceleration of the vehicle is greater than an acceleration threshold, the fourth detection result is used to indicate whether a pedal demand torque is greater than a cruise demand torque, the fifth detection result is used to indicate whether a third running speed of the vehicle is less than a second reference speed or greater than a third reference speed, the sixth detection result is used to indicate whether a gradient of a road on which the vehicle is located is greater than a gradient threshold, the seventh detection result is used to indicate whether an electronic parking system is turned on, the eighth detection result is used to indicate whether an electronic stability system is turned on, and the ninth detection result is used to indicate whether the vehicle exits from a forward gear;

And a sixth control module, configured to control the vehicle to switch from the cruise-constant state to the pre-cruise state based on at least one of the first detection result indicating that a brake pedal is depressed, the second detection result indicating that a start-stop function is turned on, the third detection result indicating that an actual acceleration of the vehicle is greater than an acceleration threshold, the fourth detection result indicating that a pedal demand torque is greater than a cruise demand torque, the fifth detection result indicating that a third travel speed of the vehicle is less than a second reference speed or greater than a third reference speed, the sixth detection result indicating that a gradient of a road on which the vehicle is located is greater than a gradient threshold, the seventh detection result indicating that an electronic parking system is turned on, the eighth detection result indicating that an electronic stability system is turned on, or the ninth detection result indicating that the vehicle is out of a forward gear.

9. A computer device, characterized in that it comprises a processor and a memory, in which at least one computer program is stored, which is loaded and executed by the processor, in order to carry out the control method of constant speed cruising according to any of claims 1 to 5.

10. A computer-readable storage medium, in which at least one computer program is stored, which is loaded and executed by a processor, to cause the computer to implement the control method of constant speed cruising according to any one of claims 1 to 5.