A vehicle speed control method, device, equipment and storage medium

Abstract

This invention provides a vehicle speed control method, device, equipment, and storage medium. The method includes: determining whether the vehicle requires ultrasonic detection based on its current state information; if the vehicle requires ultrasonic detection, determining the road surface type of the current road based on the vehicle's longitudinal acceleration; and determining the target speed of the vehicle based on a preset ultrasonic recognition coefficient and the road surface type, thereby controlling the vehicle to travel at the target speed. Using this method, the target speed is determined based on the preset ultrasonic recognition coefficient and the road surface type, i.e., a suggested speed is provided based on the performance of the ultrasonic radar and road conditions, meeting the user's personalized needs. Driving at the suggested speed allows for better ultrasonic radar detection, promoting safer driving.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a vehicle speed control method, device, equipment, and storage medium. Background Technology

[0002] Ultrasonic radar is an extremely common sensor. When reversing, as the car is slowly moved, a "beep beep beep" sound can be heard in the driver's cabin. This sound is feedback information given to the driver based on the detection distance of the ultrasonic radar. It is a safety assistance device when parking or reversing, helping the driver eliminate blind spots and blurred vision. Similarly, autonomous driving will make fuller use of ultrasonic sensors. During driving, the detection results of ultrasonic sensors can be used in real time for visual display and audible alarms, thereby reminding the driver and assisting autonomous driving decisions.

[0003] However, existing ultrasonic technology can only identify obstacles ahead, and its detection performance becomes increasingly limited as vehicle speed increases. It also faces the following problems: it cannot provide suggested speeds based on the inherent performance characteristics of ultrasonic radar to meet the customized needs of various customers; and it cannot accurately identify obstacles around the vehicle, leading to delayed braking and reduced driving safety. Summary of the Invention

[0004] This invention provides a vehicle speed control method, device, equipment, and storage medium to provide suggested vehicle speeds based on the performance of the ultrasonic radar and road conditions, thereby meeting the personalized needs of users.

[0005] Firstly, this embodiment provides a vehicle speed control method, which includes:

[0006] Based on the vehicle's current status information, determine whether the vehicle requires ultrasonic testing;

[0007] If the vehicle requires ultrasonic testing, the road surface type of the road on which the vehicle is currently traveling is determined based on the vehicle's longitudinal acceleration.

[0008] Based on the preset ultrasonic recognition coefficient and the road surface type of the current road, the target speed of the vehicle is determined so as to control the vehicle to travel at the target speed.

[0009] Secondly, this embodiment provides a vehicle speed control device, which includes:

[0010] The detection requirement determination module is used to determine whether the vehicle has an ultrasonic detection requirement based on the vehicle's current status information.

[0011] The road surface type determination module is used to determine the road surface type of the road on which the vehicle is currently traveling based on the longitudinal acceleration of the vehicle if the vehicle has an ultrasonic detection requirement.

[0012] The target speed determination module is used to determine the target speed of the vehicle based on a preset ultrasonic recognition coefficient and the road surface type of the road on which the vehicle is currently traveling, so that the vehicle travels at the target speed.

[0013] Thirdly, this embodiment provides an electronic device, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle speed control method according to any embodiment of the present invention.

[0017] Fourthly, this embodiment provides a computer-readable storage medium, wherein the computer program is executed by the at least one processor to enable the at least one processor to perform the vehicle speed control method according to any embodiment of the present invention.

[0018] This invention provides a vehicle speed control method, device, equipment, and storage medium. The method includes: determining whether the vehicle requires ultrasonic detection based on its current state information; if the vehicle requires ultrasonic detection, determining the road surface type of the current driving road based on the vehicle's longitudinal acceleration; and determining the target vehicle speed based on a preset ultrasonic recognition coefficient and the road surface type of the current driving road, thereby controlling the vehicle to travel at the target speed. This technical solution determines the target vehicle speed based on a preset ultrasonic recognition coefficient and the road surface type of the current driving road, i.e., it provides a suggested speed based on the performance of the ultrasonic radar and road conditions, meeting the user's personalized needs. Driving at the suggested speed allows for better ultrasonic radar detection, promoting safer driving for the user.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating a vehicle speed control method provided in Embodiment 1 of the present invention;

[0022] Figure 2 This is a flowchart illustrating a vehicle speed control method provided in Embodiment 2 of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a vehicle speed control device provided in Embodiment 3 of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "original," "target," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1

[0028] Figure 1This is a flowchart illustrating a vehicle speed control method provided in Embodiment 1 of the present invention. This method is applicable to situations where vehicle speed control is required when there is a need for ultrasonic detection. This method can be executed by a vehicle speed control device, which can be implemented in hardware and / or software and is generally integrated into an electronic device.

[0029] like Figure 1 As shown, the vehicle speed control method provided in this embodiment may specifically include the following steps:

[0030] S101. Based on the vehicle's current status information, determine whether the vehicle requires ultrasonic testing.

[0031] The vehicle's current status information includes gear position and speed. Ultrasonic radar works by measuring the time difference between emitting ultrasonic waves and receiving them at a receiver.

[0032] This step is used to determine if the vehicle currently requires ultrasonic testing. Specifically, it obtains the vehicle's gear position information. If the vehicle is in park or neutral, it indicates that the vehicle is not moving and therefore does not require ultrasonic testing. If the vehicle is not in park or neutral, for example, if it is in drive or reverse, it indicates that the vehicle is moving, and further analysis based on the vehicle's speed is needed to determine if ultrasonic testing is required.

[0033] Understandably, when a vehicle is at high or very low speeds, exceeding the ultrasonic detection speed range, it is determined that the vehicle does not require ultrasonic detection. Conversely, when the vehicle's current speed is within the ultrasonic detection speed range, it is determined that the vehicle requires ultrasonic detection.

[0034] S102. If the vehicle requires ultrasonic testing, the road surface type of the road the vehicle is currently traveling on is determined based on the vehicle's longitudinal acceleration.

[0035] In this embodiment, the vehicle's longitudinal acceleration is used to characterize the acceleration perpendicular to the road surface caused by bumps during vehicle travel. The vehicle's longitudinal acceleration can be obtained based on the inertial gyroscope on the vehicle. The road surface types of the current driving road include smooth road surfaces and rough road surfaces. Smooth road surfaces refer to smooth road surfaces without potholes, while rough road surfaces refer to road surfaces with potholes or other unevenness.

[0036] Specifically, if it is determined that the vehicle requires ultrasonic testing, the vehicle's longitudinal acceleration is acquired. Based on the vehicle's longitudinal acceleration, a vibration waveform is determined, and based on the vibration waveform, the smoothness of the current road surface can be determined. Based on the road surface smoothness, it is determined whether the current road surface is smooth or vibrating.

[0037] In this step, a smoothness threshold that distinguishes between smooth and rough road surfaces can be preset. The smoothness of the current road surface is then matched with the preset smoothness threshold to further determine whether the current road surface is smooth or rough.

[0038] S103. Determine the target speed of the vehicle based on the preset ultrasonic recognition coefficient and the road surface type of the current road, so as to control the vehicle to travel at the target speed.

[0039] The ultrasonic recognition coefficient can be understood as the degree of reception of the echo after the ultrasonic radar emits ultrasonic waves. For example, the ultrasonic recognition coefficient can range from 0 to 100%, where 0 indicates that the ultrasonic echo cannot be recognized, and 100% indicates that the ultrasonic echo can be fully recognized. For instance, the ultrasonic recognition coefficient can be set to 80%, adjustable between 30% and 100%. A higher recognition coefficient results in a lower controlled vehicle speed and a smaller area of ​​the recognized object. If the user requires precise ultrasonic recognition control, they can activate the ultrasonic vehicle speed control mode and set the ultrasonic recognition coefficient.

[0040] In this embodiment, when a vehicle is detected to require ultrasonic detection, the user is prompted to set the ultrasonic recognition coefficient through a human-machine interface. The ultrasonic recognition coefficient can be set by user input or voice command. Users can customize the value of the ultrasonic recognition coefficient according to their individual needs; no specific limitations are imposed here. The vehicle has a pre-stored speed-coefficient relationship table, which stores the correspondence between vehicle speed and ultrasonic recognition coefficient. It can be understood that by querying the speed-coefficient relationship table, the ultrasonic recognition coefficient corresponding to a known vehicle speed, i.e., the ultrasonic echo reception capability, can be determined. Similarly, based on the ultrasonic recognition coefficient, the corresponding vehicle speed can be determined.

[0041] Specifically, after the user sets the ultrasonic recognition coefficient, the system queries the vehicle speed-coefficient relationship table to determine the theoretical vehicle speed corresponding to that coefficient. In other words, when the vehicle travels at that theoretical speed, the corresponding ultrasonic recognition coefficient will reach the value set by the user. Using the user-defined ultrasonic recognition coefficient better meets the user's personalized needs.

[0042] Considering that the road surface the vehicle is currently traveling on may be smooth or uneven, if the road surface is smooth, the theoretical speed can be used as the target speed, and the vehicle can be controlled to travel at the target speed. If the road surface is uneven, it is necessary to consider whether the vehicle has passed potholes, obstacles, or other uneven areas. When passing uneven areas, the theoretical speed needs to be adjusted according to the actual situation to make the adjusted speed more suitable for driving on the uneven road surface. The adjusted speed is then used as the target speed, and the vehicle is controlled to travel at the target speed. For example, if the vehicle is currently traveling on a smooth road surface, it is controlled to travel at the theoretical speed. When encountering potholes or uneven surfaces, it needs to slow down to smoothly pass through the potholes. After passing through the potholes and entering a smooth road surface, it resumes traveling at the theoretical speed.

[0043] It is known that when a vehicle is parked, traveling at low or high speeds, or exceeding the range of ultrasonic recognition, steps S102 and S103 do not need to be executed.

[0044] This invention provides a vehicle speed control method. The method first determines whether the vehicle requires ultrasonic detection based on its current state information. Then, if the vehicle requires ultrasonic detection, it determines the road surface type of the current road based on the vehicle's longitudinal acceleration. Finally, it determines the target speed of the vehicle based on a preset ultrasonic recognition coefficient and the road surface type, thereby controlling the vehicle to travel at the target speed. Using this method, the target speed is determined based on the preset ultrasonic recognition coefficient and the road surface type, essentially providing a suggested speed based on the performance of the ultrasonic radar and road conditions, thus meeting the user's personalized needs. Driving at the suggested speed allows for better ultrasonic radar detection, promoting safer driving.

[0045] Example 2

[0046] Figure 2 This is a flowchart illustrating a vehicle speed control method according to Embodiment 2 of the present invention. This embodiment is a further optimization of the above embodiment. In this embodiment, the following are further optimized: "determining whether the vehicle has an ultrasonic detection requirement based on the vehicle's current state information", "determining the road surface type of the current driving road based on the vehicle's longitudinal acceleration", and "determining the target vehicle speed based on a preset ultrasonic recognition coefficient and the road surface type of the current driving road, so that the vehicle travels at the target speed".

[0047] like Figure 2 As shown in the figure, this embodiment two provides a vehicle speed control method, which specifically includes the following steps:

[0048] S201, Obtain the vehicle's gear information.

[0049] Specifically, it obtains the vehicle's gear information, such as the vehicle's gears including parking, neutral, drive, reverse, or sport.

[0050] S202. Determine whether the gear information is parking or neutral. If yes, proceed to step S204; otherwise, proceed to step S205.

[0051] In this step, the gear position is determined to be either Park or Neutral to ascertain whether the vehicle is in motion or stationary. For example, if the vehicle is in Park or Neutral, it indicates that the vehicle is not moving. If the vehicle is not in Park or Neutral, for example, if it is in Drive, Reverse, or Sport, it indicates that the vehicle is in motion.

[0052] Specifically, if the vehicle's gear information indicates it is in park or neutral, then the vehicle does not require ultrasonic testing. If the vehicle's gear information indicates it is not in park or neutral, then it is necessary to further determine whether the vehicle requires ultrasonic testing based on its current speed.

[0053] S203. If the gear information is not parking gear and not neutral gear, continue to determine whether the vehicle is in a low-speed driving state. If yes, proceed to steps S205 to S213; otherwise, proceed to step S204.

[0054] Low-speed driving refers to the vehicle traveling within a low speed range. This low-speed range can be obtained based on extensive experimental data. It is understood that this low-speed range is the range within which ultrasonic waves can detect speeds; when the vehicle speed exceeds this range, ultrasonic waves cannot detect it. For example, a low-speed range could be 3 km / h < |vehicle speed| < 30 km / h. Defining a vehicle traveling at speeds within this range as a low-speed driving state indicates that the vehicle requires ultrasonic testing. When the vehicle speed is below 3 km / h or above 30 km / h, the vehicle exceeds the ultrasonic detection speed range, and it is determined that the vehicle does not require ultrasonic testing.

[0055] Specifically, if the gear information is neither park nor neutral, it is necessary to further determine whether the vehicle is traveling at a low speed. If the vehicle is traveling at a low speed, it is determined that the vehicle requires ultrasonic recognition; if the vehicle is not traveling at a low speed, it is determined that the vehicle does not require ultrasonic recognition.

[0056] S204. It is determined that the vehicle does not require ultrasonic testing.

[0057] Specifically, if the vehicle is in park or neutral, or if the vehicle is not in park or neutral but is not traveling at low speed, then the vehicle does not require ultrasonic testing.

[0058] S205. It is determined that the vehicle requires ultrasonic testing.

[0059] Specifically, if the vehicle is not in park or neutral and is traveling at low speed, then the vehicle is deemed to require ultrasonic testing.

[0060] S206. Obtain the longitudinal acceleration of the vehicle and determine the vibration waveform.

[0061] Specifically, the longitudinal acceleration of the vehicle is obtained, and the vibration waveform is determined based on the longitudinal acceleration of the vehicle.

[0062] S207. Based on the shaking waveform, determine whether the road surface smoothness of the current driving road meets the smoothness threshold.

[0063] The smoothness threshold is used to distinguish between smooth and turbulent road surfaces. Specifically, the smoothness of the current road surface is obtained based on the turbulence waveform, and then matched with the smoothness threshold. If the smoothness of the current road surface meets the threshold, it is determined to be a smooth road surface. If the smoothness of the current road surface does not meet the threshold, it is determined to be a turbulent road surface.

[0064] S208. If the conditions are met, then the road surface of the current driving road is determined to be a smooth road surface.

[0065] S209. Otherwise, the road surface of the current driving road is determined to be a shaking road surface.

[0066] Among them, the following steps S210 to S211 are: after the user sets the ultrasonic recognition coefficient, the vehicle speed is determined according to the ultrasonic recognition coefficient, and then the vehicle is controlled to drive at the determined speed, so as to ensure that the user's personalized needs for ultrasonic recognition capability are met when driving at this speed.

[0067] S210, Receive the preset ultrasonic recognition coefficient.

[0068] Specifically, after the user sets the ultrasonic recognition coefficient through the human-computer interaction interface, the system receives the preset ultrasonic recognition coefficient.

[0069] S211. Query the pre-stored vehicle speed-coefficient relationship table to determine the theoretical vehicle speed corresponding to the ultrasonic recognition coefficient.

[0070] The vehicle speed-coefficient relationship table records the correspondence between the vehicle's speed and the ultrasonic recognition coefficient, and is pre-stored in the vehicle. Specifically, after knowing the ultrasonic recognition coefficient set by the user, the vehicle speed-coefficient relationship table is consulted to determine the theoretical vehicle speed corresponding to the user-set ultrasonic recognition coefficient.

[0071] S212. If the road surface is flat, the theoretical speed will be used as the target speed so that the vehicle travels at the target speed.

[0072] Specifically, if the road surface is flat, the theoretical speed will be used as the target speed so that the vehicle travels at the target speed.

[0073] S213. If the road surface of the current driving road is a shaking road surface, the theoretical speed shall be corrected according to the road surface conditions, and the corrected theoretical speed shall be used as the target speed so that the vehicle travels at the target speed.

[0074] If the road surface is uneven, and considering that the vehicle speed should be reduced when passing through uneven surfaces, the theoretical speed is adjusted according to the road conditions, and the adjusted theoretical speed is used as the target speed so that the vehicle travels at the target speed.

[0075] This embodiment is a further refinement of Embodiment 1. Specifically, it details how to determine whether the vehicle requires ultrasonic detection based on its current status information, how to determine the road surface type based on the vehicle's longitudinal acceleration, and how to determine the vehicle's target speed based on a preset ultrasonic recognition coefficient and the road surface type, so that the vehicle travels at the target speed. Using this method, the vehicle's gear and speed information are used to determine whether ultrasonic detection is required. If ultrasonic detection is required, the road surface type is further determined. Based on the preset ultrasonic recognition coefficient and road surface type, the target speed is determined, i.e., a suggested speed is provided based on the performance of the ultrasonic radar and road conditions to meet the user's personalized needs. Driving at the suggested speed allows for better ultrasonic radar detection, promoting safer driving.

[0076] In this embodiment, after determining the road surface type of the current driving road, the ease of identifying the ultrasonic echo reflected from the current driving road can be determined for different road surface types. The ease of ultrasonic echo identification is categorized as easy to identify, difficult to identify, and impossible to identify. The following describes how to determine the ease of ultrasonic echo identification when the current driving road surface is smooth and when the current driving road surface is vibrating.

[0077] Furthermore, if the current road surface is smooth, the method is further optimized and limited to include:

[0078] a1) Determine the lateral acceleration of the vehicle based on its speed.

[0079] Specifically, the vehicle speed is obtained, and the vehicle's acceleration can be calculated based on the speed, which is recorded as lateral acceleration.

[0080] b1) Determine the road resistance of the current driving path based on the vehicle's lateral acceleration and engine torque.

[0081] Specifically, a vehicle's lateral acceleration is determined by engine torque and road resistance. Therefore, the road resistance of the road can be determined based on the vehicle's lateral acceleration and engine torque.

[0082] c1) If the road resistance is less than or equal to the first resistance threshold, then the ultrasonic echo reflected by the current driving road is easily identifiable.

[0083] d1) If the road resistance is greater than the first resistance threshold and less than or equal to the second resistance threshold, then it is determined that the ultrasonic echo reflected by the current driving road is difficult to identify.

[0084] e1) If the road resistance is greater than the second resistance threshold, it is determined that the ultrasonic echo reflected by the current driving road cannot be identified.

[0085] It is understandable that the first resistance threshold is less than the second resistance threshold.

[0086] Furthermore, given that the current road surface is a vibrating surface, this method is further optimized and limited to include:

[0087] a2) Perform a consistency analysis on the intensity of ultrasonic echoes reflected from the current road.

[0088] Specifically, the intensity of the ultrasonic echoes reflected from the current road is analyzed to determine if it meets the consistency criteria. Based on the consistency analysis, it is determined whether there are obstacles on the current road. Road surfaces with consistent reception types are filtered out, while obstacles with different reception types are highlighted.

[0089] b2) If the consistency condition is not met, then it is determined that there is an obstacle on the current driving road.

[0090] c2) If the consistency condition is met, then it is determined that there are no obstacles on the current driving road; and,

[0091] d2) If the ultrasonic echo intensity is less than or equal to the first intensity threshold, it is determined that the ultrasonic echo reflected by the current driving road cannot be identified.

[0092] e2) If the ultrasonic echo intensity is greater than the first intensity threshold and less than or equal to the second intensity threshold, then it is determined that the ultrasonic echo reflected by the current driving road is difficult to identify.

[0093] f2) If the intensity of the ultrasonic echo is greater than the second intensity threshold, then the ultrasonic echo reflected by the current driving road is easily identifiable.

[0094] It is understandable that the first intensity threshold is less than the second intensity threshold.

[0095] As an optional embodiment of the present invention, based on the above embodiments, the method further includes: if the road surface of the current driving road is a flat road surface, controlling the ultrasonic radar on the vehicle to face forward; if the road surface of the current driving road is a shaking road surface, controlling the ultrasonic radar on the vehicle to face downward, and adjusting the detection angle and direction of the ultrasonic radar according to the fluctuation value of longitudinal acceleration to achieve accurate detection.

[0096] Compared to existing technologies where ultrasonic technology can only identify obstacles based on reflection, this embodiment dynamically adjusts the orientation of the ultrasonic radar according to the road surface type. Specifically, if the road surface is smooth, the ultrasonic radar on the vehicle is directed forward; if the road surface is uneven, the ultrasonic radar on the vehicle is directed downward.

[0097] Furthermore, if the road surface is uneven, when the ultrasonic radar on the vehicle is directed downwards, the detection angle and steering of the ultrasonic radar can be adjusted according to the fluctuation value of longitudinal acceleration to achieve accurate detection. For example, it can be set that when there is a fluctuation in longitudinal acceleration and it meets preset value 1, the ultrasonic radar detection angle is adjusted to angle 1; when there is a fluctuation in longitudinal acceleration and it meets preset value 2, the ultrasonic radar detection angle is adjusted to angle 2; and when there is a fluctuation in longitudinal acceleration and it meets preset value 3, the ultrasonic radar detection angle is adjusted to angle 3. Simultaneously, the steering of the ultrasonic radar can also be adjusted.

[0098] As an optional embodiment of the present invention, based on the above embodiments, the method further includes: displaying the ultrasonic echo type, road surface type and ultrasonic recognition coefficient corresponding to the current driving road in a visualization interface.

[0099] The ultrasonic echo types include easily identifiable, difficult to identify, and unidentifiable. In this embodiment, the ultrasonic echo type, road surface type, and ultrasonic recognition coefficient corresponding to the preceding driving road can be displayed in real time on the visualization interface, providing intuitive feedback to the user. Furthermore, if the vehicle requires ultrasonic recognition but the user has not set an ultrasonic recognition coefficient, the ultrasonic recognition coefficient corresponding to the current vehicle speed can be determined by querying a speed-coefficient relationship table, and this coefficient can be displayed in real time on the visualization interface.

[0100] The above optional embodiments allow users to see the ultrasonic echo type in real time and provide an interface for inputting recognition coefficients for user operation settings. This enables automatic vehicle control from the perspective of ultrasonic performance, better promoting the development of the ultrasonic industry. By filtering and highlighting obstacles based on the consistency of reflected ultrasonic echoes, and providing users with an interface for displaying ultrasonic reception types and a manual operation interface for recognition coefficients, the system better popularizes ultrasonic performance, facilitating better user understanding and safer driving.

[0101] Example 3

[0102] Figure 3 This is a schematic diagram of a vehicle speed control device provided in Embodiment 3 of the present invention. This device is applicable to situations where vehicle speed control is required when ultrasonic radar detection is needed. The method can be executed by the vehicle speed control device, which can be implemented in hardware and / or software and is generally integrated into electronic equipment. For example... Figure 3 As shown, the device includes: a detection requirement determination module 31, a road surface type determination module 32, and a target vehicle speed determination module 33, wherein,

[0103] The detection requirement determination module 31 is used to determine whether the vehicle has an ultrasonic detection requirement based on the vehicle's current status information.

[0104] The road surface type determination module 32 is used to determine the road surface type of the road on which the vehicle is currently traveling based on the vehicle's longitudinal acceleration if the vehicle has ultrasonic testing requirements.

[0105] The target speed determination module 33 is used to determine the target speed of the vehicle based on the preset ultrasonic recognition coefficient and the road surface type of the current road, so that the vehicle travels at the target speed.

[0106] Optionally, the detection requirement determination module 31 is specifically used for:

[0107] Obtain the vehicle's gear position information. If the gear position information is park or neutral, it is determined that the vehicle does not require ultrasonic testing; otherwise, continue to determine whether the vehicle is in a low-speed driving state.

[0108] If so, then it is confirmed that the vehicle requires ultrasonic testing.

[0109] Otherwise, it is determined that the vehicle does not require ultrasonic testing.

[0110] Optionally, the road surface type determination module 32 is specifically used for:

[0111] Acquire the vehicle's longitudinal acceleration and determine the vibration waveform;

[0112] Based on the shaking waveform, determine whether the road surface smoothness of the current driving road meets the smoothness threshold. If it does, then determine that the road surface of the current driving road is a smooth road surface.

[0113] Otherwise, the road surface of the current driving route is determined to be a shaking road surface.

[0114] Furthermore, the device also includes a first echo type determination module, used for:

[0115] Determine the vehicle's lateral acceleration based on its speed;

[0116] Determine the road resistance of the current driving path based on the vehicle's lateral acceleration and engine torque;

[0117] If the road resistance is less than or equal to the first resistance threshold, then the ultrasonic echo reflected by the current driving road is easily identifiable.

[0118] If the road resistance is greater than the first resistance threshold and less than or equal to the second resistance threshold, then it is determined that the ultrasonic echo reflected by the current driving road is difficult to identify.

[0119] If the road resistance is greater than the second resistance threshold, it is determined that the ultrasonic echo reflected by the current road cannot be identified.

[0120] Furthermore, the device also includes a second echo type determination module, used for:

[0121] A consistency analysis was performed on the intensity of ultrasonic echoes reflected from the current road surface.

[0122] If the consistency condition is not met, it is determined that there is an obstacle on the current driving road;

[0123] If the consistency condition is met, it is determined that there are no obstacles on the current driving road; and,

[0124] If the ultrasonic echo intensity is less than or equal to the first intensity threshold, it is determined that the ultrasonic echo reflected by the current driving road cannot be identified.

[0125] If the ultrasonic echo intensity is greater than the first intensity threshold and less than or equal to the second intensity threshold, then it is determined that the ultrasonic echo reflected by the current driving road is difficult to identify.

[0126] If the intensity of the ultrasonic echo is greater than the second intensity threshold, then the ultrasonic echo reflected from the current road is easily identifiable.

[0127] Optionally, the target vehicle speed determination module 33 includes:

[0128] Receives a preset ultrasonic recognition coefficient;

[0129] Query the pre-stored vehicle speed-coefficient relationship table to determine the theoretical vehicle speed corresponding to the ultrasonic recognition coefficient;

[0130] If the road surface is flat, the theoretical speed will be used as the target speed so that the vehicle travels at the target speed.

[0131] If the road surface is uneven, the theoretical speed is adjusted according to the road conditions, and the adjusted theoretical speed is used as the target speed so that the vehicle travels at the target speed.

[0132] Optionally, the device also includes a radar angle adjustment module for:

[0133] If the road surface is flat, control the ultrasonic radar on the vehicle to point forward.

[0134] If the road surface is uneven, the ultrasonic radar on the vehicle will be directed downwards, and the detection angle and direction of the ultrasonic radar will be adjusted according to the fluctuation value of longitudinal acceleration to achieve accurate detection.

[0135] Optionally, the device also includes a visualization module for:

[0136] The interface displays the ultrasonic echo type, road surface type, and ultrasonic recognition coefficient corresponding to the current driving road. The ultrasonic echo types include easy to recognize, difficult to recognize, and unrecognizable.

[0137] The vehicle speed control device provided in the embodiments of the present invention can execute the vehicle speed control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0138] Example 4

[0139] Figure 4This is a schematic diagram of an electronic device according to Embodiment 4 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0140] like Figure 4 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded into the RAM 43 from storage unit 48. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0141] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0142] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 41 performs the various methods and processes described above, such as vehicle speed control methods.

[0143] In some embodiments, the vehicle speed control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the vehicle speed control method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the vehicle speed control method by any other suitable means (e.g., by means of firmware).

[0144] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0145] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0146] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0147] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0148] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0149] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0150] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0151] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle speed control method characterized by comprising: The method comprises the following steps: determining whether the vehicle has an ultrasonic detection requirement according to current state information of the vehicle; if the vehicle has an ultrasonic detection requirement, determining a road surface type of a current driving road of the vehicle based on longitudinal acceleration of the vehicle; determining a target speed of the vehicle according to a pre-set ultrasonic recognition coefficient and the road surface type of the current driving road of the vehicle, so as to control the vehicle to drive at the target speed; wherein, the step of determining whether the vehicle has an ultrasonic detection requirement according to current state information of the vehicle comprises: obtaining gear information of the vehicle, if the gear information is a parking gear or a neutral gear, it is determined that the vehicle has no ultrasonic detection requirement; otherwise, it is determined whether the vehicle is in a low-speed driving state; if yes, it is determined that the vehicle has an ultrasonic detection requirement; otherwise, it is determined that the vehicle has no ultrasonic detection requirement.

2. The method of claim 1, wherein, the step of determining the road surface type of the current driving road of the vehicle based on the longitudinal acceleration of the vehicle comprises: obtaining the longitudinal acceleration of the vehicle and determining a jitter waveform; determining whether the road flatness of the current driving road meets a flatness threshold according to the jitter waveform, if yes, it is determined that the road surface of the current driving road is a flat road surface; otherwise, it is determined that the road surface of the current driving road is a jitter road surface.

3. The method of claim 2, wherein, if the road surface of the current driving road is a flat road surface, further comprising: determining a lateral acceleration of the vehicle according to the speed of the vehicle; determining a road resistance of the current driving road according to the lateral acceleration of the vehicle and engine torque; if the road resistance is less than or equal to a first resistance threshold, it is determined that the ultrasonic echo reflected by the current driving road is easy to recognize; if the road resistance is greater than the first resistance threshold and less than or equal to a second resistance threshold, it is determined that the ultrasonic echo reflected by the current driving road is difficult to recognize; if the road resistance is greater than the second resistance threshold, it is determined that the ultrasonic echo reflected by the current driving road cannot be recognized.

4. The method of claim 2, wherein, if the road surface of the current driving road is a jitter road surface, further comprising: performing consistency analysis on the intensity of the ultrasonic echo reflected by the current driving road; if the consistency condition is not met, it is determined that an obstacle appears on the current driving road; if the consistency condition is met, it is determined that no obstacle appears on the current driving road; and if the intensity of the ultrasonic echo is less than or equal to a first intensity threshold, it is determined that the ultrasonic echo reflected by the current driving road cannot be recognized; if the intensity of the ultrasonic echo is greater than the first intensity threshold and less than or equal to a second intensity threshold, it is determined that the ultrasonic echo reflected by the current driving road is difficult to recognize; if the intensity of the ultrasonic echo is greater than the second intensity threshold, it is determined that the ultrasonic echo reflected by the current driving road is easy to recognize.

5. The method of claim 1, wherein, the step of determining the target speed of the vehicle according to the pre-set ultrasonic recognition coefficient and the road surface type of the current driving road, so as to control the vehicle to drive at the target speed, comprises: receiving the pre-set ultrasonic recognition coefficient; querying a pre-stored speed-coefficient relationship table to determine a theoretical speed corresponding to the ultrasonic recognition coefficient; If the current road surface is a flat road surface, the theoretical vehicle speed is taken as a target vehicle speed to make the vehicle travel at the target vehicle speed; If the current road surface is a shaking road surface, the theoretical vehicle speed is corrected according to the road surface condition, and the corrected theoretical vehicle speed is taken as a target vehicle speed to make the vehicle travel at the target vehicle speed.

6. The method of claim 1, wherein, Further comprising: If the current road surface is a flat road surface, the ultrasonic radar on the vehicle is controlled to face forward; If the current road surface is a shaking road surface, the ultrasonic radar on the vehicle is controlled to face downward, and the detection angle and steering of the ultrasonic radar are adjusted according to the fluctuation value of the longitudinal acceleration to achieve accurate detection.

7. The method of claim 1, wherein, Further comprising: The ultrasonic echo type, road surface type and ultrasonic recognition coefficient corresponding to the current road are displayed in a visual interface, and the ultrasonic echo type includes easy to identify, difficult to identify and unable to identify.

8. A vehicle speed control device characterized by comprising: Comprising: A detection demand determination module configured to determine whether the vehicle has an ultrasonic detection demand according to current state information of the vehicle; A road surface type determination module configured to determine a road surface type of a current road of the vehicle based on a longitudinal acceleration of the vehicle if the vehicle has the ultrasonic detection demand; A target vehicle speed determination module configured to determine a target vehicle speed of the vehicle according to a pre-set ultrasonic recognition coefficient and the road surface type of the current road of the vehicle, so that the vehicle travels at the target vehicle speed; The detection demand determination module is specifically configured to: Obtain gear information of the vehicle, and determine that the vehicle has no ultrasonic detection demand if the gear information is a parking gear or a neutral gear; otherwise, continue to determine whether the vehicle is in a low-speed driving state; If yes, determine that the vehicle has the ultrasonic detection demand; Otherwise, determine that the vehicle has no ultrasonic detection demand.

9. An electronic device, comprising: The electronic device comprises: At least one processor; and A memory connected in communication with the at least one processor; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle speed control method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the vehicle speed control method in any one of claims 1-7 when executed.

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