Vehicle and speed limit control method and device thereof, and storage medium

Abstract

The application discloses a vehicle, a speed limiting control method and device thereof and a storage medium, and the method comprises the following steps: acquiring a current requested driving torque of the vehicle, a target speed limiting value and a current vehicle speed; acquiring a feedforward speed limiting compensation value when the current vehicle speed is greater than the target speed limiting value; determining a driving compensation torque according to the target speed limiting value, the feedforward speed limiting compensation value and the current vehicle speed; and determining a driving torque of the vehicle according to the driving compensation torque and the current requested driving torque. The method can compensate the driving torque of the vehicle according to the current requested driving torque when the current vehicle speed is greater than the target speed limiting value, so that the vehicle can keep driving below the highest limit speed under different requested driving torques and different speed limiting demands, and can keep the same good dynamic performance under the high speed limit value and the low speed limit value, so that the vehicle can stably drive at the limit speed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a speed limiting control method of a vehicle, a speed limiting control device of a vehicle, a computer readable storage medium and a vehicle. BACKGROUND

[0002] In the related art, a speed limiting control method for a vehicle includes: estimating a future vehicle speed, correcting a whole vehicle demand torque, and distributing the corrected whole vehicle demand torque. However, this method is a method of estimating acceleration according to a demand torque and then estimating a vehicle speed, which causes errors in the estimation, resulting in inaccurate speed limiting control and affecting the smoothness of vehicle travel. In addition, this method can only effectively limit a single limit speed, but has shortcomings in the dynamic characteristics of speed limitation at high and low speeds. In the low-speed case, it may not be able to reach the maximum speed, and in the high-speed case, it may still occur that the speed is exceeded. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, a first object of the present application is to provide a speed limiting control method of a vehicle, which can compensate the driving torque of the vehicle according to the current request driving torque when the current vehicle speed is greater than the target limit speed value, so that the vehicle can maintain driving below the maximum limit speed under different request driving torques and different speed limiting demands, and can maintain the same good dynamic performance under high and low speed limits, so that the vehicle can smoothly travel at the limit speed.

[0004] A second object of the present application is to provide a speed limiting control device of a vehicle.

[0005] A third object of the present application is to provide a computer readable storage medium.

[0006] A fourth object of the present application is to provide a vehicle.

[0007] To achieve the above objects, a first aspect of the present application provides a speed limiting control method of a vehicle, comprising: obtaining a current request driving torque of a vehicle, a target limit speed value and a current vehicle speed; obtaining a feedforward speed limiting compensation value when the current vehicle speed is greater than the target limit speed value; determining a driving compensation torque according to the target limit speed value, the feedforward speed limiting compensation value and the current vehicle speed; and determining a driving torque of the vehicle according to the driving compensation torque and the current request driving torque.

[0008] The speed limit control method of the vehicle according to the embodiment of the present application, when the current vehicle speed is greater than the target speed limit value, obtains a feedforward speed limit compensation value, and determines a drive compensation torque according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed, and determines the drive torque of the vehicle according to the drive compensation torque and the current requested drive torque. Thus, the method can compensate the drive torque of the vehicle according to the current requested drive torque when the current vehicle speed is greater than the target speed limit value, so that the vehicle can maintain driving below the highest limit speed under different requested drive torques and different speed limit demands, and can maintain the same good dynamic performance under high speed limit value and low speed limit value, so that the vehicle can stably drive at the limit speed.

[0009] In addition, the speed limit control method of the vehicle according to the above-mentioned embodiments of the present application can also have the following additional technical features:

[0010] According to one embodiment of the present application, obtaining the feedforward speed limit compensation value comprises: obtaining a corresponding relationship between the requested drive torque and the feedforward speed limit compensation value; and determining the feedforward speed limit compensation value according to the current requested drive torque and the corresponding relationship.

[0011] According to one embodiment of the present application, determining the drive compensation torque according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed comprises: determining a speed limit compensation value according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed; and determining the drive compensation torque according to the speed limit compensation value.

[0012] According to one embodiment of the present application, the target speed limit value is adjusted according to the feedforward speed limit compensation value.

[0013] According to one embodiment of the present application, the feedforward speed limit compensation value is determined by the following formula:

[0014] V - =k*T q +b

[0015] wherein V - is the feedforward speed limit compensation value, T q is the requested drive torque, k is a straight line slope determined according to the speed difference between the current vehicle speed and the target speed limit value when the vehicle does not compensate under different requested drive torques, and b is an offset determined according to the speed difference between the current vehicle speed and the target speed limit value when the vehicle does not compensate under different requested drive torques.

[0016] According to one embodiment of the present application, the driving compensation torque is determined according to the speed limit compensation value, comprising: when the speed limit compensation value is greater than zero, the driving torque compensation value is zero; when the speed limit compensation value is less than or equal to zero, the driving torque compensation value is determined by PID (Proportional Integral Derivative) closed loop operation.

[0017] According to one embodiment of the present application, the driving torque compensation value is determined by PID closed loop operation, comprising: the speed limit compensation value is taken as the input of the PID closed loop operation; the compensation acceleration is obtained after the PID closed loop operation; and the driving compensation torque is determined according to the compensation acceleration.

[0018] According to one embodiment of the present application, the driving torque of the vehicle is determined according to the driving compensation torque and the current requested driving torque, comprising: the sum of the current requested driving torque and the driving compensation torque is taken as the driving torque of the vehicle.

[0019] According to one embodiment of the present application, the speed limit control method of the vehicle further comprises: when the current vehicle speed is less than or equal to the target speed limit value, the current requested driving torque is taken as the driving torque of the vehicle.

[0020] To achieve the above object, the second embodiment of the present application provides a speed limit control device of a vehicle, comprising: a first obtaining module, configured to obtain the current requested driving torque of the vehicle, the target speed limit value and the current vehicle speed; a second obtaining module, configured to obtain the feedforward speed limit compensation value when the current vehicle speed is greater than the target speed limit value; a first determining module, configured to determine the driving compensation torque according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed; and a second determining module, configured to determine the driving torque of the vehicle according to the driving compensation torque and the current requested driving torque.

[0021] The speed limit control device of the vehicle according to the embodiment of the present application, the first obtaining module obtains the current requested driving torque of the vehicle, the target speed limit value and the current vehicle speed, the second obtaining module obtains the feedforward speed limit compensation value when the current vehicle speed is greater than the target speed limit value, the first determining module determines the driving compensation torque according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed, and the second determining module determines the driving torque of the vehicle according to the driving compensation torque and the current requested driving torque. Therefore, the device can compensate the driving torque of the vehicle according to the current requested driving torque when the current vehicle speed of the vehicle is greater than the target speed limit value, so that the vehicle can keep driving below the highest limit speed under different requested driving torque and different speed limit demands, and can keep the same good dynamic performance under the high speed limit value and the low speed limit value, so that the vehicle can stably drive at the limit speed.

[0022] To achieve the above object, the third aspect of the present application provides a computer readable storage medium, which stores a speed limit control program of a vehicle, and the speed limit control program of the vehicle is executed by a processor to implement the speed limit control method of the vehicle.

[0023] According to the computer readable storage medium of the embodiment of the present application, by executing the speed limit control method of the vehicle, the driving torque of the vehicle can be compensated according to the current requested driving torque when the current vehicle speed is greater than the target speed limit value, so that the vehicle can keep driving below the highest limit speed under different requested driving torques and different speed limit demands, and can keep the same good dynamic performance under the high speed limit value and the low speed limit value, so that the vehicle can stably drive at the limit speed.

[0024] To achieve the above object, the fourth aspect of the present application provides a vehicle, which comprises a memory, a processor, and a speed limit control program of the vehicle stored in the memory and executable on the processor, and the speed limit control program of the vehicle is executed by the processor to implement the speed limit control method of the vehicle.

[0025] According to the vehicle of the embodiment of the present application, by executing the speed limit control method of the vehicle, the driving torque of the vehicle can be compensated according to the current requested driving torque when the current vehicle speed is greater than the target speed limit value, so that the vehicle can keep driving below the highest limit speed under different requested driving torques and different speed limit demands, and can keep the same good dynamic performance under the high speed limit value and the low speed limit value, so that the vehicle can stably drive at the limit speed.

[0026] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 Flow chart of the speed limit control method of the vehicle according to the embodiment of the present application;

[0028] Figure 2 Flow chart of the speed limit control method of the vehicle according to the embodiment of the present application;

[0029] Figure 3 Flow chart of the speed limit control method of the vehicle according to the embodiment of the present application;

[0030] Figure 4 Block schematic diagram of the speed limit control device of the vehicle according to the embodiment of the present application;

[0031] Figure 5 Block schematic diagram of the vehicle according to the embodiment of the present application. DETAILED DESCRIPTION

[0032] Embodiments of the present application are described below in detail, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0033] A speed limit control method for a vehicle, a speed limit control device for a vehicle, a computer readable storage medium, and a vehicle according to embodiments of the present application are described below with reference to the accompanying drawings.

[0034] Figure 1 A flowchart of a speed limit control method for a vehicle according to embodiments of the present application.

[0035] As shown in Figure 1 A speed limit control method for a vehicle according to embodiments of the present application can include the following steps:

[0036] S1, obtaining a current requested driving torque of the vehicle, a target speed limit value, and a current vehicle speed.

[0037] In embodiments of the present application, the vehicle has an ADAS (Advanced Driving Assistance System) system and a sensor platform, wherein the sensor platform is a fusion of multiple sensors, such as front-view cameras, forward radars, front corner radars, rear corner radars, surround-view cameras, side-view cameras, laser radars, torque sensors, and the like. The ADAS system can monitor the wheel speed information, lateral and longitudinal acceleration, yaw rate, throttle opening, brake pedal information, and the like of the vehicle in real time. During the driving of the vehicle, the current requested driving torque, the target speed limit value, and the current vehicle speed of the vehicle can be obtained through the ADAS system and the sensor platform and transmitted to the vehicle controller through the body bus signal. The target speed limit value can be obtained through speed limit signs on the road or through other means, which is not limited here.

[0038] S2, obtaining a feedforward speed limit compensation value when the current vehicle speed is greater than the target speed limit value.

[0039] The feedforward speed limit compensation value can be obtained by calculating the current requested driving torque through a feedforward compensation link.

[0040] S3, determining a driving compensation torque according to the target speed limit value, the feedforward speed limit compensation value, and the current vehicle speed.

[0041] S4, determining a driving torque of the vehicle according to the driving compensation torque and the current requested driving torque.

[0042] According to one embodiment of the present application, the driving torque of the vehicle is determined according to the driving compensation torque and the current requested driving torque, including: taking the sum of the current requested driving torque and the driving compensation torque as the driving torque of the vehicle.

[0043] Specifically, during the driving of the vehicle, the vehicle controller monitors the current requested driving torque, the target speed limit value and the current vehicle speed in real time through the ADAS system and the sensor platform. Since the road conditions change constantly, the speed limit value of the road also changes, that is, the target speed limit value changes according to the different road conditions. When the current vehicle speed is greater than the target speed limit value, the vehicle has the risk of overspeed, and thus the driving torque of the vehicle needs to be adjusted to limit the speed of the vehicle.

[0044] Specifically, when the current vehicle speed is greater than the target speed limit value, the current requested driving torque is calculated through the feedforward compensation link to obtain a feedforward speed limit compensation value. After the feedforward speed limit compensation value is obtained, the vehicle controller can determine whether the driving torque of the vehicle needs to be compensated according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed, and determine the value of the driving compensation torque when the driving torque of the vehicle needs to be compensated. The sum of the current requested driving torque and the driving compensation torque is taken as the driving torque of the vehicle, and the driving torque of the vehicle is transmitted to the vehicle controller through the bus signal. The vehicle controller responds according to the driving torque of the vehicle, controls the driving device of the vehicle to drive the vehicle to run according to the driving torque of the vehicle, so that the vehicle runs below the target speed limit value.

[0045] It should be noted that when the target speed limit value increases or decreases due to changes in road conditions, the current requested driving torque of the vehicle also changes. In the case of different requested driving torques and target speed limit values, the vehicle can be controlled to run below the target speed limit value according to the above steps.

[0046] Therefore, the speed limit control method of the vehicle described above can compensate the driving torque of the vehicle according to the current requested driving torque when the current vehicle speed is greater than the target speed limit value, so that the vehicle can maintain driving below the highest limit speed under different requested driving torques and different speed limit requirements, and can maintain the same good dynamic performance under high speed limit value and low speed limit value, so that the vehicle can stably drive at the limit speed.

[0047] According to one embodiment of the present application, the feedforward speed limit compensation value is obtained, including: obtaining a corresponding relationship between the requested driving torque and the feedforward speed limit compensation value; determining the feedforward speed limit compensation value according to the current requested driving torque and the corresponding relationship.

[0048] According to one embodiment of the present application, the feedforward speed limit compensation value is determined by the following formula:

[0049] V - =k*T q +b (1)

[0050] Among them, V - T is the feedforward speed limiting compensation value. q For the requested drive torque, k is the slope of the straight line calibrated based on the speed difference between the current vehicle speed and the target speed limit value when the vehicle is not compensated under different requested drive torques, and b is the offset calibrated based on the speed difference between the current vehicle speed and the target speed limit value when the vehicle is not compensated under different requested drive torques.

[0051] Specifically, such as Figure 2 As shown, when the vehicle's current speed is greater than the target speed limit, the current requested drive torque is calculated through the feedforward compensation circuit to obtain the feedforward speed limit compensation value. The correspondence between the requested drive torque and the feedforward speed limit compensation value is shown in the above formula (1).

[0052] When the vehicle's current speed exceeds the target speed limit, the slope k and offset b can be determined based on the speed difference between the current speed and the target speed limit, and the vehicle's current requested drive torque T is then adjusted accordingly. q Substituting the slope k and offset b into formula (1) above, the feedforward speed limiting compensation value V can be obtained. - Therefore, when the current requested drive torque increases, the feedforward speed limiting compensation value increases accordingly, and when the current requested drive torque decreases, the feedforward speed limiting compensation value decreases accordingly.

[0053] According to one embodiment of the present invention, the target speed limit value is adjusted based on the feedforward speed limit compensation value.

[0054] Specifically, after obtaining the feedforward speed limit compensation value, the target speed limit value can be subtracted from the feedforward speed limit compensation value. The difference obtained is the target speed limit value under the current requested drive torque. This allows for dynamic adjustment of the target speed limit value based on different requested drive torques.

[0055] According to one embodiment of the present invention, determining the drive compensation torque based on a target speed limit value, a feedforward speed limit compensation value, and the current vehicle speed includes: determining a speed limit compensation value based on the target speed limit value, the feedforward speed limit compensation value, and the current vehicle speed; and determining the drive compensation torque based on the speed limit compensation value.

[0056] In one embodiment of the present invention, the speed limit compensation value can be obtained by the following formula:

[0057] Δv=V x -V s -V - (2)

[0058] wherein, Δv is a speed limit compensation value, V x is a target speed limit value, V s is a current vehicle speed, V - is a feedforward speed limit compensation value.

[0059] Specifically, after the feedforward speed limit compensation value V - is obtained, the target speed limit value V x , the feedforward speed limit compensation value V - and the current vehicle speed V s are substituted into the above formula (2) to obtain the speed limit compensation value Δv, and then the driving compensation torque is determined according to the size of the speed limit compensation value Δv.

[0060] According to one embodiment of the present application, the driving compensation torque is determined according to the speed limit compensation value, comprising: when the speed limit compensation value is greater than zero, the driving torque compensation value is zero; and when the speed limit compensation value is less than or equal to zero, the driving torque compensation value is determined by PID closed loop operation.

[0061] Further, according to one embodiment of the present application, the driving torque compensation value is determined by PID closed loop operation, comprising: the speed limit compensation value is taken as the input of the PID closed loop operation; a compensation acceleration is obtained after the PID closed loop operation; and the driving compensation torque is determined according to the compensation acceleration.

[0062] Specifically, continuing to refer to Figure 2 , when the speed limit compensation value Δv is greater than zero, no PID operation is performed, the driving torque compensation value is zero, and the final driving torque of the vehicle is the current requested driving torque. When the speed limit compensation value Δv is less than or equal to zero, the speed limit compensation value Δv is taken as the input of the PID closed loop operation link to calculate the speed limit compensation value Δv, and a compensation acceleration a can be obtained, wherein the PID output calculation formula is:

[0063]

[0064] wherein, u(k) is the output of the PID closed loop operation link at time k, K p is a proportional coefficient, K i is an integral coefficient, and K d is a differential coefficient.

[0065] Further, the compensation acceleration a is taken as the input of the acceleration and torque conversion link, and the driving compensation torque is output after the calculation by the acceleration and torque conversion link. The driving compensation torque and the current requested driving torque are summed to obtain the driving torque of the vehicle.

[0066] Therefore, the method of the above embodiment determines the current output torque value by subtracting the original limit speed from the request driving torque after correcting the request driving torque by feedforward and then calculating by PID, so that when the request driving torque increases, the feedforward speed limit compensation value increases, and when the request driving torque decreases, the feedforward speed limit compensation value decreases, thereby achieving the purpose of dynamic speed limit. Especially when the request driving torque continuously increases, the method of the above embodiment can still limit the driving torque of the vehicle within a certain range, so that the vehicle speed is below the target speed limit value.

[0067] According to one embodiment of the present application, the above-mentioned speed limit control method of the vehicle further comprises: when the current vehicle speed is less than or equal to the target speed limit value, taking the current request driving torque as the driving torque of the vehicle.

[0068] That is, during the driving of the vehicle, if the vehicle is not overspeed, the driving device of the vehicle outputs torque according to the current request driving torque to drive the vehicle.

[0069] As a specific example, as shown in Figure 3 The speed limit control method of the vehicle can comprise the following steps:

[0070] Step S101: obtaining the current request driving torque of the vehicle, the target speed limit value and the current vehicle speed.

[0071] Step S102: judging whether the current vehicle speed is greater than the target speed limit value. If yes, step S103 is executed; if no, step S109 is executed.

[0072] Step S103: obtaining the feedforward speed limit compensation value.

[0073] Step S104: determining the speed limit compensation value according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed.

[0074] Step S105: judging whether the speed limit compensation value is greater than zero. If yes, step S106 is executed; if no, step S107 is executed.

[0075] Step S106: the driving torque compensation value is zero, and the driving torque of the vehicle is the current request driving torque.

[0076] Step S107: determining the driving torque compensation value by PID closed loop operation.

[0077] Step S108: taking the sum of the current request driving torque and the driving compensation torque as the driving torque of the vehicle.

[0078] Step S109: taking the current request driving torque as the driving torque of the vehicle.

[0079] Therefore, the speed limit control method can drive the vehicle to travel at the requested driving torque as the driving torque of the vehicle when the actual vehicle speed is not greater than the target speed limit value, and compensate the driving torque of the vehicle according to the current requested driving torque when the current vehicle speed is greater than the target speed limit value, so that the vehicle can maintain travel below the highest limit speed under different requested driving torques and different speed limit demands, and can maintain the same good dynamic performance under high-speed limit and low-speed limit, so that the vehicle can smoothly travel at the limit speed.

[0080] In summary, according to the speed limit control method of the vehicle according to the embodiment of the present application, when the current vehicle speed is greater than the target speed limit value, the feedforward speed limit compensation value is obtained, and the driving compensation torque is determined according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed, and the driving torque of the vehicle is determined according to the driving compensation torque and the current requested driving torque. Therefore, the method can compensate the driving torque of the vehicle according to the current requested driving torque when the current vehicle speed is greater than the target speed limit value, so that the vehicle can maintain travel below the highest limit speed under different requested driving torques and different speed limit demands, and can maintain the same good dynamic performance under high-speed limit and low-speed limit, so that the vehicle can smoothly travel at the limit speed.

[0081] Corresponding to the above-mentioned embodiments, the present application also provides a speed limit control device of a vehicle.

[0082] Figure 4 A block schematic diagram of the speed limit control device of the vehicle according to the embodiment of the present application.

[0083] As Figure 4 shown, the speed limit control device 100 of the vehicle according to the embodiment of the present application can include a first obtaining module 110, a second obtaining module 120, a first determining module 130 and a second determining module 140.

[0084] The first obtaining module 110 is configured to obtain the current requested driving torque of the vehicle, the target speed limit value and the current vehicle speed. The second obtaining module 120 is configured to obtain the feedforward speed limit compensation value when the current vehicle speed is greater than the target speed limit value. The first determining module 130 is configured to determine the driving compensation torque according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed. The second determining module 140 is configured to determine the driving torque of the vehicle according to the driving compensation torque and the current requested driving torque.

[0085] According to an embodiment of the present application, the second obtaining module 120 obtains the feedforward speed limit compensation value, specifically configured to obtain the corresponding relationship between the requested driving torque and the feedforward speed limit compensation value, and determine the feedforward speed limit compensation value according to the current requested driving torque and the corresponding relationship.

[0086] According to one embodiment of the present application, the second obtaining module 120 adjusts the target speed limit value according to the feedforward speed limit compensation value.

[0087] According to one embodiment of the present application, the second obtaining module 120 determines the feedforward speed limit compensation value by the following formula:

[0088] V - =k*T q +b

[0089] wherein V - is the feedforward speed limit compensation value, T q is the requested driving torque, k is a straight line slope calibrated according to the speed difference between the current vehicle speed and the target speed limit value when the vehicle does not compensate at different requested driving torques, and b is an offset calibrated according to the speed difference between the current vehicle speed and the target speed limit value when the vehicle does not compensate at different requested driving torques.

[0090] According to one embodiment of the present application, the first determining module 130 determines the driving compensation torque according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed, specifically for determining a speed limit compensation value according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed; and determining the driving compensation torque according to the speed limit compensation value.

[0091] According to one embodiment of the present application, the first determining module 130 determines the driving compensation torque according to the speed limit compensation value, specifically for when the speed limit compensation value is greater than zero, the driving torque compensation value is zero; and when the speed limit compensation value is less than or equal to zero, the driving torque compensation value is determined by PID closed loop operation.

[0092] According to one embodiment of the present application, the first determining module 130 determines the driving torque compensation value by PID closed loop operation, specifically for taking the speed limit compensation value as the input of the PID closed loop operation; obtaining a compensation acceleration after the PID closed loop operation; and determining the driving compensation torque according to the compensation acceleration.

[0093] According to one embodiment of the present application, the second determining module 140 determines the driving torque of the vehicle according to the driving compensation torque and the current requested driving torque, specifically for taking the sum of the current requested driving torque and the driving compensation torque as the driving torque of the vehicle.

[0094] According to one embodiment of the present application, the second determining module 140 is further configured to, when the current vehicle speed is less than or equal to the target speed limit value, take the current requested driving torque as the driving torque of the vehicle.

[0095] It should be noted that the details of the vehicle speed limit control device not disclosed in the embodiments of the present application can refer to the details disclosed in the vehicle speed limit control method of the embodiments of the present application, which will not be described here in detail.

[0096] The speed limiting control device of the vehicle according to the embodiment of the present application, the first obtaining module obtains the current requested driving torque, the target speed limiting value and the current vehicle speed, the second obtaining module obtains the feedforward speed limiting compensation value when the current vehicle speed is greater than the target speed limiting value, the first determining module determines the driving compensation torque according to the target speed limiting value, the feedforward speed limiting compensation value and the current vehicle speed, and the second determining module determines the driving torque of the vehicle according to the driving compensation torque and the current requested driving torque. Thus, the device can compensate the driving torque of the vehicle according to the current requested driving torque when the current vehicle speed is greater than the target speed limiting value, so that the vehicle can keep driving below the highest limit speed under different requested driving torques and different speed limiting demands, and can keep the same good dynamic performance under the high speed limit value and the low speed limit value, so that the vehicle can stably drive at the limit speed.

[0097] Corresponding to the above-mentioned embodiments, the present application further provides a computer readable storage medium.

[0098] The computer readable storage medium according to the embodiment of the present application has a vehicle speed limiting control program stored thereon, and the vehicle speed limiting control program is executed by a processor to implement the above-mentioned vehicle speed limiting control method.

[0099] The computer readable storage medium according to the embodiment of the present application, by executing the above-mentioned vehicle speed limiting control method, can compensate the driving torque of the vehicle according to the current requested driving torque when the current vehicle speed is greater than the target speed limiting value, so that the vehicle can keep driving below the highest limit speed under different requested driving torques and different speed limiting demands, and can keep the same good dynamic performance under the high speed limit value and the low speed limit value, so that the vehicle can stably drive at the limit speed.

[0100] Corresponding to the above-mentioned embodiments, the present application further provides a vehicle.

[0101] Figure 5 The block diagram of the vehicle according to the embodiment of the present application is shown.

[0102] As Figure 5 shown, the vehicle 200 according to the embodiment of the present application includes a memory 210, a processor 220 and a vehicle speed limiting control program stored in the memory 210 and executable on the processor 220, and the processor 220 implements the above-mentioned vehicle speed limiting control method when executing the vehicle speed limiting control program.

[0103] According to the vehicle of the embodiment of the present application, by executing the speed limiting control method of the vehicle described above, the driving torque of the vehicle can be compensated according to the current requested driving torque when the current vehicle speed is greater than the target speed limit value, so that the vehicle can keep driving below the highest limit speed under different requested driving torque and different speed limit demand, and can keep the same good dynamic performance under the high speed limit value and the low speed limit value, so that the vehicle can smoothly drive at the limit speed.

[0104] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logic functions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor- based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or a combination of the above. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical apparatus), a portable computer diskette (magnetic apparatus), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber (optical apparatus), and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, by optically scanning the paper or other suitable medium, then electronically converted into a form that is suitable for use by the instruction execution system, apparatus, or device, and for example, stored in the computer memory.

[0105] It should be understood that parts of the present application can be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and as in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits (ASICs) having appropriate combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0106] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0107] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0108] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and other terms should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0109] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A speed limit control method of a vehicle, characterized by, The method comprises: acquiring a current requested driving torque, a target speed limit value and a current vehicle speed of the vehicle; acquiring a feedforward speed limit compensation value when the current vehicle speed is greater than the target speed limit value; determining a driving compensation torque according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed; determining a driving torque of the vehicle according to the driving compensation torque and the current requested driving torque; The method further comprises: acquiring a feedforward speed limit compensation value, comprising: acquiring a corresponding relationship between a requested driving torque and a feedforward speed limit compensation value; 2. The method of claim 1, wherein, determining the feedforward speed limit compensation value according to the current requested driving torque and the corresponding relationship.

3. The method of claim 2, wherein, adjusting the target speed limit value according to the feedforward speed limit compensation value. V - = k * T q + b wherein V - is the feedforward speed limit compensation value, T q is the requested drive torque, k is a slope value calibrated according to the speed difference between the current vehicle speed and the target speed limit value when the vehicle is not compensated at different requested drive torques, and b is an offset value calibrated according to the speed difference between the current vehicle speed and the target speed limit value when the vehicle is not compensated at different requested drive torques.

4. The method of claim 1, wherein, The feedforward speed limit compensation value is determined by the following formula: determining a driving compensation torque according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed, comprising: determining a speed limit compensation value according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed; 5. The method of claim 4, wherein, determining a driving compensation torque according to the speed limit compensation value. determining a driving compensation torque according to the speed limit compensation value, comprising: when the speed limit compensation value is greater than zero, the driving torque compensation value is zero; 6. The method of claim 5, wherein, when the speed limit compensation value is less than or equal to zero, determining the driving torque compensation value by PID closed loop operation. determining the driving torque compensation value by PID closed loop operation, comprising: taking the speed limit compensation value as an input of the PID closed loop operation; obtaining a compensation acceleration after the PID closed loop operation; 7. The method of claim 1, wherein, determining the driving compensation torque according to the compensation acceleration. determining a driving torque of the vehicle according to the driving compensation torque and the current requested driving torque, comprising:

8. The method of claim 1, wherein, taking a sum of the current requested driving torque and the driving compensation torque as the driving torque of the vehicle. The method further comprises:

9. A speed limit control device for a vehicle, characterized by comprising: when the current vehicle speed is less than or equal to the target speed limit value, taking the current requested driving torque as the driving torque of the vehicle. The method comprises: a first acquiring module, configured to acquire a current requested driving torque, a target speed limit value and a current vehicle speed of the vehicle; a second acquiring module, configured to acquire a feedforward speed limit compensation value when the current vehicle speed is greater than the target speed limit value acquiring a feedforward speed limit compensation value, comprising: acquiring a corresponding relationship between a requested driving torque and a feedforward speed limit compensation value; determining the feedforward speed limit compensation value according to the current requested driving torque and the corresponding relationship. a first determining module, configured to determine a driving compensation torque according to the target speed limit value, the feedforward speed limit compensation value and the current vehicle speed; 10. A computer-readable storage medium, characterized in that, a second determining module, configured to determine a driving torque of the vehicle according to the driving compensation torque and the current requested driving torque.

11. A vehicle characterized by comprising: A vehicle speed limit control program is stored thereon, and the vehicle speed limit control program is executed by a processor to implement the vehicle speed limit control method according to any one of claims 1-8. A vehicle speed limit control program is stored in a memory and executable on a processor, and the processor implements the vehicle speed limit control method according to any one of claims 1-8 when executing the vehicle speed limit control program.

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