Vehicle Longitudinal Control Method, Device, Vehicle and Storage Medium

Abstract

The present disclosure relates to a vehicle longitudinal control method, apparatus, vehicle, and storage medium. The method includes: receiving a longitudinal control request for the vehicle, the longitudinal control request including an input control amount; determining a first output torque according to the input control amount; obtaining a resistance torque of the vehicle; compensating the first output torque according to the resistance torque to obtain a second output torque; and controlling the operation of the motor of the vehicle according to the second output torque to perform longitudinal control on the vehicle. By obtaining the first output torque through the longitudinal control request, then, obtaining the resistance torque of the vehicle, compensating the first output torque according to the resistance torque of the vehicle to obtain the second output torque, and controlling the operation of the motor of the vehicle according to the second output torque to perform longitudinal control on the vehicle, in this way, the influence of the resistance suffered by the vehicle during driving on the longitudinal movement of the vehicle can be compensated, so that the second output torque can be accurately and quickly obtained, and the effect of vehicle longitudinal control can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a vehicle longitudinal control method, device, vehicle, and storage medium. Background Art

[0002] Vehicle Longitudinal Control (VLC) refers to the acceleration and deceleration control of a vehicle moving in a straight line. In related technologies, the VLC system performs open-loop or closed-loop control based on the deviation between the target acceleration and the actual acceleration of the vehicle to obtain the torque required to reach the target acceleration, and then sends the torque to the drive unit or the brake unit to achieve the longitudinal control of the vehicle.

[0003] However, during actual driving, a vehicle is affected by environmental factors such as slopes and wind, and its actual acceleration is unstable, resulting in the deviation between the target acceleration and the actual acceleration not converging quickly. This makes it difficult for the VLC system to accurately and quickly obtain the torque required to reach the target acceleration, affecting the longitudinal control effect of the vehicle. Summary of the Invention

[0004] To overcome the problems in related technologies, the present disclosure provides a vehicle longitudinal control method, device, vehicle, and storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a vehicle longitudinal control method is provided, including:

[0006] Receiving a longitudinal control request for the vehicle, where the longitudinal control request includes an input control quantity, and the input control quantity includes the target acceleration and / or target speed of the vehicle;

[0007] Determining a first output torque according to the input control quantity;

[0008] Obtaining the resistance torque of the vehicle;

[0009] Compensating the first output torque according to the resistance torque to obtain a second output torque;

[0010] Controlling the operation of the motor of the vehicle according to the second output torque to perform longitudinal control on the vehicle.

[0011] Optionally, the obtaining the resistance torque of the vehicle includes:

[0012] Obtaining the actual speed and actual motor torque of the vehicle at the current moment;

[0013] Determining the acceleration of the vehicle according to the actual speed at the current moment and the actual speed at the previous moment of the current moment;

[0014] The resistance torque is predicted based on the acceleration, the mass of the vehicle, and the actual motor torque at the current moment.

[0015] Optionally, the predicting the resistance torque based on the acceleration, the mass of the vehicle, and the actual motor torque at the current moment includes:

[0016] Based on the acceleration, the mass of the vehicle, and the actual motor torque at the current moment, the predicted speed and predicted torque of the vehicle at the current moment are predicted;

[0017] Based on a first speed deviation, a torque compensation amount is determined; wherein, the first speed deviation is the difference between the predicted speed and the actual speed at the current moment;

[0018] The predicted torque is compensated according to the torque compensation amount to obtain the resistance torque.

[0019] Optionally, the input control quantity includes a target acceleration, and the determining a first output torque according to the input control quantity includes:

[0020] Using the target acceleration as a control input quantity and the output torque of the vehicle as a controlled object, a feedforward control is performed on the vehicle to obtain the first output torque.

[0021] Optionally, the input control quantity includes a target speed, and the determining a first output torque according to the input control quantity includes:

[0022] Using the target speed as a control input quantity and the output torque of the vehicle as a controlled object, a feedback control is performed on the vehicle to obtain the first output torque.

[0023] Optionally, the performing a feedback control on the vehicle using the target speed as a control input quantity and the output torque of the vehicle as a controlled object to obtain the first output torque includes:

[0024] Performing a proportional control on a second speed deviation to obtain a proportional control torque; wherein, the second speed deviation is the difference between the target speed and the actual speed at the previous moment of the current moment;

[0025] Performing an integral control on a third speed deviation to obtain an integral control torque; wherein, the third speed deviation is the difference between the target speed and the actual speed at the current moment;

[0026] The sum of the proportional control torque and the integral control torque is determined as the first output torque.

[0027] Optionally, compensating the first output torque according to the resistance torque to obtain a second output torque includes:

[0028] Compensating the first output torque according to the resistance torque to obtain a combined torque;

[0029] Determining a motor capability limit torque according to the motor state of the vehicle;

[0030] Determining a battery capability limit torque according to the battery state of the vehicle;

[0031] Determining the minimum value among the combined torque, the motor capability limit torque, and the battery capability limit torque as the second output torque.

[0032] According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle longitudinal control device, including:

[0033] A request receiving module, configured to receive a longitudinal control request for the vehicle, where the longitudinal control request includes an input control quantity, and the input control quantity includes a target acceleration and / or a target speed of the vehicle;

[0034] A first obtaining module, configured to determine a first output torque according to the input control quantity;

[0035] A second obtaining module, configured to obtain the resistance torque of the vehicle;

[0036] A third obtaining module, configured to compensate the first output torque according to the resistance torque to obtain a second output torque;

[0037] A control module, configured to control the operation of the motor of the vehicle according to the second output torque to perform longitudinal control on the vehicle.

[0038] According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle, including:

[0039] A processor;

[0040] A memory for storing processor-executable instructions;

[0041] Wherein, the processor is configured to:

[0042] Receive a longitudinal control request for the vehicle, where the longitudinal control request includes an input control quantity, and the input control quantity includes a target acceleration and / or a target speed of the vehicle;

[0043] Determine a first output torque according to the input control quantity;

[0044] Obtain the resistance torque of the vehicle;

[0045] Compensate the first output torque according to the resistance torque to obtain a second output torque;

[0046] Control the operation of the motor of the vehicle according to the second output torque to perform longitudinal control on the vehicle.

[0047] According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the vehicle longitudinal control method provided in the first aspect of the present disclosure are implemented.

[0048] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: obtaining a first output torque through a longitudinal control request, then, acquiring the resistance torque of the vehicle, compensating the first output torque according to the resistance torque of the vehicle to obtain a second output torque, and then, controlling the operation of the motor of the vehicle according to the second output torque to perform longitudinal control on the vehicle. In this way, the influence of the resistance suffered by the vehicle during driving on the longitudinal movement of the vehicle can be compensated, so that the second output torque can be accurately and quickly obtained, and the effect of vehicle longitudinal control is improved.

[0049] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. Description of the Drawings

[0050] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0051] Figure 1 is a flowchart of a vehicle longitudinal control method shown according to an exemplary embodiment.

[0052] Figure 2 is a flowchart of a feedback control method shown according to an exemplary embodiment.

[0053] Figure 3 is a flowchart of a method for predicting the resistance torque of a vehicle shown according to an exemplary embodiment.

[0054] Figure 4 is a flowchart of another vehicle longitudinal control method shown according to an exemplary embodiment.

[0055] Figure 5 is a block diagram of a vehicle longitudinal control device shown according to an exemplary embodiment.

[0056] Figure 6 is a block diagram of a vehicle shown according to an exemplary embodiment. Detailed Implementation Modes

[0057] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0058] It should be noted that all actions of obtaining signals, information, or data in this application are carried out on the premise of complying with the corresponding data protection regulations and policies of the location and with the authorization given by the owner of the corresponding device.

[0059] Advanced Driver Assistance Systems (ADAS) can assist users in driving vehicles, effectively increasing the comfort and safety of the driving process. Among them, functions such as Adaptive Cruise Control (ACC), Lane Centering Control (LCC), Navigate on Autopilot (NOA), and Auto Parking Assist (APA) all require longitudinal control of the vehicle.

[0060] Vehicle Longitudinal Control (VLC) refers to the acceleration and deceleration control of a vehicle on a straight line, which belongs to the power execution and distribution unit in an autonomous driving system. Currently, the architecture of an autonomous driving system can include perception, decision-making, control, and execution parts. Among them, the perception system can obtain the target distance; the decision-making and control systems can obtain the target speed and target acceleration of the vehicle; the execution system (i.e., the VLC system) can calculate the required braking torque or driving torque according to the target acceleration and send the braking torque or driving torque to the driving unit or braking unit of the vehicle to achieve longitudinal driving or braking of the vehicle.

[0061] However, during the actual driving process of the vehicle, it will be affected by resistances generated by environmental factors such as slopes and wind, resulting in unstable actual acceleration of the vehicle, making it impossible for the deviation between the target acceleration and the actual acceleration to converge quickly. The theoretical torque calculated according to the requirements cannot meet the actual needs, and it is necessary to continuously adjust through feedback control to obtain the final torque for the operation of the drive motor. Therefore, it is difficult for the VLC system to accurately and quickly obtain this torque, affecting the longitudinal control effect of the vehicle.

[0062] In addition, the actual acceleration of the vehicle cannot be directly obtained. Usually, it is necessary to first obtain the wheel speed or vehicle speed of the vehicle, and then perform differential calculation on the wheel speed or vehicle speed to obtain the actual acceleration, resulting in a certain degree of response lag. Therefore, in the related art, the timeliness of longitudinal control through the deviation between the actual acceleration and the target acceleration is poor.

[0063] For this reason, the present disclosure provides a vehicle longitudinal control method, device, vehicle and storage medium. The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0064] Figure 1 is a flowchart of a vehicle longitudinal control method shown according to an exemplary embodiment. As Figure 1 shown, the vehicle longitudinal control method is used in a vehicle and includes the following steps:

[0065] S101: Receive a longitudinal control request for the vehicle. The longitudinal control request includes an input control amount, and the input control amount includes the target acceleration and / or target speed of the vehicle.

[0066] In an embodiment of the present disclosure, the longitudinal control request can be divided into braking control and driving control, that is, controlling the vehicle to decelerate or controlling the vehicle to accelerate. The torque corresponding to the longitudinal control request can be obtained according to the input control amount in the longitudinal control request, so that the vehicle achieves the corresponding deceleration or acceleration purpose. Among them, the input control amount can include the target acceleration and / or target speed of the vehicle.

[0067] Exemplarily, the target acceleration and target speed can be calculated by the decision-making and control system in the autonomous driving system.

[0068] S102: Determine a first output torque according to the input control amount.

[0069] In an embodiment of the present disclosure, the vehicle can be subjected to feedforward control and / or feedback control according to the input control amount to obtain the first output torque.

[0070] S103: Obtain the resistance torque of the vehicle.

[0071] In an embodiment of the present disclosure, the resistance torque refers to the torque required for the vehicle to cope with slopes, wind resistance, rolling resistance or other resistances. The resistance torque of the vehicle can be predicted by a Romberg observer.

[0072] S104: Compensate the first output torque according to the resistance torque to obtain a second output torque.

[0073] In an embodiment of the present disclosure, the first output torque is compensated according to the resistance torque, that is, the resistance torque and the first output torque are summed, which can compensate for the influence of the resistance suffered by the vehicle on the longitudinal movement of the vehicle, and further can quickly and accurately obtain the second output torque.

[0074] S105: Control the operation of the vehicle motor according to the second output torque to longitudinally control the vehicle.

[0075] In an embodiment of the present disclosure, the operation of the vehicle motor is controlled and the second output torque is output to longitudinally control the vehicle, so as to achieve the speed or acceleration change target required in the longitudinal control request.

[0076] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: The first output torque is obtained through the longitudinal control request, then, the resistance torque of the vehicle is obtained, and the first output torque is compensated according to the resistance torque of the vehicle to obtain the second output torque. Then, the operation of the vehicle motor is controlled according to the second output torque to longitudinally control the vehicle. In this way, the influence of the resistance suffered by the vehicle during driving on the longitudinal movement of the vehicle can be compensated, so that the second output torque can be accurately and quickly obtained, and the effect of vehicle longitudinal control can be improved.

[0077] As an alternative implementation, the input control quantity includes the target acceleration, and S102 may include: using the target acceleration as the control input quantity and the output torque of the vehicle as the controlled object to perform feedforward control on the vehicle to obtain the first output torque.

[0078] In an embodiment of the present disclosure, feedforward control is an open-loop control method that can directly control the controlled object according to the control input quantity. In the present disclosure, the target acceleration is used as the control input quantity, the output torque is used as the controlled object, and the first output torque is obtained through feedforward control.

[0079] Exemplarily, the first output torque T 1 :

[0080] T 1 = m × AxTar × WheelRadius

[0081] where m is the vehicle mass, m = (vehicle unladen mass + vehicle full load mass) / 2, AxTar is the target acceleration, and WheelRadius is the rolling radius of the wheel.

[0082] As an alternative implementation, the input control quantity includes the target speed, and S102 may include: using the target speed as the control input quantity and the output torque of the vehicle as the controlled object to perform feedback control on the vehicle to obtain the first output torque.

[0083] In one embodiment of the present disclosure, feedback control is a closed-loop control method that can control a controlled object based on the deviation between the current state and the desired state (i.e., the control input quantity) of the control parameter. In the present disclosure, the target speed is used as the control input quantity, and the output torque is used as the controlled object. Feedback control is performed based on the deviation between the target speed and the actual speed to obtain the first output torque. Since the actual speed of the vehicle can be directly measured by devices such as sensors and can be accurately and real-time obtained, while the acceleration of the vehicle needs to be calculated and cannot be directly measured. Therefore, using the target speed as the control input quantity for feedback control can avoid the response lag caused by using the target acceleration as the control target for feedback control, thereby improving the timeliness of vehicle longitudinal control.

[0084] As an alternative embodiment, with the target speed as the control input quantity and the output torque of the vehicle as the controlled object, feedback control is performed on the vehicle to obtain the first output torque, including: performing proportional control on the second speed deviation to obtain the proportional control torque; wherein, the second speed deviation is the difference between the target speed and the actual speed at the previous moment of the current moment; performing integral control on the third speed deviation to obtain the integral control torque; wherein, the third speed deviation is the difference between the target speed and the actual speed at the current moment; determining the sum of the proportional control torque and the integral control torque as the first output torque.

[0085] Figure 2 is a flowchart of a feedback control method shown according to an exemplary embodiment. As Figure 2 shown, the feedback control includes two parts: proportional control and integral control. Among them, the input of the proportional control part is the target speed and the actual speed at the previous moment of the current moment, and the output proportional control torque is proportional to the second speed deviation (i.e., the difference between the target speed and the actual speed at the previous moment of the current moment); the input of the integral control part is the target speed and the actual speed at the current moment, and the output integral control torque is proportional to the integral of the third speed deviation (i.e., the difference between the target speed and the actual speed at the current moment), and the sum of the proportional control torque and the integral control torque is the first output torque.

[0086] Specifically, the proportional control torque T p is obtained through the following relational expression:

[0087] T p = K p ×(VxTar - VxAct k-1 ) × dt

[0088] wherein, K p is the proportionality coefficient, VxTar is the target speed, and VxAct k-1VxAct is the actual speed at the previous moment of the current moment, and dt is the operation period;

[0089] Then, the integral control torque T is obtained through the following relational expression i :

[0090] T i = K i ×(VxTar - VxAct)×dt

[0091] where K i is the integral coefficient, and VxAct is the actual speed at the current moment;

[0092] Finally, the first output torque T is obtained through the following relational expression 1 :

[0093] T 1 = T p + T i

[0094] In another alternative embodiment, the first output torque may be the sum of the first output torque generated by feedforward control and the first output torque generated by feedback control.

[0095] As an alternative embodiment, S103 may include: obtaining the actual speed and actual motor torque of the vehicle at the current moment; determining the acceleration of the vehicle according to the actual speed at the current moment and the actual speed at the previous moment of the current moment; predicting the resistance torque according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment.

[0096] In an embodiment of the present disclosure, the resistance torque of the vehicle can be predicted through a Luenberger observer. The Luenberger observer is a typical state observer, which can estimate the state signal that cannot be directly measured by the system according to the measurable output signal of the system. Therefore, by inputting the actual speed and actual motor torque of the vehicle at the current moment into the Luenberger observer, the resistance torque can be accurately predicted.

[0097] Specifically, first initialize the Luenberger observer according to the actual speed and actual motor torque of the vehicle at the current moment, and then predict the resistance torque according to the acceleration of the vehicle, the mass of the vehicle, and the actual motor torque at the current moment.

[0098] It can be understood that the acceleration of the vehicle is the quotient of the difference between the actual speed at the current moment and the actual speed at the previous moment of the current moment and the time interval between the current moment and the previous moment, that is:

[0099]

[0100] Wherein, a is the acceleration, ΔVxAct is the difference between the actual speed at the current moment and the actual speed at the previous moment of the current moment, and Δt is the time interval between the current moment and the previous moment.

[0101] As an optional implementation manner, the resistance torque is predicted according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment, including: predicting the predicted speed and predicted torque of the vehicle at the current moment according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment; determining the torque compensation amount according to the first speed deviation, where the first speed deviation is the difference between the predicted speed and the actual speed at the current moment; compensating the predicted torque according to the torque compensation amount to obtain the resistance torque.

[0102] In an embodiment of the present disclosure, the predicted speed and predicted torque of the vehicle at the current moment are predicted according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment.

[0103] Exemplarily, the predicted torque T is obtained through the following relational expression Load :

[0104]

[0105] Wherein, T M is the actual motor torque at the current moment;

[0106] Then, the predicted speed VxPre is obtained through the following relational expression:

[0107] VxPre = VxAct k-1 + a×dt

[0108] In an embodiment of the present disclosure, according to the first speed deviation (that is, the difference between the predicted speed and the actual speed at the current moment), the torque compensation amount is determined, and then, according to the torque compensation amount, the predicted torque is compensated to obtain the resistance torque.

[0109] Specifically, first, the first speed deviation is used as the torque compensation amount, that is, the numerical value of the torque compensation amount is the same as that of the first speed deviation. Then, when the torque compensation amount meets the torque compensation condition, according to this torque compensation amount, the predicted torque is compensated, that is, the torque compensation amount is added to the predicted torque to obtain the corrected torque.

[0110] Exemplarily, the torque compensation condition may be that the torque compensation amount is within a preset torque compensation range. For example, the torque compensation range may be [5, 60].

[0111] Further, take the corrected torque as the actual motor torque at the current moment, and based on the acceleration, the mass of the vehicle, and this corrected torque, predict the predicted speed and predicted torque of the vehicle at the current moment again. Repeat the above steps until the torque compensation amount does not meet the torque compensation condition, and then determine the predicted torque at this time as the resistance torque of the vehicle.

[0112] Figure 3 is a flowchart showing a method for predicting the resistance torque of a vehicle according to an exemplary embodiment. As Figure 3 shown, first initialize the Luenberger observer according to the actual speed and actual motor torque of the vehicle at the current moment; then, based on the acceleration of the vehicle, the mass of the vehicle, and the actual motor torque at the current moment, execute the method in the foregoing embodiment to obtain the predicted torque and predicted speed; then, according to the first speed deviation, determine the torque compensation amount, and compensate the predicted torque according to the torque compensation amount to obtain the corrected torque; then, predict the resistance torque again according to the corrected torque, and repeat the above steps until the torque compensation amount does not meet the torque compensation condition, and then determine the predicted torque as the resistance torque of the vehicle, where Figure 3 where Z is the state transfer parameter.

[0113] As an optional implementation manner, S104 may include: compensating the first output torque according to the resistance torque to obtain a combined torque; determining the motor capacity limit torque according to the motor state of the vehicle; determining the battery capacity limit torque according to the battery state of the vehicle; and determining the minimum value among the combined torque, the motor capacity limit torque, and the battery capacity limit torque as the second output torque.

[0114] In an embodiment of the present disclosure, compensating the first output torque according to the resistance torque means adding the resistance torque and the first output torque to obtain a combined torque.

[0115] Then, according to the motor state of the vehicle, determine the maximum torque that the motor can provide, that is, the motor capacity limit torque, which can be used to indicate that this torque does not exceed the capacity range of the motor. Exemplarily, the motor capacity limit torque can be calculated according to the discharge power, power generation power, motor efficiency, and motor speed of the motor.

[0116] Then, according to the battery state of the vehicle, determine the maximum torque that the current energy of the battery can provide, that is, the battery capacity limit torque, which can be used to indicate that this torque does not exceed the capacity range of the battery and prevent the battery from being over-discharged and unable to meet the vehicle's requirements. Exemplarily, the battery capacity limit torque can be calculated according to the battery voltage, motor efficiency, and motor speed.

[0117] Finally, arbitrate the second output torque, that is, determine the minimum value among the combined torque, the motor capacity limit torque, and the battery capacity limit torque as the second output torque. In this way, it can be ensured that the second output torque does not exceed the limit range of any limiting factor to guarantee the driving safety of the vehicle.

[0118] Figure 4 is a flowchart of another vehicle longitudinal control method shown according to an exemplary embodiment. As Figure 4 shown, first, use the target acceleration as the control input quantity to perform feedforward control on the vehicle to obtain the first output torque output by the feedforward control; and predict the resistance torque according to the actual speed at the current moment and the actual motor torque at the current moment, and execute the method in the foregoing embodiment to determine the resistance torque; and use the target speed as the control input quantity to perform feedback control on the vehicle to obtain the first output torque output by the feedback control; then, determine the sum of the first output torque output by the feedforward control, the resistance torque, and the first output torque output by the feedback control as the combined torque, and arbitrate the second output torque according to the combined torque, the motor capacity limit torque, and the battery capacity limit torque to obtain the second output torque, and control the operation of the motor according to the second output torque to achieve vehicle longitudinal control.

[0119] Figure 5 is a block diagram of a vehicle longitudinal control device shown according to an exemplary embodiment. Referring to Figure 5 , the vehicle longitudinal control device 200 may include a request receiving module 201, a first obtaining module 202, a second obtaining module 203, a third obtaining module 204, and a control module 205.

[0120] The request receiving module 201 is configured to receive a longitudinal control request for the vehicle, where the longitudinal control request includes an input control quantity, and the input control quantity includes the target acceleration and / or target speed of the vehicle;

[0121] The first obtaining module 202 is configured to determine a first output torque according to the input control quantity;

[0122] The second obtaining module 203 is configured to obtain the resistance torque of the vehicle;

[0123] The third obtaining module 204 is configured to compensate the first output torque according to the resistance torque to obtain a second output torque;

[0124] The control module 205 is configured to control the operation of the motor of the vehicle according to the second output torque to perform longitudinal control on the vehicle.

[0125] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: obtaining a first output torque through a longitudinal control request, then, acquiring the resistance torque of the vehicle, and compensating the first output torque according to the resistance torque of the vehicle to obtain a second output torque, and then, controlling the operation of the motor of the vehicle according to the second output torque to perform longitudinal control on the vehicle. In this way, the influence of the resistance suffered by the vehicle during driving on the longitudinal movement of the vehicle can be compensated, so that the second output torque can be accurately and quickly obtained, and the effect of longitudinal control of the vehicle can be improved.

[0126] Optionally, the second acquisition module 203 includes:

[0127] A first acquisition sub-module, configured to acquire the actual speed and the actual motor torque of the vehicle at the current moment;

[0128] A second acquisition sub-module, configured to determine the acceleration of the vehicle according to the actual speed at the current moment and the actual speed at the previous moment of the current moment;

[0129] A first prediction sub-module, configured to predict the resistance torque according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment.

[0130] Optionally, the first prediction sub-module includes:

[0131] A second prediction sub-module, configured to predict the predicted speed and the predicted torque of the vehicle at the current moment according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment;

[0132] A third acquisition sub-module, configured to determine a torque compensation amount according to a first speed deviation; wherein, the first speed deviation is the difference between the predicted speed and the actual speed at the current moment;

[0133] A fourth acquisition sub-module, configured to compensate the predicted torque according to the torque compensation amount to obtain the resistance torque.

[0134] Optionally, the first acquisition module 202 includes:

[0135] A fifth acquisition sub-module, configured to perform feedforward control on the vehicle with the target acceleration as the control input quantity and the output torque of the vehicle as the controlled object to obtain the first output torque.

[0136] Optionally, the first acquisition module 202 includes:

[0137] A sixth acquisition sub-module, configured to perform feedback control on the vehicle with the target speed as the control input quantity and the output torque of the vehicle as the controlled object to obtain the first output torque.

[0138] Optionally, the sixth acquisition sub-module includes:

[0139] A proportional control sub-module configured to perform proportional control on a second speed deviation to obtain a proportional control torque; wherein the second speed deviation is the difference between the target speed and the actual speed at the previous moment of the current moment;

[0140] An integral control sub-module configured to perform integral control on a third speed deviation to obtain an integral control torque; wherein the third speed deviation is the difference between the target speed and the actual speed at the current moment;

[0141] A seventh acquisition sub-module configured to determine the sum of the proportional control torque and the integral control torque as the first output torque.

[0142] Optionally, the third acquisition module 204 includes:

[0143] An eighth acquisition sub-module configured to compensate the first output torque according to the resistance torque to obtain a combined torque;

[0144] A ninth acquisition sub-module configured to determine a motor capacity limit torque according to the motor state of the vehicle;

[0145] A tenth acquisition sub-module configured to determine a battery capacity limit torque according to the battery state of the vehicle;

[0146] An eleventh acquisition sub-module configured to determine the minimum value among the combined torque, the motor capacity limit torque, and the battery capacity limit torque as the second output torque.

[0147] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0148] The present disclosure also provides a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the vehicle longitudinal control method provided by the present disclosure are implemented.

[0149] Figure 6 is a block diagram of a vehicle 600 shown according to an exemplary embodiment. For example, the vehicle 600 may be a hybrid vehicle, or may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 600 may be an autonomous vehicle.

[0150] Referring to Figure 6, Vehicle 600 may include various subsystems. For example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Among them, Vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of Vehicle 600 may be interconnected by wired or wireless means.

[0151] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, etc.

[0152] The perception system 620 may include several sensors for sensing information about the environment around Vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0153] The decision control system 630 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0154] The drive system 640 may include components that provide motive power for Vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a powertrain, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert the energy provided by the energy source into mechanical energy.

[0155] Some or all functions of Vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652. The processor 651 may execute instructions 653 stored in the memory 652.

[0156] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0157] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0158] In addition to the instructions 653, the memory 652 can also store data, such as road maps, route information, data such as the position, direction, speed of the vehicle, etc. The data stored in the memory 652 can be used by the computing platform 650.

[0159] In an embodiment of the present disclosure, the processor 651 can execute the instructions 653 to complete all or part of the steps of the above-mentioned vehicle longitudinal control method.

[0160] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle longitudinal control method when executed by the programmable device.

[0161] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0162] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A vehicle longitudinal control method, characterized in that, it includes: Receiving a longitudinal control request for the vehicle, the longitudinal control request including an input control quantity, the input control quantity including the target acceleration and / or target speed of the vehicle; Determining a first output torque according to the input control quantity; Obtaining the resistance torque of the vehicle; Compensating the first output torque according to the resistance torque to obtain a second output torque; Controlling the operation of the motor of the vehicle according to the second output torque to perform longitudinal control on the vehicle; wherein, the obtaining the resistance torque of the vehicle includes: Obtaining the actual speed and actual motor torque of the vehicle at the current moment; Determining the acceleration of the vehicle according to the actual speed at the current moment and the actual speed at the previous moment of the current moment; Predicting the resistance torque according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment; The compensating the first output torque according to the resistance torque to obtain a second output torque includes: Compensating the first output torque according to the resistance torque to obtain a combined torque; Determining a motor capacity limit torque according to the motor state of the vehicle; Determining a battery capacity limit torque according to the battery state of the vehicle; Determining the minimum value among the combined torque, the motor capacity limit torque, and the battery capacity limit torque as the second output torque; The predicting the resistance torque according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment includes: Predicting the predicted speed and predicted torque of the vehicle at the current moment according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment; Determining a torque compensation amount according to a first speed deviation; wherein, the first speed deviation is the difference between the predicted speed and the actual speed at the current moment; Compensating the predicted torque according to the torque compensation amount to obtain the resistance torque.

2. The method according to claim 1, characterized in that, the input control quantity includes a target acceleration, and the determining a first output torque according to the input control quantity includes: Performing feedforward control on the vehicle with the target acceleration as the control input quantity and the output torque of the vehicle as the controlled object to obtain the first output torque.

3. The method according to claim 1, characterized in that, the input control quantity includes a target speed, and the determining a first output torque according to the input control quantity includes: Performing feedback control on the vehicle with the target speed as the control input quantity and the output torque of the vehicle as the controlled object to obtain the first output torque.

4. The method according to claim 3, characterized in that, the performing feedback control on the vehicle with the target speed as the control input quantity and the output torque of the vehicle as the controlled object to obtain the first output torque includes: Perform proportional control on the second speed deviation to obtain the proportional control torque; wherein, the second speed deviation is the difference between the target speed and the actual speed at the previous moment of the current moment; Perform integral control on the third speed deviation to obtain the integral control torque; wherein, the third speed deviation is the difference between the target speed and the actual speed at the current moment; Determine the sum of the proportional control torque and the integral control torque as the first output torque.

5. A vehicle longitudinal control device, Characterized in that, Comprising: A request receiving module, configured to receive a longitudinal control request for the vehicle, the longitudinal control request including an input control quantity, the input control quantity including the target acceleration and / or target speed of the vehicle; A first obtaining module, configured to determine a first output torque according to the input control quantity; A second obtaining module, configured to obtain the resistance torque of the vehicle; A third obtaining module, configured to compensate the first output torque according to the resistance torque to obtain a second output torque; A control module, configured to control the operation of the vehicle motor according to the second output torque to perform longitudinal control on the vehicle; Wherein, the second obtaining module includes: A first obtaining sub-module, configured to obtain the actual speed and actual motor torque of the vehicle at the current moment; A second obtaining sub-module, configured to determine the acceleration of the vehicle according to the actual speed at the current moment and the actual speed at the previous moment of the current moment; A first prediction sub-module, configured to predict the resistance torque according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment; The third obtaining module includes: An eighth obtaining sub-module, configured to compensate the first output torque according to the resistance torque to obtain a combined torque; A ninth obtaining sub-module, configured to determine the motor capacity limit torque according to the motor state of the vehicle; A tenth obtaining sub-module, configured to determine the battery capacity limit torque according to the battery state of the vehicle; An eleventh obtaining sub-module, configured to determine the minimum value among the combined torque, the motor capacity limit torque, and the battery capacity limit torque as the second output torque; The first prediction sub-module includes: A second prediction sub-module, configured to predict the predicted speed and predicted torque of the vehicle at the current moment according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment; A third obtaining sub-module, configured to determine a torque compensation amount according to a first speed deviation; wherein, the first speed deviation is the difference between the predicted speed and the actual speed at the current moment; A fourth obtaining sub-module, configured to compensate the predicted torque according to the torque compensation amount to obtain the resistance torque.

6. A vehicle, Characterized in that, Comprising: A processor; A memory for storing processor-executable instructions; Wherein, the processor is configured to: Receive a longitudinal control request for the vehicle, the longitudinal control request including an input control quantity, the input control quantity including the target acceleration and / or target speed of the vehicle; Determine a first output torque according to the input control quantity; Obtain the resistance torque of the vehicle; Compensate the first output torque according to the resistance torque to obtain a second output torque; Control the operation of the motor of the vehicle according to the second output torque to longitudinally control the vehicle; Wherein, the obtaining the resistance torque of the vehicle includes: Obtain the actual speed and the actual motor torque of the vehicle at the current moment; Determine the acceleration of the vehicle according to the actual speed at the current moment and the actual speed at the previous moment of the current moment; Predict the resistance torque according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment; The compensating the first output torque according to the resistance torque to obtain a second output torque includes: Compensate the first output torque according to the resistance torque to obtain a combined torque; Determine the motor capacity limit torque according to the motor state of the vehicle; Determine the battery capacity limit torque according to the battery state of the vehicle; Determine the minimum value among the combined torque, the motor capacity limit torque, and the battery capacity limit torque as the second output torque; The predicting the resistance torque according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment includes: Predict the predicted speed and the predicted torque of the vehicle at the current moment according to the acceleration, the mass of the vehicle, and the actual motor torque at the current moment; Determine a torque compensation amount according to a first speed deviation; wherein, the first speed deviation is the difference between the predicted speed and the actual speed at the current moment; Compensate the predicted torque according to the torque compensation amount to obtain the resistance torque.

7. A computer-readable storage medium, on which computer program instructions are stored, characterized in that when the program instructions are executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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