Energy-saving vehicle speed planning method, system, electronic device, and storage medium

Abstract

An energy-saving vehicle speed planning method, system, electronic device, and storage medium. The method comprises: obtaining a vehicle's current speed and current acceleration; obtaining slope information and spacing information for multiple sub-segments in a target road segment ahead of the vehicle, each sub-segment having a unique slope; calculating, based on the current speed, current acceleration, slope information, and spacing information, a predicted vehicle speed and predicted travel time in each sub-segment under a constant power output; calculating a predicted average speed for the target road segment, and calculating a speed difference between the predicted average speed and a target speed for passing the target road segment; and generating a first planned speed for the vehicle in each sub-segment based on the speed difference and the predicted vehicle speed. The speed planning calculation for the target road segment is highly efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle speed planning, and in particular to an energy-saving vehicle speed planning method, system, electronic equipment, and storage medium. Background Art

[0002] The global fossil fuel shortage is severe, and commercial vehicle fuel costs account for a significant portion of operating expenses. Traditional commercial vehicle cruise control systems typically focus solely on maintaining a constant vehicle speed, ignoring the impact of road and traffic conditions. This can lead to unproductive driving behaviors when encountering uneven road gradients, such as sudden acceleration on uphill slopes and sudden deceleration on downhill slopes. Predictive cruise control methods, by incorporating information about the road ahead's slope, allow for speed fluctuations within a certain range and fully utilize the vehicle's kinetic energy and the potential energy generated by the road, effectively avoiding unproductive driving behaviors.

[0003] However, most current predictive cruise control methods utilize a model predictive control (MPC) receding horizon optimization solution. This typically requires prediction and online optimization based on road gradients over a period of time. Solving the optimization problem relies on an iterative solver, which typically requires a long computational time. This results in low algorithm efficiency and exponentially increases computational time with the length of the predicted road. This makes real-time performance difficult to guarantee, hindering the practical application of fuel-saving algorithms. Furthermore, the use of MPC generally requires a relatively accurate longitudinal dynamics model of the commercial vehicle to ensure the optimality of the fuel-saving driving strategy. However, the establishment of such a vehicle dynamics model requires numerous parameters, such as vehicle mass, drivetrain efficiency, and road resistance coefficient, limiting the model's applicability. The dynamic and volatile nature of the actual driving environment often results in a loss of accuracy in the established vehicle dynamics model, leading to failures in solving the fuel-saving driving strategy or policy anomalies. The model cannot adapt well to the uncertainties of the driving environment, making it difficult to ensure robustness in practical applications.

[0004] In addition, for commercial vehicles, the on-board controller must handle many other tasks simultaneously, the computing resources used for control tasks are very limited, and the expectations for economical energy saving are high. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides an energy-saving vehicle speed planning method, system, electronic device, and storage medium.

[0006] The present invention provides an energy-saving vehicle speed planning method, the method comprising:

[0007] Get the current speed and acceleration of the vehicle;

[0008] Obtaining slope information and spacing information of a plurality of sub-segments in a target road segment ahead of the vehicle, wherein each sub-segment has a unique slope;

[0009] Calculating, based on the current speed, the current acceleration, the slope information, and the distance information, a predicted speed and a predicted travel time of the vehicle in each sub-segment under the condition that the power output of the vehicle remains unchanged;

[0010] Calculating a predicted average speed of the target travel section based on the vehicle predicted speed, the predicted travel time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed for passing the target travel section;

[0011] A first planned speed of the vehicle on each of the sub-road sections is generated based on the speed difference and the predicted vehicle speed.

[0012] According to an energy-saving vehicle speed planning method provided by the present invention, the method further includes:

[0013] Based on the first planned speed and preset upper and lower speed limits, the first planned speed is modified to obtain a second planned speed that meets the upper and lower speed limits.

[0014] According to an energy-saving vehicle speed planning method provided by the present invention, the first planned speed is modified to obtain a second planned speed that meets the upper and lower speed limits, including:

[0015] subtracting the target speed from the first planned speed to generate an intermediate speed deviation;

[0016] performing weighted scaling on the intermediate speed deviation to generate a scaled speed deviation;

[0017] Based on the target speed and the scaled speed deviation, the second planned speed is generated such that the second planned speed satisfies the upper and lower speed bounds.

[0018] According to an energy-saving vehicle speed planning method provided by the present invention, the method of calculating the predicted vehicle speed and predicted travel time within each sub-segment of the vehicle under the condition that the power output of the vehicle remains unchanged based on the current speed, the current acceleration, the slope information, and the spacing information includes:

[0019] Calculating a predicted acceleration for each of the sub-segments based on the current acceleration and the slope information;

[0020] Based on the current speed, the predicted acceleration of the sub-segment, and the distance information, the predicted speed and predicted travel time of the vehicle in each sub-segment are calculated.

[0021] According to an energy-saving vehicle speed planning method provided by the present invention, the predicted vehicle speed and predicted travel time in each sub-segment are calculated, including:

[0022] Calculating an acceleration gain for each of the sub-segments based on the speed difference and the predicted travel time;

[0023] acquiring a compensation acceleration in each of the sub-sections based on the acceleration gain and the predicted acceleration;

[0024] Based on the current speed, the compensated acceleration of the sub-road section, and the distance information, the predicted speed and predicted travel time of the vehicle in each sub-road section are calculated.

[0025] The present invention also provides a vehicle speed planning system for a target road section, the system comprising:

[0026] an acquisition module, configured to acquire the current speed and acceleration of the vehicle, divide the target road segment ahead of the vehicle into a plurality of sub-segments, each of which has a unique slope, and acquire slope information and spacing information of all the sub-segments;

[0027] a prediction module, configured to calculate, based on the current speed, the current acceleration, the slope information, and the distance information, a predicted speed and a predicted travel time of the vehicle in each sub-segment under the condition that the power output of the vehicle remains unchanged;

[0028] a difference calculation module, configured to calculate a predicted average speed of the target travel section based on the vehicle predicted speed, the predicted travel time, and the distance information, and calculate a speed difference between the predicted average speed and a target speed for passing the target travel section;

[0029] The first planning module is used to generate a first planned speed after speed compensation based on the speed difference and the vehicle predicted speed.

[0030] According to a vehicle speed planning system for a target road section provided by the present invention, the system further includes:

[0031] The second planning module is used to perform a shaping process on the first planned speed based on the first planned speed and preset upper and lower speed limits to obtain a second planned speed that meets the upper and lower speed limits.

[0032] The present invention also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the energy-saving vehicle speed planning method as described in any one of the above items are implemented.

[0033] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the above-mentioned energy-saving vehicle speed planning methods.

[0034] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any of the above-mentioned energy-saving vehicle speed planning methods are implemented.

[0035] The energy-saving vehicle speed planning method, system, electronic device, and storage medium provided by the present invention have high calculation efficiency and strong robustness for speed planning on a target road section, can quickly perform parameter adjustment and verification, and are not affected by changes in vehicle load, road rolling resistance coefficient, and wind resistance coefficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A schematic flow chart of an energy-saving vehicle speed planning method provided by the present invention;

[0038] Figure 2 A schematic diagram of a planned speed modification method provided by the present invention;

[0039] Figure 3 A schematic diagram of the structure of a vehicle speed planning system for a target road section provided by the present invention;

[0040] Figure 4 This is a schematic diagram of the physical structure of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0042] The energy-saving vehicle speed planning method provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0043] Figure 1 This is a flow chart of an energy-saving vehicle speed planning method provided by the present invention, such as Figure 1 As shown, the present invention provides an energy-saving vehicle speed planning method, which may include the following steps.

[0044] S100: Obtain the current speed and acceleration of the vehicle.

[0045] S200: Obtain slope information and spacing information of multiple sub-segments in a target road segment ahead of the vehicle, where each sub-segment has a unique slope.

[0046] Optionally, the current speed v0 and acceleration a0 of the vehicle are obtained. It should be noted that a0 is the sum of the vehicle's dynamic acceleration and the slope acceleration.

[0047] Optionally, the target road segment is a section of road ahead of the vehicle's current position, represented by s[0, ds, 2*ds, ..., T*ds], where the sub-segments are equally spaced, with the spacing represented by ds, and T represents the total number of sub-segments, where s[0] is the vehicle's current position and the starting point of the target road segment. The road gradient information is represented by theta[0, 1, 2, ..., T].

[0048] S300 , based on the current speed, current acceleration, slope information, and spacing information, calculate the predicted speed and predicted travel time of the vehicle in each sub-segment under the condition that the power output of the vehicle remains unchanged.

[0049] Optionally, S300 may include the following steps:

[0050] Calculate the predicted acceleration for each sub-segment based on the current acceleration and slope information;

[0051] Based on the current speed, predicted acceleration of the sub-segment, and spacing information, the predicted vehicle speed and predicted travel time in each sub-segment are calculated.

[0052] Optionally, the formula for calculating the predicted acceleration is as follows:

[0053] a[0,1,2,…,T]=a0-sin(theta[0,1,2,…,T]-theta0)*g

[0054] Where g is the acceleration due to gravity.

[0055] Optionally, assuming that the vehicle performs uniformly variable speed linear motion in each sub-section, according to the following formula:

[0056] v[i+1]*v[i+1]-v[i]*v[i]=2*a[i]*ds

[0057] Wherein, i=0, 1, 2, ..., T-1, v[i] refers to the initial speed value of sub-section i, and v[i+1] refers to the final speed value of sub-section i.

[0058] Based on the above formula, the initial and final speed values ​​for each sub-segment can be deduced, representing the speed of each sub-segment as v[0, 1, 2, ..., T]. It should be noted that the speed of each sub-segment, when viewed along the time axis, forms a diagonal line, and the slope of the line represents the acceleration of the sub-segment. Based on the initial and final speed values ​​and acceleration of the sub-segment, the predicted travel time is obtained, represented as t[0, 1, 2, ..., T].

[0059] Based on human driving experience on undulating roads, proper downhill sprinting and coasting during downhill phases can improve energy efficiency. The aforementioned method for calculating the predicted vehicle speed fully accounts for gravitational acceleration, thus fully utilizing potential energy. This significantly improves the energy efficiency of subsequent planned speeds, thereby achieving the energy efficiency goal of speed planning.

[0060] S400: Calculate a predicted average speed of the target driving section based on the vehicle predicted speed, predicted driving time, and distance information, and calculate a speed difference between the predicted average speed and a target speed for passing the target driving section.

[0061] Optionally, based on the time requirement for the vehicle to complete the target driving section, a target speed can be generated, denoted as v_targ, and the speed difference between the predicted average speed in the target driving section s and the target speed v_targ is denoted as e_vx.

[0062] S500: Generate a first planned speed of the vehicle in each sub-section based on the speed difference and the predicted speed of the vehicle.

[0063] Optionally, S500 may include:

[0064] Based on the speed difference and the predicted travel time, the acceleration gain of each sub-segment is calculated; based on the acceleration gain, the first planned speed of each sub-segment after speed compensation is recursively generated.

[0065] Optionally, the acceleration gain is expressed as ag, and its calculation formula is as follows:

[0066] ag=2*e_vx / t[0, 1, 2,..., T]

[0067] Optionally, recursively generating a first planned speed for each sub-segment after speed compensation based on the acceleration gain includes:

[0068] Based on the acceleration gain and the predicted acceleration, the compensation acceleration in each sub-segment is obtained; based on the compensation acceleration, the first planned speed of each sub-segment after speed compensation is recursively generated.

[0069] Optionally, the compensation acceleration is expressed as a_guide[0, 1, 2, ..., T], and its calculation formula is as follows:

[0070] a_guide[0,1,2,…,T]=a[0,1,2,…,T]+ag

[0071] Optionally, based on the compensated acceleration a_guide[0, 1, 2, ..., T], the first planned speed of each sub-segment is obtained according to the same recursive speed method in the aforementioned S300, which is expressed as v_guide[0, 1, 2, ..., T].

[0072] Specifically, when calculating the first planned speed according to the method of S300, the vehicle predicted speed and predicted travel time in each sub-segment are calculated in S300, including:

[0073] Based on the speed difference and the predicted travel time, the acceleration gain of each sub-segment is calculated;

[0074] Obtaining the compensation acceleration in each sub-section based on the acceleration gain and the predicted acceleration;

[0075] Based on the current speed, the compensated acceleration of the sub-segment, and the spacing information, the predicted vehicle speed and predicted travel time within each sub-segment are calculated. The predicted vehicle speed is the first planned speed to be calculated.

[0076] The acceleration gain recursive algorithm can be used to calculate a smooth first planned speed. If the speed difference and the vehicle predicted speed are directly added, speed jumps are likely to occur, resulting in a lack of practical usability of the planned speed.

[0077] Optionally, the method further comprises:

[0078] Based on the first planned speed and preset upper and lower speed limits, the first planned speed is modified to obtain a second planned speed that meets the upper and lower speed limits.

[0079] Optionally, performing a shaping process on the first planned speed to obtain a second planned speed that satisfies upper and lower speed limits includes:

[0080] Subtract the target speed from the first planned speed to generate an intermediate speed deviation;

[0081] performing weighted scaling on the intermediate speed deviation to generate a scaled speed deviation;

[0082] A second planned speed is generated based on the target speed and the scaled speed deviation, such that the second planned speed satisfies the upper and lower speed bounds.

[0083] It should be noted that the intermediate speed deviation is generated by subtracting the target speed from the first planned speed, that is, zero-mean processing. The generated intermediate speed deviation is expressed as f, and the formula of f is expressed as follows:

[0084] f=v_guide[0, 1, 2,...,T]-v_targ

[0085] By weighted scaling of the intermediate speed deviation f and adding it to the target speed to generate the second planned speed, the average speed of the entire second planned speed can be kept unchanged, thereby meeting the timeliness requirements of the target driving section, and ensuring that the maximum and minimum values ​​of the second planned speed meet the upper and lower speed limits. In this way, the timeliness target can be guaranteed while ensuring that the vehicle does not exceed the speed limit.

[0086] Figure 2 A schematic diagram of a planned speed modification provided by the present invention is shown as follows: Figure 2 As shown in the figure, the two horizontal dotted lines represent the upper and lower limits of the speed. The predicted speed is the first planned speed. It can be seen that the vehicle fully utilizes the potential energy to rush the slope as the road height changes. After zero-mean modification, the predicted speed generates a modified planned speed that meets the limit requirements, namely the second planned speed, thereby meeting the vehicle speed limit requirements while meeting the timeliness requirements.

[0087] This embodiment has high computational efficiency and robustness in speed planning for target driving sections, ensuring timeliness and energy efficiency targets. Parameter adjustment and verification can be quickly performed to achieve stability and interpretability in solving high-performance speed planning for autonomous vehicles, unaffected by changes in vehicle load, road rolling resistance coefficient, and wind resistance coefficient.

[0088] The following describes a vehicle speed planning system for a target road section provided by the present invention. The vehicle speed planning system for a target road section described below and the energy-saving vehicle speed planning method described above can be referenced to each other.

[0089] Figure 3 This is a schematic diagram of the structure of a vehicle speed planning system for a target road section provided by the present invention. Figure 3 As shown, the present invention also provides a vehicle speed planning system for a target road section, the system comprising:

[0090] The acquisition module is used to obtain the current speed and acceleration of the vehicle, divide the target road section in front of the vehicle into multiple sub-segments, each of which has a unique slope, and obtain the slope information and spacing information of all sub-segments;

[0091] The prediction module is used to calculate the vehicle's predicted speed and predicted travel time in each sub-segment under the condition that the vehicle's power output remains unchanged based on the current speed, current acceleration, slope information, and spacing information;

[0092] a difference calculation module, configured to calculate a predicted average speed of a target road section based on the vehicle predicted speed, predicted travel time, and distance information, and to calculate a speed difference between the predicted average speed and a target speed for passing the target road section;

[0093] The first planning module is used to generate a first planned speed after speed compensation based on the speed difference and the vehicle predicted speed.

[0094] Optionally, the system further includes:

[0095] The second planning module is used to modify the first planned speed based on the first planned speed and preset upper and lower speed limits to obtain a second planned speed that meets the upper and lower speed limits.

[0096] This embodiment has high computational efficiency and robustness in speed planning for target driving sections, ensuring timeliness and energy efficiency targets. Parameter adjustment and verification can be quickly performed to achieve stability and interpretability in solving high-performance speed planning for autonomous vehicles, unaffected by changes in vehicle load, road rolling resistance coefficient, and wind resistance coefficient.

[0097] Figure 4 A schematic diagram of the physical structure of an electronic device provided by the present invention, such as Figure 4 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the energy-saving vehicle speed planning method, which includes:

[0098] Get the current speed and acceleration of the vehicle;

[0099] Obtaining slope information and spacing information of a plurality of sub-segments in a target road segment ahead of the vehicle, wherein each sub-segment has a unique slope;

[0100] Calculating, based on the current speed, the current acceleration, the slope information, and the distance information, a predicted speed and a predicted travel time of the vehicle in each sub-segment under the condition that the power output of the vehicle remains unchanged;

[0101] Calculating a predicted average speed of the target travel section based on the vehicle predicted speed, the predicted travel time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed for passing the target travel section;

[0102] A first planned speed of the vehicle on each of the sub-road sections is generated based on the speed difference and the predicted vehicle speed.

[0103] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0104] On the other hand, the present invention further provides a computer program product, comprising a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions. When the program instructions are executed by a computer, the computer is capable of performing the energy-saving vehicle speed planning method provided by the above methods, wherein the method comprises:

[0105] Get the current speed and acceleration of the vehicle;

[0106] Obtaining slope information and spacing information of a plurality of sub-segments in a target road segment ahead of the vehicle, wherein each sub-segment has a unique slope;

[0107] Calculating, based on the current speed, the current acceleration, the slope information, and the distance information, a predicted speed and a predicted travel time of the vehicle in each sub-segment under the condition that the power output of the vehicle remains unchanged;

[0108] Calculating a predicted average speed of the target travel section based on the vehicle predicted speed, the predicted travel time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed for passing the target travel section;

[0109] A first planned speed of the vehicle on each of the sub-road sections is generated based on the speed difference and the predicted vehicle speed.

[0110] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the above-mentioned energy-saving vehicle speed planning method, the method comprising:

[0111] Get the current speed and acceleration of the vehicle;

[0112] Obtaining slope information and spacing information of a plurality of sub-segments in a target road segment ahead of the vehicle, wherein each sub-segment has a unique slope;

[0113] Calculating, based on the current speed, the current acceleration, the slope information, and the distance information, a predicted speed and a predicted travel time of the vehicle in each sub-segment under the condition that the power output of the vehicle remains unchanged;

[0114] Calculating a predicted average speed of the target travel section based on the vehicle predicted speed, the predicted travel time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed for passing the target travel section;

[0115] A first planned speed of the vehicle on each of the sub-road sections is generated based on the speed difference and the predicted vehicle speed.

[0116] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0117] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An energy-saving vehicle speed planning method, characterized in that: The method comprises: Get the current speed and acceleration of the vehicle; Obtaining slope information and spacing information of a plurality of sub-segments in a target road segment ahead of the vehicle, wherein each sub-segment has a unique slope; Calculating, based on the current speed, the current acceleration, the slope information, and the distance information, a predicted speed and a predicted travel time of the vehicle in each sub-segment under the condition that the power output of the vehicle remains unchanged; Calculating a predicted average speed of the target travel section based on the vehicle predicted speed, the predicted travel time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed for passing the target travel section; generating a first planned speed of the vehicle in each of the sub-sections based on the speed difference and the predicted speed of the vehicle; The calculating, based on the current speed, the current acceleration, the slope information, and the distance information, of the predicted vehicle speed and predicted travel time in each sub-segment under the condition that the power output of the vehicle remains unchanged includes: Calculating a predicted acceleration for each of the sub-segments based on the current acceleration and the slope information; Calculating a predicted vehicle speed and a predicted travel time in each sub-segment based on the current speed, the predicted acceleration of the sub-segment, and the spacing information; Generating a first planned speed of the vehicle in each of the sub-sections based on the speed difference and the predicted speed of the vehicle, comprising: Calculating an acceleration gain for each of the sub-segments based on the speed difference and the predicted travel time; Recursively generating a first planned speed for each of the sub-segments after speed compensation based on the acceleration gain; The acceleration gain is expressed as: ； Wherein, ag represents the acceleration gain, t[0, 1, 2, ..., T] represents the predicted travel time, T represents the total number of the sub-segments, and e_vx represents the speed difference; Recursively generating a first planned speed for each of the sub-segments after speed compensation based on the acceleration gain, including: acquiring a compensation acceleration in each of the sub-sections based on the acceleration gain and the predicted acceleration; Based on the compensated acceleration, recursively generating a first planned speed for each of the sub-segments after speed compensation through an acceleration gain recursive algorithm; The compensation acceleration is expressed as: ； Wherein, a_guide[0, 1, 2, ..., T] represents the compensation acceleration, and a[0, 1, 2, ..., T] represents the predicted acceleration.

2. The energy-saving vehicle speed planning method according to claim 1, characterized in that: The method further comprises: Based on the first planned speed and preset upper and lower speed limits, the first planned speed is modified to obtain a second planned speed that meets the upper and lower speed limits.

3. The energy-saving vehicle speed planning method according to claim 2, characterized in that: Performing a shaping process on the first planned speed to obtain a second planned speed that satisfies the upper and lower speed limits includes: subtracting the target speed from the first planned speed to generate an intermediate speed deviation; performing weighted scaling on the intermediate speed deviation to generate a scaled speed deviation; Based on the target speed and the scaled speed deviation, the second planned speed is generated such that the second planned speed satisfies the upper and lower speed bounds.

4. The energy-saving vehicle speed planning method according to claim 1, characterized in that: Calculating the predicted speed and predicted travel time of the vehicle in each sub-segment, including: Calculating an acceleration gain for each of the sub-segments based on the speed difference and the predicted travel time; acquiring a compensation acceleration in each of the sub-sections based on the acceleration gain and the predicted acceleration; Based on the current speed, the compensated acceleration of the sub-road section, and the distance information, the predicted speed and predicted travel time of the vehicle in each sub-road section are calculated.

5. A vehicle speed planning system for a target road section, characterized in that: The system comprises: an acquisition module, configured to acquire the current speed and acceleration of the vehicle, divide the target road segment ahead of the vehicle into a plurality of sub-segments, each of which has a unique slope, and acquire slope information and spacing information of all the sub-segments; a prediction module, configured to calculate, based on the current speed, the current acceleration, the slope information, and the distance information, a predicted speed and a predicted travel time of the vehicle in each sub-segment under the condition that the power output of the vehicle remains unchanged; a difference calculation module, configured to calculate a predicted average speed of the target travel section based on the vehicle predicted speed, the predicted travel time, and the distance information, and calculate a speed difference between the predicted average speed and a target speed for passing the target travel section; a first planning module, configured to generate a first planned speed after speed compensation based on the speed difference and the predicted vehicle speed; The difference calculation module is used to: Calculating a predicted acceleration for each of the sub-segments based on the current acceleration and the slope information; Calculating a predicted vehicle speed and a predicted travel time in each sub-segment based on the current speed, the predicted acceleration of the sub-segment, and the spacing information; The first planning module is used to: Calculating an acceleration gain for each of the sub-segments based on the speed difference and the predicted travel time; Recursively generating a first planned speed for each of the sub-segments after speed compensation based on the acceleration gain; The acceleration gain is expressed as: ； Wherein, ag represents the acceleration gain, t[0, 1, 2, ..., T] represents the predicted travel time, T represents the total number of the sub-segments, and e_vx represents the speed difference; The first planning module is further configured to: acquiring a compensation acceleration in each of the sub-sections based on the acceleration gain and the predicted acceleration; Based on the compensated acceleration, recursively generating a first planned speed for each of the sub-segments after speed compensation through an acceleration gain recursive algorithm; The compensation acceleration is expressed as: ； Wherein, a_guide[0, 1, 2, ..., T] represents the compensation acceleration, and a[0, 1, 2, ..., T] represents the predicted acceleration.

6. The vehicle speed planning system for a target road section according to claim 5, characterized in that: The system further comprises: The second planning module is used to perform a shaping process on the first planned speed based on the first planned speed and preset upper and lower speed limits to obtain a second planned speed that meets the upper and lower speed limits.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the energy-saving vehicle speed planning method according to any one of claims 1 to 4 are implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the energy-saving vehicle speed planning method according to any one of claims 1 to 4 are implemented.

9. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the energy-saving vehicle speed planning method according to any one of claims 1 to 4 are implemented.

Images