WO2021000882A1 - 车辆的巡航控制方法、系统及车辆 - Google Patents

车辆的巡航控制方法、系统及车辆 Download PDF

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Publication number
WO2021000882A1
WO2021000882A1 PCT/CN2020/099660 CN2020099660W WO2021000882A1 WO 2021000882 A1 WO2021000882 A1 WO 2021000882A1 CN 2020099660 W CN2020099660 W CN 2020099660W WO 2021000882 A1 WO2021000882 A1 WO 2021000882A1
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WIPO (PCT)
Prior art keywords
vehicle
cruise
torque
road
speed
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PCT/CN2020/099660
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English (en)
French (fr)
Inventor
胡志敏
刁红宾
陈玉封
高天
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长城汽车股份有限公司
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Publication of WO2021000882A1 publication Critical patent/WO2021000882A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Definitions

  • the present invention relates to the field of vehicle technology, in particular to a cruise control method, system and vehicle for a vehicle.
  • the automobile cruise control system is a kind of automobile automatic driving device that can make the automobile work in the favorable speed range of the engine, can automatically maintain the speed according to the speed required by the driver, and make the automobile drive at a fixed speed.
  • the cruise control system of the vehicle needs to adjust the cruise torque to maintain the vehicle speed within the target vehicle speed range, thereby ensuring driving stability and comfort.
  • the car cruise control method for the car cruise control system includes: when the slope of the road on which the vehicle is driving changes, the cruise torque is adjusted. Due to the slope change, the speed of the vehicle will change and deviate from the target speed range. In order to maintain the speed as soon as possible In the target range, the cruise control system will adjust the cruise torque to make the acceleration and deceleration of the vehicle larger, which will cause the vehicle to appear unstable and reduce the driving stability and comfort. Therefore, the current automobile cruise control system has The automobile cruise control mode has control lag.
  • the present invention aims to propose a vehicle cruise control method that combines the current vehicle speed, the vehicle’s cruise target speed and the slope information of the road in front of the vehicle to adjust the cruise torque in advance to ensure that the cruising vehicle is on the road slope
  • the vehicle speed can be adjusted steadily, and the driving stability and comfort of the vehicle can be improved.
  • a cruise control method for a vehicle includes the following steps: obtaining current vehicle speed, the vehicle's cruise target speed, and the slope information of the road ahead of the vehicle; obtaining the vehicle's cruise torque according to the current vehicle speed and the vehicle's cruise target speed; before the vehicle reaches the front Before the slope of the road, adjust the cruise torque according to the slope information, and perform cruise control on the vehicle according to the adjusted torque.
  • acquiring the gradient information of the road in front of the vehicle includes: determining the position of the vehicle through a map; and obtaining the gradient information of the road in front of the vehicle from the map according to the position of the vehicle.
  • the gradient information of the road in front of the vehicle is specifically the gradient information within a preset distance of the road in front of the vehicle.
  • obtaining the cruise torque of the vehicle according to the current vehicle speed and the cruise target speed of the vehicle includes: determining the difference between the current vehicle speed and the cruise target speed of the vehicle; and inputting the difference into a preset torque calculation model , To get the cruising torque.
  • the torque calculation model stores multiple sets of correspondences between vehicle speed differences and torques, wherein the smaller the vehicle speed difference, the smaller the cruising torque corresponding to the vehicle speed difference.
  • the vehicle cruise control method of the present invention has the following advantages:
  • the cruise control method of the vehicle of the present invention obtains the cruise torque of the vehicle according to the current vehicle speed and the cruise target speed of the vehicle; before the vehicle reaches the slope of the road ahead, the cruise torque is adjusted according to the slope information of the road in front of the vehicle, and according to the adjusted
  • the torque of the vehicle is used for cruise control of the vehicle, thereby combining the current vehicle speed, the vehicle’s cruise target speed and the slope information of the road in front of the vehicle to adjust the cruise torque in advance to ensure that the cruising vehicle can smoothly adjust the vehicle speed when the road slope changes.
  • the driving stability and comfort of the vehicle is used for cruise control of the vehicle, thereby combining the current vehicle speed, the vehicle’s cruise target speed and the slope information of the road in front of the vehicle to adjust the cruise torque in advance to ensure that the cruising vehicle can smoothly adjust the vehicle speed when the road slope changes.
  • Another object of the present invention is to provide a cruise control system for a vehicle, which combines the current vehicle speed, the cruise target speed of the vehicle, and the slope information of the road in front of the vehicle to adjust the cruise torque in advance to ensure that the cruising vehicle is on the road slope.
  • the vehicle speed can be adjusted steadily when changing, and the driving stability and comfort of the vehicle can be improved.
  • a cruise control system for a vehicle includes: an acquisition module for acquiring the current vehicle speed, the cruise target speed of the vehicle and the slope information of the road in front of the vehicle; a calculation module for acquiring the vehicle according to the current vehicle speed and the cruise target speed of the vehicle The cruise torque; the control module is used to adjust the cruise torque according to the slope information before the vehicle reaches the slope of the road ahead, and perform cruise control on the vehicle according to the adjusted torque.
  • the acquisition module is used to: determine the location of the vehicle through a map; obtain the slope information of the road in front of the vehicle from the map according to the location of the vehicle.
  • the gradient information of the road in front of the vehicle is specifically the gradient information within a preset distance of the road in front of the vehicle.
  • the calculation module is used to determine the difference between the current vehicle speed and the cruise target vehicle speed of the vehicle; and input the difference into a preset torque calculation model to obtain the cruise torque.
  • the cruise control system of the vehicle has the same advantages as the aforementioned cruise control method of the vehicle over the prior art, which will not be repeated here.
  • Another object of the present invention is to provide a vehicle that combines the current vehicle speed, the vehicle's cruise target speed and the slope information of the road in front of the vehicle to adjust the cruising torque in advance to ensure that the cruising vehicle can be stable when the road slope changes. Adjust the speed of the vehicle to improve the driving stability and comfort of the vehicle.
  • a vehicle is provided with the cruise control system of the vehicle as described in the above embodiment.
  • Fig. 1 is a flowchart of a cruise control method for a vehicle according to an embodiment of the present invention
  • FIG. 2 is a structural block diagram of a cruise control system for a vehicle according to an embodiment of the present invention
  • FIG. 3 schematically shows a block diagram of a computing processing device for executing the method according to the present invention.
  • Fig. 4 schematically shows a storage unit for holding or carrying program codes for implementing the method according to the present invention.
  • the cruise control system 100 the acquisition module 110, the calculation module 120 and the control module 130 of the vehicle.
  • Fig. 1 is a flowchart of a cruise control method for a vehicle according to an embodiment of the present invention.
  • the cruise control method of a vehicle includes the following steps:
  • Step S1 Obtain the current vehicle speed, the cruise target speed of the vehicle, and the slope information of the road in front of the vehicle.
  • the step of obtaining the gradient information of the road in front of the vehicle includes: determining the position of the vehicle through a map; and obtaining the gradient information of the road in front of the vehicle from the map according to the position of the vehicle.
  • the map is a high-precision map, which contains at least detailed road condition information of the road on which the vehicle is traveling, such as road slope information. The location of the vehicle is monitored in real time through the high-precision map, and then the slope information of the road in front of the vehicle is obtained according to the road slope information recorded in the map.
  • the gradient information of the road in front of the vehicle is specifically the gradient information within a preset distance of the road in front of the vehicle. That is, when the vehicle is driving, the slope information of the vehicle within a preset distance in front of the current position of the road is obtained, which facilitates the adjustment of the cruise torque in advance, so as to smoothly adjust the vehicle speed and improve the driving stability of the vehicle.
  • the preset distance may be, for example, 50 meters, that is, the slope information of the vehicle within 50 meters in front of the road is acquired.
  • the slope is expressed as a percentage, 0-100% corresponds to a slope of 0-45°, and the road surface slope information within the preset distance (such as 50m) in front of the car is determined through the map.
  • the slope includes uphill and downhill , Generally apply positive and negative values.
  • a man-machine module may be provided on the vehicle, and the man-machine module is provided with a vehicle speed setting button, and the driver can set the cruise target vehicle speed through the vehicle speed setting button.
  • the current vehicle speed can be detected by a vehicle speed sensor.
  • the vehicle speed sensor converts the collected electrical signal into a vehicle speed signal through calculation.
  • Step S2 Obtain the cruising torque of the vehicle according to the current vehicle speed and the cruising target speed of the vehicle.
  • the step of obtaining the cruising torque of the vehicle according to the current vehicle speed and the cruising target speed of the vehicle includes: determining the difference between the current vehicle speed and the cruising target speed of the vehicle; inputting the difference into a preset torque calculation model to obtain the cruising Torque.
  • the torque calculation model stores multiple sets of corresponding relationships between vehicle speed differences and torque.
  • the cruising torque is mainly adjusted according to the vehicle speed difference. The smaller the vehicle speed difference, the smaller the cruising torque corresponding to the vehicle speed difference. As the vehicle speed increases, the torque output capacity of the power system decreases. Therefore, considering the impact of vehicle speed on the cruise torque, the cruise torque decreases as the vehicle speed increases.
  • Step S3 Before the vehicle reaches the slope of the road ahead, adjust the cruise torque in advance according to the slope information, and perform cruise control on the vehicle according to the adjusted torque, so that the vehicle can adjust the speed smoothly and improve driving stability and comfort.
  • the cruise torque is increased according to the slope adaptability
  • the cruise torque is reduced according to the slope adaptability, so that before the vehicle reaches the slope of the road ahead, the cruise torque is adjusted in advance to improve driving stability Sex and comfort.
  • the cruise torque of the vehicle is obtained according to the current vehicle speed and the cruise target speed of the vehicle; before the vehicle reaches the slope of the road ahead, the cruise torque is adjusted according to the slope information of the road ahead of the vehicle, and Perform cruise control on the vehicle according to the adjusted torque, thereby combining the current vehicle speed, the vehicle's cruise target speed and the slope information of the road in front of the vehicle to adjust the cruise torque in advance to ensure that the cruising vehicle can smoothly adjust when the road slope changes.
  • the speed of the vehicle improves the driving stability and comfort of the vehicle.
  • a further embodiment of the present invention provides a cruise control system for a vehicle.
  • Fig. 2 is a structural block diagram of a cruise control system of a vehicle according to an embodiment of the present invention.
  • a cruise control system 100 for a vehicle includes: an acquisition module 110, a calculation module 120 and a control module 130.
  • the acquiring module 110 is used to acquire the current vehicle speed, the cruise target speed of the vehicle, and the slope information of the road in front of the vehicle.
  • the acquisition module 110 is used to determine the location of the vehicle through a map; and obtain the slope information of the road in front of the vehicle from the map according to the location of the vehicle.
  • the map is a high-precision map, which contains at least detailed road condition information of the road on which the vehicle is traveling, such as road slope information. The location of the vehicle is monitored in real time through the high-precision map, and then the slope information of the road in front of the vehicle is obtained according to the road slope information recorded in the map.
  • the gradient information of the road in front of the vehicle is specifically the gradient information within a preset distance of the road in front of the vehicle. That is, when the vehicle is driving, the slope information of the vehicle within a preset distance in front of the current position of the road is obtained, so as to facilitate the adjustment of the cruise torque in advance to smoothly adjust the vehicle speed and improve the driving stability of the vehicle.
  • the preset distance may be, for example, 50 meters, that is, the slope information of the vehicle within 50 meters in front of the road is acquired.
  • the slope is expressed as a percentage, 0-100% corresponds to a slope of 0-45°, and the road surface slope information within the preset distance (such as 50m) in front of the car is determined through the map.
  • the slope includes uphill and downhill , Generally apply positive and negative values.
  • a man-machine module can be provided on the vehicle, and the man-machine module is provided with a vehicle speed setting button, and the driver can set the cruise target vehicle speed through the vehicle speed setting button.
  • the current vehicle speed can be detected by a vehicle speed sensor.
  • the vehicle speed sensor converts the collected electrical signal into a vehicle speed signal through calculation.
  • the calculation module 120 is used to obtain the cruising torque of the vehicle according to the current vehicle speed and the cruising target speed of the vehicle.
  • the calculation module 120 obtains the cruising torque of the vehicle according to the current vehicle speed and the cruising target speed of the vehicle, including: determining the difference between the current vehicle speed and the cruising target speed of the vehicle; inputting the difference to a preset torque calculation model, To get cruising torque.
  • the torque calculation model stores multiple sets of corresponding relationships between vehicle speed differences and torque.
  • the cruising torque is mainly adjusted according to the vehicle speed difference. When the vehicle speed difference is smaller, the cruising torque corresponding to the vehicle speed difference is smaller. As the vehicle speed increases, the torque output capacity of the power system decreases. Therefore, considering the impact of vehicle speed on the cruise torque, the cruise torque decreases as the vehicle speed increases.
  • the control module 130 is used to adjust the cruise torque according to the slope information before the vehicle reaches the slope of the road ahead, and perform cruise control on the vehicle according to the adjusted torque, so that the vehicle can adjust the speed smoothly and improve driving stability and comfort .
  • the cruise torque is increased according to the slope adaptability
  • the cruise torque is reduced according to the slope adaptability, so that before the vehicle reaches the slope of the road ahead, the cruise torque is adjusted in advance to improve driving stability Sex and comfort.
  • the cruise torque of the vehicle is obtained according to the current vehicle speed and the cruise target speed of the vehicle; before the vehicle reaches the slope of the road ahead, the cruise torque is adjusted according to the slope information of the road ahead of the vehicle, and Perform cruise control on the vehicle according to the adjusted torque, thereby combining the current vehicle speed, the vehicle's cruise target speed and the slope information of the road in front of the vehicle to adjust the cruise torque in advance to ensure that the cruising vehicle can smoothly adjust when the road slope changes.
  • the speed of the vehicle improves the driving stability and comfort of the vehicle.
  • an embodiment of the present invention discloses a vehicle provided with a cruise control system of the vehicle as described in any of the above embodiments.
  • the vehicle combines the current vehicle speed, the vehicle's cruising target speed and the slope information of the road in front of the vehicle to adjust the cruising torque in advance, which can ensure that the cruising vehicle can smoothly adjust the speed when the road slope changes, and improve the driving stability and comfort of the vehicle Sex.
  • the various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by their combination.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the computing processing device according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such signals can be downloaded from Internet websites, or provided on carrier signals, or provided in any other form.
  • FIG. 3 shows a computing processing device that can implement the method according to the present invention.
  • the computing processing device traditionally includes a processor 1010 and a computer program product in the form of a memory 1020 or a computer readable medium.
  • the memory 1020 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1020 has a storage space 1030 for executing program codes 1031 of any method steps in the above methods.
  • the storage space 1030 for program codes may include various program codes 1031 for implementing various steps in the above method. These program codes can be read out from or written into one or more computer program products.
  • These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are usually portable or fixed storage units as described with reference to FIG. 4.
  • the storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 3.
  • the program code can be compressed in an appropriate form, for example.
  • the storage unit includes computer-readable codes 1031', that is, codes that can be read by, for example, a processor such as 1010. These codes, when run by a computing processing device, cause the computing processing device to execute the method described above. The various steps.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

一种车辆的巡航控制方法、系统及车辆，该方法包括以下步骤：获取当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息；根据当前车速及车辆的巡航目标车速得到车辆的巡航扭矩；在车辆到达前方道路的坡度前，根据坡度信息对巡航扭矩进行调整，并根据调整后的扭矩对车辆进行巡航控制，从而结合当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息，对巡航扭矩进行提前调整，能够保证巡航车辆在路面坡度发生变化时能够平稳的调节车速，提高车辆的行驶稳定性和舒适性。

Description

车辆的巡航控制方法、系统及车辆
本申请要求在2019年07月04日提交中国专利局、申请号为201910598145.9、发明名称为“车辆的巡航控制方法、系统及车辆”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及车辆技术领域，特别涉及一种车辆的巡航控制方法、系统及车辆。
背景技术
汽车巡航控制系统是一种可使汽车工作在发动机有利转速范围内，能够按照驾驶员所要求的速度自动地保持车速，使车辆以固定的速度行驶的汽车自动行驶装置。
在实际应用中，当在车辆上采用了汽车巡航控制系统之后，借助于汽车巡航控制系统具备的能够自动控制车辆以固定的速度行驶的特性，对于需要长时间行车的驾驶员而言，可以不再要求驾驶员时刻控制踩踏油门踏板，这相比于驾驶员不得不时刻控制踩踏油门踏板，能够有效减轻驾驶员的驾驶操纵劳动强度，同时也正因为不需要驾驶员时刻控制踩踏油门踏板，从而能够减少由于驾驶员操作带来的不必要的车速变化，提高行驶舒适性且节省燃料。
在车辆行驶过程中，当车辆行驶的道路出现坡度时，汽车巡航控制系统需要对巡航扭矩进行调整，以使车速维持在目标车速范围内，从而保证行驶稳定性和舒适性。
目前，针对汽车巡航控制系统的汽车巡航控制方式包括：当车辆行驶的道路发生坡度变化后再对巡航扭矩进行调整，由于坡度发生变化会导致车速改变而脱离目标车速范围，为了将车速尽快保持在目标范围，巡航控制系统会对巡航扭矩进行调整，使车辆的加减速度较大，从而导致车辆出现行驶不平稳的情况，降低了行驶稳定性和舒适性，因此，目前的汽车巡航控制系统的汽车巡航控制方式存在控制滞后性。
发明内容
有鉴于此，本发明旨在提出一种车辆的巡航控制方法，该方法结合当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息，对巡航扭矩进行提前调整，能够保证巡航车辆在路面坡度发生变化时能够平稳的调节车速，提高车辆的行驶稳定性和舒适性。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆的巡航控制方法，包括以下步骤：获取当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息；根据所述当前车速及车辆的巡航目标车速得到车辆的巡航扭矩；在车辆到达前方道路的坡度前，根据所述坡度信息对所述巡航扭矩进行调整，并根据调整后的扭矩对所述车辆进行巡航控制。
进一步地，获取所述车辆前方道路的坡度信息，包括：通过地图确定所述车辆的位置；根据所述车辆的位置，从所述地图中得到所述车辆前方道路的坡度信息。
进一步地，所述车辆前方道路的坡度信息具体为车辆前方道路预设距离内的坡度信息。
进一步地，根据所述当前车速及车辆的巡航目标车速得到车辆的巡航扭矩，包括：确定所述当前车速与车辆的巡航目标车速的差值；将所述差值输入至预设的扭矩计算模型，以得到所述巡航扭矩。
进一步地，所述扭矩计算模型中存储有多组车速差值与扭矩的对应关系，其中所述车速差值越小，与所述车速差值对应的巡航扭矩越小。
相对于现有技术，本发明所述的车辆的巡航控制方法具有以下优势：
本发明的车辆的巡航控制方法，根据当前车速及车辆的巡航目标车速得到车辆的巡航扭矩；在车辆到达前方道路的坡度前，根据车辆前方道路的坡度信息对巡航扭矩进行调整，并根据调整后的扭矩对车辆进行巡航控制，从而结合当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息，对巡航扭矩进行提前调整，能够保证巡航车辆在路面坡度发生变化时能够平稳的调节车速，提高车辆的行驶稳定性和舒适性。
本发明的另一个目的在于提出一种车辆的巡航控制系统，该系统结合当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息，对巡航扭矩进行提前调整，能够保证巡航车辆在路面坡度发生变化时能够平稳的调节车速，提高车辆的行驶稳定性和舒适性。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆的巡航控制系统，包括：获取模块，用于获取当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息；计算模块，用于根据所述当前车速及车辆的巡航目标车速得到车辆的巡航扭矩；控制模块，用于在车辆到达前方道路的坡度前，根据所述坡度信息对所述巡航扭矩进行调整，并根据调整后的扭矩对所述车辆进行巡航控制。
进一步地，所述获取模块用于：通过地图确定所述车辆的位置；根据所述车辆的位置，从所述地图中得到所述车辆前方道路的坡度信息。
进一步地，所述车辆前方道路的坡度信息具体为车辆前方道路预设距离内的坡度信息。
进一步地，所述计算模块用于：确定所述当前车速与车辆的巡航目标车速的差值；将所述差值输入至预设的扭矩计算模型，以得到所述巡航扭矩。
所述的车辆的巡航控制系统与上述的车辆的巡航控制方法相对于现有技术所具有的优势相同，在此不再赘述。
本发明的另一个目的在于提出一种车辆，该车辆结合当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息，对巡航扭矩进行提前调整，能够保证巡航车辆在路面坡度发生变化时能够平稳的调节车速，提高车辆的行驶稳定性和舒适性。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆，设置有如上述实施例所述的车辆的巡航控制系统。
所述的车辆与上述的车辆的巡航控制系统相对于现有技术所具有的优势相同，在此不再赘述。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明一个实施例所述的车辆的巡航控制方法的流程图；
图2为本发明一个实施例所述的车辆的巡航控制系统的结构框图；
图3示意性地示出了用于执行根据本发明的方法的计算处理设备的框图；以及
图4示意性地示出了用于保持或者携带实现根据本发明的方法的程序代码的存储单元。
附图标记说明：
车辆的巡航控制系统100、获取模块110、计算模块120和控制模块130。
具体实施例
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
下面将参考附图并结合实施例来详细说明本发明。
图1是根据本发明一个实施例的车辆的巡航控制方法的流程图。
如图1所示，根据本发明一个实施例的车辆的巡航控制方法，包括以下步骤：
步骤S1：获取当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息。
具体的，获取车辆前方道路的坡度信息的步骤，包括：通过地图确定车辆的位置；根据车辆的位置，从地图中得到车辆前方道路的坡度信息。其中，该地图为高精度地图，其中至少包含了车辆行驶道路的详细路况信息，如道路的坡度信息。通过高精度地图实时监控车辆的位置，然后根据地图中记录的路面坡度信息得到车辆前方道路的坡度信息。
进一步地，车辆前方道路的坡度信息具体为车辆前方道路预设距离内的坡度信息。即车辆在行驶过程中，获取车辆在道路当前位置的前方预设距离内的坡度信息，从而利于提前对巡航扭矩进行调整，以平稳的调整车 速，提高车辆行驶稳定性。其中，预设距离例如可以为50米，即获取车辆在道路前方50米内的坡度信息。
在具体示例中，坡度以百分进行表示，0-100％对应坡度为0-45°，通过地图确定车前预设距离(如：50m)范围内路面坡度信息，坡度包括上坡和下坡，一般对应用正值和负值表示。
具体的，可以在车辆上设置人机模块，人机模块设置有车速设置按钮，驾驶员通过车速设置按钮来进行巡航目标车速的设置。
当前车速可以通过车速传感器来检测，如车速传感器将采集到的电信号通过计算转换为车速信号。
步骤S2：根据当前车速及车辆的巡航目标车速得到车辆的巡航扭矩。
具体的，根据当前车速及车辆的巡航目标车速得到车辆的巡航扭矩的步骤，包括：确定当前车速与车辆的巡航目标车速的差值；将差值输入至预设的扭矩计算模型，以得到巡航扭矩。可以理解的是，扭矩计算模型中存储有多组车速差值与扭矩的对应关系。巡航扭矩主要根据车速差值调整，车速差值越小，与该车速差值对应的巡航扭矩越小。随着车速的升高，动力系统扭矩输出能力降低，因此考虑了车速对巡航扭矩的影响，巡航扭矩随着车速的升高而降低。
步骤S3：在车辆到达前方道路的坡度前，根据坡度信息对巡航扭矩进行提前调整，并根据调整后的扭矩对车辆进行巡航控制，以使车辆平稳的调节车速，提高行驶稳定性和舒适性。如，前方为上坡时，根据坡度适应性增大巡航扭矩；前方为下坡时，根据坡度适应性减小巡航扭矩，从而在车辆到达前方道路的坡度前，提前调整巡航扭矩，提高行驶稳定性和舒适性。
根据本发明实施例的车辆的巡航控制方法，根据当前车速及车辆的巡航目标车速得到车辆的巡航扭矩；在车辆到达前方道路的坡度前，根据车辆前方道路的坡度信息对巡航扭矩进行调整，并根据调整后的扭矩对车辆进行巡航控制，从而结合当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息，对巡航扭矩进行提前调整，能够保证巡航车辆在路面坡度发生变化时能够平稳的调节车速，提高车辆的行驶稳定性和舒适性。
本发明的进一步实施例提出了一种车辆的巡航控制系统。
图2是根据本发明一个实施例的车辆的巡航控制系统的结构框图。
如图2所示，根据本发明一个实施例的车辆的巡航控制系统100，包括：获取模块110、计算模块120和控制模块130。
其中，获取模块110用于获取当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息。
具体的，获取模块110用于：通过地图确定车辆的位置；根据车辆的位置，从地图中得到车辆前方道路的坡度信息。其中，该地图为高精度地图，其中至少包含了车辆行驶道路的详细路况信息，如道路的坡度信息。通过高精度地图实时监控车辆的位置，然后根据地图中记录的路面坡度信息得到车辆前方道路的坡度信息。
进一步地，车辆前方道路的坡度信息具体为车辆前方道路预设距离内的坡度信息。即车辆在行驶过程中，获取车辆在道路当前位置的前方预设距离内的坡度信息，从而利于提前对巡航扭矩进行调整，以平稳的调整车速，提高车辆行驶稳定性。其中，预设距离例如可以为50米，即获取车辆在道路前方50米内的坡度信息。
在具体示例中，坡度以百分进行表示，0-100％对应坡度为0-45°，通过地图确定车前预设距离(如：50m)范围内路面坡度信息，坡度包括上坡和下坡，一般对应用正值和负值表示。
具体的，可以在车辆上设置人机模块，人机模块设置有车速设置按钮，驾驶员通过车速设置按钮来进行巡航目标车速的设置。
当前车速可以通过车速传感器来检测，如车速传感器将采集到的电信号通过计算转换为车速信号。
计算模块120用于根据当前车速及车辆的巡航目标车速得到车辆的巡航扭矩。
具体的，计算模块120根据当前车速及车辆的巡航目标车速得到车辆的巡航扭矩的步骤，包括：确定当前车速与车辆的巡航目标车速的差值；将差值输入至预设的扭矩计算模型，以得到巡航扭矩。可以理解的是，扭矩计算模型中存储有多组车速差值与扭矩的对应关系。巡航扭矩主要根据车 速差值调整，当车速差值越小，与该车速差值对应的巡航扭矩越小。随着车速的升高，动力系统扭矩输出能力降低，因此考虑了车速对巡航扭矩的影响，巡航扭矩随着车速的升高而降低。
控制模块130用于在车辆到达前方道路的坡度前，根据坡度信息对巡航扭矩进行调整，并根据调整后的扭矩对车辆进行巡航控制，以使车辆平稳的调节车速，提高行驶稳定性和舒适性。如，前方为上坡时，根据坡度适应性增大巡航扭矩；前方为下坡时，根据坡度适应性减小巡航扭矩，从而在车辆到达前方道路的坡度前，提前调整巡航扭矩，提高行驶稳定性和舒适性。
需要说明的是，本发明实施例的车辆的巡航控制系统的具体实现方式与本发明实施例的车辆的巡航控制方法的具体实现方式类似，具体请参见方法部分的描述，为了减少冗余，此处不做赘述。
根据本发明实施例的车辆的巡航控制系统，根据当前车速及车辆的巡航目标车速得到车辆的巡航扭矩；在车辆到达前方道路的坡度前，根据车辆前方道路的坡度信息对巡航扭矩进行调整，并根据调整后的扭矩对车辆进行巡航控制，从而结合当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息，对巡航扭矩进行提前调整，能够保证巡航车辆在路面坡度发生变化时能够平稳的调节车速，提高车辆的行驶稳定性和舒适性。
进一步地，本发明的实施例公开了一种车辆，设置有如上述任意一个实施例中所描述的车辆的巡航控制系统。该车辆结合当前车速、车辆的巡航目标车速及车辆前方道路的坡度信息，对巡航扭矩进行提前调整，能够保证巡航车辆在路面坡度发生变化时能够平稳的调节车速，提高车辆的行驶稳定性和舒适性。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的计算处理设备中的一些或者全部部件的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形 式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图3示出了可以实现根据本发明的方法的计算处理设备。该计算处理设备传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如，用于程序代码的存储空间1030可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1031。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图4所述的便携式或者固定存储单元。该存储单元可以具有与图3的计算处理设备中的存储器1020类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括计算机可读代码1031’，即可以由例如诸如1010之类的处理器读取的代码，这些代码当由计算处理设备运行时，导致该计算处理设备执行上面所描述的方法中的各个步骤。
另外，根据本发明实施例的车辆的其它构成以及作用对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (12)

  1. 一种车辆的巡航控制方法，其特征在于，包括以下步骤：
    获取车辆的当前车速、所述车辆的巡航目标车速及所述车辆前方道路的坡度信息；
    根据所述车辆的当前车速及所述车辆的巡航目标车速得到所述车辆的巡航扭矩；
    在所述车辆到达所述前方道路的坡度信息对应的坡度前，根据所述前方道路的坡度信息对所述巡航扭矩进行调整得到调整后的巡航扭矩，并根据所述调整后的巡航扭矩对所述车辆进行巡航控制。
  2. 根据权利要求1所述的车辆的巡航控制方法，其特征在于，所述获取所述车辆前方道路的坡度信息，包括：
    通过地图确定所述车辆的位置；
    根据所述车辆的位置，从所述地图中得到所述车辆前方道路的坡度信息。
  3. 根据权利要求2所述的车辆的巡航控制方法，其特征在于，所述车辆前方道路的坡度信息具体为所述车辆前方道路的预设距离内的坡度信息。
  4. 根据权利要求1所述的车辆的巡航控制方法，其特征在于，所述根据所述车辆的当前车速及所述车辆的巡航目标车速得到所述车辆的巡航扭矩，包括：
    确定所述车辆的当前车速与所述车辆的巡航目标车速的车速差值；
    将所述车速差值输入至预设的扭矩计算模型，以得到所述巡航扭矩。
  5. 根据权利要求4所述的车辆的巡航控制方法，其特征在于，所述预设的扭矩计算模型中存储有多组车速差值与巡航扭矩的对应关系，其中所述车速差值越小，与所述车速差值对应的巡航扭矩越小。
  6. 一种车辆的巡航控制系统，其特征在于，包括：
    获取模块，用于获取车辆的当前车速、所述车辆的巡航目标车速及所述车辆前方道路的坡度信息；
    计算模块，用于根据所述车辆的当前车速及所述车辆的巡航目标 车速得到所述车辆的巡航扭矩；
    控制模块，用于在所述车辆到达所述前方道路的坡度信息对应的坡度前，根据所述坡度信息对所述巡航扭矩进行调整得到调整后的巡航扭矩，并根据所述调整后的巡航扭矩对所述车辆进行巡航控制。
  7. 根据权利要求6所述的车辆的巡航控制系统，其特征在于，所述获取模块用于：
    通过地图确定所述车辆的位置；
    根据所述车辆的位置，从所述地图中得到所述车辆前方道路的坡度信息。
  8. 根据权利要求7所述的车辆的巡航控制系统，其特征在于，所述车辆前方道路的坡度信息具体为所述车辆前方道路的预设距离内的坡度信息。
  9. 根据权利要求6所述的车辆的巡航控制系统，其特征在于，所述计算模块用于：
    确定所述车辆的当前车速与所述车辆的巡航目标车速的车速差值；
    将所述车速差值输入至预设的扭矩计算模型，以得到所述巡航扭矩。
  10. 一种车辆，其特征在于，设置有如权利要求6-9任一项所述的车辆的巡航控制系统。
  11. 一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行根据权利要求1-5中的任一个所述的车辆的巡航控制方法。
  12. 一种计算机可读介质，其中存储了如权利要求11所述的计算机程序。
PCT/CN2020/099660 2019-07-04 2020-07-01 车辆的巡航控制方法、系统及车辆 WO2021000882A1 (zh)

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