Vehicle speed control method, device, equipment and storage medium

Abstract

The present application discloses a vehicle speed control method, apparatus, device, and storage medium. The method comprises: in response to a vehicle speed control instruction for a target rear vehicle in a target vehicle fleet, obtaining a first acceleration of the target rear vehicle and an expected adjusted speed of the target rear vehicle relative to a target front vehicle in the target vehicle fleet at the start update time of the current vehicle speed control cycle corresponding to the target rear vehicle; performing a vehicle speed control analysis on the target rear vehicle based on the expected adjusted speed, the first acceleration, a first preset duration, and a second preset duration to generate a second acceleration of the target rear vehicle; and at the moment the second acceleration is generated, controlling the target rear vehicle to adjust from the first acceleration to the second acceleration. Utilizing the technical solution provided by the present application, taking into account the impact of the response delay of the vehicle speed control analysis, i.e., the first preset duration, on vehicle speed control, the accuracy of vehicle speed control can be improved while saving computing resources through periodic vehicle speed control.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and specifically to a vehicle speed control method, device, equipment and storage medium. Background Art

[0002] With the rapid development of the domestic logistics industry, research on platooning is crucial for improving traffic efficiency. During platooning, various road factors, such as speed control for vehicles outside the platoon, interference from other vehicles entering and exiting the platoon, turning, uphill and downhill slopes, and speed limit signs, can cause the platoon's speed to vary. Therefore, speed control is necessary.

[0003] Existing vehicle speed control methods are usually real-time and continuous vehicle speed control solutions, which require a very large amount of calculation. In addition, in the actual vehicle speed control process, there is usually a certain response delay from the analysis of the vehicle speed adjustment parameters by the on-board terminal to the control of the vehicle to execute the vehicle speed adjustment parameters. The existing technology often ignores the impact of this response delay on vehicle speed control, which reduces the accuracy of vehicle speed control. Summary of the Invention

[0004] This application provides a vehicle speed control method, apparatus, device, and storage medium. Considering the impact of a response delay in vehicle speed control analysis, i.e., a first preset duration, on vehicle speed control, periodic vehicle speed control can be used to improve the accuracy of vehicle speed control while saving computing resources. The technical solutions of this application are as follows:

[0005] In one aspect, a vehicle speed control method is provided, the method comprising:

[0006] In response to a speed control instruction for a target rear vehicle in a target vehicle group, obtaining, at a start update time of a current speed control cycle corresponding to the target rear vehicle, a first acceleration of the target rear vehicle and an expected adjusted speed of the target rear vehicle relative to a target front vehicle in the target vehicle group;

[0007] performing a vehicle speed control analysis on the target following vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time duration, and the second preset time duration to generate a second acceleration of the target following vehicle;

[0008] At the moment when the second acceleration is generated, controlling the target following vehicle to adjust from the first acceleration to the second acceleration;

[0009] Based on the preset cycle duration, the current vehicle speed control cycle is updated to obtain the next vehicle speed control cycle; based on the second acceleration, the first acceleration is updated; based on the duration from the start update time of the current vehicle speed control cycle to the generation time, the first preset duration is updated; based on the duration from the generation time to the start update time of the next vehicle speed control cycle, the second preset duration is updated;

[0010] updating the expected adjusted vehicle speed at a starting update time of the next vehicle speed control cycle;

[0011] Based on the starting update time of the next vehicle speed control cycle, the updated expected adjusted vehicle speed, the updated first acceleration, the updated first preset time and the updated second preset time, jump to the vehicle speed control analysis based on the expected adjusted vehicle speed, the first acceleration, the first preset time and the second preset time, generate the second acceleration of the target rear vehicle, until the preset vehicle speed control end condition is reached.

[0012] In another aspect, a vehicle speed control device is provided, the device comprising:

[0013] an information acquisition module, configured to, in response to a speed control instruction for a target rear vehicle in a target vehicle group, acquire, at a start update time of a current speed control cycle corresponding to the target rear vehicle, a first acceleration of the target rear vehicle and an expected adjusted speed of the target rear vehicle relative to a target front vehicle in the target vehicle group;

[0014] a vehicle speed control analysis module, configured to perform a vehicle speed control analysis on the target following vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time duration, and the second preset time duration, and generate a second acceleration of the target following vehicle;

[0015] an acceleration adjustment module, configured to control the target following vehicle to adjust from the first acceleration to the second acceleration at a moment when the second acceleration is generated;

[0016] A first updating module is configured to update the current vehicle speed control cycle based on a preset cycle duration to obtain a next vehicle speed control cycle; update the first acceleration based on the second acceleration; update the first preset duration based on the duration from the start update moment of the current vehicle speed control cycle to the generation moment; and update the second preset duration based on the duration from the generation moment to the start update moment of the next vehicle speed control cycle;

[0017] a second updating module, configured to update the expected adjusted vehicle speed at a starting update time of the next vehicle speed control cycle;

[0018] The jump module is used to jump to the speed control analysis of the target rear vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time and the second preset time based on the starting update time of the next vehicle speed control cycle, the updated expected adjusted vehicle speed, the updated first acceleration, the updated first preset time and the updated second preset time, and generate the second acceleration of the target rear vehicle until the preset vehicle speed control end condition is reached.

[0019] On the other hand, a vehicle speed control device is provided, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle speed control method as described above.

[0020] On the other hand, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored. The at least one instruction or the at least one program is loaded and executed by a processor to implement the vehicle speed control method as described above.

[0021] The vehicle speed control method, device, equipment, and storage medium provided in this application have the following technical effects:

[0022] By utilizing the technical solution provided by the present application, in an application scenario of platoon speed control, at the starting update moment of the current speed control cycle, the first acceleration and the expected adjusted speed of the target rear vehicle are obtained, and considering the influence of the response delay of the speed control analysis (i.e., the first preset time length) on the speed control, the speed control analysis of the target rear vehicle is performed based on the expected adjusted speed, the first acceleration, the first preset time length, and the second preset time length, and the second acceleration of the target rear vehicle is generated. Then, at the moment of generating the second acceleration, the target rear vehicle is controlled to adjust from the first acceleration to the second acceleration, and then based on the preset cycle length, the current vehicle is updated. Speed ​​control cycle, obtain the next speed control cycle, at the starting update time of the next speed control cycle, repeat the above speed control process until the preset speed control end condition is obtained. Through periodic speed control, the accuracy of speed control can be improved on the basis of saving computing resources; in addition, based on the time from the starting update time of the current speed control cycle to the generation time, the first preset time is updated; based on the time from the generation time to the starting update time of the next speed control cycle, the second preset time is updated, the first preset time and the second preset time can be accurately adjusted, thereby further improving the accuracy of speed control. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 This is a flow chart of a vehicle speed control method provided in an embodiment of the present application;

[0025] Figure 2 1 is a flow chart of a method for obtaining an expected adjusted vehicle speed provided in an embodiment of the present application;

[0026] Figure 3 This is a flow chart of an embodiment of the present application providing a method for performing a speed control analysis on a target following vehicle based on an expected adjusted vehicle speed, a first acceleration, a first preset duration, and a second preset duration to generate a second acceleration of the target following vehicle;

[0027] Figure 4 This is a flowchart of a method for updating a first preset duration and a second preset duration provided in an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of an example of vehicle speed control provided in an embodiment of the present application;

[0029] Figure 6 This is a schematic diagram of a vehicle speed control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of this 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 application 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 server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0032] The following describes a vehicle speed control method provided by an embodiment of the present application. Specifically, the vehicle speed control method can be applied to a vehicle-mounted terminal of a target vehicle following a target vehicle in a target vehicle fleet. Figure 1 A flow chart of a vehicle speed control method provided in an embodiment of the present application. It should be noted that this specification provides method operation steps as described in the embodiment or flow chart, but more or fewer operation steps may be included based on conventional or non-creative work. The order of steps listed in the embodiment is only one way of executing the steps among many, and does not represent the only execution order. When the actual system or product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or the accompanying drawings. Specifically, Figure 1 As shown, the above method may include:

[0033] S101, in response to a speed control instruction for a target rear vehicle in a target vehicle group, obtaining a first acceleration of the target rear vehicle at a start update time of a current speed control cycle corresponding to the target rear vehicle, and an expected adjusted speed of the target rear vehicle relative to a target front vehicle in the target vehicle group.

[0034] In the embodiment of this specification, the target vehicle fleet may be a vehicle queue including multiple vehicles, and the target leading vehicle and the target trailing vehicle may be any two adjacent vehicles in the vehicle queue.

[0035] In practical applications, if the speed of any leading vehicle in the target convoy changes, the corresponding following vehicle can use the speed control method disclosed in this invention to converge with the leading vehicle's speed. When every vehicle in the target convoy converges with the leading vehicle's speed, and the speeds of intervening vehicles are taken into account via the vehicle-to-vehicle communication module, speed control for the entire convoy can be achieved.

[0036] In one example, when the real-time relative speed of the target rear vehicle relative to the target front vehicle is greater than a preset speed threshold, a speed control instruction for the target rear vehicle can be triggered, wherein the preset speed threshold can be pre-set in combination with the speed control requirements in actual applications.

[0037] In the embodiments of this specification, the vehicle speed control process is a continuous and dynamic process that may include multiple vehicle speed control cycles, each of which has a preset duration. In a specific embodiment, the vehicle speed control instruction may include a preset duration corresponding to the vehicle speed control cycle. Specifically, the current vehicle speed control cycle is updated every preset duration, and the next vehicle speed control cycle begins.

[0038] In an embodiment of the present specification, the starting update time of the current vehicle speed control cycle may be the start time of the current vehicle speed control cycle. In an optional embodiment, the starting time may be the response time of the on-board terminal of the target rear vehicle to the vehicle speed control instruction. In another optional embodiment, the vehicle speed control instruction may carry the starting time.

[0039] In the embodiment of the present specification, the first acceleration may be an adjusted acceleration of the target following vehicle obtained based on vehicle speed control analysis in a previous vehicle speed control cycle.

[0040] In a specific embodiment, when the current vehicle speed control cycle is the first vehicle speed control cycle of the target following vehicle, the first acceleration may be the real-time acceleration of the target following vehicle obtained at the start update time of the current vehicle speed control cycle.

[0041] Optionally, when the target following vehicle is traveling at a constant speed, the first acceleration may be 0.

[0042] In the embodiments of this specification, the expected adjusted speed can be set based on the speed control requirements of the target fleet. In one optional embodiment, the expected adjusted speed can be the difference between the expected speed of the following vehicle and the real-time speed of the following vehicle. In another optional embodiment, the expected adjusted speed can be the difference between the expected relative speed and the real-time relative speed, where the expected relative speed can be the expected relative speed of the target following vehicle relative to the target leading vehicle, and the real-time relative speed can be the real-time relative speed of the target following vehicle relative to the target leading vehicle.

[0043] In a specific embodiment, when the expected adjusted vehicle speed is the difference between the expected relative vehicle speed and the real-time relative vehicle speed, Figure 2 As shown, the method for obtaining the expected adjusted vehicle speed may include:

[0044] S201, obtaining a real-time relative speed and an expected relative speed of a target rear vehicle relative to a target front vehicle.

[0045] In actual applications, the expected relative speed can be set in conjunction with the speed control requirements of the target rear vehicle. Optionally, the expected relative speed can be 0, meaning that the speed of the target rear vehicle is expected to be adjusted to the same speed as the target front vehicle.

[0046] In a specific embodiment, the method for obtaining the real-time relative speed of the target rear vehicle relative to the target front vehicle may include:

[0047] 1) The vehicle-mounted terminal of the target vehicle receives the real-time speed of the vehicle ahead, which is sent by the vehicle-to-vehicle communication module.

[0048] Specifically, the vehicle-to-vehicle communication module may be a V2V (vehicle to vehicle) communication module, which may enable wireless data interaction between multiple vehicles in a target fleet through a dedicated wireless communication network.

[0049] In a specific embodiment, the on-board terminal of the target preceding vehicle can use the speed sensor of the target preceding vehicle to collect the real-time speed of the preceding vehicle, and send the real-time speed of the preceding vehicle to the on-board terminal of the target following vehicle through the vehicle-to-vehicle communication module of the target preceding vehicle.

[0050] 2) Collect the real-time speed of the vehicle following the target vehicle.

[0051] Specifically, the vehicle-mounted terminal of the target rear vehicle can collect the real-time speed of the rear vehicle through the speed sensor of the target rear vehicle.

[0052] 3) Based on the difference between the real-time speed of the preceding vehicle and the real-time speed of the following vehicle, the real-time relative speed is obtained.

[0053] Specifically, the difference between the real-time speed of the leading vehicle and the real-time speed of the trailing vehicle is taken as the real-time relative speed.

[0054] In another specific embodiment, the method for obtaining the real-time relative speed of the target rear vehicle relative to the target front vehicle may include: collecting the real-time speed of the front vehicle through the environmental perception device of the target rear vehicle, collecting the real-time speed of the rear vehicle through the speed sensor of the target rear vehicle, and obtaining the real-time relative speed based on the difference between the real-time speed of the front vehicle and the real-time speed of the rear vehicle.

[0055] Specifically, the environmental perception equipment here may include but is not limited to: lidar, millimeter wave radar, etc.

[0056] S202: Generate an expected adjusted vehicle speed based on the difference between the expected relative vehicle speed and the real-time relative vehicle speed.

[0057] Specifically, the difference between the expected relative vehicle speed and the real-time relative vehicle speed may be used as the expected adjusted vehicle speed.

[0058] It can be seen from the above real-time example that in the current speed control cycle, the on-board terminal of the target front vehicle receives the real-time speed of the front vehicle sent by the vehicle-to-vehicle communication module, and collects the real-time speed of the target rear vehicle to obtain the real-time relative speed of the target rear vehicle relative to the target front vehicle. Finally, based on the difference between the expected relative speed and the real-time relative speed, the expected adjusted speed is generated, which can improve the real-time and accuracy of the real-time relative speed, thereby improving the accuracy of the expected adjusted speed.

[0059] S102 : Based on the expected adjusted vehicle speed, the first acceleration, the first preset time duration, and the second preset time duration, a vehicle speed control analysis is performed on the target rear vehicle to generate a second acceleration of the target rear vehicle.

[0060] In an embodiment of the present specification, the first preset duration of the current vehicle speed control cycle can be the response duration required for vehicle speed control analysis in the previous vehicle speed control cycle, and the second preset duration of the current vehicle speed control cycle can be the waiting time from the end moment of the vehicle speed control analysis of the previous vehicle speed control cycle to the start update moment of the current vehicle speed control cycle.

[0061] In a specific embodiment, when the current vehicle speed control cycle is the first vehicle speed control cycle of the target following vehicle, the first preset duration and the second preset duration can be obtained based on a historical vehicle speed control process of the target vehicle fleet.

[0062] In a specific embodiment, the first preset time length and the second preset time length may also be calibrated values ​​obtained based on a large number of sample vehicle speed control processes.

[0063] In a specific embodiment, the sum of the first preset duration and the second preset duration may be the preset cycle duration. Specifically, when the first preset duration is obtained, the difference between the preset cycle duration and the first preset duration may be used as the second preset duration.

[0064] In a specific embodiment, the method for generating the preset cycle duration may include:

[0065] 1) Determine the duration of the information transmission cycle of the vehicle-to-vehicle communication module;

[0066] 2) The cycle duration is set as the preset cycle duration.

[0067] Specifically, the period length of the information sending period may be set in combination with the real-time requirement of information communication in actual applications. Optionally, the period length of the information sending period may be 100 ms.

[0068] As can be seen from the above real-time example, the preset cycle duration is obtained based on the cycle duration of the information sending cycle of the vehicle-to-vehicle communication module, which can maintain the coordination between the real-time relative vehicle speed collection cycle and the vehicle speed control cycle, thereby greatly saving computing resources while ensuring the accuracy of vehicle speed control.

[0069] In the embodiment of the present specification, the second acceleration may be an adjusted acceleration of the target following vehicle obtained based on vehicle speed control analysis in the current vehicle speed control cycle.

[0070] In a specific embodiment, Figure 3 As shown, the speed control analysis of the target following vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time, and the second preset time to generate the second acceleration of the target following vehicle may include:

[0071] S301: Obtain a delayed control vehicle speed based on the product of a first acceleration and a first preset time duration.

[0072] Specifically, the delayed controlled vehicle speed may represent a change in vehicle speed when the vehicle speed control is performed based on the first acceleration before the second acceleration is generated in the current vehicle speed control cycle.

[0073] In a specific embodiment, V1(n)=T c (n)×a1(n), where V1(n) represents the delayed control vehicle speed, T c (n) represents the first preset time length, a1(n) represents the first acceleration, and n is the cycle identifier of the current vehicle speed control cycle.

[0074] S302 : Obtaining a relative vehicle speed to be controlled based on a difference between the expected regulated vehicle speed and the delayed controlled vehicle speed.

[0075] Specifically, the relative vehicle speed to be controlled may be the difference between the expected regulated vehicle speed and the delayed controlled vehicle speed in the current vehicle speed control cycle.

[0076] In a specific embodiment, V2(n)=ΔV(n)-V1(n), wherein V2(n) represents the relative vehicle speed to be controlled, ΔV n Indicates an anticipated speed adjustment.

[0077] In a specific embodiment, ΔV n =V d (n)-V(n), where V d (n) represents the expected relative vehicle speed, and V(n) represents the real-time relative vehicle speed.

[0078] S303: Obtain a second acceleration based on the relative vehicle speed to be controlled and a second preset time period.

[0079] In a specific embodiment, a2(n)=V2(n) / T w (n)=[△V(n)-V1(n)] / T w (n)

[0080] =[V d (n)-V(n)-T c (n)×a1(n)] / T w (n), where a2(n) represents the second acceleration, T w (n) represents the second preset duration.

[0081] It can be seen from the above real-time example that, taking into account the impact of the response delay of the vehicle speed control analysis, that is, the first preset time period on the vehicle speed control, the vehicle speed control is still performed based on the first acceleration within the first preset time period starting from the start update time of the current vehicle speed control cycle, and then the second acceleration for vehicle speed control is determined from the end of the response delay to the start update time of the next vehicle speed control cycle. This can improve the accuracy of the second acceleration, thereby improving the accuracy of the vehicle speed control.

[0082] In an optional embodiment, the second acceleration of the current vehicle speed control cycle may be set to be proportional to the real-time relative speed at the start update moment of the current vehicle speed control cycle, that is, a2(n)=k(n)×V(n), where k(n) represents the proportional coefficient of the current vehicle speed control cycle. When k(n)>0, it indicates that the direction of a2(n) is the same as the direction of V(n); when k(n)<0, it indicates that the direction of a2(n) is opposite to the direction of V(n). Since the first acceleration may be the adjusted acceleration of the target following vehicle obtained based on the vehicle speed control analysis in the previous vehicle speed control cycle, that is, a1(n)=a2(n-1)=k(n-1)×V(n-1);

[0083] Correspondingly, the second acceleration formula a2(n)=[V d (n)-V(n)-T c (n)×a1(n)] / T w (n) can be:

[0084] k(n)×V(n)=[V d (n)-V(n)-T c (n)×k(n-1)×V(n-1)] / T w (n), we get:

[0085] k(n)=[V d (n)-V(n)-T c (n)×k(n-1)×V(n-1)] / [T w (n)×V(n)].

[0086] Specifically, the proportional coefficient and real-time relative speed of the previous speed control cycle are obtained. In the current speed control cycle, based on the expected adjusted speed, the real-time relative speed, the first preset time length, the second preset time length, and the proportional coefficient and real-time relative speed of the previous speed control cycle, a speed control analysis is performed on the target rear vehicle to generate the proportional coefficient of the current speed control cycle. Based on the proportional coefficient and real-time relative speed of the current speed control cycle, the second acceleration of the current speed control cycle is obtained.

[0087] S103 , when the second acceleration is generated, controlling the target following vehicle to adjust from the first acceleration to the second acceleration.

[0088] Specifically, the target following vehicle is controlled to adjust from a first acceleration to a second acceleration, and the vehicle speed is controlled based on the second acceleration.

[0089] S104, based on the preset cycle length, update the current vehicle speed control cycle to obtain the next vehicle speed control cycle; based on the second acceleration, update the first acceleration; based on the time from the start update moment of the current vehicle speed control cycle to the generation moment, update the first preset time; based on the time from the generation moment to the start update moment of the next vehicle speed control cycle, update the second preset time.

[0090] Specifically, the end time of the current vehicle speed control cycle is the starting update time of the next vehicle speed control cycle; the second acceleration of the current vehicle speed control cycle is used as the first acceleration of the next vehicle speed control cycle; the time from the starting update time of the current vehicle speed control cycle to the generation time is used as the first preset time of the next vehicle speed control cycle; the time from the generation time of the current vehicle speed control cycle to the starting update time of the next vehicle speed control cycle is used as the second preset time of the next vehicle speed control cycle.

[0091] In a specific embodiment, Figure 4 As shown, after updating the current vehicle speed control cycle based on the preset cycle length to obtain the next vehicle speed control cycle, the method may further include:

[0092] S401 : Determine an acceleration change moment based on an acceleration adjustment process of controlling a target following vehicle from a first acceleration to a second acceleration.

[0093] Specifically, the acceleration change moment may be the moment when the target following vehicle changes from a first acceleration to a second acceleration. In an alternative embodiment, the acceleration change moment may be the start moment of the acceleration adjustment process. In another alternative embodiment, considering that the acceleration adjustment process is a curve-changing process in actual applications, the acceleration change moment may be the intermediate moment between the start and end moments of the acceleration adjustment process.

[0094] S402 : Update the first preset duration based on the duration from the start update moment to the acceleration change moment of the current vehicle speed control cycle.

[0095] S403: Update the second preset time duration based on the time duration from the acceleration change moment to the start update moment of the next vehicle speed control cycle.

[0096] As can be seen from the above real-time example, considering that there is a certain delay in generating the second acceleration and adjusting the acceleration of the target vehicle to the second acceleration in actual applications, the accuracy of vehicle speed control can be further improved by determining the acceleration change moment to update the first preset time length and the second preset time length.

[0097] S105 , at the start update time of the next vehicle speed control cycle, updating the expected adjusted vehicle speed.

[0098] Specifically, at the starting update moment of the next speed control cycle, the real-time relative speed and the expected relative speed of the target rear vehicle relative to the target front vehicle are obtained, and based on the difference between the expected relative speed and the real-time relative speed, the expected adjusted speed of the next speed control cycle is generated. The specific content here can be found in the detailed content of the method for obtaining the expected adjusted speed of the current speed control cycle in steps S201 to S202, which will not be repeated here.

[0099] S106, based on the starting update time of the next vehicle speed control cycle, the updated expected adjusted vehicle speed, the updated first acceleration, the updated first preset time and the updated second preset time, jump to the vehicle speed control analysis of the target rear vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time and the second preset time, generate the second acceleration of the target rear vehicle, until the preset vehicle speed control end condition is reached.

[0100] Specifically, based on the starting update time of the next vehicle speed control cycle, the updated expected adjusted vehicle speed, the updated first acceleration, the updated first preset time and the updated second preset time, the above-mentioned process based on the expected adjusted vehicle speed, the first acceleration, the first preset time and the second preset time is repeatedly executed to perform vehicle speed control analysis on the target rear vehicle, generate the second acceleration of the target rear vehicle until the above-mentioned second acceleration generation time, and control the vehicle speed control cycle process of the target rear vehicle from the first acceleration to the second acceleration until the preset vehicle speed control end condition is reached.

[0101] In the real-time example of this specification, the preset vehicle speed control end condition can be the end condition of the vehicle control cycle process. Specifically, the preset vehicle speed control end condition can be pre-set in combination with the requirements of vehicle speed control in actual applications.

[0102] In an optional embodiment, the preset speed control termination condition may be that the current relative speed of the target rear vehicle relative to the target front vehicle is 0; in another optional embodiment, the preset speed control termination condition may also be that the real-time distance between the target rear vehicle and the target front vehicle is less than a preset safety distance; in another optional embodiment, the preset speed control termination condition may also be that the target convoy arrives at its destination.

[0103] In an optional embodiment, the above method may further include:

[0104] 1) Monitor the distance between the target vehicle behind and the target vehicle in front in real time to obtain the real-time distance;

[0105] 2) When the real-time vehicle distance is less than the preset safety distance, the vehicle distance to the target vehicle behind is controlled.

[0106] Specifically, the preset safe distance here can be pre-set in combination with the respective speeds of the front and rear vehicles.

[0107] As can be seen from the above real-time example, when the real-time distance between the target rear vehicle and the target front vehicle is less than the preset safe distance, the distance control of the target rear vehicle can improve the accuracy of vehicle speed control while ensuring vehicle driving safety.

[0108] See also Figure 5 , Figure 5 1 is a schematic diagram of an example of vehicle speed control provided by an embodiment of the present application. In this example, the duration of each vehicle speed control cycle is 100ms.

[0109] At time t1, the real-time speed of the leading vehicle is 50 km / h, and the real-time speed of the trailing vehicle is 49 km / h. Since there is no second acceleration of the previous speed control cycle as a reference, it is assumed that both the leading vehicle and the trailing vehicle are traveling at a constant speed at time t1, that is, the first acceleration a1(1) of the first speed control cycle from t1 to t2 is 0 km / h2.

[0110] like Figure 5 As shown, the front car is used as the speed reference. At time t1, the real-time relative speed V(1) between the rear car and the front car is -1 km / h. If the expected relative speed V d (1) is 0 km / h, that is, it is expected that the relative speed between the rear vehicle and the front vehicle will be adjusted to 0 km / h at time t2. Then, it is necessary to control the acceleration of the rear vehicle. Assuming that the first preset time length T c (1) is 30ms (equal to 0.00000833h), the second preset time length T w (1) is 70ms (equal to 0.00001944h), accordingly, based on the formula a2(1) = [V d (1)-V(1)-T c (1)×a1(1)] / Tw (1) Get:

[0111] a2(1)=[0-(-1)] / 0.00001944=51440.329218107km / h 2 , that is, at t1+30ms, based on the relative acceleration a2(1)=51440.329218107km / h 2 , and control the speed of the following vehicle.

[0112] In practical applications, due to the actual speed differences of the leading vehicle and the control errors of the trailing vehicle, it is still highly likely that the relative speed of the two vehicles is not zero at time t2, but their relative speed should be smaller.

[0113] Now assume that the speed of the leading vehicle changes due to uncertain factors in the actual driving process at time t2 when the leading vehicle speed is collected. For example, the speed value is 49.8 km / h. Assume that the speed of the trailing vehicle changes to 50.3 km / h due to factors such as the accuracy of the actual speed control. That is, the real-time relative speed V(2) between the trailing vehicle and the leading vehicle at time t2 is 0.5 km / h. Assume that the expected relative speed V at this time is d (2) Still 0km / h.

[0114] like Figure 5 As shown, the final control target of the second speed control cycle starting at time t2 is that the relative speed of the two vehicles is 0 km / h at time t3. However, the speed control of the second speed control cycle is divided into two time periods, namely the first preset time length T c (2) and the second preset time T w (2) The first preset duration T c (2) is the response time required for the system to analyze the control strategy of the current cycle. During this time, the control strategy of the previous cycle is still executed. Based on the relative acceleration a2(1), the speed of the following vehicle is controlled, that is, a2(1) is used as a1(2); in the second preset time T w (2) The new control strategy obtained by analyzing the speed control of the current cycle is executed at the corresponding time, that is, the speed of the following vehicle is controlled based on the relative acceleration a2(2); Assuming that the first preset duration T of the second speed control cycle c (2) Still 30ms, the second preset time length T w (2) is still 70ms, accordingly, based on the formula a2(2) = [V d (2)-V(2)-T c (2)×a1(2)] / T w (2) We obtain:

[0115] a2(2)=(0-0.5-0.00000833×51440.329218107) / 0.00001944=-47762.345679km / h 2 , that is, from t2 to t2+30ms, based on the relative acceleration a1(2)=51440.329218107km / h 2 , the speed of the following vehicle is controlled from t2+30ms to t3, based on the relative acceleration a2(2)=-47762.345679km / h 2 , and control the speed of the following vehicle.

[0116] The speed control strategy of the third speed control cycle starting at time t3 is similar to that of the second speed control cycle. The above speed control process is repeated. The speed control method disclosed in the present invention can maintain the relative speed of the front and rear vehicles in a dynamic and stable state when the speed control cycle is short and the speed adjustment range is small, thereby improving the accuracy of speed control.

[0117] As can be seen from the above embodiments of the specification, by using the technical solution provided by the embodiments of this specification, in the application scenario of platoon speed control, at the starting update time of the current speed control cycle, the real-time speed of the front vehicle sent by the on-board terminal of the target front vehicle based on the vehicle-to-vehicle communication module is received, and the real-time speed of the rear vehicle of the target rear vehicle is collected to obtain the real-time relative speed of the target rear vehicle relative to the target front vehicle. Based on the difference between the expected relative speed and the real-time relative speed, the expected adjusted speed is generated, which can improve the real-time and accuracy of the real-time relative speed, thereby improving the accuracy of the expected adjusted speed; considering the impact of the response delay (i.e., the first preset time length) of the speed control analysis on the speed control, the speed control is still performed based on the first acceleration within the first preset time length starting from the starting update time of the current speed control cycle, and then the second acceleration for speed control is determined from the end of the response delay to the starting update time of the next speed control cycle, which can improve the accuracy of the second acceleration, and then at the generation time of the second acceleration, the target rear vehicle is controlled to adjust from the first acceleration to the second acceleration. speed; and, based on the periodic duration of the information transmission period of the vehicle-to-vehicle communication module, obtaining a preset period duration, which can maintain the coordination between the real-time relative speed acquisition period and the speed control period, then updating the current speed control period based on the preset period duration to obtain the next speed control period, and repeating the above speed control process at the start update time of the next speed control period until the preset speed control end condition is obtained. Through periodic speed control, the accuracy of speed control can be improved while saving computing resources; in addition, considering that there is a certain delay in generating the second acceleration to adjust the acceleration of the target rear vehicle to the second acceleration in actual applications, by determining the acceleration change time to update the first preset period duration and the second preset period duration, the first preset period duration and the second preset period duration can be accurately adjusted, thereby further improving the accuracy of speed control; when the real-time distance between the target rear vehicle and the target front vehicle is less than the preset safety distance, the distance control of the target rear vehicle is performed, which can improve the accuracy of speed control while ensuring the safety of vehicle driving.

[0118] The embodiment of the present application provides a vehicle speed control device, such as Figure 6 As shown, the above-mentioned device may include:

[0119] an information acquisition module 610 for, in response to a speed control instruction for a target rear vehicle in a target vehicle group, acquiring, at a start update time of a current speed control cycle corresponding to the target rear vehicle, a first acceleration of the target rear vehicle and an expected adjusted speed of the target rear vehicle relative to a target front vehicle in the target vehicle group;

[0120] A vehicle speed control analysis module 620 is configured to perform a vehicle speed control analysis on a target rear vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset duration, and the second preset duration to generate a second acceleration of the target rear vehicle;

[0121] The acceleration adjustment module 630 is configured to control the target following vehicle to adjust from the first acceleration to the second acceleration at the moment when the second acceleration is generated;

[0122] A first updating module 640 is configured to update the current vehicle speed control cycle based on a preset cycle duration to obtain a next vehicle speed control cycle; update the first acceleration based on the second acceleration; update the first preset duration based on the duration from the start update moment of the current vehicle speed control cycle to the generation moment; and update the second preset duration based on the duration from the generation moment to the start update moment of the next vehicle speed control cycle;

[0123] A second updating module 650 is configured to update the expected adjusted vehicle speed at the start update time of the next vehicle speed control cycle;

[0124] The jump module 660 is used to jump to the speed control analysis of the target rear vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time and the second preset time based on the starting update time of the next vehicle speed control cycle, the updated expected adjusted vehicle speed, the updated first acceleration, the updated first preset time and the updated second preset time, and generate the second acceleration of the target rear vehicle until the preset vehicle speed control end condition is reached.

[0125] In a specific embodiment, the information acquisition module 610 may include:

[0126] A relative speed acquisition unit is used to acquire the real-time relative speed and expected relative speed of the target rear vehicle relative to the target front vehicle;

[0127] The expected adjusted vehicle speed unit is used to generate the expected adjusted vehicle speed based on the difference between the expected relative vehicle speed and the real-time relative vehicle speed.

[0128] In a specific embodiment, the relative vehicle speed obtaining unit may include:

[0129] A preceding vehicle real-time speed receiving unit is used to receive the preceding vehicle real-time speed sent by the vehicle-mounted terminal of the target preceding vehicle based on the vehicle-to-vehicle communication module;

[0130] The following vehicle real-time speed acquisition unit is used to collect the following vehicle real-time speed of the target following vehicle;

[0131] The real-time relative vehicle speed unit is used to obtain the real-time relative vehicle speed based on the difference between the real-time vehicle speed of the preceding vehicle and the real-time vehicle speed of the following vehicle.

[0132] In a specific embodiment, the vehicle speed control analysis module 620 may include:

[0133] a delay control vehicle speed unit, configured to obtain a delay control vehicle speed based on a product of the first acceleration and a first preset time length;

[0134] a relative vehicle speed unit to be controlled, configured to obtain the relative vehicle speed to be controlled based on the difference between the expected regulated vehicle speed and the delayed controlled vehicle speed;

[0135] The second acceleration unit is configured to obtain a second acceleration based on the relative vehicle speed to be controlled and a second preset time duration.

[0136] In a specific embodiment, the above-mentioned preset cycle duration can be generated by the following means:

[0137] An information transmission cycle determining unit, configured to determine a cycle duration of an information transmission cycle of the vehicle-to-vehicle communication module;

[0138] The preset cycle duration unit is used to set the cycle duration as the preset cycle duration.

[0139] In a specific embodiment, the above device may further include:

[0140] an acceleration change moment determining unit, configured to determine an acceleration change moment based on an acceleration adjustment process of controlling the target following vehicle to adjust from a first acceleration to a second acceleration;

[0141] A first preset duration updating unit, configured to update the first preset duration based on a duration from a start update moment to an acceleration change moment of a current vehicle speed control cycle;

[0142] The second preset time length updating unit is configured to update the second preset time length based on a time length from the acceleration change moment to the start update moment of the next vehicle speed control cycle.

[0143] In an optional embodiment, the above device may further include:

[0144] The vehicle distance monitoring module is used to monitor the distance between the target vehicle behind and the target vehicle in front in real time to obtain the real-time vehicle distance;

[0145] The vehicle distance control module is used to control the distance to the target vehicle behind when the real-time vehicle distance is less than the preset safety distance.

[0146] It should be noted that the device in the device embodiment and the method embodiment are based on the same inventive concept.

[0147] An embodiment of the present application provides a vehicle speed control device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle speed control method provided in the above method embodiment.

[0148] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for the functions, etc.; the data storage area can store data created based on the use of the above devices, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0149] The method embodiments provided in the embodiments of the present application can be executed in a vehicle-mounted terminal or a similar computing device, that is, the above-mentioned computer equipment may include a vehicle-mounted terminal or a similar computing device.

[0150] An embodiment of the present application also provides a storage medium, which can be set in a server to store at least one instruction or at least one program related to implementing a vehicle speed control method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle speed control method provided by the above method embodiment.

[0151] Optionally, in this embodiment, the storage medium may be located in at least one of a plurality of network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0152] As can be seen from the embodiments of the vehicle speed control method, device, equipment or storage medium provided by the above-mentioned application, using the technical solutions provided by the embodiments of this specification, in the application scenario of platoon speed control, at the starting update time of the current speed control cycle, the real-time speed of the front vehicle sent by the on-board terminal of the target front vehicle based on the vehicle-to-vehicle communication module is received, and the real-time speed of the rear vehicle of the target rear vehicle is collected to obtain the real-time relative speed of the target rear vehicle relative to the target front vehicle. Based on the difference between the expected relative speed and the real-time relative speed, the expected adjusted speed is generated, which can improve the real-time and accuracy of the real-time relative speed, thereby improving the accuracy of the expected adjusted speed; considering the impact of the response delay (i.e., the first preset time length) of the speed control analysis on the speed control, the speed control is still performed based on the first acceleration within the first preset time length starting from the starting update time of the current speed control cycle, and then a second acceleration for speed control is determined from the end of the response delay to the starting update time of the next speed control cycle, which can improve the accuracy of the second acceleration, and then at the time of generating the second acceleration, the target rear vehicle is controlled to move from the first acceleration to the second acceleration. The first acceleration is adjusted to the second acceleration; and a preset cycle duration is obtained based on the period duration of the information transmission cycle of the vehicle-to-vehicle communication module, thereby maintaining the coordination between the real-time relative speed acquisition period and the speed control period. Then, based on the preset cycle duration, the current speed control period is updated to obtain the next speed control period. At the start update time of the next speed control period, the above speed control process is repeatedly executed until the preset speed control termination condition is obtained. Through periodic speed control, the accuracy of speed control can be improved while saving computing resources. In addition, considering that there is a certain delay in generating the second acceleration and adjusting the acceleration of the target rear vehicle to the second acceleration in actual applications, the first preset time duration and the second preset time duration are updated by determining the acceleration change time. This allows for precise adjustment of the first preset time duration and the second preset time duration, thereby further improving the accuracy of speed control. When the real-time distance between the target rear vehicle and the target front vehicle is less than the preset safety distance, the distance control of the target rear vehicle is performed, thereby improving the accuracy of speed control while ensuring vehicle driving safety.

[0153] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0154] The various embodiments in this specification are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the device, equipment, and storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simplified. For relevant portions, refer to the descriptions of the method embodiments.

[0155] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing the relevant hardware through a program. The above program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0156] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A vehicle speed control method, characterized in that: The method comprises: In response to a speed control instruction for a target rear vehicle in a target vehicle group, obtaining, at a start update time of a current speed control cycle corresponding to the target rear vehicle, a first acceleration of the target rear vehicle and an expected adjusted speed of the target rear vehicle relative to a target front vehicle in the target vehicle group; performing a vehicle speed control analysis on the target following vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time duration, and the second preset time duration to generate a second acceleration of the target following vehicle; At the moment when the second acceleration is generated, controlling the target following vehicle to adjust from the first acceleration to the second acceleration; Based on the preset cycle duration, the current vehicle speed control cycle is updated to obtain the next vehicle speed control cycle; based on the second acceleration, the first acceleration is updated; based on the duration from the start update time of the current vehicle speed control cycle to the generation time, the first preset duration is updated; based on the duration from the generation time to the start update time of the next vehicle speed control cycle, the second preset duration is updated; updating the expected adjusted vehicle speed at a starting update time of the next vehicle speed control cycle; Based on the starting update time of the next vehicle speed control cycle, the updated expected adjusted vehicle speed, the updated first acceleration, the updated first preset time and the updated second preset time, jump to the vehicle speed control analysis based on the expected adjusted vehicle speed, the first acceleration, the first preset time and the second preset time, generate the second acceleration of the target rear vehicle, until the preset vehicle speed control end condition is reached.

2. The method according to claim 1, characterized in that The method for obtaining the expected adjusted vehicle speed includes: Obtaining a real-time relative speed and an expected relative speed of the target rear vehicle relative to the target front vehicle; The expected adjusted vehicle speed is generated based on a difference between the expected relative vehicle speed and the real-time relative vehicle speed.

3. The vehicle speed control method according to claim 1, characterized in that: The performing a vehicle speed control analysis on the target following vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time duration, and the second preset time duration to generate the second acceleration of the target following vehicle includes: obtaining a delayed control vehicle speed based on the product of the first acceleration and the first preset time; Obtaining a relative vehicle speed to be controlled based on a difference between the expected regulated vehicle speed and the delayed controlled vehicle speed; The second acceleration is obtained based on the relative vehicle speed to be controlled and the second preset time period.

4. The method according to claim 2, characterized in that The acquiring of the real-time relative speed of the target rear vehicle relative to the target front vehicle includes: Receiving the real-time speed of the preceding vehicle sent by the vehicle-to-vehicle communication module of the vehicle-mounted terminal of the target preceding vehicle; Collecting the real-time speed of the vehicle following the target vehicle; The real-time relative speed is obtained based on the difference between the real-time speed of the leading vehicle and the real-time speed of the trailing vehicle.

5. The method according to claim 4, characterized in that The method for generating the preset cycle duration includes: Determining a period duration of an information transmission period of the vehicle-to-vehicle communication module; The cycle duration is used as the preset cycle duration.

6. The method according to claim 1, characterized in that After updating the current vehicle speed control cycle based on the preset cycle duration to obtain the next vehicle speed control cycle, the method further includes: determining an acceleration change moment based on the acceleration adjustment process of controlling the target following vehicle to adjust from the first acceleration to the second acceleration; updating the first preset duration based on the duration from the start update moment of the current vehicle speed control cycle to the acceleration change moment; The second preset time period is updated based on the time period from the acceleration change moment to the start update moment of the next vehicle speed control cycle.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Monitor the distance between the target rear vehicle and the target front vehicle in real time to obtain a real-time distance; When the real-time vehicle distance is less than the preset safety vehicle distance, the vehicle distance of the target following vehicle is controlled.

8. A vehicle speed control device, characterized in that the device comprises: an information acquisition module, configured to, in response to a speed control instruction for a target rear vehicle in a target vehicle group, acquire, at a start update time of a current speed control cycle corresponding to the target rear vehicle, a first acceleration of the target rear vehicle and an expected adjusted speed of the target rear vehicle relative to a target front vehicle in the target vehicle group; a vehicle speed control analysis module, configured to perform a vehicle speed control analysis on the target following vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time duration, and the second preset time duration, and generate a second acceleration of the target following vehicle; an acceleration adjustment module, configured to control the target following vehicle to adjust from the first acceleration to the second acceleration at a moment when the second acceleration is generated; A first updating module is configured to update the current vehicle speed control cycle based on a preset cycle duration to obtain a next vehicle speed control cycle; and update the first acceleration based on the second acceleration; updating the first preset duration based on the duration from the start update time of the current vehicle speed control cycle to the generation time; updating the second preset time duration based on the time duration from the generation time to the start update time of the next vehicle speed control cycle; a second updating module, configured to update the expected adjusted vehicle speed at a starting update time of the next vehicle speed control cycle; The jump module is used to jump to the speed control analysis of the target rear vehicle based on the expected adjusted vehicle speed, the first acceleration, the first preset time and the second preset time based on the starting update time of the next vehicle speed control cycle, the updated expected adjusted vehicle speed, the updated first acceleration, the updated first preset time and the updated second preset time, and generate the second acceleration of the target rear vehicle until the preset vehicle speed control end condition is reached.

9. An electronic device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle speed control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle speed control method according to any one of claims 1 to 7.

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