Speed ​​planning method, device, computer readable storage medium and vehicle

CN118683618BActive Publication Date: 2024-12-10BYD CO LTD
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Patent Information

Application Number
CN202411162582.3
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-08-23
Publication Date
2024-12-10
Estimated Expiration
2044-08-23

AI Technical Summary

Technical Problem

In the existing rear wheel steering system, speed planning causes discontinuous acceleration during the movement of the screw, causing impact, overshoot or oscillation of the motor when it starts or stops, affecting the service life of the motor.

Method used

By obtaining the initial planning curve, including the uniform acceleration segment, and adjusting the uniform acceleration segment based on the preset planning function, time information and velocity information, to generate a target planning curve, including variable acceleration segments, to improve the continuity of acceleration.

Benefits of technology

By adjusting the uniform acceleration section into a variable acceleration section, the sudden acceleration change between the acceleration and deceleration section and the uniform speed section or the acceleration section and the deceleration section are avoided, and the impact, overshoot or oscillation of the motor is reduced, and the service life of the motor is extended.

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Abstract

The present application relates to a speed planning method, device, computer-readable storage medium and vehicle, the method comprising: obtaining an initial planning curve, the initial planning curve comprising the speed corresponding to the motor screw at different times, the initial planning curve comprising a uniform acceleration segment; adjusting the uniform acceleration segment according to a preset planning function, and the time information and speed information in the initial planning curve, and generating a target planning curve corresponding to the motor screw; the target planning curve comprises a variable acceleration segment. By adjusting the uniform acceleration segment of the speed planning curve to a variable acceleration segment, the continuity of the acceleration in the speed planning curve is improved, and the sudden change in acceleration is avoided to cause the motor to produce shock, overshoot or oscillation, so as to increase the service life of the motor.
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