Vehicle speed control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle speed control method and device, electronic equipment and a storage medium. The method comprises the steps that the current vehicle speed of a target vehicle is obtained, and the current load capacity of the target vehicle is determined; determining a current load state corresponding to the current load capacity based on a corresponding relation between the load capacity and the load state; according to the corresponding relation between the load state and the limited vehicle speed, the current limited vehicle speed corresponding to the current load state is determined; and under the condition that the current vehicle speed exceeds the current limited vehicle speed, the current vehicle speed is reduced to a safe vehicle speed range based on detected speed reduction operation, and the maximum value of the safe vehicle speed range is smaller than or equal to the current limited vehicle speed. According to the technical scheme provided by the embodiment of the invention, the running speed of the vehicle is reasonably and effectively controlled according to the load condition of the vehicle, and the running safety of the vehicle is improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle control technology, and in particular to a vehicle speed control method, device, electronic device and storage medium. Background Art

[0002] With the booming development of the global transportation industry and the sharp increase in the number of cars, traffic safety issues have become the focus of attention from all walks of life. Especially in the field of commercial vehicles, since they are mainly used for cargo transportation, the vehicle load is often much higher than that of ordinary passenger cars. This feature makes commercial vehicles face more safety challenges during driving. For example, when the load of a commercial vehicle is too large, its braking performance will be significantly reduced, resulting in an increase in the braking distance in an emergency, and even the serious consequence of brake failure. Therefore, in order to meet this challenge, a vehicle speed control method is provided to effectively control the vehicle speed according to the vehicle load. Summary of the invention

[0003] The present invention provides a vehicle speed control method, device, electronic equipment and storage medium, so as to realize reasonable and effective control of the vehicle driving speed according to the vehicle load condition, thereby improving the safety of vehicle driving.

[0004] According to one aspect of the present invention, a vehicle speed control method is provided, the method comprising:

[0005] Obtaining the current speed of the target vehicle and determining the current load of the target vehicle;

[0006] Based on the correspondence between the load weight and the load state, determining a current load state corresponding to the current load weight;

[0007] Determining a current vehicle speed limit corresponding to the current load state according to a correspondence between the load state and the vehicle speed limit;

[0008] When the current vehicle speed exceeds the current vehicle speed limit, the current vehicle speed is reduced to a safe vehicle speed range based on the detected speed reduction operation, wherein a maximum value of the safe vehicle speed range is less than or equal to the current vehicle speed limit.

[0009] According to another aspect of the present invention, a vehicle speed control device is provided. The device comprises:

[0010] A vehicle information acquisition module is used to acquire the current speed of the target vehicle and determine the current load of the target vehicle;

[0011] A load state determination module, used to determine a current load state corresponding to the current load state based on the corresponding relationship between the load state and the load state;

[0012] A speed limit determination module, configured to determine a current speed limit corresponding to the current load state according to a correspondence between the load state and the speed limit;

[0013] The vehicle speed control module is used to reduce the current vehicle speed to a safe vehicle speed range based on a detected speed reduction operation when the current vehicle speed exceeds the current vehicle speed limit, wherein the maximum value of the safe vehicle speed range is less than or equal to the current vehicle speed limit.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle speed control method described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle speed control method described in any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention determines the current load of the target vehicle by acquiring the current speed of the target vehicle; determines the current load state corresponding to the current load based on the correspondence between the load and the load state; determines the current speed limit corresponding to the current load state based on the correspondence between the load state and the speed limit; and reduces the current speed to a safe speed range based on the detected speed reduction operation when the current speed exceeds the current speed limit, wherein the maximum value of the safe speed range is less than or equal to the current speed limit. The technical solution of the embodiment of the present invention realizes a more reasonable and effective control of the vehicle's driving speed according to the vehicle load condition, thereby improving the safety of vehicle driving.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic flow chart of a vehicle speed control method provided in Embodiment 1 of the present invention;

[0023] Figure 2 An example diagram of load state setting applicable to the vehicle speed control method provided in the first embodiment of the present invention;

[0024] Figure 3 An example diagram of vehicle speed control applicable to the vehicle speed control method provided in the first embodiment of the present invention;

[0025] Figure 4 A schematic flow chart of a vehicle speed control method provided in Embodiment 2 of the present invention;

[0026] Figure 5 A schematic flow chart of a vehicle speed control method provided in Embodiment 3 of the present invention;

[0027] Figure 6 A schematic flow chart of an optional embodiment of a vehicle speed control method provided in Embodiment 3 of the present invention;

[0028] Figure 7 A schematic flow chart of a sparrow search algorithm applicable to a vehicle speed control method provided in Embodiment 3 of the present invention;

[0029] Figure 8 A schematic flow chart of a vehicle speed control method provided in Embodiment 4 of the present invention;

[0030] Fig. 9 A schematic diagram of the structure of a vehicle speed control device provided in Embodiment 5 of the present invention;

[0031] Fig.10 A schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatus.

[0034] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0035] Embodiment 1

[0036] Figure 1 This is a flow chart of a vehicle speed control method provided in the first embodiment of the present invention. This embodiment is applicable to the case of controlling the driving speed of a vehicle, and is particularly applicable to the scene of controlling the driving speed of a commercial vehicle. The method can be executed by a vehicle speed control device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device such as a computer or a server. Figure 1 As shown, the method of this embodiment includes:

[0037] S110, obtaining the current speed of the target vehicle and determining the current load of the target vehicle.

[0038] The target vehicle may be understood as a vehicle that needs to be speed-controlled. Optionally, the target vehicle may be a commercial vehicle. In an embodiment of the present invention, the target vehicle may be a new energy commercial vehicle. The current vehicle speed may be understood as the driving speed of the target vehicle at the current moment. The current load may be understood as the load of the target vehicle at the current moment.

[0039] In an embodiment of the present invention, there are multiple ways to obtain the current speed of the target vehicle. For example, the target vehicle can be equipped with an onboard speedometer to obtain the current speed of the target vehicle age through the onboard speedometer. Alternatively, a vehicle navigation application can be started while the target vehicle is traveling, so that the current speed of the target vehicle can be obtained through a test function in the vehicle navigation program. Alternatively, the current speed of the target vehicle can be measured with the help of a global positioning system (GPS) device. Alternatively, the current speed of the target vehicle can be calculated using computer vision technology.

[0040] In an embodiment of the present invention, the method of determining the current load weight of the target vehicle may include: installing an intelligent weighing sensor on the target vehicle, so that the load of the target vehicle at the current moment, that is, the current load weight of the target vehicle, can be measured by the intelligent weighing sensor. It should be noted that the current load weight of the target vehicle needs to be calculated during the driving process of the target vehicle. The advantage of such processing is that the load weight of the target vehicle can be accurately obtained, which is convenient for effectively controlling the driving speed of the target vehicle.

[0041] S120. Determine a current load state corresponding to the current load weight based on the correspondence between the load weight and the load state.

[0042] In an embodiment of the present invention, the load state of a vehicle may include at least a fully loaded state, a half loaded state, and an unloaded state. Among them, the fully loaded state may be understood as a state in which the target vehicle reaches its design capacity or maximum load during driving. The half loaded state may be understood as a state in which the cargo loaded on the target vehicle only reaches half or less than half of the vehicle load. The unloaded state may be understood as a state in which the target vehicle has no load. It should be noted that the fully loaded state, the half loaded state, and the unloaded state may be used to describe the load state of the vehicle during operation. The current load state may be understood as the load state of the target vehicle at the current moment. In an embodiment of the present invention, the corresponding relationship between the load weight and the load state may be preset according to actual conditions. For example, different load weight ranges and / or load values ​​may be corresponding to different load states.

[0043] Specifically, the correspondence between the load weight and the load state is preset. Then, based on the correspondence between the load weight and the load state, the load state corresponding to the current load weight can be determined, that is, the current load state of the target vehicle can be determined. For example, see Figure 2 , when the load capacity is 0 ton, the load state is an empty state. When the load capacity range is 27 tons to 38 tons, the load state is a half-full state. When the load capacity is 42 tons, the load state is a fully loaded state. Based on this, when the current load capacity of the target vehicle is 30 tons, at this moment, the current load capacity of the target vehicle is between 27 tons and 38 tons, so, it can be determined that the current load state of the target vehicle is a half-full state. In the same way, when the current load capacity of the target vehicle is 0 ton, it can be determined that the current load state of the target vehicle is an empty state. When the current load capacity of the target vehicle is 42 tons, it can be determined that the current load state of the target vehicle is a fully loaded state.

[0044] S130: Determine a current vehicle speed limit corresponding to the current load state according to the corresponding relationship between the load state and the vehicle speed limit.

[0045] The speed limit can be understood as the maximum speed set during the vehicle's driving process. The corresponding relationship between the load state and the speed limit can be preset according to the actual situation. It should be noted that in the embodiment of the present invention, different speed limits are set for different load states, and the benefit of such setting can improve the vehicle's driving safety. The current speed limit can be understood as the maximum speed set for the target vehicle at the current moment.

[0046] Specifically, the corresponding relationship between the load state and the speed limit is preset, so that the speed limit corresponding to the current load state can be determined based on the corresponding relationship between the load state and the speed limit, that is, the current speed limit of the target vehicle can be determined.

[0047] S140. When the current vehicle speed exceeds the current vehicle speed limit, based on the detected speed reduction operation, reduce the current vehicle speed to a safe vehicle speed range, wherein the maximum value of the safe vehicle speed range is less than or equal to the current vehicle speed limit.

[0048] In an embodiment of the present invention, the maximum value of the safe speed range is less than the current speed limit; or, the maximum value of the safe speed range is equal to the current speed limit. In an embodiment of the present invention, corresponding safe speed ranges are pre-set for speed limits corresponding to different load states, and the maximum value of each safe speed range is less than or equal to the speed limit corresponding to the safe speed range. The speed reduction operation may include a manual speed reduction operation and / or an automatic speed reduction operation. Figure 3 As shown, flow direction 1 is a manual speed reduction operation, and flow direction 2 is an automatic speed reduction operation. Optionally, the automatic speed reduction operation can be a speed reduction operation performed by a PI controller. Figure 3 The estimated value of the medium load can be understood as the current load of the target vehicle.

[0049] Specifically, when the current vehicle speed exceeds the current speed limit, a safe vehicle speed range corresponding to the current vehicle speed limit can be determined, so that the current vehicle speed can be reduced to the safe vehicle speed range based on the detected speed reduction operation, so that the target vehicle travels at a speed within the safe vehicle speed range.

[0050] In an embodiment of the present invention, the method may further include: when the current vehicle speed exceeds the current speed limit, speed warning information may be generated, and the speed warning information may be displayed to prompt the vehicle to drive safely in a visual form. In an embodiment of the present invention, the speed warning information may be at least one of voice information, text information, and graphical information. Optionally, the speed warning information may include at least the current vehicle speed, the current speed limit, the current load, and the current load status of the target vehicle.

[0051] In an embodiment of the present invention, the method may further include: in the process of decelerating based on the deceleration operation, the target vehicle may be subjected to auxiliary speed control processing by a PI controller. Specifically, the speed change amount per unit time is pre-set for the PI controller, so that the PI controller can be used to control the target vehicle to adjust the speed change amount per unit time until the driving speed of the target vehicle reaches the speed limit of the target vehicle. In an embodiment of the present invention, the target vehicle is subjected to auxiliary speed control processing by a PI controller, and the vehicle can be subjected to intelligent speed limit, which can improve the energy efficiency of the vehicle, and the smooth processing of the speed can improve driving safety and driving experience.

[0052] The technical solution of the embodiment of the present invention determines the current load of the target vehicle by acquiring the current speed of the target vehicle; determines the current load state corresponding to the current load based on the correspondence between the load and the load state; determines the current speed limit corresponding to the current load state based on the correspondence between the load state and the speed limit; and reduces the current speed to a safe speed range based on the detected speed reduction operation when the current speed exceeds the current speed limit, wherein the maximum value of the safe speed range is less than or equal to the current speed limit. The technical solution of the embodiment of the present invention realizes a more reasonable and effective control of the vehicle's driving speed according to the vehicle load condition, thereby improving the safety of vehicle driving.

[0053] Embodiment 2

[0054] Figure 4 A flow chart of a vehicle speed control method provided in the second embodiment of the present invention, based on the above embodiment, optionally, the determination of the current load of the target vehicle includes: determining the vehicle driving data used to calculate the current load of the target vehicle based on the vehicle driving equation; determining the current load of the target vehicle based on the vehicle driving data. The technical features that are the same or similar to those in the above embodiment are not repeated here. Figure 4 As shown, the method of this embodiment specifically includes:

[0055] S210: Obtain the current speed of the target vehicle.

[0056] S220: Based on a vehicle driving equation, determine vehicle driving data for calculating the current load capacity of the target vehicle.

[0057] The vehicle driving equation can be understood as a vehicle dynamics equation. In an embodiment of the present invention, the target vehicle driving data may at least include vehicle speed, torque, main reduction ratio, slope, gear position of a transmission, and tire radius. Specifically, the vehicle driving data used to calculate the current load of the target vehicle can be determined based on the vehicle driving equation.

[0058] In the embodiment of the present invention, the vehicle driving equation may be:

[0059]

[0060] Among them, F t Can represent driving force, F f Can represent rolling resistance, F w Can represent air resistance, F i Can represent slope resistance, F j Can represent acceleration resistance; T tq It can represent the driving torque, i g can represent the gearbox speed ratio, i0 can represent the main reducer speed ratio, η T It can represent transmission efficiency, r can represent tire radius, m can represent vehicle mass, g can represent acceleration, f can represent rolling resistance coefficient, C D It can represent the air resistance coefficient, A can represent the frontal area, v can represent the vehicle speed, i can represent the road slope, δ can represent the vehicle rotation mass conversion coefficient, and a represents acceleration.

[0061] It should be noted that when the car is moving at a constant speed, there is no need to consider the acceleration resistance. When calculating the basic torque, only the rolling resistance, air resistance and slope resistance are considered. The speed in the formula can be the maximum speed of the target vehicle.

[0062] In an embodiment of the present invention, after obtaining the vehicle driving data, data preprocessing may be performed on the vehicle driving data. The data preprocessing may at least include data unit conversion. In an embodiment of the present invention, data unit conversion is performed on the vehicle driving data to facilitate subsequent calculation of a unified unit, for example, converting the vehicle speed from kmph to mps.

[0063] S230: Determine the current load capacity of the target vehicle based on the vehicle driving data.

[0064] Specifically, a machine learning model (such as a neural network, a support vector machine, etc.) can be selected, and a vehicle with a known load and corresponding driving data can be used as a training sample to train the model and obtain a vehicle load estimation model. The vehicle driving data can then be input into the vehicle load estimation model. Thus, the current load of the target vehicle can be obtained.

[0065] S240: Determine a current load state corresponding to the current load weight based on the correspondence between the load weight and the load state.

[0066] S250: Determine a current vehicle speed limit corresponding to the current load state according to the corresponding relationship between the load state and the vehicle speed limit.

[0067] S260: When the current vehicle speed exceeds the current vehicle speed limit, based on the detected speed reduction operation, reduce the current vehicle speed to a safe vehicle speed range, wherein the maximum value of the safe vehicle speed range is less than or equal to the current vehicle speed limit.

[0068] The technical solution of the embodiment of the present invention determines the vehicle driving data used to calculate the current load weight of the target vehicle based on the vehicle driving equation; and determines the current load weight of the target vehicle based on the vehicle driving data, thereby achieving the technical effect of improving the accuracy of the vehicle load weight calculation.

[0069] Embodiment 3

[0070] Figure 5 A flow chart of a vehicle speed control method provided for the third embodiment of the present invention, based on the above embodiment, the current load of the target vehicle is determined based on the vehicle driving data, including: using a sparrow search algorithm, according to the vehicle driving data, generating a preset number of reference loads of the target vehicles, and selecting the optimal reference load from the preset number of reference loads of the target vehicles as the current load of the target vehicle. Among them, the technical features that are the same or similar to the above embodiment are not repeated here.

[0071] like Figure 5 As shown, the method of this embodiment specifically includes:

[0072] S310: Obtain the current speed of the target vehicle.

[0073] S320: Based on a vehicle driving equation, determine vehicle driving data for calculating the current load capacity of the target vehicle.

[0074] S330. Using a sparrow search algorithm, generate a preset number of reference load weights of the target vehicles according to the vehicle driving data, and select the optimal reference load weight from the preset number of reference load weights of the target vehicles as the current load weight of the target vehicle.

[0075] The preset number can be set according to actual needs, and its value is not specifically limited here. Specifically, after determining the vehicle driving data used to calculate the current load of the target vehicle based on the vehicle driving equation, refer to Figure 6, the data model can be constructed by using the sparrow search algorithm. First, a population of n sparrows is initialized, where each sparrow is a reference load of a target vehicle. Then, the fitness value of each sparrow is calculated, and the reference load with the largest fitness is used as the current load of the target vehicle.

[0076] In the embodiment of the present invention, there are multiple ways to select the optimal reference load capacity from the reference load capacities of the preset number of target vehicles as the current load capacity of the target vehicle.

[0077] As an optional implementation of the embodiment of the present invention, the fitness function of the reference load of each target vehicle can be calculated to obtain the fitness function value of each reference load. Therefore, based on each fitness function value, the optimal reference load can be selected from the reference loads of the preset number of target vehicles as the current load of the target vehicle.

[0078] As an optional implementation of the embodiment of the present invention, based on a preset optimization algorithm, the optimal reference load capacity can be selected from the reference load capacities of the preset number of target vehicles as the current load capacity of the target vehicle.

[0079] In the embodiment of the present invention, the process of the sparrow search algorithm is as follows: Figure 7 As shown, the specific steps may include:

[0080] Simulate a mathematical model of a sparrow population. Assume that the population of n sparrows is represented by the following matrix:

[0081]

[0082] In the formula, d represents the dimension of the parameter to be optimized, n is the number of populations, and the energy possessed by all individuals, that is, the function expression of the fitness value f is as follows:

[0083]

[0084] The core issue of the entire search algorithm is the individual position update process. Since the leader has a larger fitness value, it can have a better search range and obtain a larger fitness value. The leader's position update formula in this process is as follows:

[0085]

[0086] Where t is the number of current iterations; i is the sparrow index, indicating the i-th sparrow; j is the dimension, j = 1, 2, 3, ..., d, X i,j represents the position of the i-th sparrow in the j-th dimension; iter maxis a constant representing the maximum number of iterations; α∈(0,1) is a random number; R2 represents the warning value, ST represents the safety value, R2∈(0,1), ST∈(0.5,1). When the warning value is less than the safety value, the leader can forage for food. When it exceeds the safety value, it means that there is a predator and an alarm is sent to other sparrows in the population, indicating that they need to go to other safe areas and update their positions. Q is a random number that follows a normal distribution, and L is a 1×d matrix whose values ​​are all 1.

[0087] If a follower defeats the leader during foraging, the two competing parties will exchange identities and the follower will become the leader. This is expressed in the formula as position update. The position update formula of the follower is:

[0088]

[0089] In the formula, X P is the latest position of the current leader, X worst On the contrary, it is the worst position at the moment; A is a 1×d matrix composed of 1 or -1 randomly, where A + =A T (AA T ) -1 ; When i>n / 2, it means that the i-th follower with lower fitness does not obtain energy, that is, it has lower fitness and is located on the periphery of the population. Its advantage in the population is very low, so it will leave the population and look for a new population to find food.

[0090] In the population, as the later followers, the sparrows located at the periphery of the population and playing a warning role account for 10% to 20%, and the expression is as follows:

[0091]

[0092] in, is the current global optimal position, β is a random number with zero mean and variance of 1, which is used to control the number of steps; f is the fitness value, f g and f w is the global optimal fitness value and the worst fitness value, f i >f g It means that the sparrow is at the edge of the population. The equation means that the sparrow in the middle of the population is aware of the danger and needs to update its position to reduce the risk of being preyed upon. K∈[-1,1] is a random number and represents the direction in which the sparrow moves. ε is a constant that approaches 0 infinitely and is added to the denominator to avoid the denominator being 0.

[0093] In the embodiment of the present invention, a fitness function relationship can be established based on the dynamic equation of driving force-resistance. It should be noted that the sin and cos functions cannot be identified. When the slope value is very small, sin(x) and x are approximately equal. Here, x is used to replace sin(x), and a deformed expression of x is used to replace cos(x); to prevent exceeding the limit, the fitness value is squared.

[0094] In the embodiment of the present invention, by adopting the sparrow search algorithm, the vehicle driving data can be efficiently processed and multiple possible load solutions can be generated therefrom. Then, through iterative search and fitness evaluation, the optimal reference load is selected as the current load of the target vehicle. This method not only improves the accuracy of load calculation, but also enhances the real-time performance and efficiency of the calculation.

[0095] S340: Based on the correspondence between the load weight and the load state, determine the current load state corresponding to the current load weight.

[0096] S350: Determine a current vehicle speed limit corresponding to the current load state according to the corresponding relationship between the load state and the vehicle speed limit.

[0097] S360: When the current vehicle speed exceeds the current speed limit, based on the detected speed reduction operation, reduce the current vehicle speed to a safe speed range, wherein the maximum value of the safe speed range is less than or equal to the current speed limit.

[0098] The technical solution of the embodiment of the present invention adopts a sparrow search algorithm to generate a reference load weight of a preset number of target vehicles according to the vehicle driving data, and selects the optimal reference load weight from the reference load weights of the preset number of target vehicles as the current load weight of the target vehicle, which not only improves the accuracy of the load weight calculation, but also enhances the real-time and efficiency of the calculation.

[0099] Embodiment 4

[0100] Figure 8 A flow chart of a vehicle speed control method provided for Embodiment 4 of the present invention. Based on the above embodiments, optionally, the vehicle speed control method implemented by the present invention further includes: the method further includes: upon detecting that the load state of the target vehicle changes from the first load state to the second load state, determining the duration of the second load state; when the duration reaches a preset duration, determining that the load state of the target vehicle is the second load state; and adjusting the driving speed of the target vehicle based on the second load state. Among them, the technical features that are the same or similar to those in the above embodiments are not repeated here.

[0101] like Figure 8As shown, the method of this embodiment specifically includes:

[0102] S410: Obtain the current speed of the target vehicle and determine the current load of the target vehicle.

[0103] S420: Based on the correspondence between the load weight and the load state, determine the current load state corresponding to the current load weight.

[0104] S430: Determine a current vehicle speed limit corresponding to the current load state according to the corresponding relationship between the load state and the vehicle speed limit.

[0105] S440: When the current vehicle speed exceeds the current vehicle speed limit, based on the detected speed reduction operation, reduce the current vehicle speed to a safe vehicle speed range, wherein the maximum value of the safe vehicle speed range is less than or equal to the current vehicle speed limit.

[0106] S450: When it is detected that the load state of the target vehicle changes from the first load state to the second load state, determine the duration of the second load state.

[0107] Specifically, when it is detected that the load state of the target vehicle changes from the first load state to the second load state, the state start time when the load state changes from the first load state to the second load state is recorded, so that the duration of the second load state can be determined based on the current time and the state start time.

[0108] S460: When the duration reaches a preset duration, determine that the load state of the target vehicle is a second load state, and adjust the driving speed of the target vehicle based on the second load state.

[0109] Among them, the preset duration can be set according to actual needs, which is not specifically limited here, such as 3S, 5S or 10S.

[0110] Specifically, when the duration reaches a preset duration, the load state of the target vehicle can be determined to be the second load state. Then, based on the correspondence between the load state and the speed limit, the speed limit corresponding to the second load state can be determined. When the current vehicle speed exceeds the speed limit corresponding to the second load state, the current vehicle speed can be reduced to a safe speed range corresponding to the speed limit corresponding to the second load state.

[0111] The technical solution of the embodiment of the present invention is to determine the duration of the second load state when detecting that the load state of the target vehicle changes from a first load state to a second load state; when the duration reaches a preset duration, determine that the load state of the target vehicle is the second load state; and adjust the driving speed of the target vehicle based on the second load state, thereby achieving effective control of the vehicle driving speed in a relatively reasonable manner according to real-time changes in the vehicle load.

[0112] Embodiment 5

[0113] Fig. 9 This is a schematic diagram of the structure of a vehicle speed control device provided in Embodiment 5 of the present invention. Fig. 9 As shown, the device includes: a vehicle information acquisition module 510 , a load state determination module 520 , a vehicle speed limit determination module 530 and a vehicle speed control module 540 .

[0114] Among them, the vehicle information acquisition module 510 is used to obtain the current speed of the target vehicle and determine the current load weight of the target vehicle; the load state determination module 520 is used to determine the current load state corresponding to the current load weight based on the correspondence between the load weight and the load state; the speed limit determination module 530 is used to determine the current speed limit corresponding to the current load state according to the correspondence between the load state and the speed limit; the speed control module 540 is used to reduce the current speed to a safe speed range based on the detected speed reduction operation when the current speed exceeds the current speed limit, wherein the maximum value of the safe speed range is less than or equal to the current speed limit.

[0115] The technical solution of the embodiment of the present invention obtains the current speed of the target vehicle through the vehicle information acquisition module to determine the current load of the target vehicle; determines the current load state corresponding to the current load based on the correspondence between the load and the load state through the load state determination module; determines the current speed limit corresponding to the current load state based on the correspondence between the load state and the speed limit through the speed limit determination module; and reduces the current speed to a safe speed range based on the detected deceleration operation when the current speed exceeds the current speed limit through the speed control module, wherein the maximum value of the safe speed range is less than or equal to the current speed limit. The technical solution of the embodiment of the present invention realizes a more reasonable and effective control of the vehicle's driving speed according to the vehicle load condition, thereby improving the safety of vehicle driving.

[0116] Optionally, the vehicle information acquisition module 510 is used to determine the vehicle driving data used to calculate the current load capacity of the target vehicle based on the vehicle driving equation; and determine the current load capacity of the target vehicle based on the vehicle driving data.

[0117] Optionally, the target vehicle driving data includes at least vehicle speed, torque, final reduction ratio, transmission gear position and tire radius.

[0118] Optionally, the vehicle information acquisition module 510 is used to adopt a sparrow search algorithm to generate a reference load weight of a preset number of target vehicles based on the vehicle driving data, and select the optimal reference load weight from the reference load weights of the preset number of target vehicles as the current load weight of the target vehicle.

[0119] Optionally, the device further comprises a warning information display module; wherein the warning information display module is used to generate vehicle speed warning information and display the vehicle speed warning information when the current vehicle speed exceeds the current vehicle speed limit.

[0120] Optionally, the device further includes an auxiliary control module; wherein the auxiliary control module is used to perform auxiliary vehicle speed control processing on the target vehicle through a PI controller during a deceleration process based on the deceleration operation.

[0121] Optionally, the device also includes a vehicle speed adjustment module, wherein the vehicle speed adjustment module is used to determine the duration of the second load state when it is detected that the load state of the target vehicle changes from a first load state to a second load state; when the duration reaches a preset duration, determine that the load state of the target vehicle is the second load state; and adjust the driving speed of the target vehicle based on the second load state.

[0122] The vehicle speed control device provided in the embodiment of the present invention can execute the vehicle speed control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0123] It is worth noting that the various units and modules included in the above-mentioned vehicle speed control device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present invention.

[0124] Embodiment 6

[0125] Fig.10A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0126] like Fig.10 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0127] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0128] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a vehicle speed control method.

[0129] In some embodiments, the vehicle speed control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle speed control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle speed control method in any other appropriate manner (e.g., by means of firmware).

[0130] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0131] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0132] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0133] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0134] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0135] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0136] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0137] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle speed control method, characterized in that: The method comprises: Obtaining the current speed of the target vehicle and determining the current load of the target vehicle; Based on the correspondence between the load weight and the load state, determining a current load state corresponding to the current load weight; Determining a current vehicle speed limit corresponding to the current load state according to a correspondence between the load state and the vehicle speed limit; When the current vehicle speed exceeds the current vehicle speed limit, the current vehicle speed is reduced to a safe vehicle speed range based on the detected speed reduction operation, wherein a maximum value of the safe vehicle speed range is less than or equal to the current vehicle speed limit.

2. The method according to claim 1, characterized in that The determining the current load capacity of the target vehicle comprises: Based on a vehicle driving equation, determining vehicle driving data for calculating the current load of the target vehicle; Based on the vehicle driving data, the current load capacity of the target vehicle is determined.

3. The method according to claim 2, characterized in that The target vehicle driving data at least includes vehicle speed, torque, main reduction ratio, slope, transmission gear position and tire radius.

4. The method according to claim 2, characterized in that: The determining the current load of the target vehicle based on the vehicle driving data includes: A sparrow search algorithm is adopted to generate reference load weights of a preset number of target vehicles according to the vehicle driving data, and an optimal reference load weight is selected from the reference load weights of the preset number of target vehicles as the current load weight of the target vehicle.

5. The method according to claim 1, characterized in that: The method further comprises: When the current vehicle speed exceeds the current vehicle speed limit, vehicle speed warning information is generated and displayed.

6. The method according to claim 1, characterized in that The method further comprises: During the deceleration process based on the deceleration operation, a vehicle speed auxiliary control process is performed on the target vehicle through a PI controller.

7. The method according to claim 1, characterized in that The method further comprises: When detecting that the load state of the target vehicle changes from a first load state to a second load state, determining a duration of the second load state; When the duration reaches a preset duration, determining that the load state of the target vehicle is a second load state; The driving speed of the target vehicle is adjusted based on the second load state.

8. A vehicle speed control device, characterized in that: The device comprises: A vehicle information acquisition module is used to acquire the current speed of the target vehicle and determine the current load of the target vehicle; A load state determination module, used to determine a current load state corresponding to the current load state based on the corresponding relationship between the load state and the load state; A speed limit determination module, configured to determine a current speed limit corresponding to the current load state according to a correspondence between the load state and the speed limit; The vehicle speed control module is used to reduce the current vehicle speed to a safe vehicle speed range based on a detected speed reduction operation when the current vehicle speed exceeds the current vehicle speed limit, wherein the maximum value of the safe vehicle speed range is less than or equal to the current vehicle speed limit.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle speed control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle speed control method according to any one of claims 1 to 7 when executed.

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