Method, apparatus, electronic device and medium for controlling the running speed of an autonomous vehicle

Abstract

The present invention provides a method, apparatus, electronic device and medium for controlling the running speed of an autonomous vehicle. The method includes: obtaining road spectrum information of a to-be-processed area, and obtaining reference vehicle information of the autonomous vehicle corresponding to the road spectrum information; constructing an association database based on the road spectrum information and the reference vehicle information; obtaining preset vehicle information of the autonomous vehicle, and determining a target running speed range of the autonomous vehicle based on the preset vehicle information and the association database; determining a speed regulation strategy for the autonomous vehicle based on the target running speed range, and controlling the running speed of the autonomous vehicle according to the speed regulation strategy. The present invention improves the safety of the autonomous vehicle during operation and the service efficiency of the autonomous vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle speed regulation, and particularly relates to a method, device, electronic device and medium for regulating the running speed of an autonomous vehicle. Background Art

[0002] With the rapid development and application of Internet technology, the logistics industry has developed rapidly. The traditional management mode can no longer meet the needs of the logistics industry, and the logistics industry is developing towards intelligence. At present, the logistics industry is transforming towards unmanned, automated, and high-tech directions. And intelligent logistics will provide consumers with diversified and personalized products and services. Many domestic and foreign enterprises have developed batch after batch of intelligent autonomous logistics vehicles with the goal of continuously improving the timeliness and flexibility of logistics distribution. Since the development of the autonomous driving field to date, improving the safety of intelligent autonomous logistics vehicles in service and achieving refined coordinated speed regulation have become one of the important factors considered in the actual operation process.

[0003] The driving speed of autonomous vehicles in the prior art is usually preset and calibrated in advance on a constructed map, and the changes in the road surface cannot be predicted, resulting in poor real-time update of the driving speed of autonomous vehicles, low safety during the operation of autonomous vehicles, insufficient refinement in speed regulation, and low service efficiency of automated driving vehicles. Summary of the Invention

[0004] In view of this, it is necessary to provide a method, device, electronic device and medium for controlling the running speed of an autonomous vehicle to solve the technical problems of low safety and low service efficiency of autonomous vehicles in the prior art during operation.

[0005] On the one hand, the present invention provides a method for controlling the running speed of an autonomous vehicle, including:

[0006] Obtaining the road spectrum information of the area to be processed, and obtaining the reference vehicle information of the autonomous vehicle corresponding to the road spectrum information;

[0007] Constructing an association database based on the road spectrum information and the reference vehicle information;

[0008] Obtaining the preset vehicle information of the autonomous vehicle, and determining the target running speed range of the autonomous vehicle based on the preset vehicle information and the association database;

[0009] Determining the speed regulation strategy of the autonomous vehicle based on the target running speed range, and controlling the running speed of the autonomous vehicle according to the speed regulation strategy.

[0010] In some possible implementation manners, the road spectrum information includes real road spectrum information and simulated road spectrum information. Obtaining the road spectrum information of the area to be processed includes:

[0011] Obtaining the real road spectrum information based on real autonomous vehicles and real scenarios;

[0012] Obtaining the simulated road spectrum information based on simulated autonomous vehicles and simulated scenarios.

[0013] In some possible implementation manners, the reference vehicle information includes real reference vehicle information. Obtaining the road spectrum information of the area to be processed and obtaining the reference vehicle information of the autonomous vehicle corresponding to the road spectrum information includes:

[0014] Obtaining the road load spectrum and vehicle body acceleration data of the area to be processed in the real scenario based on sensors installed on the real autonomous vehicle and a preset test scheme;

[0015] Determining the real road spectrum information based on the road load spectrum;

[0016] Determining the real reference vehicle information based on the vehicle body acceleration data.

[0017] In some possible implementation manners, the reference vehicle information includes simulated reference vehicle information. Obtaining the road spectrum information of the area to be processed and obtaining the reference vehicle information of the autonomous vehicle corresponding to the road spectrum information includes:

[0018] Building the simulated autonomous vehicle and the simulated scenario;

[0019] Determining the simulated road spectrum information based on the simulated autonomous vehicle and the simulated scenario;

[0020] Performing a ride comfort simulation analysis on the simulated autonomous vehicle based on the simulated road spectrum information to obtain the reference vehicle information.

[0021] In some possible implementation manners, the reference vehicle information includes a vehicle reference operating speed range, and the preset vehicle information includes a vehicle preset operating speed range. Based on the preset vehicle information and the associated database to determine the target operating speed range of the autonomous vehicle includes:

[0022] Judging whether there is a vehicle reference operating speed range in the associated database whose overlap with the preset operating speed range is greater than or equal to an overlap threshold;

[0023] If there is a vehicle reference operating speed range in the associated database whose overlap with the preset operating speed range is greater than or equal to the overlap threshold, then determine the vehicle reference operating speed range as the target operating speed range.

[0024] In some possible implementation manners, the target operating speed range includes a minimum operating speed and a maximum operating speed; the determining the speed regulation strategy of the autonomous vehicle based on the target operating speed range includes:

[0025] Obtain the real-time state of the autonomous vehicle, and establish a vehicle stability control model based on the real-time state of the vehicle;

[0026] Determine the speed regulation strategy based on the minimum operating speed, the maximum operating speed, and the vehicle stability control model.

[0027] In some possible implementation manners, the road spectrum information includes uneven road surface position information, and the preset vehicle information includes real-time vehicle position information; the method for controlling the operating speed of the autonomous vehicle further includes:

[0028] Obtain the real-time vibration amplitude of the autonomous vehicle, and determine whether to control the speed of the autonomous vehicle according to the real-time vibration amplitude and a preset vibration amplitude;

[0029] and / or

[0030] Determine whether to control the speed of the autonomous vehicle based on the uneven road surface position information and the real-time vehicle position information.

[0031] On the other hand, the present invention further provides an apparatus for controlling the operating speed of an autonomous vehicle, including:

[0032] An information acquisition unit, configured to acquire road spectrum information of a to-be-processed area, and acquire reference vehicle information of an autonomous vehicle corresponding to the road spectrum information;

[0033] An associated database construction unit, configured to construct an associated database based on the road spectrum information and the reference vehicle information;

[0034] A target operating speed range determination unit, configured to acquire preset vehicle information of the autonomous vehicle, and determine a target operating speed range of the autonomous vehicle based on the preset vehicle information and the associated database;

[0035] A speed regulation unit, configured to determine a speed regulation strategy of the autonomous vehicle based on the target operating speed range, and control the operating speed of the autonomous vehicle according to the speed regulation strategy.

[0036] On the other hand, the present invention also provides an electronic device, including a memory and a processor, wherein,

[0037] the memory is used for storing a program;

[0038] the processor is coupled with the memory and is used for executing the program stored in the memory to implement the steps in the method for controlling the running speed of an autonomous driving vehicle in any of the above implementation manners.

[0039] On the other hand, the present invention also provides a computer-readable storage medium for storing computer-readable programs or instructions, and when the programs or instructions are executed by a processor, the steps in the method for controlling the running speed of an autonomous driving vehicle in any of the above implementation manners can be implemented.

[0040] The beneficial effects of adopting the above embodiments are as follows: For the method for controlling the running speed of an autonomous driving vehicle provided by the present invention, firstly, the road spectrum information of the area to be processed is obtained, and the reference vehicle information of the autonomous driving vehicle corresponding to the road spectrum information is obtained. Secondly, an association database is constructed based on the road spectrum information and the reference vehicle information. Then, the running speed of the autonomous driving vehicle is regulated based on the association database. Compared with presetting the running speed in the prior art, the present invention regulates the speed of the autonomous driving vehicle through the obtained road spectrum information and reference vehicle information, can consider the influence of different road surface flatness on the running speed of the autonomous driving vehicle, improve the safety of the autonomous driving vehicle during operation, and can improve the service efficiency of the autonomous driving vehicle. Further, the present invention also sets that after determining the target running speed range of the autonomous driving vehicle, a speed regulation strategy of the autonomous driving vehicle is determined based on the target running speed range to achieve refined speed regulation, which can further effectively reduce the energy consumption of the autonomous driving vehicle and can further improve the service efficiency of the autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those skilled in the art can obtain other drawings without creative efforts based on these drawings.

[0042] Figure 1 It is a schematic flowchart of an embodiment of the method for controlling the running speed of an autonomous driving vehicle provided by the present invention;

[0043] Figure 2 For the present invention Figure 1 It is a schematic flowchart of an embodiment of obtaining the road spectrum information of the area to be processed in S101 of the present invention;

[0044] Figure 3 An embodiment flowchart of S101 in the present invention Figure 1 ;

[0045] Figure 4 Another embodiment flowchart of S101 in the present invention Figure 1 ;

[0046] Figure 5 An embodiment flowchart of S103 in the present invention Figure 1 ;

[0047] Figure 6 An embodiment flowchart of S104 in the present invention Figure 1 ;

[0048] Figure 7 A schematic structural diagram of an embodiment of the automatic driving vehicle running speed control device provided by the present invention

[0049] Figure 8 A schematic structural diagram of an embodiment of the electronic device provided by the present invention Detailed implementation manners

[0050] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention

[0051] It should be understood that the schematic drawings are not drawn to scale in kind. The flowcharts used in the present invention illustrate the operations implemented according to some embodiments of the present invention. It should be understood that the operations in the flowchart may not be implemented in sequence, and the steps without logical context relationships may be reversed or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of the present invention

[0052] In the description of the embodiments of the present invention, "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone, these three situations

[0053] Some of the block diagrams shown in the drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor systems and / or microcontroller systems

[0054] As used herein, the mention of "embodiments" means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0055] Before presenting the embodiments, the following terms are explained first.

[0056] Road spectrum: Refers to the road surface spectrum, abbreviated as road spectrum, which is the power spectral density curve of road surface unevenness.

[0057] The present invention provides a method, device, electronic device, and medium for controlling the running speed of an autonomous vehicle, which will be described separately below.

[0058] Figure 1 It is a schematic flowchart of an embodiment of the method for controlling the running speed of an autonomous vehicle provided by the present invention. As Figure 1 shown, the method for controlling the running speed of an autonomous vehicle includes:

[0059] S101. Obtain the road spectrum information of the area to be processed, and obtain the reference vehicle information of the autonomous vehicle corresponding to the road spectrum information;

[0060] S102. Construct an association database based on the road spectrum information and the reference vehicle information;

[0061] S103. Obtain the preset vehicle information of the autonomous vehicle, and determine the target running speed range of the autonomous vehicle based on the preset vehicle information and the association database;

[0062] S104. Determine the speed regulation strategy of the autonomous vehicle based on the target running speed range, and control the running speed of the autonomous vehicle according to the speed regulation strategy.

[0063] Compared with the prior art, the method for controlling the running speed of an autonomous vehicle provided by the embodiment of the present invention first obtains the road spectrum information of the area to be processed and obtains the reference vehicle information of the autonomous vehicle corresponding to the road spectrum information. Secondly, an association database is constructed based on the road spectrum information and the reference vehicle information. Then, the running speed of the autonomous vehicle is regulated based on the association database. Compared with presetting the running speed in advance in the prior art, the present invention regulates the speed of the autonomous vehicle through the obtained road spectrum information and reference vehicle information, can consider the influence of different road surface flatness on the running speed of the autonomous vehicle, improve the safety of the autonomous vehicle during operation, and can improve the service efficiency of the autonomous vehicle. Further, in the embodiment of the present invention, after determining the target running speed range of the autonomous vehicle, a speed regulation strategy of the autonomous vehicle is determined based on the target running speed range to achieve fine-tuning of the speed, which can further effectively reduce the energy consumption of the autonomous vehicle and can further improve the service efficiency of the autonomous vehicle.

[0064] It should be noted that: the area to be processed in step S101 can be part or all of the driving area for the autonomous vehicle to drive. For example: when the autonomous vehicle is driving in a workshop, the area to be processed can be the entire workshop or part of the workshop.

[0065] In order to increase the amount of data in the constructed association database to facilitate improving the effectiveness of the method for controlling the running speed of an autonomous vehicle, it is necessary to obtain diverse and large amounts of road spectrum information. In order to avoid only obtaining real road spectrum information and causing technical problems such as poor diversity of road spectrum information in the association database due to the single road spectrum information of the real area to be processed, and to avoid only obtaining simulated road spectrum information and causing technical problems such as inaccuracy and distortion of the association database due to the large difference between the simulated area to be processed and the real area to be processed, in some embodiments of the present invention, the road spectrum information includes real road spectrum information and simulated road spectrum information. As Figure 2 shown, obtaining the road spectrum information of the area to be processed in step S101 includes:

[0066] S201. Obtain real road spectrum information based on a real autonomous vehicle and a real scenario;

[0067] S202. Obtain simulated road spectrum information based on a simulated autonomous vehicle and a simulated scenario.

[0068] By simultaneously obtaining real road spectrum information and simulated road spectrum information in the embodiment of the present invention, the diversity and authenticity of the road spectrum information can be taken into account, and thus the reliability and safety of the method for controlling the running speed of an autonomous vehicle can be improved.

[0069] In some embodiments of the present invention, the reference vehicle information includes real reference vehicle information; then as Figure 3As shown, step S101 includes:

[0070] S301. Based on the sensors installed on the real autonomous driving vehicle and the preset test scheme, obtain the road load spectrum and vehicle body acceleration data of the area to be processed in the real scenario;

[0071] S302. Determine the real road spectrum information based on the road load spectrum;

[0072] S303. Determine the real reference vehicle information based on the vehicle body acceleration data.

[0073] It should be noted that: the installation position of the sensor should be set according to key parameters such as the stiffness and damping ratio of the autonomous driving vehicle to improve the accuracy of the obtained road load spectrum and vehicle body acceleration data.

[0074] Among them, the stiffness and damping ratio of the autonomous driving vehicle can be obtained through vehicle body dynamics simulation analysis.

[0075] In some embodiments of the present invention, step S303 is specifically: complete the coherence analysis of the road surface roughness and the vehicle body vibration acceleration according to the vehicle body acceleration data, and determine the real reference vehicle information based on the wavelet analysis theory and the coherence analysis of the road surface roughness and the vehicle body vibration acceleration.

[0076] In some embodiments of the present invention, the reference vehicle information includes simulation reference vehicle information; then as Figure 4 shown, step S101 includes:

[0077] S401. Build a simulation autonomous driving vehicle and a simulation scenario;

[0078] S402. Determine the simulation road spectrum information based on the simulation autonomous driving vehicle and the simulation scenario;

[0079] S403. Perform ride comfort simulation analysis on the simulation autonomous driving vehicle based on the simulation road spectrum information to obtain the reference vehicle information.

[0080] Among them, step S401 is specifically: use 3D drawing software to draw the 3D structure model of the vehicle body of the autonomous driving vehicle; simplify the 3D structure model of the vehicle body to obtain the simulation autonomous driving vehicle.

[0081] In some embodiments of the present invention, the reference vehicle information includes the reference vehicle operating speed range, and the preset vehicle information includes the preset vehicle operating speed range; then as Figure 5 shown, step S103 includes:

[0082] S501. Determine whether there is a vehicle reference operating speed range in the associated database whose coincidence degree with the preset operating speed range is greater than or equal to the coincidence degree threshold;

[0083] S502. If there is a vehicle reference operating speed range in the associated database whose overlap with the preset operating speed range is greater than or equal to the overlap threshold, then determine the vehicle reference operating speed range as the target operating speed range.

[0084] It should be understood that: the overlap threshold can be adjusted and set according to the actual road conditions and speed control accuracy, and will not be specifically elaborated here.

[0085] It should be noted that: in order to ensure the driving safety of the autonomous vehicle, if there is no vehicle reference operating speed range in the associated database whose overlap with the preset operating speed range is greater than or equal to the overlap threshold, then control the autonomous vehicle to stop and prompt the staff to update or adjust the associated database.

[0086] In some embodiments of the present invention, the target operating speed range includes a minimum operating speed and a maximum operating speed; as Figure 6 shown, step S104 includes:

[0087] S601. Obtain the real-time state of the autonomous vehicle, and establish a vehicle stability control model based on the real-time state of the vehicle;

[0088] S602. Determine a speed regulation strategy based on the minimum operating speed, the maximum operating speed, and the vehicle stability control model.

[0089] By determining a speed regulation strategy based on the minimum operating speed, the maximum operating speed, and the vehicle stability control model in the embodiments of the present invention, it can be ensured that the vehicle always travels in a relatively stable state, further improving the fineness of speed regulation for the autonomous vehicle, and further improving the safety and service efficiency of the autonomous vehicle.

[0090] It should be understood that: the vehicle stability control model includes, but is not limited to, the correlation between vehicle stability and vehicle driving speed. Based on the vehicle stability control model, the vehicle driving speed can be increased while ensuring vehicle stability, because it can improve the safety and service efficiency of the autonomous vehicle.

[0091] It should be noted that: the speed regulation device of the autonomous vehicle in the embodiments of the present invention is a motor. Since the motor has no anti-lock braking system, therefore, in order to further improve the safety of the autonomous vehicle during operation, the speed change value of each deceleration of the autonomous vehicle is not less than the threshold speed change value. By setting the speed change value of each deceleration of the autonomous vehicle to be not less than the threshold speed change value, technical problems such as the tipping of the autonomous vehicle caused by a sudden large reduction in speed can be avoided, and the safety of the autonomous vehicle during operation can be further improved.

[0092] Further, since real roads are uneven, and when the unevenness of the road is small, in order to avoid material waste caused by the operation of the automatic driving vehicle speed control method, in some embodiments of the present invention, the automatic driving vehicle speed control method further includes: determining whether it is necessary to control the running speed of the automatic driving vehicle.

[0093] Specifically, determining whether it is necessary to control the running speed of the automatic driving vehicle includes:

[0094] Obtaining the real-time vibration amplitude of the automatic driving vehicle, and determining whether to control the speed of the automatic driving vehicle according to the real-time vibration amplitude and the preset vibration amplitude;

[0095] And / or,

[0096] Based on the uneven road surface position information and the vehicle real-time position information, determining whether to control the speed of the automatic driving vehicle.

[0097] In the embodiments of the present invention, by setting the above two methods to determine whether to control the speed of the automatic driving vehicle, unnecessary speed control can be avoided, and material consumption can be reduced. Moreover, by providing two methods to determine whether to control the speed of the automatic driving vehicle, the diversity of the determination method can also be improved.

[0098] Among them, determining whether to control the speed of the automatic driving vehicle according to the real-time vibration amplitude and the preset vibration amplitude is specifically: when the real-time vibration amplitude is greater than the preset vibration amplitude, controlling the speed of the automatic driving vehicle.

[0099] In a specific application example, when a large stone appears on a relatively flat road due to human reasons, the automatic driving vehicle will decelerate when passing the stone to improve the running safety of the automatic driving vehicle.

[0100] Among them, determining whether to control the speed of the automatic driving vehicle based on the uneven road surface position information and the vehicle real-time position information is specifically: if the vehicle real-time position information coincides with the uneven road surface position information, controlling the speed of the automatic driving vehicle.

[0101] In a specific application example, when there is a crosswalk on the road surface, if the automatic driving vehicle will decelerate when passing the crosswalk to improve the running safety of the automatic driving vehicle.

[0102] In order to better implement the automatic driving vehicle speed control method in the embodiments of the present invention, correspondingly, on the basis of the automatic driving vehicle speed control method, as Figure 7 shown, the embodiments of the present invention further provide an automatic driving vehicle speed control device. The automatic driving vehicle speed control device 700 includes:

[0103] An information acquisition unit 701 is configured to acquire road spectrum information of a to-be-processed area and acquire reference vehicle information of an autonomous driving vehicle corresponding to the road spectrum information;

[0104] An associated database construction unit 702 is configured to construct an associated database based on the road spectrum information and the reference vehicle information;

[0105] A target operating speed range determination unit 703 is configured to acquire preset vehicle information of the autonomous driving vehicle and determine a target operating speed range of the autonomous driving vehicle based on the preset vehicle information and the associated database;

[0106] A speed regulation unit 704 is configured to determine a speed regulation strategy of the autonomous driving vehicle based on the target operating speed range and control the operating speed of the autonomous driving vehicle according to the speed regulation strategy.

[0107] The autonomous driving vehicle operating speed control device 700 provided in the above embodiment can implement the technical solutions described in the above embodiment of the autonomous driving vehicle operating speed control method. The specific implementation principles of the above modules or units can be referred to the corresponding content in the above embodiment of the autonomous driving vehicle operating speed control method, which will not be elaborated here.

[0108] As Figure 8 shown, the present invention also correspondingly provides an electronic device 800. The electronic device 800 includes a processor 801, a memory 802, and a display 803. Figure 8 Only some components of the electronic device 800 are shown, but it should be understood that it is not required to implement all the shown components, and more or fewer components can be alternatively implemented.

[0109] The processor 801 may be a central processing unit (CPU), a microprocessor, or other data processing chips in some embodiments, and is configured to run program codes stored in the memory 802 or process data, such as the autonomous driving vehicle operating speed control method in the present invention.

[0110] In some embodiments, the processor 801 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, the processor 801 may be local or remote. In some embodiments, the processor 801 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-cloud, etc., or any combination of the above.

[0111] The memory 802 may be an internal storage unit of the electronic device 800 in some embodiments, such as the hard disk or memory of the electronic device 800. The memory 802 may also be an external storage device of the electronic device 800 in other embodiments, such as a plug-in hard disk equipped on the electronic device 800, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0112] Furthermore, the memory 802 may include both the internal storage unit of the electronic device 800 and the external storage device. The memory 802 is used to store the application software installed in the electronic device 800 and various types of data.

[0113] The display 803 may be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. in some embodiments. The display 803 is used to display the information in the electronic device 800 and to display the visual user interface. The components 801-803 of the electronic device 800 communicate with each other through the system bus.

[0114] In one embodiment, when the processor 801 executes the automatic driving vehicle running speed control program in the memory 802, the following steps may be implemented:

[0115] Obtain the road spectrum information of the area to be processed, and obtain the reference vehicle information of the autonomous driving vehicle corresponding to the road spectrum information;

[0116] Construct an association database based on the road spectrum information and the reference vehicle information;

[0117] Obtain the preset vehicle information of the autonomous driving vehicle, and determine the target running speed range of the autonomous driving vehicle based on the preset vehicle information and the association database;

[0118] Determine the speed regulation strategy of the autonomous driving vehicle based on the target running speed range, and control the running speed of the autonomous driving vehicle according to the speed regulation strategy.

[0119] It should be understood that when the processor 801 executes the automatic driving vehicle running speed control program in the memory 802, in addition to the above functions, other functions may also be implemented. For details, please refer to the description of the corresponding method embodiments above.

[0120] Furthermore, embodiments of the present invention do not specifically limit the type of the mentioned electronic device 800. The electronic device 800 may be a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop, or other portable electronic devices. Exemplary embodiments of the portable electronic device include, but are not limited to, portable electronic devices running IOS, android, microsoft, or other operating systems. The above portable electronic devices may also be other portable electronic devices, such as a laptop with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 800 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0121] Correspondingly, an embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium is used to store computer-readable programs or instructions. When the programs or instructions are executed by a processor, the steps or functions in the above method embodiments for controlling the running speed of an autonomous vehicle can be implemented.

[0122] Those skilled in the art can understand that all or part of the processes of implementing the above method embodiments can be completed by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program. The computer program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a magnetic disk, an optical disk, a read-only memory, or a random access memory, etc.

[0123] The above has introduced in detail the method, device, electronic device, and medium for controlling the running speed of an autonomous vehicle provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A method for controlling the running speed of an autonomous vehicle, characterized in that, Including: Obtain the road spectrum information of the area to be processed, and obtain the reference vehicle information of the autonomous driving vehicle corresponding to the road spectrum information, where the reference vehicle information includes the vehicle reference operating speed range; Construct an association database based on the road spectrum information and the reference vehicle information; Obtain the preset vehicle information of the autonomous driving vehicle, and determine the target operating speed range of the autonomous driving vehicle based on the preset vehicle information and the association database, where the preset vehicle information includes the vehicle preset operating speed range; Determine the speed regulation strategy of the autonomous driving vehicle based on the target operating speed range, and control the operating speed of the autonomous driving vehicle according to the speed regulation strategy; Determining the target operating speed range of the autonomous driving vehicle based on the preset vehicle information and the association database includes: Judge whether there is a vehicle reference operating speed range in the association database whose overlap with the preset operating speed range is greater than or equal to the overlap threshold; If there is a vehicle reference operating speed range in the association database whose overlap with the preset operating speed range is greater than or equal to the overlap threshold, then determine the vehicle reference operating speed range as the target operating speed range.

2. The method for controlling the running speed of an autonomous vehicle according to claim 1, wherein The road spectrum information includes real road spectrum information and simulation road spectrum information. Obtaining the road spectrum information of the area to be processed includes: Obtain the real road spectrum information based on a real autonomous driving vehicle and a real scenario; Obtain the simulation road spectrum information based on a simulated autonomous driving vehicle and a simulated scenario.

3. The method for controlling the running speed of an autonomous vehicle according to claim 2, wherein, The reference vehicle information includes real reference vehicle information. Obtaining the road spectrum information of the area to be processed and obtaining the reference vehicle information of the autonomous driving vehicle corresponding to the road spectrum information includes: Based on the sensors installed on the real autonomous driving vehicle and a preset test plan, obtain the road load spectrum and vehicle body acceleration data of the area to be processed in the real scenario; Determine the real road spectrum information based on the road load spectrum; Determine the real reference vehicle information based on the vehicle body acceleration data.

4. The method for controlling the running speed of an autonomous vehicle according to claim 2, wherein The reference vehicle information includes simulation reference vehicle information. Obtaining the road spectrum information of the area to be processed and obtaining the reference vehicle information of the autonomous driving vehicle corresponding to the road spectrum information includes: Build the simulated autonomous driving vehicle and the simulated scenario; Determine the simulation road spectrum information based on the simulated autonomous driving vehicle and the simulated scenario; Conduct a ride comfort simulation analysis on the simulated autonomous driving vehicle based on the simulation road spectrum information to obtain the reference vehicle information.

5. The method for controlling the running speed of an autonomous vehicle according to claim 1, wherein The target operating speed range includes the minimum operating speed and the maximum operating speed. Determining the speed regulation strategy of the autonomous driving vehicle based on the target operating speed range includes: Obtain the real-time state of the autonomous driving vehicle, and establish a vehicle stability control model based on the real-time state of the vehicle; Determine the speed regulation strategy based on the minimum operating speed, the maximum operating speed, and the vehicle stability control model.

6. The method for controlling the running speed of an autonomous vehicle according to claim 1, wherein The road spectrum information includes uneven road surface position information, and the preset vehicle information includes vehicle real-time position information; The method for controlling the running speed of the autonomous vehicle further includes: Obtaining the real-time vibration amplitude of the autonomous vehicle, and determining whether to control the speed of the autonomous vehicle according to the real-time vibration amplitude and a preset vibration amplitude; And / or, Judging whether to control the speed of the autonomous vehicle based on the uneven road surface position information and the real-time vehicle position information.

7. An operating speed control device for an autonomous vehicle, characterized in that, It includes: An information acquisition unit, configured to acquire the road spectrum information of the area to be processed, and acquire the reference vehicle information of the autonomous vehicle corresponding to the road spectrum information, where the reference vehicle information includes a vehicle reference running speed range; An associated database construction unit, configured to construct an associated database based on the road spectrum information and the reference vehicle information; A target running speed range determination unit, configured to acquire the preset vehicle information of the autonomous vehicle, and determine the target running speed range of the autonomous vehicle based on the preset vehicle information and the associated database, where the preset vehicle information includes a vehicle preset running speed range; A speed regulation unit, configured to determine the speed regulation strategy of the autonomous vehicle based on the target running speed range, and control the running speed of the autonomous vehicle according to the speed regulation strategy; Determining the target running speed range of the autonomous vehicle based on the preset vehicle information and the associated database includes: Judging whether there is a vehicle reference running speed range in the associated database whose coincidence degree with the preset running speed range is greater than or equal to a coincidence degree threshold; If there is a vehicle reference running speed range in the associated database whose coincidence degree with the preset running speed range is greater than or equal to the coincidence degree threshold, determining the vehicle reference running speed range as the target running speed range.

8. An electronic device, characterized in that, It includes a memory and a processor, wherein, The memory is used to store programs; The processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps in the method for controlling the running speed of the autonomous vehicle according to any one of claims 1 to 6 above.

9. A computer-readable storage medium, characterized in that, For storing computer-readable programs or instructions, the programs or instructions, when executed by the processor, can implement the steps in the method for controlling the running speed of the autonomous vehicle according to any one of claims 1 to 6 above.

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