CN114084149A - Speed control method and device for automobile and computer storage medium - Google Patents
Speed control method and device for automobile and computer storage medium Download PDFInfo
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- CN114084149A CN114084149A CN202111386397.9A CN202111386397A CN114084149A CN 114084149 A CN114084149 A CN 114084149A CN 202111386397 A CN202111386397 A CN 202111386397A CN 114084149 A CN114084149 A CN 114084149A
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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
- B60W40/10—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
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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Abstract
The embodiment of the application discloses a speed control method and device of an automobile and a computer storage medium, and belongs to the technical field of vehicle engineering. The method comprises the following steps: in the running process of an automobile, when detecting that a steep slope slow descending function of the automobile is in an activated state, detecting an adjustment instruction of a target running speed of the steep slope slow descending function; when the adjusting instruction is detected based on a speed setting button in the automobile, adjusting the target running speed of the steep descent function according to the adjusting instruction aiming at the speed setting button and the current running speed of the automobile; and controlling the running speed of the automobile according to the target running speed. The embodiment of the application can adjust the target running speed by setting the key according to the speed in the automobile after the abrupt slope slow descent function is activated, and the key can adjust the speed more accurately, so that the richness of automobile speed adjustment is improved, and the accuracy of automobile speed control is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle engineering, in particular to a speed control method and device of an automobile and a computer storage medium.
Background
Along with the development of automotive technology, the function of car is more and more abundant, for example, most car all has the abrupt slope slow descent function, and the abrupt slope slow descent function is the important component part of car initiative safety coefficient, and the abrupt slope slow descent function is when the car is gone down the abrupt slope, through exerting braking force for the car for the safe and stable abrupt slope that passes through of car improves the driving safety nature and the travelling comfort of car. The key of the safe and stable passing of the automobile through the steep slope by the steep slope descent function of the automobile mainly comprises the control of the running speed of the automobile.
At present, after the automobile activates the steep descent function, the running speed of the automobile can be controlled through an accelerator pedal and a brake pedal. However, the accelerator pedal and the brake pedal need to be controlled by the driver after being stepped on, and the driver cannot easily grasp the magnitude of the vehicle running speed by stepping on, which results in low control accuracy of the vehicle running speed.
Disclosure of Invention
The embodiment of the application provides a speed control method and device of an automobile and a computer storage medium, which can be used for solving the problem of low control accuracy of the running speed of the automobile in the related art. The technical scheme is as follows:
in one aspect, a speed control method of an automobile is provided, the method including:
in the running process of an automobile, when detecting that a steep slope slow descending function of the automobile is in an activated state, detecting an adjustment instruction of a target running speed of the steep slope slow descending function;
when the adjusting instruction is detected based on a speed setting button in the automobile, adjusting the target running speed of the steep descent function according to the adjusting instruction aiming at the speed setting button and the current running speed of the automobile;
and controlling the running speed of the automobile according to the target running speed.
In some embodiments, before detecting that the hill-drop function of the automobile is activated during the running of the automobile, the method further includes:
in the running process of the automobile, when the starting of a steep descent function is detected, whether the automobile meets a function activation condition is detected;
when the automobile meets the function activation condition, controlling a steep descent function of the automobile to enter an activation state;
and when the automobile does not meet the function activation condition, controlling a steep descent function of the automobile to be in a standby state.
In some embodiments, the detecting whether the vehicle meets a function activation condition when the hill descent control function is detected to be turned on includes:
acquiring the current running speed of the automobile, the current running state of the automobile and the downhill gradient of the current position of the automobile;
when the current running speed of the automobile is within an activation speed range, the automobile is in a downhill running state currently, and the downhill gradient of the current position is greater than a gradient threshold value, determining that the automobile meets the function activation condition, wherein the corresponding activation speed ranges of the automobiles are different according to different types of the automobiles;
and when the current running speed of the automobile is out of a speed range, or the automobile is not in the downhill running state currently, or the downhill gradient of the current position is less than or equal to the gradient threshold value, determining that the automobile does not meet the function activation condition.
In some embodiments, the adjusting the target driving speed of the steep descent function according to the adjustment instruction for the speed setting key and the current driving speed of the automobile comprises:
when a deceleration key in the speed setting keys detects a deceleration adjustment instruction, performing deceleration adjustment on the basis of the current running speed of the automobile;
and when an acceleration adjusting instruction is detected by aiming at an acceleration key in the speed setting key, performing acceleration adjustment on the basis of the current running speed of the automobile.
In some embodiments, after the detecting the operation of adjusting the target driving speed for the steep descent function, the method further includes:
detecting an accelerator torque of an accelerator pedal of the automobile when an adjustment instruction of a target running speed of the steep descent function is detected through the accelerator pedal;
when the accelerator torque is larger than the current torque of the automobile, controlling the running speed of the automobile to be increased to the running speed corresponding to the accelerator torque;
after the vehicle is accelerated according to the accelerator torque, if the running speed of the vehicle is out of the speed activation range corresponding to the vehicle, controlling the running speed of the vehicle to be adjusted to a reference running speed of the steep descent function, where the reference running speed is a target running speed before the vehicle is accelerated according to the accelerator torque, or is a default running speed of the steep descent function, or is a maximum running speed in the speed activation range corresponding to the vehicle.
In some embodiments, after the controlling the driving speed of the automobile according to the target driving speed, the method further includes:
when the transverse acceleration of the automobile is detected to be larger than or equal to an acceleration threshold value, controlling the running speed of the automobile to be reduced;
and when the condition that the lateral acceleration of the automobile is recovered to be smaller than the acceleration threshold value is detected, controlling the automobile to run according to the target running speed.
In another aspect, there is provided a speed control apparatus of an automobile, the apparatus including:
the system comprises a first detection module, a second detection module and a control module, wherein the first detection module is used for detecting an adjustment instruction of a target running speed of a steep slope slow descending function of an automobile when the situation that the steep slope slow descending function of the automobile is in an activated state is detected in the running process of the automobile;
the adjusting module is used for adjusting the target running speed of the steep descent function according to the adjusting instruction aiming at the speed setting key and the current running speed of the automobile when the adjusting instruction is detected based on the speed setting key in the automobile;
and the first control module is used for controlling the running speed of the automobile according to the target running speed.
In some embodiments, the apparatus further comprises:
the second detection module is used for detecting whether the automobile meets a function activation condition or not when the starting of a steep descent function is detected in the running process of the automobile;
the second control module is used for controlling the steep-slope slow-descent function of the automobile to enter an activated state when the automobile meets the function activation condition;
and the third control module is used for controlling the steep descent control function of the automobile to be in a standby state when the automobile does not meet the function activation condition.
In some embodiments, the second detection module comprises:
the acquisition submodule is used for acquiring the current running speed of the automobile, the current running state of the automobile and the downhill gradient of the current position of the automobile;
the first determining submodule is used for determining that the automobile meets the function activation condition when the current running speed of the automobile is within an activation speed range, the automobile is in a downhill running state at present, and the downhill gradient of the current position is greater than a gradient threshold value, and the corresponding activation speed ranges of the automobiles are different according to different automobile types;
and the second determining submodule is used for determining that the automobile does not meet the function activation condition when the current running speed of the automobile is out of a speed range, or the automobile is not in the downhill running state currently, or the downhill gradient of the current position is smaller than or equal to the gradient threshold value.
In some embodiments, the adjustment module is to:
when a deceleration key in the speed setting keys detects a deceleration adjustment instruction, performing deceleration adjustment on the basis of the current running speed of the automobile;
and when an acceleration adjusting instruction is detected by aiming at an acceleration key in the speed setting key, performing acceleration adjustment on the basis of the current running speed of the automobile.
In some embodiments, the apparatus further comprises:
the third detection module is used for detecting the accelerator torque of an accelerator pedal when the adjustment instruction of the target running speed of the steep descent function is detected through the accelerator pedal of the automobile;
the fourth control module is used for controlling the running speed of the automobile to be increased to the running speed corresponding to the accelerator torque when the accelerator torque is larger than the current torque of the automobile;
and the fifth control module is used for controlling the running speed of the automobile to be adjusted to the reference running speed of the steep descent function after the acceleration is carried out according to the accelerator torque, if the running speed of the automobile is positioned outside the speed activation range corresponding to the automobile, wherein the reference running speed is the target running speed of the automobile before the acceleration is carried out according to the accelerator torque, or is the default running speed of the steep descent function, or is the maximum running speed in the speed activation range corresponding to the automobile.
In some embodiments, the apparatus further comprises:
the sixth control module is used for controlling the running speed of the automobile to be reduced when the fact that the transverse acceleration of the automobile is larger than or equal to the acceleration threshold value is detected;
and the seventh control module is used for controlling the automobile to run according to the target running speed when the condition that the lateral acceleration of the automobile is recovered to be less than the acceleration threshold value is detected.
In another aspect, a computer-readable storage medium is provided, having instructions stored thereon, which when executed by a processor, implement any of the above-mentioned speed control methods of a vehicle.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
in this application embodiment, after the abrupt slope slow descent function activation, can adjust the target speed of traveling through the speed setting button in the car, because the speed adjustment that carries on that the button can be more accurate to not only improved the richness of car speed control, improved car speed control's accuracy simultaneously.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling a speed of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of another method for controlling speed of a vehicle according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a speed control device of an automobile according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of another speed control device for a vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a second detection module according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of another speed control device for a vehicle according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of another speed control device of an automobile according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the accompanying drawings.
Before explaining the speed control method of the automobile provided by the embodiment of the present application in detail, an application scenario provided by the embodiment of the present application is explained first.
At present, most automobiles have steep slope slow descending functions which are applied more, and when the steep slope slow descending functions are realized, the running speed of the automobiles is basically controlled through an accelerator pedal and a brake pedal. However, the accelerator pedal and the brake pedal need to be controlled by the driver after being stepped on, and the driver cannot easily grasp the magnitude of the vehicle running speed by stepping on, which results in low control accuracy of the vehicle running speed.
Based on the application scene, the embodiment of the application provides the speed control method of the automobile, which can accurately control the running speed of the automobile when the steep descent function is realized.
Fig. 1 is a flowchart of a speed control method for an automobile according to an embodiment of the present disclosure, where the speed control method for an automobile may include the following steps:
step 101: when the steep descent control function of the automobile is detected to be in an activated state in the running process of the automobile, an adjustment instruction of a target running speed of the steep descent control function is detected.
Step 102: when the adjusting instruction is detected based on the speed setting button in the automobile, the target running speed of the steep descent function is adjusted according to the adjusting instruction aiming at the speed setting button and the current running speed of the automobile.
Step 103: and controlling the running speed of the automobile according to the target running speed.
In this application embodiment, after the abrupt slope slow descent function activation, can adjust the target speed of traveling through the speed setting button in the car, because the speed adjustment that carries on that the button can be more accurate to not only improved the richness of car speed control, improved car speed control's accuracy simultaneously.
In some embodiments, before detecting that the hill-drop function of the vehicle is activated during driving of the vehicle, the method further includes:
in the running process of the automobile, when the starting of a steep descent function is detected, whether the automobile meets a function activation condition is detected;
when the automobile meets the function activation condition, controlling the steep descent function of the automobile to enter an activation state;
and when the automobile does not meet the function activation condition, controlling the steep descent function of the automobile to be in a standby state.
In some embodiments, when the activation of the hill-drop function is detected, detecting whether the vehicle satisfies a function activation condition includes:
acquiring the current running speed of the automobile, the current running state of the automobile and the downhill gradient of the current position of the automobile;
when the current running speed of the automobile is within the activated speed range, the automobile is in a downhill running state at present, and the downhill gradient of the current position is greater than the gradient threshold value, determining that the automobile meets the function activation condition, wherein the corresponding activated speed ranges of the automobile are different according to different types of the automobile;
and when the current running speed of the automobile is out of the speed range, or the automobile is not in the downhill running state currently, or the downhill gradient of the current position is less than or equal to the gradient threshold value, determining that the automobile does not meet the function activation condition.
In some embodiments, adjusting the target driving speed of the steep descent function according to the adjustment instruction of the speed setting key and the current driving speed of the automobile comprises:
when a deceleration key in the speed setting key detects a deceleration adjustment instruction, performing deceleration adjustment on the basis of the current running speed of the automobile;
and when an acceleration adjusting instruction is detected by an acceleration key in the speed setting key, performing acceleration adjustment on the basis of the current running speed of the automobile.
In some embodiments, after detecting the adjustment operation of the target driving speed for the steep descent function, the method further includes:
when an adjusting instruction of the target running speed of the steep descent function is detected through an accelerator pedal of the automobile, detecting the accelerator torque of the accelerator pedal;
when the accelerator torque is larger than the current torque of the automobile, controlling the running speed of the automobile to increase to the running speed corresponding to the accelerator torque;
and after the acceleration is carried out according to the accelerator torque, if the running speed of the automobile is out of the speed activation range corresponding to the automobile, controlling the running speed of the automobile to be adjusted to a reference running speed of the steep descent function, wherein the reference running speed is a target running speed before the automobile is accelerated according to the accelerator torque, or is a default running speed of the steep descent function, or is a maximum running speed in the speed activation range corresponding to the automobile.
In some embodiments, after controlling the driving speed of the vehicle according to the target driving speed, the method further includes:
when the transverse acceleration of the automobile is detected to be larger than or equal to the acceleration threshold value, controlling the running speed of the automobile to be reduced;
and when the condition that the lateral acceleration of the automobile is recovered to be less than the acceleration threshold value is detected, controlling the automobile to run according to the target running speed.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.
Fig. 2 is a flowchart of a speed control method for an automobile according to an embodiment of the present disclosure, which is exemplified by applying the speed control method for an automobile to the present disclosure, and the speed control method for an automobile may include the following steps:
step 201: and detecting whether the steep descent function of the automobile is in an activated state or not in the driving process of the automobile.
In the driving process of the automobile, in order to safely drive on a downhill, a user may start a steep descent control function of the automobile, or the steep descent control function may be started by default, but after the steep descent control function of the automobile is started, the steep descent control function can be normally realized in an activated state, otherwise, the steep descent control function cannot be realized, so that in the driving process of the automobile, whether the steep descent control function of the automobile is in the activated state needs to be detected.
As an example, the operation of the vehicle to detect whether the hill descent control function is activated includes: in the running process of the automobile, when the opening of the steep descent function is detected, whether the automobile meets a function activation condition is detected; when the automobile meets the function activation condition, controlling the steep slope slow descending function of the automobile to enter an activation state, and determining that the steep slope slow descending function of the automobile is in the activation state; and when the automobile does not meet the function activation condition, controlling the steep descent function of the automobile to be in a standby state.
In some embodiments, when the steep descent function is detected to be turned on, the operation of detecting whether the vehicle satisfies the function activation condition includes: acquiring the current running speed of the automobile, the current running state of the automobile and the downhill gradient of the current position of the automobile; when the current running speed of the automobile is in the activated speed range, the automobile is in a downhill running state at present, and the downhill gradient of the current position is greater than the gradient threshold value, determining that the automobile meets the function activation condition, wherein the corresponding activated speed ranges of the automobiles are different according to different automobile types; and when the current running speed of the automobile is out of the speed range, or the automobile is not in a downhill running state currently, or the downhill gradient of the current position is less than or equal to the gradient threshold value, determining that the automobile does not meet the function activation condition.
It should be noted that the activation speed range can be set in advance according to the requirement, and the activation speed range corresponding to the vehicle is different according to the type of the vehicle, for example, when the transmission of the vehicle is a manual transmission, the activation speed range corresponding to the vehicle is 8-35km/h (kilometer/hour), and when the transmission of the vehicle is an automatic transmission, the activation speed range corresponding to the vehicle is 14-35 km/h. The gradient threshold value can also be set in advance according to requirements, and for example, the gradient threshold value can be 3 degrees, 4 degrees, 5 degrees, and the like.
It should be noted that, when the steep descent function of the vehicle is turned on, the vehicle speed cruise function cannot be turned on.
In some embodiments, after the hill-drop function of the vehicle is turned on, an ESP (Electronic Stability Program) System of the vehicle can transmit a status signal of the hill-drop function to an EMS (Engine Management System) System of the vehicle.
It should be noted that after the vehicle starts the steep descent function, the ESP system of the vehicle cannot be manually turned off. When the ESP system of the automobile is in a closed state before the steep descent function of the automobile is started, the ESP system of the automobile is also started along with the start of the steep descent function.
In some embodiments, when the ESP system of the vehicle fails, the steep descent function of the vehicle is turned off, and the steep descent function enters a failure warning state, and the vehicle can perform failure notification through the first notification message.
Step 202: when detecting that the steep descent function of the automobile is in an activated state, detecting an adjustment instruction of a target running speed for the steep descent function.
Since the driver may adjust the target driving speed of the steep descent control function when the steep descent control function of the vehicle is activated, an adjustment command for the target driving speed of the steep descent control function is detected when it is detected that the steep descent control function of the vehicle is activated during driving of the vehicle.
In some embodiments, the manner of adjusting the target driving speed of the hill-drop function of the vehicle by the user includes at least two manners, so that the vehicle can detect different adjustment commands at different positions.
In the first mode, the user can adjust the target running speed through the speed setting key, that is, the automobile can adjust the target running speed through the adjustment instruction triggered by the user aiming at the speed setting key. Therefore, the automobile can detect the adjustment instruction based on the speed setting key.
It should be noted that the adjustment instruction for the speed setting key can be triggered when the user acts on the speed setting key through a specified operation, for example, the specified operation can be a long-press operation, a click operation, a sliding operation, and the like.
As an example, the speed setting key can include an acceleration key (e.g., RES + key) and a deceleration key (SET-key), the adjustment instruction being an acceleration adjustment instruction when the vehicle detects the adjustment instruction based on the acceleration key, and the adjustment instruction being a deceleration adjustment instruction when the vehicle detects the adjustment instruction based on the deceleration key.
In the second mode, the user can step on the accelerator pedal or the brake pedal to adjust the target running speed, that is, the vehicle can adjust the target running speed through an adjustment instruction triggered by the user on the accelerator pedal or the brake pedal. Therefore, the automobile can detect the adjustment command based on the accelerator pedal or the brake pedal.
When the vehicle detects an adjustment command based on the accelerator pedal, the adjustment command is an acceleration adjustment command, and when the vehicle detects an adjustment command based on the brake pedal, the adjustment command is a deceleration adjustment command.
In some embodiments, the user may not adjust the target driving speed after the hill-drop function of the vehicle is activated, or the vehicle may determine that the current driving speed is the target driving speed before the user adjusts the target driving speed, or the vehicle determines that the default driving speed is the target driving speed.
It should be noted that the default running speed can be set in advance according to requirements, for example, the default running speed can be 15km/h, 20km/h, and the like.
In some embodiments, since the vehicle may not activate the steep descent function after the vehicle activates the steep descent function, in the case where the vehicle activates the steep descent function for the second time in the current ignition cycle or the next ignition cycle and fails to activate the steep descent function, after that, if the vehicle activates the steep descent function, the target driving speed of the vehicle is confirmed as the default driving speed.
Step 203: when the automobile detects an adjusting instruction based on the speed setting button, the target running speed of the steep descent function is adjusted according to the adjusting instruction aiming at the speed setting button and the current running speed of the automobile.
As can be seen from the above, the adjustment command detected by the automobile based on the speed setting button can be an acceleration adjustment command or a deceleration adjustment command, and the speed adjustment mode for different automobiles is different.
As an example, when a deceleration adjustment instruction is detected for a deceleration key of the speed setting keys, the automobile can perform deceleration adjustment on the basis of the current running speed; and when an acceleration adjusting instruction is detected by an acceleration key in the speed setting key, performing acceleration adjustment on the basis of the current running speed of the automobile.
Therefore, a user can trigger an adjustment instruction on the speed setting key through long-time pressing operation, clicking operation and the like, and different speed adjustment modes can be triggered through different triggering operations.
In some embodiments, when the automobile detects that the deceleration adjustment instruction is triggered by the user acting on the deceleration button through a long-press operation, the automobile can continuously subtract the specified speed at specified time intervals on the basis of the current running speed until the deceleration adjustment instruction cannot be received, so as to obtain the target running speed. Similarly, when the automobile detects that the acceleration adjustment instruction is triggered by the user through long-press operation action on the acceleration button, the automobile can continuously add the specified speed according to the specified duration interval on the basis of the current running speed until the acceleration adjustment instruction cannot be received, and the target running speed is obtained.
In some implementations, if the user presses the deceleration setting key for a long time, the vehicle continuously subtracts the specified speed at specified time intervals on the basis of the current running speed during the period in which the long-press operation can be detected. If the user presses the acceleration setting key for a long time, the automobile continuously adds the specified speed according to the specified time interval on the basis of the current running speed in the period of detecting the long-time pressing operation.
It is noted that the specified duration interval can be 0.1 second, 0.5 second, etc., and the specified speed is 1km/h, 2km/h, etc.
In some embodiments, when the automobile detects that the deceleration adjustment instruction is triggered by the user acting on the deceleration button through a click operation, the automobile can subtract the specified speed once every time the automobile detects a click operation on the basis of the current running speed to obtain the target running speed. Similarly, when the automobile detects that the acceleration adjustment instruction is triggered by the user through the click operation action on the acceleration button, the automobile can add the specified speed once every time the automobile detects the click operation on the basis of the current running speed, and therefore the target running speed is obtained.
In some embodiments, after receiving the state signal of the steep descent function sent by the ESP, if the RES + signal or the SET-signal is received, the EMS system of the automobile sends the RES + signal or the SET-signal to a CAN (Controller Area Network) bus, and the RES + signal or the SET-signal is sent to the ESP system function by the CAN bus, and the ESP system CAN adjust the target running speed according to the RES + signal or the SET-signal.
As described above, the vehicle can also adjust the target running speed by the accelerator pedal or the brake pedal, and when the vehicle detects a deceleration adjustment command based on the brake pedal of the vehicle, the vehicle can perform deceleration processing according to the torque of the brake pedal on the basis of the current running speed to obtain the target running speed.
It should be noted that, reference can be made to related technologies for a manner of adjusting a target driving speed of an automobile through a brake pedal, and details of this embodiment of the present application are not repeated.
In some embodiments, when an adjustment instruction of a target running speed of a steep descent function is detected by an accelerator pedal of an automobile, an accelerator torque of the accelerator pedal is detected; when the accelerator torque is larger than the current torque of the automobile, controlling the running speed of the automobile to increase to the running speed corresponding to the accelerator torque; and after the vehicle is accelerated according to the accelerator torque, if the running speed of the vehicle is out of the speed activation range corresponding to the vehicle, controlling the running speed of the vehicle to be adjusted to a reference running speed of the steep descent function, wherein the reference running speed is a target running speed before the vehicle is accelerated according to the accelerator torque, or is a default running speed of the steep descent function, or is a maximum running speed in the speed activation range corresponding to the vehicle.
In the driving process of the automobile, a user may overtake the automobile for some reasons, so the automobile may detect an acceleration adjustment instruction through an accelerator pedal, and at the moment, the automobile can accelerate only when the accelerator torque is larger than the corresponding torque of the current driving speed, so the automobile needs to detect the accelerator torque of the accelerator pedal; and when the accelerator torque is larger than the current torque of the automobile, controlling the running speed of the automobile to be increased to the running speed corresponding to the accelerator torque.
In addition, since the target driving speed of the vehicle is too high after the vehicle is accelerated according to the accelerator torque, a safety hazard may be caused in a downhill driving state, because, in order to improve the driving safety of the vehicle, if the driving speed of the vehicle is out of the speed activation range corresponding to the vehicle, the driving speed of the vehicle is controlled to be adjusted to the reference driving speed of the steep descent function.
Step 204: the automobile controls the running speed of the automobile according to the target running speed.
As an example, the automobile can control the running speed to the target running speed, that is, control the automobile to run at the target running speed. And in the running process of the automobile, the error between the control running speed and the target running speed is within an error range.
It should be noted that the error range can be set in advance according to requirements, for example, the error range can be-1 km/h- +1km/h, and so on.
In some embodiments, the ESP system can Control the driving speed of the vehicle according to the target driving speed, and can send the target driving speed to an ICM (Ignition Control Module) of the vehicle, and after receiving the target driving speed sent by the ESP system, the ICM of the vehicle can display the target driving speed in real time,
in some embodiments, when the vehicle controls the driving speed of the vehicle according to the target driving speed, the vehicle may encounter some turning road conditions, and under the turning road conditions, in order to improve the driving safety of the vehicle, the vehicle may continue to reduce the driving speed on the basis of the target driving speed. When the lateral acceleration of the automobile is detected to be larger than or equal to the acceleration threshold value, controlling the running speed of the automobile to be reduced; and when the condition that the lateral acceleration of the automobile is recovered to be less than the acceleration threshold value is detected, controlling the automobile to run according to the target running speed.
When the lateral acceleration of the automobile is larger than or equal to the acceleration threshold, the automobile meets the road condition of a curve, and at the moment, a user quickly turns a steering wheel, so that the lateral acceleration of the automobile is larger than or equal to the acceleration threshold, and therefore the automobile needs to control the running speed of the automobile to be reduced.
It should be noted that the acceleration threshold can be set in advance according to the requirement, for example, the speed threshold can be 10m/s2(m/s)2)、8m/s2And so on.
In this application embodiment, after the abrupt slope slow descent function activation, can not adjust the target speed of traveling through accelerator pedal or brake pedal promptly, can also set up the button through the speed in the car and adjust the target speed of traveling, because speed sets up the button and can carry out the adjustment of target speed according to appointed speed to the speed adjustment that carries on that can be more accurate, and then not only improved the richness of car speed control, improved car speed control's accuracy simultaneously.
Fig. 3 is a schematic structural diagram of a speed control device of an automobile according to an embodiment of the present disclosure, where the speed control device of the automobile may be implemented by software, hardware, or a combination of the two. The speed control apparatus of the automobile may include: a first detection module 301, an adjustment module 302, and a first control module 303.
The first detection module 301 is configured to detect, when detecting that a steep descent control function of the vehicle is in an activated state during driving of the vehicle, an adjustment instruction of a target driving speed for the steep descent control function;
an adjusting module 302, configured to, when the adjusting instruction is detected based on a speed setting button in the vehicle, adjust a target driving speed of the steep descent control function according to the adjusting instruction for the speed setting button and a current driving speed of the vehicle;
the first control module 303 is configured to control a driving speed of the vehicle according to the target driving speed.
In some embodiments, referring to fig. 4, the apparatus further comprises:
the second detection module 304 is configured to detect whether the vehicle meets a function activation condition when detecting that the steep descent function is turned on during driving of the vehicle;
a second control module 305, configured to control a steep descent function of the vehicle to enter an activated state when the vehicle satisfies the function activation condition;
and the third control module 306 is used for controlling the steep descent function of the automobile to be in a standby state when the automobile does not meet the function activation condition.
In some embodiments, referring to fig. 5, the second detection module 304 includes:
an obtaining submodule 3041 for obtaining a current running speed of the vehicle, a current running state of the vehicle, and a downhill gradient of a current position of the vehicle;
a first determining submodule 3042, configured to determine that the vehicle meets the function activation condition when the current driving speed of the vehicle is within the activation speed range, the vehicle is currently in a downhill driving state, and a downhill slope of a current location is greater than a slope threshold, where, according to different types of vehicles, corresponding activation speed ranges of the vehicle are different;
the second determining submodule 3043 is configured to determine that the vehicle does not meet the function activation condition when the current running speed of the vehicle is outside the speed range, or the vehicle is not currently in the downhill running state, or the downhill gradient of the current location is smaller than or equal to the gradient threshold value.
In some embodiments, the adjustment module 402 is configured to:
when a deceleration key in the speed setting key detects a deceleration adjustment instruction, performing deceleration adjustment on the basis of the current running speed of the automobile;
and when an acceleration adjusting instruction is detected by an acceleration key in the speed setting key, performing acceleration adjustment on the basis of the current running speed of the automobile.
In some embodiments, referring to fig. 6, the apparatus further comprises:
a third detecting module 307, configured to detect an accelerator torque of an accelerator pedal of the automobile when an instruction for adjusting a target driving speed of the steep descent function is detected through the accelerator pedal;
the fourth control module 308 is configured to control the driving speed of the vehicle to increase to the driving speed corresponding to the throttle torque when the throttle torque is greater than the current torque of the vehicle;
a fifth control module 309, configured to, after accelerating according to the accelerator torque, if the running speed of the vehicle is outside the speed activation range corresponding to the vehicle, control the running speed of the vehicle to be adjusted to a reference running speed of the steep descent function, where the reference running speed is a target running speed before accelerating the vehicle according to the accelerator torque, or a default running speed of the steep descent function, or a maximum running speed in the speed activation range corresponding to the vehicle.
In some embodiments, referring to fig. 7, the apparatus further comprises:
a sixth control module 310 for controlling the driving speed of the vehicle to be reduced when it is detected that the lateral acceleration of the vehicle is greater than or equal to an acceleration threshold;
the seventh control module 311 controls the vehicle to travel at the target travel speed when it is detected that the lateral acceleration of the vehicle returns to less than the acceleration threshold.
In this application embodiment, after the abrupt slope slow descent function activation, can not adjust the target speed of traveling through accelerator pedal or brake pedal promptly, can also set up the button through the speed in the car and adjust the target speed of traveling, because speed sets up the button and can carry out the adjustment of target speed according to appointed speed to the speed adjustment that carries on that can be more accurate, and then not only improved the richness of car speed control, improved car speed control's accuracy simultaneously.
It should be noted that: in the speed control device for an automobile provided in the above embodiment, when controlling the speed of the automobile, only the division of the above functional modules is taken as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the speed control device of the vehicle provided by the above embodiment and the speed control method embodiment of the vehicle belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment and will not be described herein again.
The embodiment of the present application also provides a non-transitory computer readable storage medium, and when instructions in the storage medium are executed by a processor of a server, the server is enabled to execute the speed control method of the automobile provided by the above embodiment.
Embodiments of the present application further provide a computer program product containing instructions, which when run on a server, cause the server to execute the speed control method of the automobile provided by the above embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A method of speed control of a vehicle, the method comprising:
in the running process of an automobile, when detecting that a steep slope slow descending function of the automobile is in an activated state, detecting an adjustment instruction of a target running speed of the steep slope slow descending function;
when the adjusting instruction is detected based on a speed setting button in the automobile, adjusting the target running speed of the steep descent function according to the adjusting instruction aiming at the speed setting button and the current running speed of the automobile;
and controlling the running speed of the automobile according to the target running speed.
2. The method according to claim 1, wherein before detecting that the hill-hold function of the vehicle is activated during the driving of the vehicle, the method further comprises:
in the running process of the automobile, when the starting of a steep descent function is detected, whether the automobile meets a function activation condition is detected;
when the automobile meets the function activation condition, controlling a steep descent function of the automobile to enter an activation state;
and when the automobile does not meet the function activation condition, controlling a steep descent control function of the automobile to be in a standby state.
3. The method according to claim 2, wherein the detecting whether the vehicle satisfies a function activation condition when the steep descent function is detected to be turned on comprises:
acquiring the current running speed of the automobile, the current running state of the automobile and the downhill gradient of the current position of the automobile;
when the current running speed of the automobile is within an activation speed range, the automobile is in a downhill running state currently, and the downhill gradient of the current position is greater than a gradient threshold value, determining that the automobile meets the function activation condition, wherein the corresponding activation speed ranges of the automobiles are different according to different types of the automobiles;
and when the current running speed of the automobile is out of a speed range, or the automobile is not in the downhill running state currently, or the downhill gradient of the current position is less than or equal to the gradient threshold value, determining that the automobile does not meet the function activation condition.
4. The method of claim 1, wherein the adjusting the target driving speed of the steep descent function according to the adjustment command for the speed setting key and the current driving speed of the automobile comprises:
when a deceleration key in the speed setting keys detects a deceleration adjustment instruction, performing deceleration adjustment on the basis of the current running speed of the automobile;
and when an acceleration adjusting instruction is detected by aiming at an acceleration key in the speed setting key, performing acceleration adjustment on the basis of the current running speed of the automobile.
5. The method according to claim 1, characterized in that after detecting the operation of adjusting the target driving speed for the steep descent function, further comprising:
detecting an accelerator torque of an accelerator pedal of the automobile when an adjustment instruction of a target running speed of the steep descent function is detected through the accelerator pedal;
when the accelerator torque is larger than the current torque of the automobile, controlling the running speed of the automobile to be increased to the running speed corresponding to the accelerator torque;
after the vehicle is accelerated according to the accelerator torque, if the running speed of the vehicle is out of the speed activation range corresponding to the vehicle, controlling the running speed of the vehicle to be adjusted to a reference running speed of the steep descent function, where the reference running speed is a target running speed before the vehicle is accelerated according to the accelerator torque, or is a default running speed of the steep descent function, or is a maximum running speed in the speed activation range corresponding to the vehicle.
6. The method of claim 1, wherein after controlling the travel speed of the vehicle in accordance with the target travel speed, further comprising:
when the transverse acceleration of the automobile is detected to be larger than or equal to an acceleration threshold value, controlling the running speed of the automobile to be reduced;
and when the condition that the lateral acceleration of the automobile is recovered to be smaller than the acceleration threshold value is detected, controlling the automobile to run according to the target running speed.
7. A speed control apparatus of an automobile, characterized in that the apparatus comprises:
the system comprises a first detection module, a second detection module and a control module, wherein the first detection module is used for detecting an adjustment instruction of a target running speed of a steep slope slow descending function of an automobile when the situation that the steep slope slow descending function of the automobile is in an activated state is detected in the running process of the automobile;
the adjusting module is used for adjusting the target running speed of the steep descent function according to the adjusting instruction aiming at the speed setting key and the current running speed of the automobile when the adjusting instruction is detected based on the speed setting key in the automobile;
and the first control module is used for controlling the running speed of the automobile according to the target running speed.
8. The apparatus of claim 7, wherein the apparatus further comprises:
the second detection module is used for detecting whether the automobile meets a function activation condition or not when the starting of a steep descent function is detected in the running process of the automobile;
the second control module is used for controlling a steep descent function of the automobile to enter an activated state when the automobile meets the function activation condition;
and the third control module is used for controlling the steep slope slow descending function of the automobile to be in a standby state when the automobile does not meet the function activation condition.
9. The apparatus of claim 8, wherein the second detection module comprises:
the acquisition submodule is used for acquiring the current running speed of the automobile, the current running state of the automobile and the downhill gradient of the current position of the automobile;
the first determining submodule is used for determining that the automobile meets the function activation condition when the current running speed of the automobile is within an activation speed range, the automobile is in a downhill running state at present, and the downhill gradient of the current position is greater than a gradient threshold value, and the corresponding activation speed ranges of the automobiles are different according to different automobile types;
and the second determining submodule is used for determining that the automobile does not meet the function activation condition when the current running speed of the automobile is out of a speed range, or the automobile is not in the downhill running state currently, or the downhill gradient of the current position is smaller than or equal to the gradient threshold value.
10. A computer-readable storage medium having stored thereon instructions which, when executed by a processor, carry out the steps of the method of any of the preceding claims 1 to 6.
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| CN202111386397.9A CN114084149A (en) | 2021-11-22 | 2021-11-22 | Speed control method and device for automobile and computer storage medium |
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| CN202111386397.9A CN114084149A (en) | 2021-11-22 | 2021-11-22 | Speed control method and device for automobile and computer storage medium |
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