An autonomous driving vehicle speed control device and method

Abstract

This application relates to an autonomous driving vehicle speed control device and method. The system includes an actuator, a travel sensor, a host computer, and a PLC controller. The host computer monitors the robot's execution process in real time, transmits calibration table data and running instructions, and plays a supervisory and control role. The PLC controller receives data and feeds it back to the host computer. The PLC controller controls the speed of the drive motor and receives detection signals from the travel sensor. By combining the host computer and the PLC controller and centralizing data calculation in the slave computer, the complexity of the system structure is greatly reduced, which is conducive to realizing rapid data detection and transmission.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and more particularly to an autonomous driving vehicle speed control device and method. Background Technology

[0002] In recent years, autonomous driving technology has gradually become a hot topic. In-vehicle assisted driving robots can greatly alleviate people's fatigue, reduce the incidence of traffic accidents, improve traffic efficiency, and provide effective safety guarantees and a good travel experience for people traveling by car.

[0003] Most existing control systems adopt a hierarchical structure, consisting of a host controller and a slave controller, with the core algorithm being the PID control algorithm. The host controller calculates the desired acceleration based on the speed-distance switching formula as input. The slave controller, based on the desired acceleration output from the host controller and according to a pre-defined calibration table, outputs the throttle and brake openings to control the vehicle's speed and achieve speed tracking.

[0004] The calibration table needs to be manually created, which increases its complexity. It also requires independent design and debugging of the host and slave controllers, which increases the difficulty of development and maintenance. Due to the complexity of the system structure, there is a delay in the system output, making it difficult to control the robot quickly. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention proposes an autonomous driving vehicle speed control device, which can simplify the operation process and achieve rapid and effective control of vehicle speed.

[0006] This application also proposes a method for controlling the speed of autonomous vehicles.

[0007] An autonomous driving speed control device according to a first aspect of this application is applied in a vehicle cockpit, comprising:

[0008] The actuator includes a drive unit, a transmission unit, and a pedal connection unit. The transmission unit connects the drive unit and the pedal connection unit. The drive unit drives the transmission unit so that the pedal connection unit can move in a direction close to or away from the drive unit. The pedal connection unit is used to connect to the accelerator pedal or brake pedal in the vehicle's driver's cab.

[0009] A stroke sensor is located on one side of the actuator. The stroke sensor is used to detect the movement position of the transmission part or the pedal connection part.

[0010] The host computer is used to monitor the robot's execution process in real time, transmit calibration table data and running instructions, and plays a supervisory and control role.

[0011] The PLC controller is used to receive vehicle speed, receive detection signals from the travel sensor, and control the operating speed of the drive unit based on the detection data.

[0012] The autonomous driving speed control device according to embodiments of the present invention has at least the following beneficial effects:

[0013] During driving, the pedal connecting part of this embodiment can reciprocate under the power of the drive unit. The vehicle driver's cab pedals may include an accelerator pedal and a brake pedal. The pushing and pulling action of the pedal connecting part enables pressing and resetting of the vehicle driver's cab pedals, thereby completing the actions of pressing the accelerator and braking respectively. Furthermore, this embodiment also includes a travel sensing device, a host computer, and a PLC controller. After receiving the movement position signal of the pedal connecting part from the travel sensing device, the PLC controller makes a decision and issues commands to control the start and stop of the actuator, thereby achieving vehicle speed control. This embodiment combines the interaction between the host computer and the PLC controller, centralizing data calculation on the slave computer, greatly reducing the complexity of the system structure and facilitating rapid data detection and transmission.

[0014] Optionally, the actuator further includes several rotating connectors, with the drive unit and the transmission unit, and the transmission unit and the pedal connection unit connected by corresponding rotating connectors.

[0015] Optionally, the drive unit includes a drive motor, and the transmission unit includes a lead screw guide rail and a slider. The drive motor drives the lead screw guide rail and rotates the lead screw guide rail. The slider is screwed onto the lead screw guide rail and is connected to the pedal connection part.

[0016] Optionally, the pedal connection includes a mounting bracket and a connecting rod, the connecting rod connecting the mounting bracket and the slider, and the mounting bracket being used to connect to the pedal in the vehicle's cockpit.

[0017] Optionally, the rotating connector is a universal joint, and the slider and the connecting rod, as well as the connecting rod and the mounting bracket, are connected by corresponding universal joints.

[0018] Optionally, the transmission unit also includes a belt drive mechanism, which includes a driving pulley, a driven pulley, and a belt. The driving pulley is coaxially connected to the motor shaft of the drive motor, the driven pulley is coaxially connected to the lead screw guide rail, and the belt is wound around the driving pulley and the driven pulley.

[0019] Optionally, the stroke sensing device includes a photoelectric sensor, which is located on one side of the slider, with the detection head of the photoelectric sensor facing the lead screw guide.

[0020] Optionally, the host computer and the PLC controller, and the PLC controller and the drive unit are connected via Ethernet.

[0021] A control method for the above-described autonomous driving vehicle speed control device according to a second aspect embodiment of this application, the method comprising:

[0022] The host computer generates 5 minutes of acceleration / deceleration MAP data from 0-120km and sends it to the PLC;

[0023] The PLC controls vehicle operation based on the received data and collects real-time data;

[0024] The host computer uses an RNN neural network to learn acceleration and deceleration characteristic parameters based on the above travel data;

[0025] Based on the learned target vehicle characteristic model, corresponding test data is generated, saved, and sent to the PLC;

[0026] PLC automatically calibrates the stroke zero point;

[0027] The calibration table data is imported into the PLC controller via the host computer. The PLC controller initiates adaptive cruise control for the autonomous driving speed control device according to the instructions of the host computer. During the adaptive cruise control process, the calibration table data is executed. When the device executes the data, it combines PID control to perform a real-time control test process. After the execution is completed, the test data is saved.

[0028] Optionally, the above method further includes:

[0029] The host computer uses the detection data detected by the PLC controller to perform real-time detection of the adaptive cruise control process;

[0030] The PLC controller outputs the movable travel distance of the autonomous driving speed control device based on the detection data.

[0031] Collect the real-time vehicle speed of the autonomous driving speed control device and feed the speed data back to the PLC controller. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the vehicle speed control module A according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the throttle assembly according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the brake assembly according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the electronic control system according to an embodiment of the present invention;

[0037] Figure 5 This is a control principle diagram of the robot control module according to an embodiment of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] Vehicle speed control module A; Actuator 100; Drive unit 110; Throttle servo motor 111; Brake servo motor 112; Transmission unit 120; Throttle transmission unit 121; Throttle lead screw guide rail 121a; Throttle slider 121b; Brake transmission unit 122; Brake lead screw guide rail 122a; Brake slider 122b; Belt drive mechanism 123; Drive wheel 123a; Driven wheel 123b; Belt 123c; Pedal connection part 130; Throttle pedal connection part 131 Throttle mounting bracket 131a; throttle connecting rod 131b; brake pedal connecting part 132; brake mounting bracket 132a; brake connecting rod 132b; universal joint 140; travel sensing device 200; first photoelectric sensor 210; second photoelectric sensor 220; third photoelectric sensor 230; fourth photoelectric sensor 240; robot control module B; PLC controller 300; brake servo driver 400; throttle servo driver 500; power supply 600. Detailed Implementation

[0040] This invention discloses an autonomous driving vehicle speed control device and method to solve the problem of automatically controlling vehicle speed to achieve autonomous driving in the field of autonomous driving.

[0041] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Please see Figure 1 This invention provides an autonomous driving speed control device. The system is applied in the vehicle's cockpit, and the speed control system includes a speed control module A and a robot control module B (see...). Figure 4 ),in,

[0043] Vehicle speed control module A includes:

[0044] The actuator 100 includes a drive unit 110, a transmission unit 120, and a pedal connection unit 130. The transmission unit 120 connects the drive unit 110 and the pedal connection unit 130. The drive unit 110 drives the transmission unit 120 so that the pedal connection unit 130 can move in a direction close to or away from the drive unit 110. The pedal connection unit 130 is used to connect with the accelerator pedal or brake pedal in the vehicle's driver's cab.

[0045] The stroke sensing device 200 is provided on one side of the actuator 100. The stroke sensing device 200 is used to detect the moving position of the transmission part 120 or the pedal connection part 130.

[0046] Please see Figure 4 Robot control module B includes:

[0047] The host computer (not shown in the figure) is used to receive the detection signal from the travel sensor 200;

[0048] The PLC controller 300 is used to receive detection data transmitted from the host computer and control the working speed of the drive unit 110 according to the detection data.

[0049] Specifically, in operation, the vehicle speed control module is located in the driver's cabin, while the robot control module B is located in the passenger cabin. Please refer to [link / reference needed]. Figures 1-3 The drive unit 110 of the vehicle speed control module is a servo motor, which is divided into a throttle servo motor 111 and a brake servo motor 112. The throttle servo motor 111 is connected to the throttle pedal connection part 130 through the throttle transmission part 121, and the brake servo motor 112 is connected to the brake pedal connection part 130 through the brake transmission part 122. Several stroke sensors 200 are located on one side of the throttle transmission part 121 and the brake transmission part 122, used to detect the stroke of the throttle transmission part 121 and the brake transmission part 122 and transmit the detection signal to the PLC controller.

[0050] During driving, the accelerator pedal connecting part 130 / brake pedal connecting part 130 of this embodiment can reciprocate under the power of the corresponding servo motor. This push-pull action is used to press and reset the accelerator / brake pedals in the vehicle's driver's cab, thus completing the accelerator / brake pedal operation. Furthermore, this embodiment also includes a travel sensor 200, a host computer, and a PLC controller 300. The PLC controller 300 receives the movement position signal of the pedal connecting part 130 from the travel sensor 200 and transmits the detected data to the host computer. Based on the detected data, the PLC controller 300 issues commands to control the start and stop of the actuator 100, thereby achieving vehicle speed control. This embodiment utilizes the combination of the host computer and the PLC controller 300, eliminating the need for a slave computer, greatly reducing the complexity of the system structure and facilitating rapid data detection and transmission.

[0051] In the above structure, the throttle servo motor 111, the throttle transmission part 121, and the throttle pedal connection part 130 constitute the throttle assembly, and the brake servo motor 112, the brake transmission part 122, and the brake pedal connection part 130 constitute the brake assembly. The brake assembly and the throttle assembly are arranged adjacent to each other. Specifically, the brake assembly is set to correspond to the brake pedal in the vehicle's driver's cab, and the throttle assembly is set to correspond to the accelerator pedal in the vehicle's driver's cab. Moreover, the brake assembly and the throttle assembly are independent of each other, which can realize the separate start and stop of acceleration and deceleration actions, and avoid the risk of execution loss of control in autonomous driving.

[0052] Among them, the brake transmission unit 122 and the brake servo motor 112, and the throttle transmission unit 121 and the throttle servo motor 111 are respectively connected by rotatable parts, such as ball bearings, universal joints 140, etc., which can reduce the jamming in the transmission process and enable the various transmission parts 120 inside the actuator 100 to smoothly transmit the push and pull forces.

[0053] Please see Figure 2 The throttle transmission unit 121 includes a throttle lead screw guide rail 121a and a throttle slider 121b. A throttle servo motor 111 drives and connects to the throttle lead screw guide rail 121a, causing the throttle lead screw guide rail 121a to rotate. The throttle slider 121b is screwed onto the throttle lead screw guide rail 121a and is connected to the throttle pedal connection part 130. The throttle pedal connection part 130 includes a throttle mounting bracket 131a and a throttle connecting rod 131b. The throttle connecting rod 131b is connected to the throttle mounting bracket 131a and the throttle slider 121b respectively through rotatable parts. The throttle mounting bracket 131a is used to connect to the throttle pedal in the car's driver's cabin.

[0054] Please see Figure 3The brake transmission unit 122 includes a brake screw guide rail 122a and a brake slider 122b. A brake servo motor 112 drives and rotates the brake screw guide rail 122a. The brake slider 122b is screwed onto the brake screw guide rail 122a and is connected to the brake pedal connection part 130. The brake pedal connection part 130 includes a brake mounting bracket 132a and a brake connecting rod 132b. The brake connecting rod 132b connects the brake mounting bracket 132a and the brake slider 122b respectively via rotatable components. The brake mounting bracket 132a is used to connect to the brake pedal in the vehicle's driver's compartment.

[0055] Please see Figure 2 The transmission unit 120 also includes two belt drive mechanisms 123. Each belt drive mechanism 123 includes a driving pulley 123a, a driven pulley 123b, and a belt 123c. The driving pulley 123a is coaxially connected to the motor shaft of the corresponding servo motor 111 / 112, and the driven pulley 123b is coaxially connected to the corresponding lead screw guide rail 121a / 121b. The belt 123c is wound around the driving pulley 123a and the driven pulley 123b. Compared with the approach of placing the servo motor in the length direction of the lead screw guide rail, this embodiment places the servo motor on the left or right side of the lead screw guide rail, which is beneficial to shorten the overall size of the actuator 100 and adapt to compact space.

[0056] Please see Figure 3 The brake servo motor 112 is connected to the brake lead screw guide rail 122a through the transmission part 120. According to the screw-type connection between the brake slider 122b and the brake lead screw guide rail 122a, the rotational motion output by the brake servo motor 112 can be converted into the linear motion of the brake slider 122b. The transmission principle of the throttle assembly is the same as described above.

[0057] Please see Figure 3 If the length direction of the brake screw guide rail 122a is taken as the front-back direction, the left and / or right sides of the brake slider 122b are provided with stroke sensing devices 200. The stroke sensing devices 200 can be in the form of photoelectric sensing. The stroke sensing devices 200 include a first photoelectric sensor 210 and a second photoelectric sensor 220. The first photoelectric sensor 210 and the second photoelectric sensor 220 are arranged along the length direction of the brake screw guide rail 122a, and the detection heads of the first photoelectric sensor 210 and the second photoelectric sensor 220 are respectively facing the brake screw guide rail 122a, for collecting the stroke signal of the brake slider 122b.

[0058] During normal vehicle operation, the brake servo motor 112 can drive the brake slider 122b to move away from the brake pedal connection 130, at which point the brake pedal is in a relaxed state. When the brake slider 122b moves to the area of ​​the first photoelectric sensor 210, the first photoelectric sensor 210 transmits a signal to the PLC controller 300. The PLC controller 300 then stops the brake servo motor 112, allowing the brake slider 122b to remain at a preset limit position. If the host computer receives a braking command, it sends a command to the PLC controller 300, which in turn indirectly drives the brake servo motor 112 to move closer to the brake pedal connection 130 until braking occurs. When slider 122b moves to the area where the second photoelectric sensor 220 is located, PLC controller 300 stops brake servo motor 112. At this time, brake slider 122b and brake pedal connection part 130 are in the position closest to the vehicle brake pedal. At this position, the brake pedal will be pressed to the maximum extent to achieve braking action. The stroke sensing device 200 also includes a third photoelectric sensor 230 and a fourth photoelectric sensor 240. The position and orientation of these two sensors can be referred to the first photoelectric sensor 210 and the second photoelectric sensor 220, the third photoelectric sensor 230 and the fourth photoelectric sensor 240 respectively. They are used to detect the moving position of throttle slider 121b. The pressing and resetting principle of the throttle assembly is the same.

[0059] During the movement of the brake slider 122b, the brake slider 122b can adaptively push or pull the brake connecting rod 132b and the brake mounting bracket 132a through rotatable components such as the universal joint 140, so that the two can change their position in three-dimensional space; the movement of the throttle transmission part 121 and the throttle pedal connection part 130 is the same.

[0060] In some implementations, both the throttle connecting rod 131b and the brake connecting rod 132b are telescopic rods to allow for connections between the vehicle speed control system and the vehicle pedals at different distances. For example, if the system's installation location is far from the vehicle pedals, the telescopic rod can be extended for compensatory connection; if the distance is too short, the telescopic rod can be retracted to accommodate the actual space.

[0061] The actuator 100 is also equipped with a vehicle speed feedback lead. The PLC control system is connected to the stroke sensor 200, the throttle servo motor 111, the brake servo motor 112, and the vehicle speed feedback lead. Specifically, the PLC control system receives data from the stroke sensor 200 and the vehicle speed feedback lead. Connected to the actuator 100, during vehicle operation, the PLC control system judges the input and feedback data and issues commands to control the position and speed of the brake slider 122b and the throttle slider 121b to achieve vehicle speed control. A host computer is connected to the PLC control system for data detection and import of relevant data.

[0062] It should be noted that the host computer is a PC, and the host computer and the PLC controller 300, as well as the PLC controller 300 and the drive unit 110, are connected via Ethernet.

[0063] In addition, the present invention also provides a control method for the above-mentioned autonomous driving vehicle speed control device, the method comprising the following steps:

[0064] S1. The host computer generates 5 minutes of 0-120km acceleration / deceleration MAP data and sends it to the PLC;

[0065] S2 and PLC control the vehicle's operation based on the received data and collect real-time data;

[0066] S3. The host computer uses an RNN neural network to learn acceleration and deceleration characteristic parameters based on the above travel data;

[0067] S4. Based on the learned target vehicle characteristic model, generate corresponding test data and save the .csv file to the PLC.

[0068] S5, the PLC automatically calibrates the zero point of the stroke by controlling the actuator and receiving the vehicle speed detection signal;

[0069] S6. The calibration table data is imported into the PLC controller via the host computer. The PLC controller starts adaptive cruise control for the autonomous driving speed control device according to the instructions of the host computer. During the adaptive cruise control process, the calibration table data is executed. When the execution device executes the data, it combines PID control to perform a real-time control test process. After the execution is completed, the test data is saved.

[0070] S7. The host computer uses the detection data detected by the PLC controller to perform real-time detection of the adaptive cruise control process.

[0071] S8 and PLC controller 300 output the movable stroke of the automatic driving speed control device based on the detection data;

[0072] S9. Collect the real-time vehicle speed of the autonomous driving speed control device and feed the speed data back to the PLC controller 300.

[0073] The schematic diagram of the automatic driving control system of the present invention is as follows: Figure 5 As shown.

[0074] Please see Figure 4 The PLC controller 300 is connected to the brake servo driver 400 and the throttle servo driver 500 via Ethernet. The servo drivers 400 / 500 output pulse signals to control and drive the corresponding servo motors 112 / 111. The PLC controller 300 is equipped with adaptive cruise control (ACC), PID control, limit switches, and start / stop jogging functions. The adaptive cruise control function is used for the vehicle speed control system (which can also be understood as an autonomous driving robot) to perform automatic assisted driving; the PID control function is used to ensure that the robot's autonomous driving output speed matches the target speed, and outputs commands based on the status of the vehicle speed control system (slider position, brake and throttle opening, vehicle speed, and calibrated zero point position) to control the vehicle speed control system; the limit switch function is used to protect the equipment from damage during autonomous driving if the output stroke exceeds the set stroke of the throttle screw guide rail and brake screw guide rail 122a due to installation problems; the start / stop jogging function is used to supply power to the PLC controller from the 24V power supply 600 during zero point calibration and trial debugging of the equipment. The host computer enables real-time monitoring, and the vehicle speed control system operates in an orderly manner.

[0075] The method of this invention employs the PID control algorithm to optimize control parameters, reduce errors, improve accuracy, and achieve precise speed tracking; it utilizes RNN (Recurrent Neural Network) neural network learning to automatically formulate a calibration table, improving efficiency and reducing error rate; and it uses Adaptive Cruise Control (ACC) to achieve automatic driving.

[0076] In some other embodiments, the method of the present invention employs the MPC control algorithm, and the method for automatically generating the calibration table uses DDPG reinforcement learning combined with Bayesian algorithm.

[0077] The PLC controller 300 adopts a hierarchical structure, consisting of an upper-level controller and a lower-level controller. The lower-level controller uses the MPC control algorithm, while the upper-level controller uses the DDPG control algorithm and employs a Bayesian algorithm for hyperparameter optimization to create a calibration table and perform real-time monitoring. The lower-level controller uses the calibration data from the calibration table as input, and calculates the guide rail movement distance using the switching formulas for throttle and brake opening and the corresponding guide rail distance. Then, based on the vehicle speed feedback signal, it uses the MPC control algorithm to optimize the output, controlling the vehicle speed and achieving precise speed tracking.

[0078] Compared to existing technologies, the method of this invention centralizes data computation in the lower-level computer, optimizing the control system structure, reducing complexity, and facilitating system development and maintenance. The upper-level computer enables real-time detection and data import. Different vehicles have different characteristics and require different calibration tables. This invention uses deep learning to develop different calibration tables for different vehicles, improving efficiency and reducing manual workload.

[0079] The embodiments provided by the present invention have been described in detail above. For those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the embodiments of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic driving vehicle speed control method applied to an automatic driving vehicle speed control device, characterized by, The application relates to a control method and device for an automatic driving vehicle speed control device. The control device comprises: The execution device comprises a driving part, a transmission part and a pedal connecting part, the transmission part is connected with the driving part and the pedal connecting part, the driving part drives the transmission part, so that the pedal connecting part can move in the direction of approaching or moving away from the driving part, and the pedal connecting part is used for being connected with a throttle pedal or a brake pedal in a vehicle cabin; The stroke sensing device is arranged on one side of the execution device, and is used for detecting the moving stroke of the transmission part or the pedal connecting part; The upper computer is used for monitoring the robot execution process in real time, transmitting calibration table data and operation instructions, and playing a supervisory and control role; The PLC controller is used for receiving the vehicle speed and receiving the detection signal of the stroke sensing device, and controlling the working speed of the driving part according to the detection data. The control method comprises the following steps: S1, the upper computer generates 5-minute 0-120Km acceleration and deceleration MAP data and sends the data to the PLC; S2, the PLC controls the vehicle operation according to the received data and collects real-time data; S3, the upper computer uses an RNN neural network to learn acceleration and deceleration characteristic parameters according to stroke data; S4, corresponding test data are made according to the learned target vehicle characteristic model and saved and sent to the PLC; S5, the PLC automatically calibrates the stroke zero point by controlling the execution device and receiving the automobile speed detection signal; S6, the calibration table data are imported into the PLC controller through the upper computer, the PLC controller starts the adaptive cruise control of the automatic driving vehicle speed control device according to the instruction of the upper computer, the data of the calibration table are executed in the process of the adaptive cruise control, real-time control test is carried out in combination with PID control when the execution device executes the data, and the test data are saved after execution is completed.

2. The automatic driving vehicle speed control method according to claim 1, characterized by, The execution device further comprises a plurality of rotary connecting pieces, the driving part and the transmission part are connected through corresponding rotary connecting pieces, and the transmission part and the pedal connecting part are connected through corresponding rotary connecting pieces.

3. The automatic driving vehicle speed control method according to claim 2, characterized by, The driving part comprises a driving motor, the transmission part comprises a lead screw guide rail and a sliding block, the driving motor drives the lead screw guide rail and drives the lead screw guide rail to rotate, the sliding block is screwed on the lead screw guide rail, and the sliding block is connected with the pedal connecting part.

4. The automatic driving vehicle speed control method according to claim 3, characterized by, The pedal connecting part comprises a mounting frame and a connecting rod, the connecting rod connects the mounting frame and the sliding block, and the mounting frame is used for being connected with the pedal of the automobile cabin.

5. The automatic driving vehicle speed control method according to claim 4, characterized by, The rotary connecting piece is a universal joint, the sliding block and the connecting rod are connected through corresponding universal joints, and the connecting rod and the mounting frame are connected through corresponding universal joints.

6. The automatic driving vehicle speed control method according to claim 3, characterized by, The transmission part further comprises a belt transmission mechanism, the belt transmission mechanism comprises a driving wheel, a driven wheel and a belt, the driving wheel is coaxially connected with a motor shaft of the driving motor, the driven wheel is coaxially connected with the lead screw guide rail, and the belt is wound on the driving wheel and the driven wheel.

7. The automatic driving vehicle speed control method according to claim 3, characterized by, The stroke sensing device comprises a photoelectric sensor, the photoelectric sensor is arranged on one side of the sliding block, and a detection head of the photoelectric sensor faces the lead screw guide rail.

8. The automatic driving vehicle speed control method according to claim 1, characterized by, The upper computer and the PLC controller are connected through Ethernet, and the PLC controller and the driving part are connected through Ethernet.

9. The automatic driving vehicle speed control method according to claim 8, characterized by, Also include S7, the upper computer uses the detection data detected by the PLC controller, and the upper computer detects the adaptive cruise control process in real time; S8, the PLC controller outputs the movable stroke of the automatic driving vehicle speed control device according to the detection data; S9, collect the real-time vehicle speed of the automatic driving vehicle speed control device, and feed back the vehicle speed data to the PLC controller.

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