Speed following control method, device and equipment of unmanned vehicle and storage medium

Abstract

The invention discloses a speed following control method, device and equipment of an unmanned vehicle and a storage medium, and relates to the technical field of computers. The method comprises the following steps: acquiring a target vehicle speed, a first vehicle speed and a second vehicle speed of the unmanned vehicle; wherein the first vehicle speed is determined based on the wheel speed of wheels, and the second vehicle speed is determined based on the rotating speed of a motor; obtaining a third vehicle speed based on a preset vehicle speed condition, the first vehicle speed and the second vehicle speed; based on the target vehicle speed and the third vehicle speed, using a preset difference algorithm to determine a vehicle speed difference value; determining target braking information corresponding to the vehicle speed difference value by utilizing a preset braking strategy on the basis of a pre-configured relation table of the vehicle speed difference value and the hydraulic value; and outputting the target braking information so as to control the unmanned vehicle to brake based on the target braking information. According to the invention, the reliability of speed following control of unmanned vehicle braking is ensured.

Description

Technical Field

[0001] The present application relates to the field of computer technology, specifically to technical fields such as intelligent logistics and autonomous driving, and in particular to a speed following control method, device, equipment and storage medium for an unmanned vehicle. Background Art

[0002] Unmanned vehicle braking speed following is a key link in unmanned driving technology. It involves the precise control and adjustment of the vehicle's speed during driving to ensure that the vehicle can drive smoothly according to a predetermined or real-time updated trajectory.

[0003] At present, the method of braking speed following of unmanned vehicles mainly involves the design of control strategies and algorithms to ensure that the unmanned vehicle can accurately and stably follow the desired speed and brake when necessary to maintain a safe distance. However, the solutions in related technologies still have some defects, resulting in poor control effects. Summary of the invention

[0004] The present application provides a speed following control method, device, equipment and storage medium for an unmanned vehicle, which solves the problem of low accuracy of speed following control for the unmanned vehicle. The technical solution is as follows:

[0005] In a first aspect, a speed following control method for an unmanned vehicle is provided, which is applied to a chassis domain controller, and the method comprises:

[0006] Obtaining a target vehicle speed, a first vehicle speed, and a second vehicle speed of the unmanned vehicle; wherein the first vehicle speed is determined based on the wheel speed, and the second vehicle speed is determined based on the rotation speed of the motor;

[0007] Obtaining a third vehicle speed based on a preset vehicle speed condition, the first vehicle speed, and the second vehicle speed;

[0008] Based on the target vehicle speed and the third vehicle speed, a vehicle speed difference value is determined using a preset difference algorithm;

[0009] Based on a pre-configured relationship table between vehicle speed difference values ​​and hydraulic pressure values, using a preset braking strategy, determining target braking information corresponding to the vehicle speed difference value;

[0010] The target braking information is output to control the braking of the unmanned vehicle based on the target braking information.

[0011] In a possible implementation, obtaining the third vehicle speed based on a preset vehicle speed condition, the first vehicle speed, and the second vehicle speed includes:

[0012] In response to the first vehicle speed satisfying a preset vehicle speed condition, the first vehicle speed is used as the third vehicle speed; or,

[0013] In response to the first vehicle speed not satisfying a preset vehicle speed condition, the second vehicle speed is used as the third vehicle speed.

[0014] In a possible implementation, determining the vehicle speed difference value based on the target vehicle speed and the third vehicle speed by using a preset difference algorithm includes:

[0015] Based on the target vehicle speed and the third vehicle speed, obtaining a difference between the third vehicle speed and the target vehicle speed;

[0016] The vehicle speed difference value is calculated based on a preset coefficient, the target vehicle speed and the difference.

[0017] In a possible implementation, the target braking information includes target hydraulic pressure information, and the target braking information corresponding to the vehicle speed difference value is determined based on a pre-configured relationship table between the vehicle speed difference value and the hydraulic pressure value and using a preset braking strategy, including:

[0018] In response to the vehicle speed difference value being greater than a preset difference threshold, using a table lookup algorithm to perform a lookup process on a pre-configured relationship table between vehicle speed difference values ​​and hydraulic pressure values;

[0019] Based on the result of the search processing, obtaining target hydraulic pressure information corresponding to the vehicle speed difference value;

[0020] The target hydraulic pressure information is used as target braking information.

[0021] In a possible implementation, the target braking information further includes target torque information. Based on a pre-configured relationship table between vehicle speed difference values ​​and hydraulic pressure values, the target braking information corresponding to the vehicle speed difference value is determined using a preset braking strategy, including:

[0022] In response to the vehicle speed difference value being less than a preset difference threshold, obtaining target torque information;

[0023] Selecting target hydraulic pressure information corresponding to the vehicle speed difference value from a pre-configured relationship table between vehicle speed difference value and hydraulic pressure value;

[0024] Based on the target torque information and the target hydraulic pressure information, target braking information corresponding to the vehicle speed difference value is determined.

[0025] In a second aspect, a speed following control device for an unmanned vehicle is provided, which is applied to a chassis domain controller, and the device comprises:

[0026] A first acquisition unit, configured to acquire a target vehicle speed, a first vehicle speed, and a second vehicle speed of the unmanned vehicle; wherein the first vehicle speed is determined based on a wheel speed, and the second vehicle speed is determined based on a motor speed;

[0027] A first obtaining unit, configured to obtain a third vehicle speed based on a preset vehicle speed condition, the first vehicle speed and the second vehicle speed;

[0028] A first determining unit, configured to determine a vehicle speed difference value based on the target vehicle speed and the third vehicle speed by using a preset difference algorithm;

[0029] A second determination unit, configured to determine target braking information corresponding to the vehicle speed difference value based on a pre-configured relationship table between the vehicle speed difference value and the hydraulic pressure value and using a preset braking strategy;

[0030] The first output unit is used to output the target braking information to control the braking of the unmanned vehicle based on the target braking information.

[0031] In a third aspect, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the method of the above-mentioned aspect and any possible implementation manner.

[0032] In a fourth aspect, an electronic device is provided, including:

[0033] at least one processor; and

[0034] a memory communicatively connected to the at least one processor; wherein,

[0035] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any possible implementation manner and the aspects described above.

[0036] According to a fifth aspect, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the above-mentioned aspects and any possible implementation method.

[0037] In a sixth aspect, an unmanned vehicle is provided, comprising the electronic device as described above.

[0038] The beneficial effects of the technical solution provided by this application include at least:

[0039] It can be seen from the above technical solution that the embodiment of the present application can obtain the target vehicle speed, the first vehicle speed, and the second vehicle speed of the unmanned vehicle; wherein the first vehicle speed is determined based on the wheel speed, and the second vehicle speed is determined based on the rotational speed of the motor, and then the third vehicle speed can be obtained based on the preset vehicle speed condition, the first vehicle speed, and the second vehicle speed. Based on the target vehicle speed and the third vehicle speed, a vehicle speed difference value is determined by using a preset difference algorithm. Based on a pre-configured relationship table of vehicle speed difference values ​​and hydraulic pressure values, a preset braking strategy is used to determine target braking information corresponding to the vehicle speed difference value, and the target braking information is output. The target braking information is used to control the braking of the unmanned vehicle based on the target braking information. When the unmanned vehicle brakes, the speed difference value can be determined according to the target vehicle speed and the third vehicle speed as the actual vehicle speed, and a more accurate target braking information corresponding to the speed difference value is determined based on a relationship table between the vehicle speed difference value and the hydraulic value, so as to control the unmanned vehicle to perform braking according to the target braking information, thereby improving the accuracy of the braking control of the unmanned vehicle based on speed following, so that the braking pressure of the unmanned vehicle during the driving process can be effectively distributed according to the actual driving conditions, thereby ensuring the reliability and smoothness of the braking driving of the unmanned vehicle.

[0040] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 It is a flow chart of a speed following control method for an unmanned vehicle provided by an embodiment of the present application;

[0043] Figure 2 is a flow chart of a speed following control method for an unmanned vehicle provided by another embodiment of the present application;

[0044] Figure 3 is a schematic diagram of an application scenario of a speed following control method for an unmanned vehicle provided by another embodiment of the present application;

[0045] Figure 4 This is a structural block diagram of a speed following control device for an unmanned vehicle provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0046] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0047] Obviously, the described embodiments are only part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0048] It should be noted that the terminal devices involved in the embodiments of the present application may include but are not limited to mobile phones, personal digital assistants (PDAs), wireless handheld devices, tablet computers and other smart devices; display devices may include but are not limited to personal computers, televisions and other devices with display functions.

[0049] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0050] Please refer to Figure 1 , which shows a flow chart of a speed following control method for an unmanned vehicle provided by an embodiment of the present application. The speed following control method for an unmanned vehicle is applied to a chassis domain controller and may specifically include:

[0051] Step 101: Obtain a target speed, a first speed, and a second speed of the unmanned vehicle; wherein the first speed is determined based on the wheel speed, and the second speed is determined based on the rotation speed of the motor.

[0052] Step 102: Obtain a third vehicle speed based on a preset vehicle speed condition, the first vehicle speed, and the second vehicle speed.

[0053] Step 103: Based on the target vehicle speed and the third vehicle speed, a vehicle speed difference value is determined using a preset difference algorithm.

[0054] Step 104 : Based on a pre-configured relationship table between vehicle speed difference values ​​and hydraulic pressure values, a preset braking strategy is used to determine target braking information corresponding to the vehicle speed difference value.

[0055] Step 105: output the target braking information to control the braking of the unmanned vehicle based on the target braking information.

[0056] It should be noted that the target vehicle speed may be a target vehicle speed obtained from the autonomous driving domain controller according to a preset time period. For example, the preset time period may be 10 milliseconds.

[0057] It should be noted that the first vehicle speed is determined based on the wheel speed, and the second vehicle speed is determined based on the rotation speed of the motor.

[0058] It is understandable that the chassis domain controller can obtain the wheel speed from the wheel speed sensor, and then can obtain the first vehicle speed based on the wheel speed using the existing speed algorithm, or can directly obtain the first vehicle speed determined based on the wheel speed from the main controller. The chassis domain controller can also obtain the motor speed from the motor speed sensor, and then can obtain the second vehicle speed based on the motor speed using the existing speed algorithm, or can directly obtain the second vehicle speed determined based on the motor speed from the main controller. Here, the existing speed algorithm used to determine the first vehicle speed, or the second vehicle speed, may not be specifically limited.

[0059] In this way, when the unmanned vehicle brakes, the speed difference value can be determined according to the target vehicle speed and the third vehicle speed as the actual vehicle speed, and based on the relationship table between the speed difference value and the hydraulic value, the target braking information corresponding to the speed difference value can be determined more accurately, so as to control the unmanned vehicle to perform braking according to the target braking information, thereby improving the accuracy of the unmanned vehicle's braking control based on speed following, so that the braking pressure of the unmanned vehicle during the driving process can be effectively distributed according to the actual driving conditions, thereby ensuring the reliability and smoothness of the unmanned vehicle's braking driving.

[0060] Optionally, in a possible implementation of the present embodiment, in step 102, specifically in response to the first vehicle speed satisfying a preset vehicle speed condition, the first vehicle speed may be used as the third vehicle speed; or, in response to the first vehicle speed not satisfying a preset vehicle speed condition, the second vehicle speed may be used as the third vehicle speed.

[0061] In this implementation, the preset vehicle speed condition may include that the vehicle speed is greater than a preset vehicle speed threshold. The third vehicle speed may be used to characterize the actual vehicle speed of the unmanned vehicle.

[0062] Exemplarily, the preset vehicle speed threshold may be 5 kilometers per hour.

[0063] In a specific implementation process of this implementation method, in response to the first vehicle speed being greater than a preset vehicle speed threshold, the first vehicle speed can be used as the third vehicle speed, that is, the first vehicle speed determined based on the wheel speed can be used as the actual vehicle speed of the unmanned vehicle.

[0064] In a specific implementation process of this implementation method, in response to the first vehicle speed being less than or equal to a preset vehicle speed threshold, the second vehicle speed can be used as the third vehicle speed, that is, the second vehicle speed determined based on the speed of the motor can be used as the actual vehicle speed of the unmanned vehicle.

[0065] In this way, the final actual speed of the unmanned vehicle can be determined by judging whether the vehicle speed determined by the wheel speed meets the preset speed condition, and a more accurate actual vehicle speed can be obtained. Under certain conditions, the vehicle speed determined by the wheel speed is more accurate, and under other conditions, the vehicle speed determined by the motor speed is more accurate, thereby further improving the accuracy and reliability of the third vehicle speed used for subsequent calculations.

[0066] Optionally, in a possible implementation of the present embodiment, in step 103, the difference between the third vehicle speed and the target vehicle speed can be obtained based on the target vehicle speed and the third vehicle speed, and then the vehicle speed difference value can be calculated based on a preset coefficient, the target vehicle speed and the difference.

[0067] In this implementation, the third vehicle speed may be used to characterize the actual vehicle speed of the unmanned vehicle. The vehicle speed difference value may be used to characterize the difference between the actual vehicle speed and the target vehicle speed.

[0068] In this implementation, the preset coefficient may be used to represent the percentage of the difference to the target vehicle speed. For example, the preset coefficient may be 100%.

[0069] In this way, the vehicle speed difference value can be calculated based on the preset coefficient, the target vehicle speed and the difference value, thereby ensuring the validity of the difference value, so as to ensure the reliability of the determined target braking information later.

[0070] It should be noted that the specific implementation process provided in this implementation can be combined with the various specific implementation processes provided in the aforementioned implementation to implement the speed following control method of the unmanned vehicle of this embodiment. For a detailed description, please refer to the relevant content in the aforementioned implementation, which will not be repeated here.

[0071] Optionally, in a possible implementation of the present embodiment, the target braking information may include target hydraulic information. In step 104, specifically in response to the vehicle speed difference value being greater than a preset difference threshold, a table lookup algorithm may be used to perform a lookup process on a pre-configured relationship table between vehicle speed difference values ​​and hydraulic values. Then, based on the result of the lookup process, the target hydraulic information corresponding to the vehicle speed difference value may be obtained, and the target hydraulic information may be used as the target braking information.

[0072] In this implementation, the preset difference threshold may be pre-calibrated according to the performance of the unmanned vehicle. For example, the preset difference threshold may be 7%.

[0073] Here, the relationship between the vehicle speed difference value and the hydraulic pressure value in the pre-configured vehicle speed difference value and hydraulic pressure value relationship table is a linear relationship.

[0074] In this implementation, the table lookup algorithm may be a one-dimensional table lookup algorithm. Exemplarily, the table lookup algorithm may be a method based on a 1-D Lookup Table module of Simulink.

[0075] In a specific implementation process of this implementation method, in response to the vehicle speed difference value being greater than a preset difference threshold, a one-dimensional table lookup algorithm is used to search and process a pre-configured relationship table between vehicle speed difference values ​​and hydraulic values, and the target hydraulic information corresponding to the vehicle speed difference value is calculated, and the target hydraulic information can be used as target braking information.

[0076] In one case of the specific implementation process, after the target hydraulic pressure information is determined, in step 105, the target hydraulic pressure information can be output to the brake line control unit, so that the brake line control unit can be used to control the brake to perform a braking operation based on the target hydraulic pressure value.

[0077] In this implementation, the target braking information may also include target torque information.

[0078] In a specific implementation process of this implementation method, in response to the vehicle speed difference value being less than a preset difference threshold, target torque information can be obtained, and then the target hydraulic information corresponding to the vehicle speed difference value can be selected from a pre-configured relationship table of vehicle speed difference values ​​and hydraulic values, and the target braking information corresponding to the vehicle speed difference value can be determined based on the target torque information and the target hydraulic information.

[0079] Here, the target torque information may be a preset negative torque value.

[0080] One scenario of the specific implementation process is that after the target hydraulic information is determined, in step 105, on the one hand, the target torque information can be output to the motor controller to control the motor controller to perform a braking operation for kinetic energy recovery based on the target torque information, and on the other hand, the target hydraulic information can be output to the brake line control unit to use the brake line control unit to control the brake to perform a braking operation based on the target hydraulic value.

[0081] It is understood that when the vehicle speed difference value is less than the preset difference threshold, the target hydraulic pressure information corresponding to the vehicle speed difference value may be a preset hydraulic pressure value, for example, the preset hydraulic pressure value may be 0 MPa. The brake wire control unit of the brake performs a braking operation based on the target hydraulic pressure value of 0 MPa.

[0082] In this way, kinetic energy recovery can be retained during the braking process of the unmanned vehicle, the vehicle's endurance can be improved, and the braking pressure can be effectively distributed according to demand, improving the smoothness of the vehicle during braking.

[0083] It should be noted that the specific implementation process provided in this implementation can be combined with the various specific implementation processes provided in the aforementioned implementation to implement the speed following control method of the unmanned vehicle of this embodiment. For a detailed description, please refer to the relevant content in the aforementioned implementation, which will not be repeated here.

[0084] In order to better understand the method of the embodiment of the present application, the method of the embodiment of the present application is described below in conjunction with the accompanying drawings and specific application scenarios.

[0085] Figure 2 FIG. 1 is a flow chart of a speed following control method for an unmanned vehicle provided by another embodiment of the present application. Figure 2 shown.

[0086] In this embodiment, Figure 3 FIG. 1 is a schematic diagram of an application scenario of a speed following control method for an unmanned vehicle provided by another embodiment of the present application. Figure 3 As shown. The application scenario of the speed following control method of the unmanned vehicle may include a motor, a chassis domain controller, an autonomous driving domain controller, a motor controller, a brake wire control unit, a brake, a wheel speed sensor, a hydraulic sensor, a motor speed sensor, a wheel, etc. Among them, the controller may include a chassis domain controller, an autonomous driving domain controller, a motor controller, and a brake wire control unit; the sensor may include a wheel speed sensor, a hydraulic sensor, and a motor speed sensor; the actuator may include a brake wire control unit, a motor, and a brake. Here, the application scenario of the speed following control method of the unmanned vehicle may also be the speed following control system architecture of the unmanned vehicle.

[0087] Here, the autonomous driving domain controller can judge and issue the target vehicle speed instruction by analyzing the data information returned by the sensing element. The chassis domain controller can be used to execute the method in this embodiment, and can judge the vehicle state by analyzing the wheel speed sensor signal, the hydraulic sensor value, and the motor speed sensor value, and compare and calculate with the target instruction, and judge and issue the braking instruction. The brake line control unit can receive the braking instruction of the chassis domain controller and the received hydraulic sensor information for calculation and analysis, and issue and execute the pressure building instruction. The brake line control unit can also control the forward or reverse rotation of the motor to achieve the establishment of hydraulic pressure or the removal of hydraulic pressure. The motor controller receives the instruction of the chassis domain controller and issues the control instruction of the motor. The motor can realize the dragging of the motor to realize kinetic energy recovery and slow down the vehicle. The brake can clamp the caliper by hydraulic pressure to slow down the vehicle. The wheel speed sensor can output the speed signal of the four wheels by detecting the gear position on the four wheels. The motor speed sensor can output the speed signal of the drive motor by detecting the speed of the drive motor. The hydraulic sensor can output the hydraulic signal by detecting the internal pressure of the brake line.

[0088] Step 201: Obtain the target speed of the unmanned vehicle.

[0089] In this embodiment, during normal driving of the unmanned vehicle, the autonomous driving domain controller can send a target vehicle speed instruction to the chassis domain controller according to a preset time period, that is, the chassis domain controller can obtain the target vehicle speed of the unmanned vehicle according to a preset time period.

[0090] Step 202: Based on the received wheel speed signal, a first vehicle speed is obtained using a first speed algorithm.

[0091] In this embodiment, illustratively, the first vehicle speed may be calculated based on the product of the wheel circumference and the wheel speed.

[0092] Step 203: Based on the received motor speed signal, a second vehicle speed is obtained using a second speed algorithm.

[0093] In this embodiment, illustratively, the second vehicle speed may be calculated based on the product of the circumference of the wheel and the motor speed.

[0094] In addition, the chassis domain controller may also directly obtain and calculate the first vehicle speed and the second vehicle speed, which are not specifically limited here.

[0095] Step 204: In response to the first vehicle speed satisfying a preset vehicle speed condition, the first vehicle speed is used as the third vehicle speed; or, in response to the first vehicle speed not satisfying the preset vehicle speed condition, the second vehicle speed is used as the third vehicle speed.

[0096] In this embodiment, the third vehicle speed may be an actual speed. The preset vehicle speed condition may be that the first vehicle speed is greater than a preset vehicle speed threshold. For example, the preset vehicle speed threshold is 5 kilometers per hour.

[0097] For example, when the first vehicle speed calculated based on the wheel speed signal is greater than 5 kilometers per hour, the first vehicle speed can be used as the actual vehicle speed. When the vehicle speed calculated based on the wheel speed signal is less than or equal to 5 kilometers per hour, the second vehicle speed calculated based on the motor speed can be used as the actual vehicle speed.

[0098] Step 205 : Based on the target vehicle speed and the third vehicle speed, a vehicle speed difference value is determined using a preset difference algorithm.

[0099] In this embodiment, the chassis domain controller can calculate and analyze the target vehicle speed and the actual vehicle speed to obtain a vehicle speed difference value, which can be specifically shown in formula (1):

[0100] A=(v1-v0)÷v0×100%

[0101] Wherein, A may be the vehicle speed difference value, v1 may be the actual vehicle speed, that is, the third vehicle speed, and v0 may be the target vehicle speed. The preset coefficient may be 100%, and the vehicle speed difference value may be a percentage value.

[0102] Step 206, in response to the vehicle speed difference value being greater than a preset difference threshold, a table lookup algorithm is used to search and process a pre-configured relationship table between vehicle speed difference values ​​and hydraulic values ​​to obtain target hydraulic information corresponding to the vehicle speed difference value, so as to control the braking of the unmanned vehicle based on the target hydraulic information.

[0103] Step 207, in response to the vehicle speed difference value being greater than zero and less than a preset difference threshold, obtain target torque information, and select target hydraulic information corresponding to the vehicle speed difference value from a pre-configured relationship table of vehicle speed difference values ​​and hydraulic values, so as to control the braking of the unmanned vehicle based on the target torque information and the target hydraulic information.

[0104] In this embodiment, illustratively, the pre-configured relationship table between the vehicle speed difference value and the hydraulic pressure value may be as shown in Table 1:

[0105] Table 1 Relationship between vehicle speed difference and hydraulic pressure

[0106] Speed ​​difference A Hydraulic value P(Mpa) Remark 0 0 Pure kinetic energy recovery for braking <![CDATA[A1]]> <![CDATA[P1]]> <![CDATA[A2]]> <![CDATA[P2]]> <![CDATA[A3]]> <![CDATA[P3]]> <![CDATA[A4]]> <![CDATA[P4]]> <![CDATA[A5]]> <![CDATA[P5]]> <![CDATA[A6]]> <![CDATA[P6]]> <![CDATA[A7]]> <![CDATA[P7]]> <![CDATA[A8]]> <![CDATA[P8]]>

[0107] Here, the preset difference threshold may be A1. When the vehicle speed difference value is 0≤A≤A1, the chassis domain controller may send a negative torque instruction to the motor controller, that is, a preset negative torque value as the target torque information, to achieve kinetic energy recovery. At the same time, the chassis domain controller may send a target hydraulic pressure information of 0MPa to the brake line control unit.

[0108] When the vehicle speed difference value A>A1, the chassis domain controller can send a hydraulic instruction, namely, target hydraulic information, to the brake line control unit. The target hydraulic information is calculated using a one-dimensional table lookup algorithm based on the relationship between the vehicle speed difference value and the hydraulic value.

[0109] It can be understood that the values ​​of A1, A2, ..., A8 in Table 1 are in an increasing relationship, and the value of A8 can have no upper limit. Specifically, the value of the pre-configured vehicle speed difference value can be determined based on the actual vehicle calibration result. For example, A1 can be 7%, A2 can be 10%, and A3 can be 15%. The values ​​of P1, P2, ..., P8 are in an increasing relationship, and the value of P8 can be no greater than the maximum hydraulic value that can be achieved by the brake. Specifically, the value of the pre-configured hydraulic value can be determined based on the actual vehicle calibration result. For example, P1 in Table 1 can be 1, P2 can be 2, and P3 can be 3.

[0110] Here, the relationship between the vehicle speed difference value and the hydraulic pressure value may be a linear relationship.

[0111] For example, if the vehicle speed difference value A is 9%, based on the relationship table between the vehicle speed difference value and the hydraulic pressure value, it can be known that the vehicle speed difference value A is between A1 and A2, and the corresponding P1 can be 1 and P2 can be 2. Based on A1 and A2 and P1 and P2, the P value corresponding to the vehicle speed difference value A can be calculated using a one-dimensional table lookup algorithm. For example, the P value corresponding to the vehicle speed difference value A, that is, the target hydraulic pressure information, can be 1.3 MPa.

[0112] In this embodiment, the effective speed following control method when the unmanned vehicle brakes can be used to make the automatic driving speed following control method more accurate, thereby improving the reliability of vehicle braking.

[0113] In addition, by adopting the technical solution in this embodiment, kinetic energy recovery can be retained during the braking process of the unmanned vehicle, thereby improving the endurance of the unmanned vehicle.

[0114] In addition, by adopting the technical solution in this embodiment, the braking pressure of the unmanned vehicle during the automatic driving process can be effectively distributed according to demand, thereby improving the smoothness of the vehicle's braking process.

[0115] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application. In the above embodiments, the description of each embodiment has its own emphasis, and for the parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0116] Figure 4 FIG. 1 shows a structural block diagram of a speed following control device for an unmanned vehicle provided by an embodiment of the present application. Figure 4 As shown. The speed following control device 400 of the unmanned vehicle of this embodiment can be applied to the chassis domain controller, and can include a first acquisition unit 401, a first acquisition unit 402, a first determination unit 403, a second determination unit 404 and a first output unit 405. Among them, the first acquisition unit 401 is used to obtain the target vehicle speed, the first vehicle speed and the second vehicle speed of the unmanned vehicle; wherein the first vehicle speed is determined based on the wheel speed, and the second vehicle speed is determined based on the speed of the motor; the first acquisition unit 402 is used to obtain the third vehicle speed based on the preset vehicle speed condition, the first vehicle speed and the second vehicle speed; the first determination unit 403 is used to determine the vehicle speed difference value based on the target vehicle speed and the third vehicle speed by using a preset difference algorithm; the second determination unit 404 is used to determine the target braking information corresponding to the vehicle speed difference value based on the pre-configured relationship table of vehicle speed difference value and hydraulic value and by using a preset braking strategy; the first output unit 405 is used to output the target braking information to control the braking of the unmanned vehicle based on the target braking information.

[0117] Optionally, in a possible implementation of this embodiment, the first obtaining unit 402 can be used to use the first vehicle speed as the third vehicle speed in response to the first vehicle speed satisfying a preset vehicle speed condition; or, in response to the first vehicle speed not satisfying a preset vehicle speed condition, use the second vehicle speed as the third vehicle speed.

[0118] Optionally, in a possible implementation of this embodiment, the first determination unit 403 can be used to obtain the difference between the third vehicle speed and the target vehicle speed based on the target vehicle speed and the third vehicle speed; and calculate the vehicle speed difference value based on a preset coefficient, the target vehicle speed and the difference.

[0119] Optionally, in a possible implementation of the present embodiment, the target braking information includes target hydraulic information, and the second determination unit 404 can be used to, in response to the vehicle speed difference value being greater than a preset difference threshold, use a table lookup algorithm to perform a lookup process on a pre-configured relationship table of vehicle speed difference values ​​and hydraulic values; based on the result of the lookup process, obtain the target hydraulic information corresponding to the vehicle speed difference value, and use the target hydraulic information as the target braking information.

[0120] Optionally, in a possible implementation of this embodiment, the target braking information also includes target torque information, and the second determination unit 404 can also be used to obtain target torque information in response to the vehicle speed difference value being less than a preset difference threshold; select the target hydraulic information corresponding to the vehicle speed difference value from a pre-configured relationship table of vehicle speed difference values ​​and hydraulic values; and determine the target braking information corresponding to the vehicle speed difference value based on the target torque information and the target hydraulic information.

[0121] In this embodiment, the target speed, the first speed, and the second speed of the unmanned vehicle can be obtained by the first acquisition unit; wherein the first speed is determined based on the wheel speed, and the second speed is determined based on the rotational speed of the motor, and then the third speed can be obtained by the first acquisition unit based on the preset speed condition, the first speed, and the second speed, and the speed difference value is determined by the first determination unit based on the target speed and the third speed using a preset difference algorithm, and the target braking information corresponding to the speed difference value is determined by the second determination unit based on a pre-configured relationship table of speed difference values ​​and hydraulic pressure values ​​using a preset braking strategy, so that the first An output unit is capable of outputting the target braking information to control the braking of the unmanned vehicle based on the target braking information. When the unmanned vehicle brakes, the vehicle speed difference value can be determined according to the target vehicle speed and the third vehicle speed as the actual vehicle speed, and based on the relationship table between the vehicle speed difference value and the hydraulic value, the target braking information corresponding to the vehicle speed difference value more accurately is determined, so as to control the unmanned vehicle to perform braking according to the target braking information, thereby improving the accuracy of the unmanned vehicle's braking control based on speed following, so that the braking pressure of the unmanned vehicle during the driving process can be effectively distributed according to the actual driving conditions, thereby ensuring the reliability and smoothness of the unmanned vehicle's braking driving.

[0122] An embodiment of the present application provides a chassis domain controller, the electronic device includes a processor and a memory, the memory stores at least one instruction, the instruction is loaded and executed by the processor to implement the speed following control method of the unmanned vehicle as described above.

[0123] An embodiment of the present application provides a speed following control system for an unmanned vehicle, which may include a motor, a chassis domain controller, an automatic driving domain controller, a motor controller, a brake line control unit, a brake, a wheel speed sensor, a hydraulic sensor, a motor speed sensor, and a wheel, wherein the chassis domain controller executes to implement the speed following control method for the unmanned vehicle as described above.

[0124] An embodiment of the present application provides an unmanned vehicle, including the chassis domain controller as described above. Specifically, the unmanned vehicle may be a vehicle of level L2 or above, and the unmanned vehicle may include but is not limited to low-speed unmanned vehicles such as unmanned delivery vehicles and unmanned logistics vehicles.

[0125] An embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the speed following control method for an unmanned vehicle as described above.

[0126] An embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the speed following control method of the unmanned vehicle as described above.

[0127] In the technical solution of this application, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the relevant laws and regulations and do not violate public order and good morals.

[0128] It should be noted that: the speed following control device for the unmanned vehicle provided in the above embodiment only uses the division of the above functional modules as an example when performing the speed following control of the unmanned vehicle. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the speed following control device for the unmanned vehicle is divided into different functional modules to complete all or part of the functions described above. In addition, the speed following control device for the unmanned vehicle provided in the above embodiment and the speed following control method embodiment for the unmanned vehicle belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0129] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0130] The above description is not intended to limit the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A speed following control method for an unmanned vehicle, characterized in that: Applied to a chassis domain controller, the method comprises: Obtaining a target vehicle speed, a first vehicle speed, and a second vehicle speed of the unmanned vehicle; wherein the first vehicle speed is determined based on the wheel speed, and the second vehicle speed is determined based on the rotation speed of the motor; Obtaining a third vehicle speed based on a preset vehicle speed condition, the first vehicle speed, and the second vehicle speed; Based on the target vehicle speed and the third vehicle speed, a vehicle speed difference value is determined using a preset difference algorithm; Based on a pre-configured relationship table between vehicle speed difference values ​​and hydraulic pressure values, using a preset braking strategy, determining target braking information corresponding to the vehicle speed difference value; The target braking information is output to control the braking of the unmanned vehicle based on the target braking information.

2. The method according to claim 1, characterized in that The obtaining of the third vehicle speed based on the preset vehicle speed condition, the first vehicle speed and the second vehicle speed comprises: In response to the first vehicle speed satisfying a preset vehicle speed condition, the first vehicle speed is used as the third vehicle speed; or, In response to the first vehicle speed not satisfying a preset vehicle speed condition, the second vehicle speed is used as the third vehicle speed.

3. The method according to claim 1, characterized in that The determining of the vehicle speed difference value based on the target vehicle speed and the third vehicle speed by using a preset difference algorithm includes: Based on the target vehicle speed and the third vehicle speed, obtaining a difference between the third vehicle speed and the target vehicle speed; The vehicle speed difference value is calculated based on a preset coefficient, the target vehicle speed and the difference.

4. The method according to claim 1, characterized in that: The target braking information includes target hydraulic pressure information. The target braking information corresponding to the vehicle speed difference value is determined based on a pre-configured relationship table between the vehicle speed difference value and the hydraulic pressure value and using a preset braking strategy, including: In response to the vehicle speed difference value being greater than a preset difference threshold, using a table lookup algorithm to perform a lookup process on a pre-configured relationship table between the vehicle speed difference value and the hydraulic pressure value; Based on the result of the search processing, obtaining target hydraulic pressure information corresponding to the vehicle speed difference value; The target hydraulic pressure information is used as target braking information.

5. The method according to claim 4, characterized in that The target braking information also includes target torque information. Based on a pre-configured relationship table between vehicle speed difference values ​​and hydraulic pressure values, the target braking information corresponding to the vehicle speed difference value is determined using a preset braking strategy, including: In response to the vehicle speed difference value being less than a preset difference threshold, acquiring target torque information; Selecting target hydraulic pressure information corresponding to the vehicle speed difference value from a pre-configured relationship table between vehicle speed difference value and hydraulic pressure value; Based on the target torque information and the target hydraulic pressure information, target braking information corresponding to the vehicle speed difference value is determined.

6. A speed following control device for an unmanned vehicle, characterized in that: Applied to a chassis domain controller, the device comprises: A first acquisition unit, configured to acquire a target vehicle speed, a first vehicle speed, and a second vehicle speed of the unmanned vehicle; wherein the first vehicle speed is determined based on a wheel speed, and the second vehicle speed is determined based on a motor speed; A first obtaining unit, configured to obtain a third vehicle speed based on a preset vehicle speed condition, the first vehicle speed and the second vehicle speed; A first determining unit, configured to determine a vehicle speed difference value based on the target vehicle speed and the third vehicle speed by using a preset difference algorithm; A second determination unit, configured to determine target braking information corresponding to the vehicle speed difference value based on a pre-configured relationship table between the vehicle speed difference value and the hydraulic pressure value and using a preset braking strategy; The first output unit is used to output the target braking information to control the braking of the unmanned vehicle based on the target braking information.

7. A chassis domain controller, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-5.

9. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 5.

10. An unmanned vehicle, comprising the chassis domain controller as claimed in claim 7.

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