Vehicle speed control method

Abstract

The present invention discloses a method for controlling vehicle speed. The method comprises: obtaining obstacle information sensed by a sensor installed on the current vehicle and path information of the current vehicle, wherein the obstacle information at least includes a first distance between the current vehicle and the obstacle, and the path information includes: a second distance between the current vehicle and a target position, a path curvature of the current vehicle's driving road, and a deviation error between the current vehicle and the target position; based on the obstacle information and the path information, determining the vehicle speed of the current vehicle. The present invention solves the technical problem of low vehicle speed control accuracy in the related art.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicles, and in particular to a method for controlling vehicle speed. Background Art

[0002] With the development of intelligent automobile technology, automatic parking technology is becoming more and more mature. One of the core algorithms of automatic parking technology is speed control. The current existing technology calculates vehicle speed mainly by relying on sensors installed around the vehicle to measure the distance and angle between the vehicle body and the surrounding environment, and collects sensor data to calculate the vehicle speed. However, the vehicle speed calculated by the existing technology is a constant value, and only considers the impact of the initial remaining distance on the vehicle speed, resulting in a low accuracy rate of vehicle speed control.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] An embodiment of the present invention provides a method for controlling vehicle speed, so as to at least solve the technical problem of low vehicle speed control accuracy in the related art.

[0005] According to one aspect of an embodiment of the present invention, a method for controlling vehicle speed is provided, comprising: obtaining obstacle information sensed by a sensor installed on a current vehicle, and path information of the current vehicle, wherein the obstacle information includes at least a first distance between the current vehicle and the obstacle, and the path information includes: a second distance between the current vehicle and a target position, a path curvature of the road on which the current vehicle is traveling, and a deviation error between the current vehicle and the target position; based on the obstacle information and the path information, determining the vehicle speed of the current vehicle.

[0006] Optionally, based on the obstacle information and the path information, the vehicle speed of the current vehicle is determined, including: comparing the first distance with the first preset distance to obtain a comparison result; in response to the first distance being less than the first preset distance, controlling the speed of the current vehicle to be reduced to the first preset speed; in response to the first distance being greater than or equal to the first preset distance, determining the vehicle speed based on the path information.

[0007] Optionally, determining the vehicle speed based on the path information includes: determining a first speed of the current vehicle based on the second distance; determining a second speed of the current vehicle based on the path curvature; determining a third speed of the current vehicle based on the deviation error; and obtaining the minimum speed among the first speed, the second speed, and the third speed to obtain the vehicle speed.

[0008] Optionally, determining the first speed of the current vehicle based on the second distance includes: in response to the second distance being greater than the second preset distance, determining the first speed to be the second preset speed; in response to the second distance being less than or equal to the second preset distance, determining the first speed based on the second distance, the second preset distance and the second preset speed, wherein the second preset distance is used to characterize the initial distance between the current vehicle and the target position.

[0009] Optionally, determining the first speed based on the second distance, the second preset distance and the second preset speed includes: determining a first coefficient based on the second distance and the second preset distance; and obtaining the product of the first coefficient and the second preset speed to obtain the first speed.

[0010] Optionally, obtaining the path curvature of the current vehicle driving road includes: determining multiple preview points; determining multiple corresponding preview point curvatures based on the multiple preview points; and determining the path curvature based on the multiple preview points and the multiple preview point curvatures.

[0011] Optionally, determining the second speed of the current vehicle according to the path curvature includes: determining a second coefficient based on the path curvature; and obtaining the product of the second coefficient and a second preset speed to obtain the second speed.

[0012] Optionally, determining the second coefficient based on the path curvature includes: obtaining a ratio of the path curvature to a first preset value to obtain a first ratio; obtaining a difference between the second preset value and the first ratio to obtain a first difference; and obtaining a square value of the first difference to obtain a second coefficient.

[0013] Optionally, determining the third speed of the current vehicle based on the deviation error includes: in response to the deviation error being greater than the first preset deviation, determining the third speed as the product of the third preset speed and the third preset value; in response to the deviation error being less than or equal to the second preset deviation, determining the third speed as the second preset speed; in response to the deviation error being greater than the second preset deviation and less than or equal to the first preset deviation, obtaining the third speed based on the deviation error, the second preset speed and the third preset speed.

[0014] Optionally, based on the deviation error, the second preset speed and the third preset speed, the third speed is obtained, including: obtaining the difference between the third preset speed and the second preset speed to obtain the second difference; obtaining the product of the second difference and the deviation error to obtain the first product; obtaining the product of the second preset speed and the fourth preset value to obtain the second product; obtaining the product of the third preset speed and the third preset value to obtain the third product; obtaining the sum of the first product and the second product to obtain the target sum; obtaining the difference between the target sum and the third product to obtain the third difference; obtaining the ratio of the third difference to the fifth preset value to obtain the third speed.

[0015] According to another aspect of an embodiment of the present invention, a vehicle speed control device is also provided, including: an acquisition module, used to acquire obstacle information sensed by a sensor installed on the current vehicle, and path information of the current vehicle, wherein the obstacle information at least includes a first distance between the current vehicle and the obstacle, and the path information includes: a second distance between the current vehicle and a target position, a path curvature of the road on which the current vehicle is traveling, and a deviation error between the current vehicle and the target position; a determination module, used to determine the vehicle speed of the current vehicle based on the obstacle information and the path information.

[0016] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned vehicle speed control method.

[0017] According to another aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein the above-mentioned vehicle control method is executed when the program is run.

[0018] In the embodiment of the present invention, the obstacle information sensed by the sensor installed on the current vehicle and the path information of the current vehicle are obtained, wherein the obstacle information at least includes the first distance between the current vehicle and the obstacle, and the path information includes: the second distance between the current vehicle and the target position, the path curvature of the road on which the current vehicle is traveling, and the deviation error between the current vehicle and the target position; based on the obstacle information and the path information, the vehicle speed of the current vehicle is determined. It is easy to notice that by planning the real-time vehicle speed according to the remaining distance, the path curvature, and the deviation error, the purpose of improving the control accuracy of the vehicle speed is achieved, thereby achieving the technical effect of being able to accurately control the vehicle speed, thereby solving the technical problem of low control accuracy of the vehicle speed in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 is a flow chart of a method for controlling vehicle speed according to an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of an optional preview point setting according to an embodiment of the present invention;

[0022] Figure 3 is a flow chart of method steps of an optional vehicle speed control method according to an embodiment of the present invention;

[0023] Figure 4 4 is a schematic diagram of the structure of a vehicle speed control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Example 1

[0027] According to an embodiment of the present invention, an embodiment of a method for controlling vehicle speed is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] Figure 1 FIG. 1 is a flow chart of a method for controlling vehicle speed according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0029] Step S102, obtaining obstacle information sensed by sensors installed on the current vehicle and path information of the current vehicle, wherein the obstacle information includes at least a first distance between the current vehicle and the obstacle, and the path information includes: a second distance between the current vehicle and the target position, a path curvature of the road on which the current vehicle is traveling, and a deviation error between the current vehicle and the target position.

[0030] The above-mentioned obstacles may be obstacles on the driving road that affect the current vehicle from traveling to the target position, and may be stones, other non-driving vehicles on the road, etc., which are not specifically limited in this embodiment; the first distance may be the real-time distance between the current vehicle and the obstacle, and the specific distance is not limited. In this embodiment, 20 cm may be taken as an example for illustration; the target position may be the terminal position to which the current vehicle is to travel; the second distance may be the real-time distance between the current vehicle and the target position.

[0031] Optionally, the parking controller may obtain obstacle information sensed by sensors installed on the vehicle and the current path information of the vehicle through a controller area network (CAN) bus.

[0032] In an optional embodiment, in order to accurately control the vehicle speed during vehicle driving, obstacle information and path information of the current vehicle can be obtained first, wherein the obstacle information includes at least the distance between the obstacle and the current vehicle (i.e., the first distance), and the path information includes: the distance between the current vehicle and the terminal position, the path information of the current vehicle's driving road, and the deviation error value between the current vehicle and the terminal position.

[0033] Step S104, determining the vehicle speed of the current vehicle based on the obstacle information and the path information.

[0034] Optionally, based on the obstacle information and the path information, the vehicle speed of the current vehicle is determined, including: comparing the first distance with the first preset distance to obtain a comparison result; in response to the first distance being less than the first preset distance, controlling the speed of the current vehicle to be reduced to the first preset speed; in response to the first distance being greater than or equal to the first preset distance, determining the vehicle speed based on the path information.

[0035] Optionally, determining the vehicle speed based on the path information includes: determining a first speed of the current vehicle based on the second distance; determining a second speed of the current vehicle based on the path curvature; determining a third speed of the current vehicle based on the deviation error; and obtaining the minimum speed among the first speed, the second speed, and the third speed to obtain the vehicle speed.

[0036] Optionally, during parking, the current vehicle can detect obstacles through 12 ultrasonic radars. When the obstacle distance does not meet the parking conditions, the parking speed value is 0; when the parking conditions are met, the speed can be planned based on the remaining distance, path curvature, and deviation error.

[0037] The above-mentioned first preset distance can be the minimum distance between the obstacle and the current vehicle. The specific value is not limited. In this embodiment, 20 cm can be used as an example for illustration; the first preset speed can be the minimum distance when the first distance does not meet the first preset distance (20 cm). The specific value is not limited. In this embodiment, 0 km / h can be used as an example for illustration; the first speed can be calculated based on the real-time distance between the current vehicle and the target position; the second speed can be calculated based on the path curvature of the current vehicle; the third speed can be calculated based on the deviation error value between the current vehicle and the target position.

[0038] In an optional embodiment, after obtaining the obstacle information and path information, the real-time distance between the vehicle and the obstacle (i.e., the first distance) can be compared with the first preset distance (20 cm): if the first distance is less than the first preset distance, the speed of the current vehicle is controlled to be reduced to the first preset speed (i.e., 0 km / h); if the first distance is greater than or equal to the first preset distance, then the first speed of the current vehicle is calculated according to the second distance of the current vehicle, the second speed of the current vehicle is calculated according to the path curvature of the current vehicle, and the third speed of the current vehicle is calculated according to the deviation error between the current vehicle and the target position. Then, the minimum value of the first speed, the second speed, and the third speed is taken to obtain the vehicle speed of the current vehicle.

[0039] Optionally, determining the first speed of the current vehicle based on the second distance includes: in response to the second distance being greater than the second preset distance, determining the first speed to be the second preset speed; in response to the second distance being less than or equal to the second preset distance, determining the first speed based on the second distance, the second preset distance and the second preset speed, wherein the second preset distance is used to characterize the initial distance between the current vehicle and the target position.

[0040] Optionally, determining the first speed based on the second distance, the second preset distance and the second preset speed includes: determining a first coefficient based on the second distance and the second preset distance; and obtaining the product of the first coefficient and the second preset speed to obtain the first speed.

[0041] The second preset distance may be a distance set in advance by the user that the vehicle can travel at a certain speed. The specific value is not limited. In this embodiment, 1 km may be used as an example for explanation. The second preset speed may be the maximum speed at which the vehicle can travel safely when the vehicle is greater than the second preset distance, i.e., V max ; The above-mentioned first coefficient can be obtained based on the second distance and the second preset distance.

[0042] The specific calculation formula for the second speed is as follows:

[0043]

[0044] Among them, e is a constant, is the first coefficient, d(k is the second distance, V max is the second preset speed, and d is the total length of the current parking process path, that is, the remaining distance from the target position at the initial moment before the vehicle starts to travel.

[0045] When the second distance is greater than the second preset distance, the first speed is the second preset speed (ie, V max ); when the second distance is greater than or equal to 0 and less than or equal to the second preset distance, the first speed is The above formula can reflect that the first speed decreases as the second distance decreases. When the second distance is 0, the first speed is also 0.

[0046] Optionally, obtaining the path curvature of the current vehicle driving road includes: determining multiple preview points; determining multiple corresponding preview point curvatures based on the multiple preview points; and determining the path curvature based on the multiple preview points and the multiple preview point curvatures.

[0047] Optionally, determining the second speed of the current vehicle according to the path curvature includes: determining a second coefficient based on the path curvature; and obtaining the product of the second coefficient and a second preset speed to obtain the second speed.

[0048] Optionally, determining the second coefficient based on the path curvature includes: obtaining a ratio of the path curvature to a first preset value to obtain a first ratio; obtaining a difference between the second preset value and the first ratio to obtain a first difference; and obtaining a square value of the first difference to obtain a second coefficient.

[0049] The above-mentioned preview point is a point used to track a flat road and a curved path, and can be used to obtain the path curvature. When using one preview point, a large change in the path curvature will lead to a poor tracking effect. If there are too many preview points, too much interference information will be introduced in the process of tracking a flat road and a path with a small curvature, thereby affecting the stability of the vehicle body. Therefore, the present invention selects a three-point preview method. In this embodiment, the three preview points can be represented by P1, P2, and P3 respectively; the above-mentioned preview point curvature can be obtained from the preview point. In this embodiment, the three preview point curvatures can be represented by The above path curvature can be obtained based on multiple preview points and multiple preview point curvatures. In this embodiment, To represent the path curvature; the second coefficient is a constant value, and the second speed can be obtained based on the second coefficient and the second preset speed; the first preset value can be a constant value greater than the path curvature, which is not specifically limited. In this embodiment, The above-mentioned second preset value is a constant value set by the user, and in this embodiment, 1 can be used as an example for explanation.

[0050] Figure 2 is a schematic diagram of an optional preview point setting according to an embodiment of the present invention, such as Figure 2 As shown in the figure, P2 is the preview point of the current vehicle position, P1 and P3 are the trajectory points before and after the preview point, and the curvatures of the three preview points are

[0051] In an optional embodiment, the path curvature Among them, the values ​​of k1, k2, and k3 are selected according to the distance between the deviation point and the current position of the car, with the principle of larger values ​​when closer and smaller values ​​when farther away.

[0052] The specific calculation formula for the second speed is as follows:

[0053]

[0054] in, is the first ratio, is the first difference, is the square value of the first difference, that is, the second coefficient. This formula can reflect the second speed with the curvature of the preview point significantly decreased with the increase of .

[0055] In another optional embodiment, the second speed can be obtained by multiplying the second coefficient by the second preset speed. The basic principle is that the greater the path curvature, the lower the vehicle speed; the smaller the path curvature, the greater the vehicle speed, but not exceeding V max .

[0056] Optionally, determining the third speed of the current vehicle based on the deviation error includes: in response to the deviation error being greater than the first preset deviation, determining the third speed as the product of the third preset speed and the third preset value; in response to the deviation error being less than or equal to the second preset deviation, determining the third speed as the second preset speed; in response to the deviation error being greater than the second preset deviation and less than or equal to the first preset deviation, obtaining the third speed based on the deviation error, the second preset speed and the third preset speed.

[0057] Optionally, based on the deviation error, the second preset speed and the third preset speed, the third speed is obtained, including: obtaining the difference between the third preset speed and the second preset speed to obtain the second difference; obtaining the product of the second difference and the deviation error to obtain the first product; obtaining the product of the second preset speed and the fourth preset value to obtain the second product; obtaining the product of the third preset speed and the third preset value to obtain the third product; obtaining the sum of the first product and the second product to obtain the target sum; obtaining the difference between the target sum and the third product to obtain the third difference; obtaining the ratio of the third difference to the fifth preset value to obtain the third speed.

[0058] The above deviation error can be a value used to represent the offset between the target vehicle and the target position, which is not specifically limited. In this embodiment, e can be used as an example for explanation; the first preset deviation can be the maximum deviation set in advance by the user that the vehicle can travel at a certain speed. The specific value is not limited. In this implementation, 10cm can be used as an example for explanation; the third preset speed is the minimum speed at which the vehicle can travel, and the third speed is not 0. In this embodiment, V min The third preset value may be a constant, and the specific value may be set by the user according to the usage. In this implementation, 3 is taken as an example for explanation. The second preset deviation may be the minimum deviation set in advance by the user for the vehicle to travel at a certain speed. The specific value is not limited. In this implementation, 5 cm may be taken as an example for explanation. The fourth preset value may be a constant set in advance by the user, and the specific value is not limited. In this implementation, 10 may be taken as an example for explanation. The fifth preset value may be a constant set in advance by the user, and the specific value is not limited. In this implementation, 7 may be taken as an example for explanation. The values ​​of the constants are all derived based on the derivation of linear piecewise functions.

[0059] The specific calculation formula of the third speed is as follows:

[0060]

[0061] Among them, 10cm is the first preset deviation, 5cm is the second preset deviation, V min is the third preset speed, 3 is the third preset value, 10 is the fourth preset value, 7 is the fifth preset value, V min -V max is the second difference, (V min -V max )e is the first product, 10V max For the second product, 3V min is the third product, (V min -V max )e+10V max is the target and value, (V min -V max )e+10V max -3V min The third difference.

[0062] In an optional embodiment, when the deviation error e is greater than 10 cm, the third speed is 3V min , when the deviation error is less than or equal to 5cm, the third speed is the second preset speed (i.e. V max ), when the deviation error is greater than 5cm and less than or equal to 10cm, the third speed is The third speed decreases as the deviation error increases.

[0063] Combine the following Figure 3 This embodiment is further described.

[0064] Figure 3 1 is a flowchart of a method step of an optional vehicle speed control method according to an embodiment of the present invention, and the specific steps are as follows:

[0065] Step S301: Obtaining sensor obstacle information and parking path information through the CAN bus;

[0066] Step S302: Determine whether the parking condition is met, that is, whether the first distance is less than 20 cm. If so, proceed to step S303; if so, proceed to steps S304, S305, and S306;

[0067] Step S303: the parking condition is not met and the vehicle speed is 0;

[0068] Step S304: obtaining a first speed according to the real-time remaining distance between the current vehicle and the target position, wherein the first speed decreases as the real-time remaining distance decreases. When the real-time distance is equal to 0, the first speed is also 0;

[0069] Step S305: obtaining a second speed according to the path curvature of the current vehicle driving road, wherein the second speed decreases as the path curvature increases;

[0070] Step S306: obtaining a third speed according to the deviation error between the current vehicle and the target position, wherein the third speed decreases as the deviation error increases;

[0071] Step S307: Obtain the minimum speed among the first speed, the second speed and the third speed to obtain the final vehicle speed.

[0072] The present invention proposes an automatic parking speed control method, which plans the vehicle speed according to the remaining distance, path curvature, and lateral error, improves parking efficiency and saves time while ensuring the safety and stability of the parking process.

[0073] Example 2

[0074] According to another aspect of an embodiment of the present invention, a vehicle speed control device is also provided, which can execute the vehicle speed control method provided in the above embodiment 1. The specific implementation method and preferred application scenario are the same as those of the above embodiment 1 and will not be repeated here.

[0075] Figure 4 is a schematic diagram of the structure of a vehicle speed control device according to an embodiment of the present invention. Figure 4As shown, the device includes: an acquisition module 40, which is used to acquire obstacle information sensed by a sensor installed on the current vehicle, and path information of the current vehicle, wherein the obstacle information at least includes a first distance between the current vehicle and the obstacle, and the path information includes: a second distance between the current vehicle and a target position, a path curvature of the road on which the current vehicle is traveling, and a deviation error between the current vehicle and the target position; a determination module 42, which is used to determine the vehicle speed of the current vehicle based on the obstacle information and the path information.

[0076] Optionally, the determination module includes: a comparison unit, used to compare the first distance with the first preset distance to obtain a comparison result; a control unit, used to control the speed of the current vehicle to be reduced to the first preset speed in response to the first distance being less than the first preset distance; and a determination unit, used to determine the vehicle speed based on the path information in response to the first distance being greater than or equal to the first preset distance.

[0077] Optionally, the determination unit includes: a first determination subunit, used to determine a first speed of the current vehicle based on the second distance; a second determination subunit, used to determine a second speed of the current vehicle based on a path curvature; a third determination subunit, used to determine a third speed of the current vehicle based on a deviation error; and a determination subunit, used to obtain the minimum speed among the first speed, the second speed, and the third speed to obtain the vehicle speed.

[0078] Optionally, the first determination subunit is used to: in response to the second distance being greater than the second preset distance, determine the first speed as the second preset speed; in response to the second distance being less than or equal to the second preset distance, determine the first speed based on the second distance, the second preset distance and the second preset speed, wherein the second preset distance is used to characterize the initial distance between the current vehicle and the target position.

[0079] Optionally, the first determination subunit is further used to: determine a first coefficient based on the second distance and a second preset distance; and obtain the product of the first coefficient and the second preset speed to obtain the first speed.

[0080] Optionally, the acquisition module includes: a first determination unit, used to determine multiple preview points; a second determination unit, used to determine multiple corresponding preview point curvatures based on the multiple preview points; and a third determination unit, used to determine the path curvature based on the multiple preview points and the multiple preview point curvatures.

[0081] Optionally, the second determining subunit is used to: determine a second coefficient based on the path curvature; and obtain the product of the second coefficient and a second preset speed to obtain a second speed.

[0082] Optionally, the second determination subunit is further used to: obtain the ratio of the path curvature to the first preset value to obtain a first ratio; obtain the difference between the second preset value and the first ratio to obtain a first difference; obtain the square value of the first difference to obtain a second coefficient.

[0083] Optionally, the third determination subunit is used to: in response to the offset error being greater than the first preset deviation, determine the third speed as the product of the third preset speed and the third preset value; in response to the offset error being less than or equal to the second preset deviation, determine the third speed as the product of the second preset speed and a fourth preset value; in response to the offset error being greater than the second preset deviation and less than or equal to the first preset deviation, obtain the third speed based on the offset error, the second preset speed and the third preset speed.

[0084] Optionally, the third determination subunit is also used to: obtain the difference between the third preset speed and the second preset speed to obtain the second difference; obtain the product of the second difference and the offset error to obtain the first product; obtain the product of the second preset speed and the fourth preset value to obtain the second product; obtain the product of the third preset speed and the third preset value to obtain the third product; obtain the sum of the first product and the second product to obtain the target sum; obtain the difference between the target sum and the third product to obtain the third difference; obtain the ratio of the third difference to the fifth preset value to obtain the third speed.

[0085] Example 3

[0086] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle speed control method described in the above-mentioned embodiment 1.

[0087] Example 4

[0088] According to another aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein the vehicle control method described in the above-mentioned embodiment 1 is executed when the program is run.

[0089] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0090] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0091] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 units or modules, which can be electrical or other forms.

[0092] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0093] In addition, each functional unit in each embodiment of the present invention 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.

[0094] 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 computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a 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: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0095] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling vehicle speed, characterized in that: include: Obtaining obstacle information sensed by a sensor installed on the current vehicle and path information of the current vehicle, wherein the obstacle information at least includes a first distance between the current vehicle and the obstacle, and the path information includes: a second distance between the current vehicle and a target position, a path curvature of the road on which the current vehicle is traveling, and a deviation error between the current vehicle and the target position; The first distance is compared with a first preset distance to obtain a comparison result; in response to the first distance being greater than or equal to the first preset distance, the vehicle speed is determined based on the path information; the vehicle speed is determined based on the path information, including: determining the first speed of the current vehicle according to the second distance; determining the second speed of the current vehicle according to the path curvature; determining the third speed of the current vehicle according to the deviation error; obtaining the minimum speed among the first speed, the second speed, and the third speed to obtain the vehicle speed; determining the first speed of the current vehicle according to the second distance, including: in response to the second distance being greater than the second preset distance, determining the first speed as the second preset speed; in response to the second distance being less than or equal to the second preset distance, determining the first speed based on the second distance, the second preset distance and the second preset speed, wherein the second preset distance is used to characterize the initial distance between the current vehicle and the target position.

2. The method according to claim 1, characterized in that Determining a vehicle speed of the current vehicle based on the obstacle information and the path information includes: In response to the first distance being less than the first preset distance, the speed of the current vehicle is controlled to decrease to a first preset speed.

3. The method according to claim 1, characterized in that Determining the first speed based on the second distance, the second preset distance, and the second preset speed includes: Determining a first coefficient based on the second distance and the second preset distance; The first speed is obtained by multiplying the first coefficient by the second preset speed.

4. The method according to claim 1, characterized in that: Obtaining the path curvature of the current vehicle driving road includes: Determine multiple preview points; Based on the plurality of preview points, determining a plurality of corresponding preview point curvatures; The path curvature is determined based on the plurality of preview points and the plurality of preview point curvatures.

5. The method according to claim 1, determining the second speed of the current vehicle according to the path curvature, comprising: determining a second coefficient based on the path curvature; The product of the second coefficient and the second preset speed is obtained to obtain the second speed.

6. The method according to claim 5, determining a second coefficient based on the path curvature, comprising: Obtaining a ratio of the path curvature to a first preset value to obtain a first ratio; Obtaining a difference between a second preset value and the first ratio to obtain a first difference; Obtain the square value of the first difference to obtain the second coefficient.

7. The method according to claim 1, characterized in that Determining a third speed of the current vehicle according to the deviation error includes: In response to the deviation error being greater than a first preset deviation, determining the third speed to be a product of a third preset speed and a third preset value; In response to the deviation error being less than or equal to a second preset deviation, determining the third speed to be a second preset speed; In response to the deviation error being greater than the second preset deviation and less than or equal to the first preset deviation, the third speed is obtained based on the deviation error, the second preset speed, and the third preset speed.

8. The method according to claim 7, obtaining the third speed based on the deviation error, the second preset speed and the third preset speed, comprising: Obtaining a difference between the third preset speed and the second preset speed to obtain a second difference; Obtaining a product of the second difference and the deviation error to obtain a first product; Obtaining a product of the second preset speed and a fourth preset value to obtain a second product; Obtaining a product of the third preset speed and the third preset value to obtain a third product; Obtaining a sum of the first product and the second product to obtain a target sum; Obtaining a difference between the target sum value and the third product to obtain a third difference; The ratio of the third difference to the fifth preset value is obtained to obtain the third speed.

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