TWI822183B - Vehicle control method, vehicle, and non-transitory computer readable storage medium - Google Patents

Abstract

A vehicle control method includes: driving a vehicle entering a cruise mode to travel at a cruising target speed corresponding to the cruise mode; determining whether a torque strength outputted to a power system of the vehicle is greater than or equal to a predetermined torque strength for a predetermined time when the vehicle does not travel at the cruising target speed; and changing the cruising target speed to a current speed of the vehicle when determines that the torque strength outputted to the power system of the vehicle is greater than or equal to the predetermined torque strength for the predetermined time.

Description

Vehicle control method, vehicle and non-transitory computer-readable storage medium

The present disclosure relates to a vehicle control method, a vehicle and a non-transitory computer-readable storage medium.

Driving safety requires a high degree of concentration and adaptability. People often drive dangerously due to distracted driving and fatigue, endangering the safety of themselves and others, causing loss of life and property. Therefore, in recent years, the development of vehicles has gradually moved towards electronics and safety, and attempts have been made to develop various electronic mechanisms or mechanisms to assist drivers in driving.

Cruise Control is currently the most representative of the common assisted driving systems in high-speed driving environments. Cruise control can reduce the driver's accelerator operation when the vehicle is traveling at high speed, and the vehicle cruises at the speed set by the driver. However, actual traffic conditions are often complex. When a vehicle that enters the cruise control mode is unable to reach the cruise target speed corresponding to the cruise control mode due to specific road conditions (such as a hill climb), the vehicle will continue to work hard to chase the speed. However, as the speed pursuit time lengthens, the vehicle will produce The losses may increase sharply. Not only that, when the road conditions suddenly change (for example, from a climbing section to a flat road or a downhill section), the vehicle that was chasing speed a moment ago will explode and may endanger the driver's personal safety.

Therefore, how to come up with a vehicle control method that can solve the above problems is one of the problems that the industry is currently eager to invest in research and development resources to solve.

In view of this, one purpose of the present disclosure is to provide a vehicle control method, vehicle and non-transitory computer-readable storage medium that can solve the above problems.

In order to achieve the above object, according to an embodiment of the present disclosure, a vehicle control method includes: driving the vehicle that enters the cruise control mode to drive at the cruise target speed corresponding to the cruise control mode; when the vehicle that enters the cruise control mode does not drive at the cruise target speed, When driving at the target speed, it is judged whether the torque intensity output to the vehicle's power system is greater than or equal to the predetermined torque intensity and continues for a predetermined time; and when it is determined that the torque intensity output to the vehicle's power system is greater than or equal to the predetermined torque intensity and continues for the predetermined time. At the scheduled time, change the cruise target speed to the vehicle's current speed.

In one or more embodiments of the present disclosure, the predetermined torque intensity is the maximum driving torque of the power system of the vehicle.

In one or more embodiments of the present disclosure, the torque intensity corresponding to the predetermined torque intensity is a predetermined ratio of the maximum driving torque of the vehicle's power system, and the predetermined ratio is dynamically set based on the cruising target speed.

In one or more embodiments of the present disclosure, the predetermined torque intensity is a predetermined ratio of the maximum driving torque of the vehicle's power system, and the predetermined ratio is dynamically set based on the road gradient.

In one or more embodiments of the present disclosure, the predetermined time is dynamically set based on the cruise target speed.

In one or more embodiments of the present disclosure, the predetermined time is dynamically set based on the road gradient.

In one or more embodiments of the present disclosure, the step of determining whether the torque intensity output to the power system of the vehicle is greater than or equal to a predetermined torque intensity and lasts for a predetermined time includes: when the vehicle entering the cruise control mode decelerates from the cruise target speed When, it is judged whether the torque intensity output to the vehicle's power system is greater than or equal to the predetermined torque intensity and lasts for a predetermined time.

In one or more embodiments of the present disclosure, the step of determining whether the torque intensity output to the power system of the vehicle is greater than or equal to a predetermined torque intensity and lasts for a predetermined time includes: when the vehicle entering the cruise control mode cannot accelerate to the cruise target When the speed is high, it is judged whether the torque intensity output to the vehicle's power system is greater than or equal to the predetermined torque intensity and lasts for a predetermined time.

In order to achieve the above object, according to an embodiment of the present disclosure, a vehicle includes a body and a processor. The processor is installed on the vehicle body and is configured to: drive the vehicle that enters the cruise control mode to drive at the cruise target speed corresponding to the cruise control mode; when the vehicle that enters the cruise control mode does not travel at the cruise target speed, the judgment is output to the Whether the torque intensity of the vehicle's power system is greater than or equal to the predetermined torque intensity and continues for a predetermined time; and when it is determined that the torque intensity output to the vehicle's power system is greater than or equal to the predetermined torque intensity and continues for a predetermined time, the cruise target speed is changed to the vehicle the current speed.

In one or more embodiments of the present disclosure, the predetermined torque intensity is the maximum driving torque of the vehicle's power system.

In one or more embodiments of the present disclosure, the predetermined torque intensity is a predetermined proportion of the maximum driving torque of the vehicle's power system, and the predetermined proportion is dynamically set based on the cruising target speed.

In one or more embodiments of the present disclosure, the predetermined torque intensity is a predetermined ratio of the maximum driving torque of the vehicle's power system, and the predetermined ratio is dynamically set based on the road gradient.

In one or more embodiments of the present disclosure, the predetermined time is dynamically set based on the cruise target speed.

In one or more embodiments of the present disclosure, the predetermined time is dynamically set based on the road gradient.

In one or more embodiments of the present disclosure, the processor is further configured to: when the vehicle entering the cruise control mode decelerates from the cruise target speed, determine whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity. and lasts for a predetermined time.

In one or more embodiments of the present disclosure, the processor is further configured to: when the vehicle entering the cruise control mode cannot accelerate to the cruise target speed, determine whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque. intensity and last for a predetermined time.

In order to achieve the above object, according to an embodiment of the present disclosure, a non-transitory computer-readable storage medium includes a computer-executable device that causes the one or more computer processors to perform the following operations when executed by one or more computer processors. Instruction: Generate a control instruction for the vehicle that enters the cruise control mode to drive the vehicle to travel at the cruise target speed corresponding to the cruise control mode; when receiving information that the vehicle that enters the cruise control mode does not travel at the cruise target speed, it determines Whether the torque intensity output to the vehicle's power system is greater than or equal to the predetermined torque intensity and continues for a predetermined time; and when it is determined that the torque intensity output to the vehicle's power system is greater than or equal to the predetermined torque intensity and continues for a predetermined time, the cruising target speed is generated Change the control command to the current speed of the vehicle.

In one or more embodiments of the present disclosure, the predetermined torque intensity is the maximum driving torque of the vehicle's power system.

In one or more embodiments of the present disclosure, the predetermined torque intensity is a predetermined proportion of the maximum driving torque of the vehicle's power system, and the predetermined proportion is dynamically set based on the cruising target speed.

In one or more embodiments of the present disclosure, the predetermined torque intensity is a predetermined ratio of the maximum driving torque of the vehicle's power system, and the predetermined ratio is dynamically set based on the road gradient.

In one or more embodiments of the present disclosure, the predetermined time is dynamically set based on the cruise target speed.

In one or more embodiments of the present disclosure, the predetermined time is dynamically set based on the road gradient.

In one or more embodiments of the present disclosure, the instruction to determine whether the torque intensity output to the vehicle's power system is greater than or equal to a predetermined torque intensity and lasts for a predetermined time includes: when receiving information about the vehicle entering the cruise control mode from cruise control When decelerating the target speed information, it is judged whether the torque intensity output to the vehicle's power system is greater than or equal to the predetermined torque intensity and continues for a predetermined time.

In one or more embodiments of the present disclosure, the instruction to determine whether the torque intensity output to the vehicle's power system is greater than or equal to a predetermined torque intensity and lasts for a predetermined time includes: when receiving a message that the vehicle entering the cruise control mode cannot accelerate. When reaching the cruise target speed information, it is judged whether the torque intensity output to the vehicle's power system is greater than or equal to the predetermined torque intensity and continues for a predetermined time.

In summary, according to the vehicle control method, vehicle and non-transitory computer-readable storage medium of the present disclosure, when the vehicle enters the cruise control mode, the vehicle will be driven to travel at the cruise target speed corresponding to the cruise control mode. Moreover, when the vehicle entering the cruise control mode is not traveling at the cruise target speed, the processor will determine whether the torque intensity output to the motor is greater than or equal to the predetermined torque intensity and has continued for a predetermined period of time. When it is determined that the torque intensity output to the motor is indeed greater than or equal to the predetermined torque intensity and has continued for a predetermined period of time, the cruise target speed is changed to the current speed of the vehicle. This can avoid a sudden increase in wear and tear on the vehicle's power system while the vehicle strives to accelerate to the cruising target speed. Not only that, it can also prevent the vehicle from crashing due to sudden changes in road conditions (such as a sudden change from a climbing section to a flat road or a downhill section), thus improving the driver's personal safety and driving experience.

The above is only used to describe the problems to be solved by the present disclosure, the technical means to solve the problems, the effects thereof, etc. The specific details of the present disclosure will be introduced in detail in the following implementation modes and related drawings.

A plurality of implementation manners of the present disclosure will be disclosed below with drawings. For clarity of explanation, many practical details will be explained together in the following description. However, it should be understood that these practical details should not be used to limit the disclosure. That is to say, in some implementations of the present disclosure, these practical details are not necessary. In addition, for the sake of simplifying the drawings, some commonly used structures and components will be illustrated in a simple schematic manner in the drawings.

Please refer to Picture 1 and Picture 2. Figure 1 is a flow chart illustrating a vehicle control method according to an embodiment of the present disclosure. Figure 2 is a schematic diagram of a vehicle 100 according to an embodiment of the present disclosure. As shown in Figures 1 and 2, in this embodiment, the vehicle control method includes steps S101 and S102, and can be executed on the vehicle 100.

Step S101: Determine whether the vehicle 100 meets the mode activation condition, where the mode activation condition includes the vehicle 100 receiving a mode activation request signal. The mode activation request signal will be explained in detail in the following paragraphs.

Step S102: When the vehicle 100 meets the mode start conditions, the vehicle 100 is entered into the cruise control mode, and the vehicle 100 is driven to travel at the cruise target speed corresponding to the cruise control mode. On the contrary, if the vehicle 100 does not meet the mode start conditions, the vehicle 100 keeps operating in the current mode. For example, if the vehicle 100 does not meet the mode start conditions, the vehicle 100 does not enter the cruise control mode, and accelerates and decelerates according to the accelerator and brake control conditions.

In some embodiments, the vehicle 100 is a two-wheeled vehicle (such as a scooter or other straddle-type vehicle) or a transportation vehicle with more than two wheels. However, the disclosure is not limited thereto, and the vehicle control method may also be used. Applied to other types of transportation vehicles.

In some embodiments, the vehicle 100 includes a body 110 , a rotating handlebar 120 , a processor 130 , function buttons 140 and a brake 150 . The rotating handle 120, the processor 130, the function buttons 140 and the brake 150 are arranged on the body 110. For example, the function button 140 is a cruise control button or a two-in-one cruise control and reverse button, but the disclosure is not limited to this. When the function button 140 is pressed when the vehicle 100 is not traveling in the cruise control mode, the function button 140 generates a press signal and outputs it to the processor 130 . The processor 130 receives the corresponding pressing signal and regards the pressing signal as a mode start request signal. For example, the function button 140 can be implemented using a switch, which is coupled to the processor 130, the power terminal, and the ground terminal. When the function button 140 is pressed, the switch connects the power terminal and the ground terminal, causing a current surge to be directed to the processor 130. This current surge is the mode start request signal. Then the processor 130 enables the cruise control mode according to the mode activation request signal. Using a switch as a button to trigger a specific function is a common practice in the field of electronic circuits, and will not be described in detail in this disclosure.

The aforementioned steps S101 and S102 are both executed by the processor 130 . In some embodiments, the processor 130 uses the speed of the vehicle 100 when the mode start request signal is received as the set speed of the cruise control mode (ie, the aforementioned cruise target speed), and causes the vehicle 100 to drive at a constant speed at this set speed. . For example, when the cruising target speed is set to 60 km/h and the current speed of the vehicle 100 is less than 60 km/h, the processor 130 will drive the vehicle 100 to accelerate to reach the cruising target speed.

In some embodiments, the processor 130 is, for example, a microprocessor, a microcontroller, a programmable logic controller (PLC), a programmable gate array (PGA), an application specific integrated circuit (ASIC), or can be obtained from various Sensors receive signals, perform logic operations, and send signals to controllers of various components.

In some embodiments, the mode activation condition includes the speed of the vehicle 100 being equal to or greater than a predetermined speed. For example, the predetermined speed is about 10 kilometers/hour, but this disclosure is not limited to this.

In some embodiments, the mode start condition includes that the electric capacity of the electric energy storage device (not shown) of the vehicle 100 is greater than the predetermined electric capacity. In some embodiments, the vehicle 100 is an electric vehicle that uses a motor to drive rear wheels and/or front wheels, and the electricity stored in the aforementioned electrical energy storage device is the power source of the motor. For example, the scheduled power is about 12%, but this disclosure is not limited to this. Thereby, the vehicle control method of this embodiment can prevent the vehicle 100 from entering the cruise control mode when the electric energy storage device is in low power.

In some embodiments, the aforementioned electrical energy storage device is, for example, any device that can store power and release the stored power, including but not limited to a battery pack, a supercapacitor or a supercapacitor. The battery is, for example, one or more chemical storage cells, for example, rechargeable or auxiliary battery cells (including but not limited to nickel-cadmium alloy or lithium-ion battery cells).

In some embodiments, the mode start condition includes the temperature of the electrical energy storage device being less than a predetermined temperature. For example, the predetermined temperature is about 63 degrees Celsius, but the disclosure is not limited thereto. Thereby, the vehicle control method of this embodiment can prevent the temperature of the electric energy storage device from further increasing due to operating in the cruise control mode when the electric energy storage device is at a high temperature, thereby causing damage to the electric energy storage device and/or the vehicle 100 .

In some embodiments, the mode activation condition includes the brake 150 of the vehicle 100 not being operated (ie, the brake 150 is in an idle state). Thereby, the vehicle control method of this embodiment can effectively prevent the driver from accidentally touching the vehicle. An example of an accidental touch situation is that the driver actually wants to operate the brake 150 to decelerate the vehicle 100, but accidentally presses the function button 140.

In some embodiments, the mode activation condition includes the speed of the vehicle 100 falling within a predetermined speed range. For example, the predetermined speed range is about 10 km/h to about 60 km/h, but the disclosure is not limited thereto. In other words, when the speed of the vehicle 100 is less than 10 km/h or greater than 60 km/h, the vehicle 100 will not enter the cruise control mode. Thereby, the vehicle control method of this embodiment can prevent the vehicle 100 from driving at a fixed speed outside the safe predetermined speed range, thereby causing safety hazards to the driver.

In some embodiments, the mode start condition further includes the output power of the power system (eg, motor) of the vehicle 100 without load reduction. Specifically, a temperature sensor (not shown) is provided next to or inside the motor. The temperature sensor senses the temperature of the motor at any time and outputs the sensed data to the processor 130 . When the temperature of the motor is greater than a predetermined motor temperature (for example, 100 degrees Celsius), the processor 130 will adjust the torque intensity output to the motor to dynamically limit the driving torque, rotational speed, and output power of the motor. This behavior is called load reduction. In other words, as long as the temperature of the motor is maintained at or below the predetermined motor temperature, the motor will not experience a load reduction condition.

By the way, after the motor is deloaded, its temperature will begin to drop. The processor 130 will not release the load reduction until the temperature of the motor drops to be equal to or less than a safe motor temperature (the safe motor temperature is less than a predetermined motor temperature, such as 90 degrees Celsius). After the load reduction is released, the driving torque, rotation speed and output power of the motor can be further increased to increase the current speed of the vehicle 100 .

In some implementations, the vehicle 100 must meet multiple mode activation conditions before entering the cruise control mode. For example, when the processor 130 receives the mode activation request signal and the speed of the vehicle 100 is equal to or greater than the predetermined speed, the vehicle 100 switches to the cruise control mode. Alternatively, the vehicle 100 will switch to the cruise control mode only when the processor 130 receives the mode start request signal, the current speed of the vehicle 100 is equal to or greater than the predetermined speed, and the power of the electric energy storage device of the vehicle 100 is greater than the predetermined power. In some embodiments, the vehicle 100 must meet all the above mode starting conditions before entering the cruise control mode.

In addition, the cruising target speed of the cruise control mode (the cruising target speed is equal to or greater than the predetermined speed) can also be input to the processor 130 in advance. When the processor 130 receives the mode start request signal, the processor 130 drives the motor to increase/decrease the speed of the vehicle 100 to the cruise target speed, and then switches the vehicle 100 to the cruise control mode. In some embodiments, the vehicle 100 will switch to a certain mode only when the processor 130 receives the mode start request signal and the status of the vehicle 100 meets at least one of the aforementioned mode start conditions (for example, the power of the electrical energy storage device is greater than the predetermined power). Speed cruising mode.

As shown in Figure 1, in this embodiment, the vehicle control method further includes steps S103, S104, and S105, and can be executed on the vehicle 100, where steps S103, S104, and S105 follow step S102.

Step S103: The processor 130 determines whether the current speed of the vehicle 100 is greater than or equal to the cruising target speed. When the vehicle 100 is not traveling at the cruising target speed, that is, the current speed of the vehicle 100 is still less than the cruising target speed, and the vehicle 100 has not reached the cruising target speed for a long time. At this time, the processor 130 will determine that the vehicle 100 is in a state that cannot accelerate normally, and enter step S104. On the contrary, when the vehicle 100 is traveling at the cruising target speed, step S106 is entered.

Incidentally, the processor 130 detects the current speed of the vehicle based on a speed sensor (not shown) provided in the vehicle 100, but the present disclosure is not limited thereto. In some implementations, the processor 130 can also use any current speed detection device to obtain the current speed of the vehicle 100 .

Step S104: When the vehicle 100 is not traveling at the cruising target speed, the processor 130 further determines whether the torque intensity currently output to the motor is greater than or equal to a predetermined torque intensity and has continued for a predetermined time (eg 1 second). If the torque intensity currently output to the motor is greater than or equal to the predetermined torque intensity and has continued for a predetermined period of time, step S105 is entered. On the contrary, the processor 130 controls the vehicle 100 to maintain the original cruise target speed and run in the cruise control mode, that is, the processor 130 still does not reduce the torque intensity output to the motor at this time. The predetermined moment strength will be explained in detail in the following paragraphs.

Specifically, the processor 130 may generate a torque control instruction according to the cruise target speed corresponding to the cruise control mode. The torque control command includes torque intensity, which is used to control the driving torque, speed and output power of the motor. The output power of the motor is proportional to the driving torque and speed. The predetermined torque intensity is a set value, which can be set to the maximum driving torque of the motor. In other words, when the torque intensity corresponding to the torque control command is greater than or equal to the predetermined torque intensity, the motor will run at the maximum driving torque. Next, the processor 130 calculates the time for outputting the torque control command to determine whether to proceed to step S105.

Step S105: When the processor 130 determines that the torque intensity output to the motor is greater than or equal to the predetermined torque intensity and has continued for a predetermined period of time, the processor 130 changes the cruising target speed to the current speed of the vehicle 100. In other words, at this time, the motor is already operating at its maximum driving torque, but the vehicle 100 is still unable to accelerate to the cruising target speed, which means that the vehicle 100 may not be able to increase its speed due to some physical factors. Physical factors may be the weight of the vehicle 100, the gradient of the road section the vehicle 100 travels, tire pressure, wind resistance, battery power, battery temperature, motor temperature, etc. In order to avoid excessive wear and tear of the power system, and to avoid load reduction caused by excessive motor temperature, which would cause the current speed of the vehicle 100 to change drastically, the processor 130 dynamically adjusts the cruising target speed of the vehicle 100 to the current speed, so that the vehicle 100 moves at the updated speed. The cruise target speed continues to operate in the cruise control mode to avoid the above problems.

By executing steps S103, S104, and S105, a sudden increase in loss of the power system of the vehicle 100 can be avoided while the vehicle 100 strives to accelerate to the cruising target speed. Not only that, it can also prevent the vehicle 100 from crashing due to sudden changes in road conditions (such as a sudden change from a climbing section to a flat road or a downhill section), thus improving the driver's personal safety and driving experience.

In some embodiments, the predetermined torque intensity is configured to drive the power system of the vehicle 100 to operate at the maximum driving torque (ie, drive the motor to provide maximum power), but the disclosure is not limited thereto. In some embodiments, the predetermined torque intensity is a predetermined proportion (eg, about 90% to about 95%) of the maximum driving torque of the vehicle 100 , thereby further reducing the loss of the power system of the vehicle 100 during the vehicle 100's efforts to accelerate to the cruising target speed. .

In some implementations, the aforementioned predetermined ratio may be dynamically set based on the cruising target speed. A larger cruising target speed may correspond to a larger predetermined ratio, and a smaller cruising target speed may correspond to a smaller predetermined ratio. For example, if the cruising target speed is 100 kilometers/hour, the processor 130 sets the corresponding predetermined ratio to 100%. If the cruising target speed is 50 kilometers/hour, the processor 130 sets the corresponding predetermined ratio to 90%.

In some implementations, the aforementioned predetermined ratio may be dynamically set based on road conditions (eg, slope). Roads with a steeper slope may correspond to a larger predetermined ratio, while roads with a smaller slope may correspond to a smaller predetermined ratio. For example, if the slope of the road is 30%, the processor 130 sets the corresponding predetermined ratio to 100%. If the slope of the road is 10%, the processor 130 sets the corresponding predetermined ratio to 95%.

In some implementations, step S104 includes one of step S104a and step S104b.

Step S104a: When the vehicle 100 decelerates from the cruising target speed, the processor 130 determines whether the torque intensity output to the motor is greater than or equal to a predetermined torque intensity and has continued for a predetermined period of time.

Step S104b: When the vehicle 100 cannot accelerate to the cruising target speed, the processor 130 determines whether the torque intensity output to the motor is greater than or equal to a predetermined torque intensity and has continued for a predetermined period of time.

In other words, in step S104a, the driving situation of the vehicle 100 is to first reach the cruising target speed and then decelerate. In step S104b, the driving situation of vehicle 100 is that it has not reached the cruising target speed from the beginning.

In some implementations, the aforementioned predetermined time may be dynamically set based on the cruising target speed. A larger cruising target speed may correspond to a larger predetermined time, and a smaller cruising target speed may correspond to a smaller predetermined time. For example, if the cruising target speed is 20 kilometers/hour, the processor 130 sets the corresponding predetermined time to 0.5 seconds. If the cruising target speed is 60 kilometers/hour, the processor 130 sets the corresponding predetermined time to 2 seconds.

In some embodiments, the predetermined time may be dynamically set based on road conditions (eg, slope). A road with a steeper slope may correspond to a smaller predetermined time, and a road with a smaller slope may correspond to a larger predetermined time. For example, if the slope of the road is 30%, the processor 130 sets the corresponding predetermined time to 0.5 seconds. If the slope of the road is 10%, the processor 130 sets the corresponding predetermined time to 2 seconds.

In some implementations, the aforementioned predetermined time is set to be equal to or greater than about 0.1 seconds, but the present disclosure is not limited thereto.

As shown in Figure 1, in this embodiment, the vehicle control method further includes steps S106 and S107, and can be executed on the vehicle 100, wherein step S106 continues after steps S103 and S105, and step S107 continues after step S106. .

Step S106: When the vehicle 100 is traveling in the cruise control mode, the processor 130 determines whether the vehicle 100 meets the mode release condition.

Step S107: When the vehicle 100 meets the mode release condition, the processor 130 releases the cruise control mode. On the contrary, if the vehicle 100 does not meet the mode release condition, the processor 130 allows the vehicle 100 to maintain the cruise control mode operation.

In some embodiments, the mode release condition includes that the power of the electrical energy storage device of the vehicle 100 is equal to or less than a predetermined power. In some embodiments, the vehicle 100 is an electric vehicle that uses a motor to drive the front and rear wheels, and the electricity stored in the aforementioned electrical energy storage device is the power source of the motor. For example, the scheduled power is about 12%, but this disclosure is not limited to this. Thereby, the vehicle control method of this embodiment can cause the vehicle 100 to automatically release the cruise control mode when the electric energy storage device is at low power, so as to avoid further power consumption of the vehicle 100 .

In some embodiments, the mode release condition includes the temperature of the electrical energy storage device being equal to or greater than a predetermined temperature. For example, the predetermined temperature is about 63 degrees Celsius, but the disclosure is not limited thereto. Thereby, the vehicle control method of this embodiment can cause the vehicle 100 to automatically release the cruise control mode when the electric energy storage device is at a high temperature, so as to avoid further increasing the temperature of the electric energy storage device and causing the electric energy storage device and/or the vehicle 100 to damaged.

In some embodiments, the mode release condition includes the speed of the vehicle 100 being equal to or less than a safe speed. For example, the safe speed is about 5 kilometers/hour, but this disclosure is not limited to this. In some implementations, the safe speed is set to be less than the predetermined speed. Thereby, the vehicle control method of this embodiment can cause the vehicle 100 to automatically release the cruise control mode when the vehicle 100 is unable to travel at the set speed of the cruise control mode due to specific factors (for example, the vehicle 100 climbs a steep slope). To avoid excessive wear and tear on the power system of the vehicle 100 .

In some implementations, the processor 130 may not set a safe speed, but use a predetermined speed to determine whether to release the cruise control mode. For example, when the speed of the vehicle 100 is less than a predetermined speed, the processor 130 determines that the vehicle 100 meets the mode release condition and releases the cruise control mode.

In some embodiments, the mode release condition includes the vehicle 100 receiving a mode release request signal. In some embodiments, when the function button 140 is pressed while the vehicle 100 is traveling in the cruise control mode, the processor 130 may receive the corresponding press signal and regard the press signal as a mode release request signal. Then, the cruise control mode is released according to the mode release request signal. As mentioned above, the function button 140 can be implemented through a switch to generate and output a press signal.

In some embodiments, when the brake 150 of the vehicle 100 is operated when the vehicle 100 is traveling in the cruise control mode (that is, the brake 150 is in a pressed state), the processor 130 may receive the corresponding operation signal and generate the corresponding operation signal. The operation signal is regarded as a mode release request signal. Thereby, the vehicle control method of this embodiment allows the driver to independently decide the timing of releasing the cruise control mode through manual operation. In some embodiments, the processor 130 will release the cruise control mode only when the brake 150 is operated for more than a certain time (for example, more than 3 seconds).

In some embodiments, the mode release condition further includes a load reduction condition occurring in the power system of the vehicle 100 (ie, the temperature of the motor is greater than a predetermined motor temperature). At this time, the processor 130 determines that the temperature of the motor is too high, which may affect driving safety, and cancels the cruise control mode.

In some implementations, when only one of the foregoing mode release conditions is met, the processor 130 will control the vehicle 100 to release the cruise control mode. In some embodiments, the cruise control mode will be released only when the vehicle 100 meets at least two of the aforementioned mode release conditions. Alternatively, in some embodiments, the cruise control mode will be released only when the vehicle 100 meets each of the foregoing mode release conditions.

In some implementations, the vehicle control method of the present disclosure may be implemented through one or more microcontrollers. However, those skilled in the art will recognize that the embodiments disclosed in the present disclosure may be implemented as one or more computer programs executed by one or more computers (e.g., as one or more computer programs running on one or more computer systems). or multiple programs), as one or more programs being executed by one or more controllers (eg, microcontrollers), as one or more programs being executed by one or more processors 130 (eg, microprocessors) A program, as firmware, or as virtually any combination thereof that is equivalently implemented in whole or in part in a standard integrated circuit (e.g., an application specific integrated circuit or ASIC). In view of the teachings of this disclosure, designing circuits and/or writing code for software and/or firmware will be well within the skill of those skilled in this art.

When logic is implemented as software/firmware and stored in memory, the logic or information may be stored on any non-transitory computer-readable storage medium for use by or with associated processor systems or methods. Non-transitory computer-readable storage media are electronic, magnetic, optical or other physical devices or components that contain or store computer and/or processor programs on a non-transitory basis. The logic and/or information may be embodied in any computer-readable medium for use by an instruction execution system, device, or device (such as a computer-based system, a system containing a processor, or a system that may retrieve and execute instructions from an instruction execution system, device, or device). Other systems of instructions associated with logic and/or information) are used by or in conjunction with them.

In some implementations, the non-transitory computer-readable storage medium includes computer-executable instructions that, when executed by one or more computer processors 130, cause the one or more computer processors 130 to: The vehicle 100 in the cruise mode generates a control command to drive the vehicle 100 to travel at the cruise target speed corresponding to the cruise control mode; when receiving information that the vehicle 100 entering the cruise control mode does not travel at the cruise target speed, the judgment is output to the motor. Whether the torque intensity is greater than or equal to the predetermined torque intensity, and has continued for a predetermined period of time; when it is determined that the torque intensity output to the motor is greater than or equal to the predetermined torque intensity, and has continued for a predetermined period of time, the cruising target speed is changed to the vehicle 100 a control command for the current speed; and a control command for driving the vehicle 100 to cancel the cruise control mode for the vehicle 100 that cancels the cruise control mode.

In some embodiments, the instruction to determine whether the torque intensity output to the motor is greater than or equal to a predetermined torque intensity and has continued for a predetermined period of time includes: when receiving information about the vehicle 100 entering the cruise control mode decelerating from the cruise target speed. When, it is judged whether the torque intensity output to the motor is greater than or equal to the predetermined torque intensity and has continued for a predetermined period of time.

In some embodiments, determining whether the torque intensity output to the motor is greater than or equal to a predetermined torque intensity and has continued for a predetermined period of time includes: when receiving a notification that the vehicle 100 entering the cruise control mode cannot accelerate to the cruise target speed. When receiving information, it is judged whether the torque intensity output to the motor is greater than or equal to the predetermined torque intensity and has continued for a predetermined period of time.

From the above detailed description of specific implementations of the present disclosure, it can be clearly seen that according to the vehicle control method, vehicle and non-transitory computer-readable storage medium of the present disclosure, when the vehicle enters the cruise control mode, the vehicle will be Drive the vehicle at the cruise target speed corresponding to the cruise control mode. Moreover, when the vehicle entering the cruise control mode is not traveling at the cruise target speed, the processor will determine whether the torque intensity output to the motor is greater than or equal to the predetermined torque intensity and has continued for a predetermined period of time. When it is determined that the torque intensity output to the motor is indeed greater than or equal to the predetermined torque intensity and has continued for a predetermined period of time, the cruise target speed is changed to the current speed of the vehicle. This can avoid a sudden increase in wear and tear on the vehicle's power system while the vehicle strives to accelerate to the cruising target speed. Not only that, it can also prevent the vehicle from crashing due to sudden changes in road conditions (such as a sudden change from a climbing section to a flat road or a downhill section), thus improving the driver's personal safety and driving experience.

Although the disclosure has been disclosed in the above embodiments, it is not intended to limit the disclosure. Anyone skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure. Therefore, the protection of the disclosure is The scope shall be determined by the appended patent application scope.

100:Vehicle

110: Body

120:Turn the handle

130: Processor

140: Function buttons

150:brake

S101, S102, S103, S104, S105, S106, S107: Steps

In order to make the above and other objects, features, advantages and embodiments of the present disclosure more obvious and understandable, the accompanying drawings are described as follows:

Figure 1 is a flow chart illustrating a vehicle control method according to an embodiment of the present disclosure.

Figure 2 is a schematic diagram illustrating a vehicle according to an embodiment of the present disclosure.

Domestic storage information (please note in order of storage institution, date and number) without Overseas storage information (please note in order of storage country, institution, date, and number) without

S101, S102, S103, S104, S105, S106, S107: Steps

Claims (24)

A vehicle control method includes: driving a vehicle into a fixed-speed cruise mode to drive at a cruise target speed corresponding to the fixed-speed cruise mode; When the vehicle entering the cruise control mode is not traveling at the cruise target speed, determine whether a torque intensity output to the power system of the vehicle is greater than or equal to a predetermined torque intensity and lasts for a predetermined time; and When it is determined that the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time, the cruising target speed is changed to a current speed of the vehicle. The vehicle control method as claimed in claim 1, wherein the predetermined torque intensity is a maximum driving torque of the vehicle's power system. The vehicle control method of claim 1, wherein the predetermined torque intensity is a predetermined proportion of a maximum driving torque of the vehicle's power system, and the predetermined proportion is dynamically set based on the cruising target speed. The vehicle control method of claim 1, wherein the predetermined torque intensity is a predetermined ratio of a maximum driving torque of the vehicle's power system, and the predetermined ratio is dynamically set based on a road gradient. The vehicle control method of claim 1, wherein the predetermined time is dynamically set based on the cruising target speed. The vehicle control method of claim 1, wherein the predetermined time is dynamically set based on a road gradient. The vehicle control method as described in claim 1, wherein the step of determining whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time includes: When the vehicle entering the cruise control mode decelerates from the cruise target speed, it is determined whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time. The vehicle control method as described in claim 1, wherein the step of determining whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time includes: When the vehicle entering the cruise control mode cannot accelerate to the cruise target speed, it is determined whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time. A vehicle containing: a vehicle body; and A processor, disposed on the body and configured to: Driving the vehicle that enters the fixed-speed cruise mode to drive at a cruise target speed corresponding to the fixed-speed cruise mode; When the vehicle entering the cruise control mode is not traveling at the cruise target speed, determine whether a torque intensity output to the power system of the vehicle is greater than or equal to a predetermined torque intensity and lasts for a predetermined time; and When it is determined that the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time, the cruising target speed is changed to a current speed of the vehicle. The vehicle of claim 9, wherein the predetermined torque intensity is a maximum driving torque of the vehicle's power system. The vehicle of claim 9, wherein the predetermined torque intensity is a predetermined ratio of a maximum driving torque of the vehicle's power system, and the predetermined ratio is dynamically set based on the cruising target speed. The vehicle of claim 9, wherein the predetermined torque intensity is a predetermined proportion of a maximum driving torque of the vehicle's power system, and the predetermined proportion is dynamically set based on a road gradient. The vehicle of claim 9, wherein the predetermined time is dynamically set based on the cruising target speed. The vehicle of claim 9, wherein the predetermined time is dynamically set based on a road gradient. The vehicle of claim 9, wherein the processor is further configured to: When the vehicle entering the cruise control mode decelerates from the cruise target speed, it is determined whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time. The vehicle of claim 9, wherein the processor is further configured to: When the vehicle entering the cruise control mode cannot accelerate to the cruise target speed, it is determined whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time. A non-transitory computer-readable storage medium that contains computer-executable instructions that, when executed by one or more computer processors, cause the one or more computer processors to: Generate a control instruction for a vehicle that enters a fixed-speed cruise mode to drive the vehicle to travel at a cruise target speed corresponding to the fixed-speed cruise mode; When receiving information that the vehicle entering the cruise control mode is not traveling at the cruise target speed, determine whether a torque intensity output to the power system of the vehicle is greater than or equal to a predetermined torque intensity and lasts for a predetermined time; as well as When it is determined that the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time, a control instruction is generated to change the cruising target speed to a current speed of the vehicle. The non-transitory computer-readable storage medium as claimed in claim 17, wherein the predetermined torque intensity is a maximum driving torque of the vehicle's power system. The non-transitory computer-readable storage medium of claim 17, wherein the predetermined torque intensity is a predetermined ratio of a maximum driving torque of the vehicle's power system, and the predetermined ratio is dynamically set based on the cruising target speed. . The non-transitory computer-readable storage medium of claim 17, wherein the predetermined torque intensity is a predetermined ratio of a maximum driving torque of the vehicle's power system, and the predetermined ratio is dynamically set based on a road gradient. The non-transitory computer-readable storage medium of claim 17, wherein the predetermined time is dynamically set based on the cruising target speed. The non-transitory computer-readable storage medium of claim 17, wherein the predetermined time is dynamically set based on a road gradient. The non-transitory computer-readable storage medium as described in claim 17, wherein the instruction to determine whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time includes: When receiving information about the vehicle decelerating from the cruise target speed when entering the cruise control mode, it is determined whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time. The non-transitory computer-readable storage medium as described in claim 17, wherein the instruction to determine whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time includes: When receiving information that the vehicle entering the cruise control mode cannot accelerate to the cruise target speed, it is determined whether the torque intensity output to the power system of the vehicle is greater than or equal to the predetermined torque intensity and continues for the predetermined time.

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