Vehicle speed adjusting method, device and system, vehicle and equipment

Abstract

The invention relates to a vehicle speed adjusting method, device and system, a vehicle and equipment, and relates to the technical field of automobiles. The method is applied to a vehicle and comprises the following steps: acquiring road condition information of each sub-road section in a plurality of sub-road sections of a target route and performance parameters of the vehicle; for each sub-road section, the first planning speed of the vehicle is adjusted according to the road condition information of the sub-road section and the performance parameters of the vehicle, and a second planning speed corresponding to the sub-road section is obtained; the first planned speed is determined according to the speed limit value of the sub-road section and the expected driving time of a driver and passengers of the vehicle; and controlling the vehicle to run on the target route according to the second planning speeds corresponding to the plurality of sub-road sections. Therefore, the driving mode which meets the user requirement and has the minimum energy consumption can be determined, and the battery life and the endurance mileage of the automatic driving electric automobile are prolonged.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, in particular to the field of autonomous driving technology, and specifically to a vehicle speed adjustment method, device, system, vehicle and equipment. Background Art

[0002] With the continuous expansion of the electric vehicle market, the automotive industry is gradually moving towards the field of intelligent networking. As a core element, autonomous driving technology is becoming increasingly important and has gradually been put into practical application. Among them, energy efficiency is a key factor that directly affects the range and battery life of electric vehicles. In order to improve the battery life and range of autonomous electric vehicles, energy efficiency optimization has become an important issue that needs to be solved urgently.

[0003] A related technology proposes to optimize the efficiency based on the current requested torque of the electric drive system, without considering the user's usage scenario and external environment, and to query the efficiency curve for the optimal efficiency when the requested torque is already available.

[0004] Another related technology proposes to confirm the efficiency reference domain based on the electric drive parameters themselves, and optimize the control efficiency of the electric drive system in combination with the driver's needs.

[0005] However, it is difficult to optimize energy efficiency efficiently using methods in related art. Summary of the invention

[0006] The present application provides a vehicle speed adjustment method, device, system, vehicle and equipment to at least solve the technical problem that it is difficult to efficiently optimize energy efficiency in the related art. The technical solution of the present application is as follows:

[0007] According to a first aspect provided by the present application, a vehicle speed adjustment method is provided, which is applied to a vehicle, comprising: obtaining road condition information of each of a plurality of sub-segments of a target route and performance parameters of the vehicle; for each sub-segment, adjusting a first planned speed of the vehicle according to the road condition information of the sub-segment and the performance parameters of the vehicle to obtain a second planned speed corresponding to the sub-segment; the first planned speed is determined according to a speed limit value of the sub-segment and an expected driving time of a driver and passenger of the vehicle; and controlling the vehicle to travel on the target route according to the second planned speeds corresponding to each of the plurality of sub-segments.

[0008] Based on the above technical means, the present application can determine the driving mode that meets user needs and consumes the least energy based on the speed limit value of each sub-section and the expected driving time of the driver and passengers, combined with real-time road conditions and vehicle performance, reduce energy loss caused by frequent speed changes, and improve the battery life and cruising range of autonomous electric vehicles.

[0009] In one possible implementation method, the first planned speed of the vehicle is adjusted according to the road condition information of the sub-section and the performance parameters of the vehicle to obtain the second planned speed corresponding to the sub-section, including: determining the slope information of the sub-section according to the road condition information of the sub-section; adjusting the first planned speed according to the speed adjustment strategy corresponding to the slope of the sub-section to obtain the second planned speed.

[0010] According to the above-mentioned technical means, the present application can adjust the speed according to the slope so that the vehicle can travel in the most optimized manner on different slopes, thereby reducing energy consumption and reducing unnecessary acceleration and deceleration, making driving smoother and improving passenger experience.

[0011] In one possible implementation, when the sub-section is a downhill section or a flat slope section, the first planned speed is adjusted according to the speed adjustment strategy corresponding to the slope of the sub-section to obtain the second planned speed, including: in a preset speed range, the first planned speed is adjusted in sequence according to a preset speed step to obtain multiple candidate speeds; the preset speed range is determined based on the first planned speed, the road condition information of the sub-section, the performance parameters of the vehicle and the tire pressure of the vehicle; the first candidate speed with the lowest energy consumption among the multiple first candidate speeds is used as the second planned speed; the energy consumption is determined based on the length of the sub-section, the second planned speed, the electric drive speed and torque corresponding to the second planned speed, and preset parameters.

[0012] According to the above technical means, the present application can adjust the speed within a preset speed range with a preset speed step size, and select the candidate speed with the lowest energy consumption as the second planned speed, so as to ensure that the vehicle travels in the most optimized manner on downhill or flat sections, thereby minimizing energy consumption.

[0013] In one possible implementation, when the sub-section is an uphill section, the first planned speed is adjusted according to the speed adjustment strategy corresponding to the slope of the sub-section to obtain the second planned speed, including: determining a fourth planned speed based on the slope information of the sub-section and the first planned speed; in a preset speed range, adjusting the fourth planned speed in sequence according to a preset speed step to obtain multiple first candidate speeds; the preset speed range is determined based on the fourth planned speed, the road condition information of the sub-section, the performance parameters of the vehicle and the tire pressure of the vehicle; the first candidate speed with the lowest energy consumption among the multiple first candidate speeds is used as the second planned speed; the energy consumption is determined based on the length of the sub-section, the first candidate speed, the electric drive speed and torque corresponding to the first candidate speed, and the preset parameters.

[0014] According to the above-mentioned technical means, the present application can adjust the fourth planned speed within a preset speed range, and select the candidate speed with the lowest energy consumption as the second planned speed, which helps to minimize energy consumption while ensuring power output and achieve the best balance between power and energy consumption. By determining the fourth planned speed based on the slope information and the first planned speed, it can ensure that the vehicle maintains a stable driving state when going uphill, avoiding safety hazards caused by excessive or slow speed.

[0015] In one possible implementation, a fourth planned speed is determined based on the slope information of the sub-section and the first planned speed, including: determining a speed limit value corresponding to the slope information; and determining the smaller value between the speed limit value corresponding to the slope information and the first planned speed as the fourth planned speed.

[0016] According to the above-mentioned technical means, the present application can ensure that the vehicle travels at a safe speed when going uphill by determining the speed limit value corresponding to the slope, and compare the speed limit value corresponding to the slope information with the first planned speed, and take the smaller value as the fourth planned speed, which can further ensure that the vehicle will not exceed the safety range due to excessive speed.

[0017] In one possible implementation, the expected driving time of the vehicle's driver and passengers for the target route, the speed limit of each of multiple sub-segments of the target route, and the length of the target route are obtained; for each sub-segment, based on the expected driving time of the vehicle's driver and passengers for the target route, the length of the target route, and the speed limit and length of the sub-segment, a first planned speed corresponding to the sub-segment is determined.

[0018] According to the above technical means, the present application can ensure that the planned driving speed can meet the travel needs of the drivers and passengers and improve the driving experience by considering their expected driving time for the target route.

[0019] In one possible implementation, a first planned speed corresponding to a sub-segment is determined based on the expected travel time of a vehicle driver and passenger for a target route, the length of the target route, and the speed limit value and length of the sub-segment, including: determining the expected travel time corresponding to the sub-route based on the expected travel time of the target route, the length of the sub-segment, and the length of the target route; determining a second candidate speed based on the expected travel time of the vehicle driver and passenger for the target route and the length of the sub-segment; and determining the smaller value of the second candidate speed and the speed limit value of the sub-segment as the first planned speed.

[0020] According to the above technical means, the present application can determine the smaller value between the second candidate speed and the speed limit as the first planned speed, ensuring that the vehicle speed does not exceed the safety range allowed by the road, thereby reducing the risk of traffic accidents.

[0021] In one possible implementation, before adjusting the first planned speed of the vehicle according to the road condition information of the sub-section to obtain the second planned speed corresponding to the sub-section, the method also includes: obtaining weather information corresponding to the sub-section; and adjusting the first planned speed based on the weather information of the sub-section.

[0022] According to the above technical means, the present application can adjust the planned speed based on weather information, plan the driving strategy more intelligently, and ensure that the vehicle can drive safely and efficiently in various weather conditions.

[0023] According to a second aspect provided by the present application, a vehicle speed adjustment device is provided, comprising: an acquisition unit, an adjustment unit and a control unit;

[0024] An acquisition unit is used to acquire the road condition information of each of the multiple sub-segments of the target route and the performance parameters of the vehicle; an adjustment unit is used to adjust the first planned speed of the vehicle according to the road condition information of the sub-segment and the performance parameters of the vehicle for each sub-segment, so as to obtain a second planned speed corresponding to the sub-segment; the first planned speed is determined according to the speed limit value of the sub-segment and the expected driving time of the vehicle's driver and passengers; a control unit is used to control the vehicle to travel on the target route according to the second planned speeds corresponding to each of the multiple sub-segments.

[0025] In one possible implementation, the adjustment unit is specifically used to: determine the slope information of the sub-section according to the road condition information of the sub-section; and adjust the first planned speed according to the speed adjustment strategy corresponding to the slope of the sub-section to obtain the second planned speed.

[0026] In one possible implementation, the adjustment unit is specifically used to: in a preset speed range, adjust the first planned speed in sequence according to a preset speed step to obtain multiple candidate speeds; the preset speed range is determined based on the first planned speed, the road condition information of the sub-section, the performance parameters of the vehicle and the tire pressure of the vehicle; the first candidate speed with the lowest energy consumption among the multiple first candidate speeds is used as the second planned speed; the energy consumption is determined based on the length of the sub-section, the second planned speed, the electric drive speed and torque corresponding to the second planned speed, and the preset parameters.

[0027] In one possible implementation, the adjustment unit is specifically used to: determine a fourth planned speed based on the slope information of the sub-section and the first planned speed; in a preset speed range, adjust the fourth planned speed in sequence according to a preset speed step to obtain multiple first candidate speeds; the preset speed range is determined based on the fourth planned speed, the road condition information of the sub-section, the performance parameters of the vehicle and the tire pressure of the vehicle; the first candidate speed with the lowest energy consumption among the multiple first candidate speeds is used as the second planned speed; the energy consumption is determined based on the length of the sub-section, the first candidate speed, the electric drive speed and torque corresponding to the first candidate speed, and the preset parameters.

[0028] In a possible implementation, the adjustment unit is further used to: determine a speed limit value corresponding to the slope information; and determine a smaller value between the speed limit value corresponding to the slope information and the first planned speed as the fourth planned speed.

[0029] In one possible implementation, the device also includes: a determination unit; an acquisition unit, which is also used to obtain the expected driving time of the vehicle driver and passengers for the target route, the speed limit value of each sub-segment of the target route, and the length of the target route; the determination unit is used to determine, for each sub-segment, a first planned speed corresponding to the sub-segment based on the expected driving time of the vehicle driver and passengers for the target route, the length of the target route, and the speed limit value and length of the sub-segment.

[0030] In one possible implementation, the determination unit is specifically used to: determine the expected driving time corresponding to the sub-route based on the expected driving time of the target route, the length of the sub-segment and the length of the target route; determine the second candidate speed based on the expected driving time of the target route and the length of the sub-segment for the vehicle's drivers and passengers; and determine the smaller value of the second candidate speed and the speed limit value of the sub-segment as the first planned speed.

[0031] In a possible implementation, the acquisition unit is further used to acquire weather information corresponding to the sub-road section; and the adjustment unit is further used to adjust the first planned speed based on the weather information of the sub-road section.

[0032] According to a third aspect provided by the present application, a vehicle speed adjustment system is provided, comprising: a data acquisition device and a vehicle speed adjustment device;

[0033] A data acquisition device is used to obtain road condition information of each of the multiple sub-sections of the target route and the performance parameters of the vehicle; a vehicle speed adjustment device is used to adjust the first planned speed of the vehicle for each sub-section according to the road condition information of the sub-section and the performance parameters of the vehicle to obtain a second planned speed corresponding to the sub-section; the first planned speed is determined according to the speed limit value of the sub-section and the expected driving time of the vehicle's driver and passengers; the vehicle speed adjustment device is also used to control the vehicle to travel on the target route according to the second planned speeds corresponding to each of the multiple sub-sections.

[0034] According to the fourth aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0035] According to the fifth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0036] According to the sixth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0037] Therefore, the above technical features of the present application have the following beneficial effects:

[0038] (1) Based on the speed limit of each sub-section and the expected driving time of the driver and passengers, combined with the real-time road conditions and vehicle performance, the driving mode that meets user needs and minimizes energy consumption can be determined, reducing energy loss caused by frequent speed changes and improving the battery life and range of autonomous electric vehicles.

[0039] (2) By adjusting the speed according to the slope, the vehicle can travel in the most optimized manner on different slopes, thereby reducing energy consumption and unnecessary acceleration and deceleration, making driving smoother and improving the passenger experience.

[0040] (3) By adjusting the speed within a preset speed range with a preset speed step size and selecting the candidate speed with the lowest energy consumption as the second planned speed, the vehicle can be ensured to travel in the most optimized manner on downhill or flat slope sections, thereby minimizing energy consumption.

[0041] (4) The fourth planned speed can be adjusted within a preset speed range, and the candidate speed with the lowest energy consumption can be selected as the second planned speed, which helps to minimize energy consumption while ensuring power output and achieve the best balance between power and energy consumption. In addition, by determining the fourth planned speed based on the slope information and the first planned speed, it can ensure that the vehicle maintains a stable driving state when going uphill, avoiding safety hazards caused by excessive or slow speed.

[0042] (5) By determining the speed limit value corresponding to the slope, it is possible to ensure that the vehicle travels at a safe speed when going uphill. Furthermore, by comparing the speed limit value corresponding to the slope information with the first planned speed and taking the smaller value as the fourth planned speed, it is possible to further ensure that the vehicle does not exceed the safety range due to excessive speed.

[0043] (6) By considering the expected travel time of the drivers and passengers on the target route, we can ensure that the planned travel speed can meet their travel needs and improve the driving experience.

[0044] (7) The smaller value between the second candidate speed and the speed limit value can be determined as the first planned speed to ensure that the vehicle speed does not exceed the safety range allowed by the road, thereby reducing the risk of traffic accidents.

[0045] (8) By adjusting the planned speed based on weather information, the driving strategy can be planned more intelligently to ensure that the vehicle can drive safely and efficiently in all weather conditions.

[0046] It should be noted that the technical effects brought about by any implementation method in the second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0047] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0049] Figure 1 is a schematic structural diagram of a vehicle according to an exemplary embodiment;

[0050] Figure 2 is a flow chart of a vehicle speed adjustment method according to an exemplary embodiment;

[0051] Figure 3 is a schematic diagram showing a speed adjustment process according to an exemplary embodiment;

[0052] Figure 4 is a schematic diagram of a vehicle speed adjustment process on a flat slope section according to an exemplary embodiment;

[0053] Figure 5 is a schematic diagram of a vehicle speed adjustment process for an uphill section according to an exemplary embodiment;

[0054] Figure 6 is a schematic diagram of a vehicle speed adjustment process for a downhill section according to an exemplary embodiment;

[0055] Figure 7 is a block diagram of a vehicle speed adjustment device according to an exemplary embodiment;

[0056] Figure 8 is a block diagram of another vehicle speed adjustment device according to an exemplary embodiment;

[0057] Fig. 9 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0058] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0059] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0060] First, the relevant technologies involved in this application are explained to facilitate understanding by those skilled in the art.

[0061] High-precision maps, also known as three-dimensional high-precision maps, are navigation maps with high resolution, high abundance of elements, and absolute and relative accuracy at the decimeter level. High-precision maps can not only contain static high-precision road network information, such as road edges, road models, lane models, etc., but also dynamically changing information elements, such as the status of traffic lights at intersections, dynamic road traffic indicators, road network changes, etc.

[0062] Autonomous driving technology refers to the ability of vehicles to drive autonomously without human intervention through artificial intelligence, sensors and other technologies. Autonomous vehicles rely on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together to allow computers to automatically and safely operate motor vehicles without any active human operation.

[0063] The efficiency map of an electric drive system, also known as an efficiency map, is a tool that describes the performance of the motor and drive system at a given torque / speed operating point. The efficiency map of an electric drive system is a contour plot of the motor's efficiency on the torque-speed plane and is widely used to evaluate the performance of the motor.

[0064] With the continuous expansion of the electric vehicle market, the automotive industry is gradually moving towards the field of intelligent networking. As a core element, autonomous driving technology is becoming increasingly important and has gradually been put into practical application. Among them, energy efficiency is a key factor that directly affects the range and battery life of electric vehicles. In order to improve the battery life and range of autonomous electric vehicles, energy efficiency optimization has become an important issue that needs to be solved urgently.

[0065] A related technology proposes to optimize efficiency based on the current requested torque of the electric drive system, without considering the user's usage scenario and external environment. In addition, the efficiency curve is checked for the optimal efficiency when the requested torque is available, but the real-time fluctuation of the speed in the actual usage scenario is not considered, and there is a certain lag.

[0066] Another related technology proposes to confirm the efficiency reference domain based on the parameters of the electric drive itself, and optimize the control efficiency of the electric drive system based on the driver's needs, but does not take the external environment into consideration.

[0067] However, it is difficult to optimize energy efficiency efficiently using methods in related art.

[0068] As the background technology, in order to solve the problem that it is difficult to optimize energy efficiency efficiently in the related technology, the present application provides a vehicle speed adjustment method, which can obtain the road condition information of each sub-section of the target route and the performance parameters of the vehicle, and adjust the first planned speed of the vehicle according to the road condition information of the sub-section and the performance parameters of the vehicle for each sub-section, and obtain the second planned speed corresponding to the sub-section, so as to further control the vehicle to travel on the target route according to the second planned speeds corresponding to each of the multiple sub-sections, so as to determine the vehicle speed with the lowest energy consumption when the vehicle travels on the sub-section through the road condition information of the section and the performance parameters of the vehicle. Therefore, the present application can optimize energy efficiency efficiently.

[0069] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0070] The vehicle speed adjustment method provided in the embodiment of the present application can be applied in a vehicle. A vehicle can also be called a vehicle, a mobile carrier, an electric vehicle (EV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell vehicle (FCV), an autonomous vehicle, an intelligent and connected vehicle (ICV), a driverless vehicle, etc.

[0071] In the embodiments of the present application, the vehicle may be a sedan, a sport utility vehicle (SUV), a truck, an electric vehicle, a motorcycle, a tricycle, a special vehicle (such as an ambulance, a fire truck, a police car, etc.), an unmanned taxi, an intelligent networked bus, an automatic driving logistics vehicle, an electric truck, etc. In addition, the method is also applicable to various special vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, port vehicles, etc. The present application does not impose specific restrictions on this.

[0072] For example, Figure 1 As shown, Figure 1 is a schematic structural diagram of a vehicle 100 according to an exemplary embodiment.

[0073] In a possible implementation, the vehicle 100 may include a vehicle speed adjustment system 101. The vehicle speed adjustment system 101 may include a vehicle speed adjustment device 1011 and a data acquisition device 1012.

[0074] Optionally, Figure 1 A communication connection can be established between the vehicle speed adjustment device 1011 and the data acquisition device 1012.

[0075] In practical applications, the vehicle speed adjustment device 1011 may be communicatively connected to one or more data acquisition devices 1012 .

[0076] For ease of understanding, the present application takes the communication connection between a vehicle speed adjustment device 1011 and a data acquisition device 1012 as an example for explanation.

[0077] Optional, Figure 1 The vehicle speed adjustment device 1011 and the data acquisition device 1012 may be functional modules integrated into the same device, or may be devices independently arranged from each other. This application does not impose any limitation on this.

[0078] It is easy to understand that when the vehicle speed adjustment device 1011 and the data acquisition device 1012 are functional modules integrated in the same device, the communication method between the vehicle speed adjustment device 1011 and the data acquisition device 1012 is the communication between the internal modules of the device. In this case, the communication process between the two is the same as the "communication process when the vehicle speed adjustment device 1011 and the data acquisition device 1012 are independently set."

[0079] For ease of understanding, the present application is mainly explained by taking the vehicle speed adjustment device 1011 and the data acquisition device 1012 as an example in which they are independently configured.

[0080] Figure 1 The data acquisition device 1012 can obtain the road condition information of each of the multiple sub-sections of the target route and the performance parameters of the vehicle, and send the road condition information of each of the multiple sub-sections of the target route and the performance parameters of the vehicle to the vehicle speed adjustment device 1011. The vehicle speed adjustment device 1011 can adjust the first planned speed of the vehicle according to the road condition information of the sub-section and the performance parameters of the vehicle for each sub-section, and obtain the second planned speed corresponding to the sub-section, so as to further control the vehicle to travel on the target route according to the second planned speeds corresponding to each of the multiple sub-sections.

[0081] Optionally, Figure 1 The vehicle speed adjustment device 1011 may be a terminal, a server, or other types of electronic devices. Figure 1 What is shown in the figure is only an example of the equipment form of the vehicle speed adjustment device 1011 and does not constitute a limitation thereto.

[0082] In the case where the vehicle speed adjustment device 1011 is a terminal, the terminal can be a device for providing voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device built into the vehicle 100, which exchanges language and / or data with a radio access network, such as a mobile phone, a tablet computer, a laptop computer, a netbook, a personal digital assistant (PDA). This application does not impose any restrictions on this.

[0083] When the vehicle speed adjustment device 1011 is a server, the server may be a single server, or a server cluster composed of multiple servers. In some implementations, the server cluster may also be a distributed cluster. This application does not impose any restrictions on this.

[0084] It should be noted that the structure illustrated in the embodiment of the present application does not constitute a limitation on the vehicle 100. It may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0085] For ease of understanding, the vehicle speed adjustment method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0086] like Figure 2 As shown, Figure 2 is a flow chart of a vehicle speed adjustment method according to an exemplary embodiment. The vehicle speed adjustment method includes the following steps: S201-S203.

[0087] S201: Obtain road condition information of each of a plurality of sub-segments of a target route and performance parameters of a vehicle.

[0088] In a possible implementation, the vehicle speed adjustment device may receive a destination location and an expected arrival time input by a user, and may determine a target route according to the destination location and the expected travel time.

[0089] Exemplarily, the vehicle speed adjustment device may receive a destination location and an expected arrival time input by a user. The vehicle speed adjustment device may output at least one driving route that matches the destination location and the expected travel time based on a high-precision map. The user may select a target route from the at least one driving route. Alternatively, the vehicle speed adjustment device may determine a target driving route from the at least one driving route.

[0090] In one possible implementation, the vehicle speed adjustment device can divide the target section into multiple sub-sections based on the road condition information of the target route in the high-precision map, and determine the road condition information of each sub-section in the multiple sub-sections and the performance parameters of the vehicle in different sub-sections.

[0091] Exemplarily, the vehicle speed adjustment device may divide the target road section into a plurality of sub-road sections according to the slope information in the road condition information. For example, the vehicle speed adjustment device may determine a road section with a slope greater than 5 degrees as an uphill road section, a road section with a slope less than -5 degrees as a downhill road section, and a road section with a slope greater than -5 degrees and less than 5 degrees as a flat slope road section.

[0092] In one possible implementation, the vehicle performance parameters include but are not limited to: vehicle tire grip, driving smoothness (or ride comfort), vehicle tire pressure, speed control accuracy, and electric drive system efficiency map. Road condition information includes but is not limited to: slope information and friction coefficient.

[0093] S202: For each sub-road section, adjust the first planned speed of the vehicle according to the road condition information of the sub-road section and the performance parameters of the vehicle to obtain a second planned speed corresponding to the sub-road section.

[0094] The first planned speed is determined according to the speed limit of the sub-section and the expected travel time of the vehicle's drivers and passengers.

[0095] In a possible implementation, the vehicle speed adjustment device may obtain the expected travel time of the vehicle driver and passenger on the target route, the speed limit value of each of the multiple sub-segments of the target route, and the length of the target route. The vehicle speed adjustment device may determine, for each sub-segment, the first planned speed corresponding to the sub-segment based on the expected travel time of the vehicle driver and passenger on the target route, the length of the target route, and the speed limit value and length of the sub-segment.

[0096] Specifically, the vehicle speed adjustment device may determine the expected travel time corresponding to the sub-route based on the expected travel time of the target route, the length of the sub-segment, and the length of the target route. The vehicle speed adjustment device may determine the second candidate speed based on the expected travel time of the target route by the vehicle's driver and passenger and the length of the sub-segment. The vehicle speed adjustment device may determine the smaller value of the second candidate speed and the speed limit value of the sub-segment as the first planned speed.

[0097] For example, the vehicle speed adjustment device may be based on the expected travel time T of the target route, the length d of each sub-segment, and the vehicle speed adjustment device. i, the length D of the target route, calculate the expected travel time ti = T*di / D for each sub-segment i, and the second candidate vehicle speeds Vmin1, Vmin2, ..., Vmini, .... The vehicle speed adjustment device can compare the second candidate speeds Vmin i The speed limit value Vlimin of the sub-section i , the second candidate speed Vmin i The speed limit value Vlimin of the sub-section i Determine the first planned speed, that is, Min(Vmin i 、Vlimin i ).

[0098] In a possible implementation, the vehicle speed adjustment device may obtain weather information corresponding to the sub-road section. The vehicle speed adjustment device may adjust the first planned speed based on the weather information of the sub-road section.

[0099] Exemplarily, the vehicle speed adjustment device can determine a first safety factor k according to the gear position of the vehicle's windshield wipers. When the wipers are turned off, k is 1, and the value of k is gradually reduced as the gear position increases, that is, the higher the wiper gear position, the lower the first safety factor. The vehicle speed adjustment device can determine a second safety factor p according to the gear position of the vehicle's automatic headlights. When the automatic headlights are turned off, p is 1, and the value of p is gradually reduced as the gear position increases, that is, the higher the automatic headlight gear position, the lower the second safety factor. The vehicle speed adjustment device can adjust the first planned speed based on the first safety factor k and the second safety factor p, and the adjusted first planned speed satisfies the following first formula:

[0100] V1=k*p*Min(Vlimit, Vmini)First formula

[0101] Among them, V1 can be used to represent the adjusted first planned speed. k can be used to represent the first safety factor. p can be used to represent the second safety factor. Min (Vlimit, Vmini) can be used to represent the first planned speed.

[0102] In one possible implementation, the vehicle speed adjustment device may determine the slope information of the sub-section according to the road condition information of the sub-section. The vehicle speed adjustment device may adjust the first planned speed according to the speed adjustment strategy corresponding to the slope of the sub-section to obtain the second planned speed.

[0103] Specifically, when the sub-section is a downhill section or a flat slope section, the vehicle speed adjustment device can adjust the first planned speed in the preset speed range according to the preset speed step size in sequence to obtain multiple candidate speeds. The vehicle speed adjustment device can use the first candidate speed with the lowest energy consumption among the multiple first candidate speeds as the second planned speed. Among them, the preset speed range is determined based on the first planned speed, the road condition information of the sub-section, the performance parameters of the vehicle, and the tire pressure of the vehicle. The energy consumption is determined based on the length of the sub-section, the second planned speed, the electric drive speed and torque corresponding to the second planned speed, and the preset parameters.

[0104] For example, when the sub-section is a flat slope section, the vehicle speed adjustment device can convert the first planned speed V1 into the electric drive speed n1 and adjust the speed in the preset speed range n1±λn d Within the range of , the first planned speed V1 is adjusted in sequence according to the preset speed step x to obtain multiple first candidate speeds V corresponding to multiple speeds i , and V i The corresponding torque T i The vehicle speed adjustment device can determine the first candidate speed V from the electric drive system efficiency map. i The corresponding motor efficiency is the preset parameter. Thus, the vehicle speed adjustment device can determine the energy consumption corresponding to the second candidate speed, and the energy consumption corresponding to the second candidate speed satisfies the following second formula:

[0105] ∫((d i / V i )*(n i *T i / 9550 / η i ))dtThe second formula

[0106] Among them, d i Can be used to characterize the length of a sub-segment. i Can be used to characterize the first candidate speed. i It can be used to characterize the electric drive speed corresponding to the first candidate speed. i It can be used to characterize the torque corresponding to the first candidate speed. i Can be used to characterize the first candidate velocity V i Corresponding motor efficiency, 9550 / η i Can be used to characterize preset parameters.

[0107] Optionally, n of the flat and slope section d It can be set according to actual needs. For example, n d The friction coefficient of the sub-segment, the first candidate speed, the tire grip of the vehicle and the driving smoothness may be used. This application does not impose any specific limitation on this.

[0108] Optionally, λ can be set according to actual needs. For example, λ can be automatically adjusted according to the tire pressure of the vehicle. Under standard tire pressure, λ can be 1, when λ is lower than the standard tire pressure, λ can be greater than 1, and when λ is higher than the standard tire pressure, λ can be less than 1.

[0109] Optionally, the preset speed step x can be set according to actual needs. For example, x can be determined according to the speed control accuracy and the speed interval of the measurement point of the electric drive system efficiency map.

[0110] For example, when the sub-section is a downhill section, the vehicle speed adjustment device can convert the first planned speed V1 into the electric drive speed n1 and adjust the speed in the preset speed range n1+λn d Within the range of , the first planned speed V1 is adjusted in sequence according to the preset speed step x to obtain multiple first candidate speeds V corresponding to multiple speeds i , and V i The corresponding torque T i The vehicle speed adjustment device can determine the first candidate speed V from the electric drive system efficiency map. i The corresponding motor efficiency is the preset parameter. Thus, the vehicle speed adjustment device can determine the energy consumption corresponding to the second candidate speed according to the second formula.

[0111] Optionally, the downhill section n d It can be set according to actual needs. For example, n d It may be related to the friction coefficient of the sub-segment, the slope information of the sub-segment, the first candidate speed, the tire grip and driving smoothness of the vehicle. This application does not impose any specific limitation on this.

[0112] In one possible implementation, when the sub-section is an uphill section, the vehicle speed adjustment device can determine the fourth planned speed based on the slope information of the sub-section and the first planned speed. The vehicle speed adjustment device can adjust the fourth planned speed in sequence according to the preset speed step in the preset speed range to obtain multiple first candidate speeds. The vehicle speed adjustment device can use the first candidate speed with the lowest energy consumption among the multiple first candidate speeds as the second planned speed. Among them, the preset speed range is determined based on the fourth planned speed, the road condition information of the sub-section, the performance parameters of the vehicle and the tire pressure of the vehicle, and the energy consumption is determined based on the length of the sub-section, the first candidate speed, the electric drive speed and torque corresponding to the first candidate speed, and the preset parameters.

[0113] For example, when the sub-section is an uphill section, the vehicle speed adjustment device may determine a speed limit value V corresponding to the slope information. max The speed adjustment device can adjust the speed limit value V corresponding to the slope information maxThe smaller value between the fourth planned speed and the first planned speed is determined as the fourth planned speed V2. The vehicle speed adjustment device can convert the fourth planned speed V2 into an electric drive speed n2 and adjust the speed in the preset speed range n2-λn d Within the range of , the fourth planned speed V2 is adjusted in sequence according to the preset speed step x to obtain multiple first candidate speeds V corresponding to multiple speeds i , and V i The corresponding torque T i The vehicle speed adjustment device can determine the first candidate speed V from the electric drive system efficiency map. i The corresponding motor efficiency is the preset parameter. Thus, the vehicle speed adjustment device can determine the energy consumption corresponding to the second candidate speed according to the second formula.

[0114] Optionally, n of the uphill section d It can be set according to actual needs. For example, n d It may be related to the friction coefficient of the sub-segment, the slope information of the sub-segment, the first candidate speed, the tire grip and driving smoothness of the vehicle. This application does not impose any specific limitation on this.

[0115] S203: Control the vehicle to travel on the target route according to the second planned speeds corresponding to the plurality of sub-road sections.

[0116] In one possible implementation, after completing the route planning and speed planning for each sub-road section, the vehicle speed adjustment device can control the vehicle to travel on the target route according to the second planned speeds corresponding to each of the multiple sub-road sections to reach the destination.

[0117] based on Figure 2 The technical solution in this application can determine the driving mode that meets user needs and consumes the least energy based on the speed limit value of each sub-section and the expected driving time of the driver and passengers, combined with the real-time road conditions and vehicle performance, reduce the energy loss caused by frequent speed changes, and improve the battery life and cruising range of the self-driving electric vehicle.

[0118] In some embodiments, Figure 3 As shown, Figure 3 It is a schematic diagram showing a speed adjustment process according to an exemplary embodiment.

[0119] The vehicle speed adjustment device can determine the speed limit values ​​of the target route and multiple sub-segments based on the high-precision map, the destination input by the user, and the expected driving time. The vehicle speed adjustment device can determine the expected driving time corresponding to the sub-segment and the initial driving speed corresponding to the sub-segment. The vehicle speed adjustment device can determine the safety factor, namely the first safety factor and the second safety factor, according to the weather conditions. The vehicle speed adjustment device can determine the slope information of the sub-segment according to the high-precision map. The vehicle speed adjustment device can determine the first planned speed according to the slope information, safety factor, speed limit value, etc. of the sub-segment, and adjust the first planned speed to obtain the second planned speed to reduce energy consumption.

[0120] In some embodiments, Figure 4 As shown, Figure 4 The figure is a schematic diagram of a vehicle speed adjustment process on a flat and sloping road section according to an exemplary embodiment.

[0121] The vehicle speed adjustment device can determine the expected driving time, sub-segment length and speed limit value of the sub-segment corresponding to the sub-segment based on the expected driving time, target route and speed limit value sent by the vehicle navigation system. The vehicle speed adjustment device can determine the initial driving speed according to the expected driving time, sub-segment length and speed limit value of the sub-segment corresponding to the sub-segment. The vehicle speed adjustment device can determine the first safety factor based on the wiper gear sent by the body controller, and determine the second safety factor based on the automatic headlight gear. The vehicle speed adjustment device can determine the first planned speed based on the initial driving speed, the first safety factor and the second safety factor. The vehicle speed adjustment device can determine the speed corresponding to the first planned speed. The vehicle speed adjustment device can determine the preset speed range based on information such as tire pressure sensor and IPU efficiency identification, and determine multiple first candidate speeds and torques within the preset speed range. The vehicle speed adjustment device can determine the energy consumption corresponding to the first candidate speed, and determine the first candidate speed with the lowest energy consumption as the second planned speed.

[0122] In some embodiments, Figure 5 As shown, Figure 5 The figure is a schematic diagram of a vehicle speed adjustment process on an uphill section according to an exemplary embodiment.

[0123] The vehicle speed adjustment device can determine the expected driving time, sub-segment length and speed limit value of the sub-segment corresponding to the sub-segment based on the expected driving time, target route and speed limit value sent by the vehicle navigation system. The vehicle speed adjustment device can determine the initial driving speed according to the expected driving time, sub-segment length and speed limit value of the sub-segment corresponding to the sub-segment. The vehicle speed adjustment device can determine the first safety factor based on the wiper gear sent by the body controller, and determine the second safety factor based on the automatic headlight gear. The vehicle speed adjustment device can determine the first planned speed based on the initial driving speed, the first safety factor and the second safety factor. The vehicle speed adjustment device can determine the fourth planned speed based on the speed limit value corresponding to the slope information and the first planned speed. The vehicle speed adjustment device can determine the speed corresponding to the fourth planned speed. The vehicle speed adjustment device can determine the preset speed range based on tire pressure sensing, IPU efficiency identification, slope and other information, and determine multiple first candidate speeds and torques within the preset speed range. The vehicle speed adjustment device can determine the energy consumption corresponding to the first candidate speed, and determine the first candidate speed with the lowest energy consumption as the second planned speed.

[0124] In some embodiments, Figure 6 As shown, Figure 6 The figure is a schematic diagram of a vehicle speed adjustment process on a downhill section according to an exemplary embodiment.

[0125] The vehicle speed adjustment device can determine the expected driving time, sub-segment length and speed limit value of the sub-segment corresponding to the sub-segment based on the expected driving time, target route and speed limit value sent by the vehicle navigation system. The vehicle speed adjustment device can determine the initial driving speed according to the expected driving time, sub-segment length and speed limit value of the sub-segment corresponding to the sub-segment. The vehicle speed adjustment device can determine the first safety factor based on the wiper gear sent by the body controller, and determine the second safety factor based on the automatic headlight gear. The vehicle speed adjustment device can determine the first planned speed based on the initial driving speed, the first safety factor and the second safety factor. The vehicle speed adjustment device can determine the speed corresponding to the first planned speed. The vehicle speed adjustment device can determine the preset speed range based on tire pressure sensing, IPU efficiency identification, slope and other information, and determine multiple first candidate speeds and torques within the preset speed range. The vehicle speed adjustment device can determine the energy consumption corresponding to the first candidate speed, and determine the first candidate speed with the lowest energy consumption as the second planned speed.

[0126] In some embodiments, Figure 7 As shown, Figure 7 The figure is a block diagram of a vehicle speed adjustment device according to an exemplary embodiment.

[0127] In a possible implementation, the vehicle speed adjustment device includes a navigation module 301 , a monitoring module 302 , a calculation module 303 , an efficiency identification module 304 , a vehicle speed determination module 305 , and a torque execution module 306 .

[0128] The navigation module 301 may receive a destination and an expected travel time input by a user, and determine a target route based on the destination and the expected travel time.

[0129] The monitoring module 302 can be used to monitor external weather conditions, that is, to determine the wiper position and the automatic headlight position.

[0130] The calculation module 303 may determine the expected driving time and the length of the sub-segment corresponding to the sub-segment based on the expected driving time and the target route sent by the vehicle navigation system.

[0131] The efficiency identification module 304 can determine the efficiencies corresponding to different vehicle speeds.

[0132] The vehicle speed determination module 305 may be used to determine the vehicle speed information of each sub-road section.

[0133] The torque execution module 306 can determine torque information corresponding to different vehicle speeds.

[0134] Figure 8 is a block diagram of another vehicle speed adjustment device according to an exemplary embodiment. Figure 8 The vehicle speed adjustment device includes: an acquisition unit 401, an adjustment unit 402, a control unit 403 and a determination unit 404.

[0135] In a possible implementation, the acquisition unit 401 is used to acquire the road condition information of each sub-segment of a plurality of sub-segments of the target route and the performance parameters of the vehicle.

[0136] In a possible implementation, the adjustment unit 402 is used to adjust the first planned speed of the vehicle for each sub-section according to the road condition information of the sub-section and the performance parameters of the vehicle to obtain a second planned speed corresponding to the sub-section.

[0137] In a possible implementation, the control unit 403 is used to control the vehicle to travel on the target route according to the second planned speeds corresponding to each of the plurality of sub-road sections.

[0138] In one possible implementation, the adjustment unit 402 is specifically used to: determine the slope information of the sub-section according to the road condition information of the sub-section; and adjust the first planned speed according to the speed adjustment strategy corresponding to the slope of the sub-section to obtain the second planned speed.

[0139] In a possible implementation, the adjustment unit 402 is specifically configured to: in a preset speed range, sequentially adjust the first planned speed according to a preset speed step to obtain multiple candidate speeds, and use the first candidate speed with the lowest energy consumption among the multiple first candidate speeds as the second planned speed.

[0140] In a possible implementation, the adjustment unit 402 is specifically configured to: determine a fourth planned speed based on the slope information of the sub-segment and the first planned speed. In a preset speed range, the fourth planned speed is adjusted in sequence according to a preset speed step to obtain a plurality of first candidate speeds. The first candidate speed with the lowest energy consumption among the plurality of first candidate speeds is used as the second planned speed.

[0141] In a possible implementation, the adjustment unit 402 is further configured to: determine a speed limit value corresponding to the slope information; and determine a smaller value between the speed limit value corresponding to the slope information and the first planned speed as the fourth planned speed.

[0142] In a possible implementation, the acquisition unit 401 is further configured to acquire the expected travel time of the vehicle's driver and passenger for the target route, the speed limit value of each of the multiple sub-segments of the target route, and the length of the target route.

[0143] In one possible implementation, the determination unit 404 is used to determine, for each sub-segment, a first planned speed corresponding to the sub-segment based on the vehicle's driver and passengers' expected travel time for the target route, the length of the target route, and the speed limit and length of the sub-segment.

[0144] In a possible implementation, the determination unit 404 is specifically configured to: determine the expected travel time corresponding to the sub-route based on the expected travel time of the target route, the length of the sub-segment, and the length of the target route; determine the second candidate speed based on the expected travel time of the target route by the vehicle's driver and passenger and the length of the sub-segment; and determine the smaller value of the second candidate speed and the speed limit of the sub-segment as the first planned speed.

[0145] In a possible implementation, the acquisition unit 401 is further configured to acquire weather information corresponding to the sub-road section.

[0146] In a possible implementation, the adjustment unit 402 is further configured to adjust the first planned speed based on weather information of the sub-road section.

[0147] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0148] Fig. 9 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig. 9 As shown, the electronic device includes but is not limited to: a processor 501 and a memory 502 .

[0149] The memory 502 is used to store executable instructions of the processor 501. It can be understood that the processor 501 is configured to execute instructions to implement the vehicle speed adjustment method in the above embodiment.

[0150] It should be noted that those skilled in the art can understand that Fig. 9 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig. 9 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0151] The processor 501 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 502, and calling data stored in the memory 502, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 501 may include one or more processing units. Optionally, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 501.

[0152] The memory 502 can be used to store software programs and various data. The memory 502 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 502 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0153] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 502 including instructions. The above instructions can be executed by a processor 501 of an electronic device to implement the method in the above embodiment.

[0154] In actual implementation, Figure 8 The functions of the acquisition unit 401, the adjustment unit 402, the control unit 403 and the determination unit 404 in Fig. 9 The processor 501 in the embodiment calls the computer program stored in the memory 502. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0155] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0156] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 501 of the electronic device to complete the method in the above embodiment.

[0157] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0158] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0159] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0160] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0161] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0162] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0163] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A speed adjustment method, characterized in that: Applied to vehicles, including: Acquiring road condition information of each of the multiple sub-segments of the target route and performance parameters of the vehicle; For each of the sub-road sections, adjusting the first planned speed of the vehicle according to the road condition information of the sub-road section and the performance parameters of the vehicle to obtain a second planned speed corresponding to the sub-road section; the first planned speed is determined according to the speed limit value of the sub-road section and the expected travel time of the driver and passengers of the vehicle; The vehicle is controlled to travel on the target route according to the second planned speeds corresponding to each of the plurality of sub-road sections.

2. The method according to claim 1, characterized in that The adjusting the first planned speed of the vehicle according to the road condition information of the sub-section and the performance parameter of the vehicle to obtain the second planned speed corresponding to the sub-section includes: Determining the slope information of the sub-road section according to the road condition information of the sub-road section; The first planned speed is adjusted according to a speed adjustment strategy corresponding to the slope of the sub-section to obtain the second planned speed.

3. The method according to claim 2, characterized in that In the case where the sub-section is a downhill section or a flat slope section, adjusting the first planned speed according to the speed adjustment strategy corresponding to the slope of the sub-section to obtain the second planned speed includes: In a preset speed range, the first planned speed is adjusted in sequence according to a preset speed step to obtain a plurality of candidate speeds; the preset speed range is determined according to the first planned speed, the road condition information of the sub-section, the performance parameters of the vehicle and the tire pressure of the vehicle; The first candidate speed with the lowest energy consumption among the multiple first candidate speeds is used as the second planned speed; the energy consumption is determined according to the length of the sub-section, the second planned speed, the electric drive speed and torque corresponding to the second planned speed, and the preset parameters.

4. The method according to claim 3, characterized in that In the case where the sub-section is an uphill section, adjusting the first planned speed according to the speed adjustment strategy corresponding to the slope of the sub-section to obtain the second planned speed includes: Determining a fourth planned speed based on the slope information of the sub-section and the first planned speed; In a preset speed range, the fourth planned speed is adjusted in sequence according to a preset speed step to obtain a plurality of first candidate speeds; the preset speed range is determined according to the fourth planned speed, the road condition information of the sub-section, the performance parameters of the vehicle and the tire pressure of the vehicle; The first candidate speed with the lowest energy consumption among the multiple first candidate speeds is used as the second planned speed; the energy consumption is determined according to the length of the sub-section, the first candidate speed, the electric drive speed and torque corresponding to the first candidate speed, and the preset parameters.

5. The method according to claim 4, characterized in that The determining a fourth planned speed based on the slope information of the sub-road section and the first planned speed includes: determining a speed limit value corresponding to the slope information; The smaller value between the speed limit value corresponding to the slope information and the first planned speed is determined as the fourth planned speed.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Obtaining the expected travel time of the vehicle's driver and passenger on the target route, the speed limit value of each of the multiple sub-segments of the target route, and the length of the target route; For each of the sub-segments, a first planned speed corresponding to the sub-segment is determined based on an expected travel time of a driver and passenger of the vehicle for the target route, a length of the target route, and a speed limit value and a length of the sub-segment.

7. The method according to claim 6, characterized in that The determining, based on the expected travel time of the vehicle driver and passenger on the target route, the length of the target route, and the speed limit value and length of the sub-segment, a first planned speed corresponding to the sub-segment includes: Determining the expected travel time corresponding to the sub-route based on the expected travel time of the target route, the length of the sub-route segment and the length of the target route; determining a second candidate speed based on an expected travel time of an occupant of the vehicle for the target route and a length of the sub-segment; The smaller value between the second candidate speed and the speed limit value of the sub-section is determined as the first planned speed.

8. The method according to any one of claims 1 to 5, characterized in that Before adjusting the first planned speed of the vehicle according to the road condition information of the sub-section to obtain the second planned speed corresponding to the sub-section, the method further includes: Obtain weather information corresponding to the sub-section; The first planned speed is adjusted based on weather information of the sub-road section.

9. A vehicle speed adjustment device, characterized in that: The device comprises: an acquisition unit, an adjustment unit and a control unit; The acquisition unit is used to acquire the road condition information of each sub-section of the target route and the performance parameters of the vehicle; The adjustment unit is used to adjust the first planned speed of the vehicle according to the road condition information of the sub-segment and the performance parameters of the vehicle for each sub-segment, so as to obtain a second planned speed corresponding to the sub-segment; the first planned speed is determined according to the speed limit value of the sub-segment and the expected travel time of the driver and passengers of the vehicle; The control unit is used to control the vehicle to travel on the target route according to the second planned speeds corresponding to each of the multiple sub-road sections.

10. A vehicle speed adjustment system, characterized in that: The vehicle speed control system comprises: a data acquisition device and a vehicle speed adjustment device; The data acquisition device is used to obtain the road condition information of each sub-section of the target route and the performance parameters of the vehicle; The vehicle speed adjustment device is used to adjust the first planned speed of the vehicle according to the road condition information of the sub-section and the performance parameters of the vehicle for each sub-section, so as to obtain a second planned speed corresponding to the sub-section; the first planned speed is determined according to the speed limit value of the sub-section and the expected travel time of the driver and passengers of the vehicle; The vehicle speed adjustment device is further used to control the vehicle to travel on the target route according to the second planned speeds corresponding to each of the multiple sub-road sections.

11. A vehicle, characterized in that: The vehicle comprises the vehicle speed adjustment system according to claim 10.

12. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 8.

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