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

Abstract

Embodiments of the present application disclose a vehicle speed control method and device, electronic equipment and a storage medium. The method comprises: obtaining a current vehicle speed of a target vehicle, determining a current load weight of the target vehicle; determining a current load state corresponding to the current load weight based on a corresponding relationship between load weight and load state; determining a current limit speed corresponding to the current load state according to a corresponding relationship between the load state and the limit speed; and in the case that the current vehicle speed exceeds the current limit speed, reducing the current vehicle speed to a safe vehicle speed range based on a detected speed reduction operation, wherein a maximum value of the safe vehicle speed range is less than or equal to the current limit speed. The technical scheme of the embodiments of the present application realizes more reasonable and effective control of the vehicle driving speed according to the vehicle load condition, and improves the safety of vehicle driving.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle control, in particular to a vehicle speed control method and device, electronic equipment and storage medium. BACKGROUND

[0002] With the vigorous development of global transportation industry and the sharp increase in the number of vehicles, traffic safety has become the focus of attention of all sectors of society. In particular, in the field of commercial vehicles, due to its main use for cargo transportation, the vehicle load is often much higher than that of ordinary passenger cars, which 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 braking distance in emergency situations, and even a serious consequence of brake failure. Therefore, in order to cope with this challenge, a vehicle speed control method is provided to effectively control the vehicle speed according to the vehicle load condition. SUMMARY

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

[0004] According to an aspect of the present application, a vehicle speed control method is provided, which comprises:

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

[0006] determining the current load state corresponding to the current load based on the correspondence between load and load state;

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

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

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

[0010] a vehicle information acquisition module for obtaining the current speed of a target vehicle and determining the current load of the target vehicle;

[0011] a load state determination module for determining the current load state corresponding to the current load based on the correspondence between load and load state;

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

[0013] a speed control module configured to, in a case where the current speed exceeds the current limit speed, reduce the current speed to a safe speed range based on the detected speed reduction operation, wherein a maximum value of the safe speed range is less than or equal to the current limit speed.

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

[0015] at least one processor; and

[0016] a memory connected to the at least one processor in communication; wherein

[0017] 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 to enable the at least one processor to perform the speed control method according to any one of the embodiments of the present application.

[0018] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to perform the speed control method according to any one of the embodiments of the present application when executed by the processor.

[0019] The technical solution of the embodiments of the present application comprises the following steps: obtaining a current speed of a target vehicle, determining a current load of the target vehicle; determining a current load state corresponding to the current load based on a correspondence between load and load states; determining a current limit speed corresponding to the current load state according to a correspondence between the load states and limit speeds; in a case where the current speed exceeds the current limit speed, reducing the current speed to a safe speed range based on the detected speed reduction operation, wherein a maximum value of the safe speed range is less than or equal to the current limit speed. The technical solution of the embodiments of the present application realizes more reasonable and effective control of the vehicle driving speed according to the vehicle load condition, and improves the safety of vehicle driving.

[0020] It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only represent some of the embodiments of the present application, and should not be taken as the whole embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should fall into the protection scope of the present application.

[0022] Figure 1 A flowchart of a vehicle speed control method provided for the first embodiment of the present application is shown in FIG. 1.

[0023] Figure 2 An example diagram of load state setting suitable for the vehicle speed control method provided for the first embodiment of the present application is shown in FIG. 2.

[0024] Figure 3 An example diagram of vehicle speed control suitable for the vehicle speed control method provided for the first embodiment of the present application is shown in FIG. 3.

[0025] Figure 4 A flowchart of a vehicle speed control method provided for the second embodiment of the present application is shown in FIG. 4.

[0026] Figure 5 A flowchart of a vehicle speed control method provided for the third embodiment of the present application is shown in FIG. 5.

[0027] Figure 6 A flowchart of an optional embodiment of a vehicle speed control method provided for the third embodiment of the present application is shown in FIG. 6.

[0028] Figure 7 A flowchart of a sparrow search algorithm suitable for the vehicle speed control method provided for the third embodiment of the present application is shown in FIG. 7.

[0029] Figure 8 A flowchart of a vehicle speed control method provided for the fourth embodiment of the present application is shown in FIG. 8.

[0030] Figure 9 A structural diagram of a vehicle speed control device provided for the fifth embodiment of the present application is shown in FIG. 9.

[0031] Figure 10 A structural diagram of an electronic device provided for the fourth embodiment of the present application is shown in FIG. 10. DETAILED DESCRIPTION

[0032] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only represent some of the embodiments of the present application, and should not be taken as the whole embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should fall into the protection scope of the present application.

[0033] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification and in the claims and the above mentioned drawings are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or apparatus that comprises a list of steps or units not necessarily limited to those clearly identified, but can include other steps or units not clearly identified or inherent to such processes, methods, products or apparatus.

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

[0035] Embodiment one

[0036] Figure 1 A flowchart of a vehicle speed control method provided by the embodiment one of the present application, the embodiment can be applicable to the case of controlling the driving speed of a vehicle, especially applicable to the scene of controlling the driving speed of a commercial vehicle, the method can be executed by a vehicle speed control device, the vehicle speed control device can be realized in the form of hardware and / or software, and the vehicle speed control device can be configured in an electronic device such as a computer or a server. As shown in the figure, the method of the embodiment includes: Figure 1

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

[0038] The target vehicle can be understood as a vehicle that needs to be controlled. Optionally, the target vehicle can be a commercial vehicle. In the embodiment of the present application, the target vehicle can be a new energy commercial vehicle. The current speed can be understood as the driving speed of the target vehicle at the current time. The current load can be understood as the load of the target vehicle at the current time.

[0039] In the embodiment of the present application, there are many ways to acquire the current speed of the target vehicle. For example, a vehicle speedometer can be provided for the target vehicle to acquire the current speed of the target vehicle through the vehicle speedometer. Alternatively, a vehicle navigation application program can be started during the driving of the target vehicle, so that the current speed of the target vehicle can be acquired through the test function in the vehicle navigation program. Alternatively, a global positioning system (GPS) device can be used to measure the current speed of the target vehicle. Alternatively, the current speed of the target vehicle can be calculated by using computer vision technology.

[0040] ​In the embodiment of the present application, the way of determining the current load of the target vehicle can include: an intelligent weighing sensor can be installed on the target vehicle, so that the load of the target vehicle at the current time, i.e. the current load of the target vehicle, can be measured by the intelligent weighing sensor. It should be noted that the determination of the current load of the target vehicle needs to be calculated during the driving of the target vehicle, and the advantage of this processing is that the load of the target vehicle can be accurately obtained, which is convenient for effectively controlling the driving speed of the target vehicle.

[0041] S120, determining the current load state corresponding to the current load based on the correspondence between the load and the load state.

[0042] In the embodiment of the present application, the load state of the vehicle can include at least a full load state, a half load state and an empty load state. The full load state can be understood as a state in which the target vehicle reaches its design capacity or maximum load during driving. The half load state can be understood as a state in which the target vehicle loads only half or less than half of the vehicle load. The empty load state can be understood as a state in which the target vehicle has no load. It should be noted that the full load state, the half load state and the empty load state can be used to describe the load state of the vehicle during operation. The current load state can be understood as the load state of the target vehicle at the current time. In the embodiment of the present application, the correspondence between the load and the load state can be pre-set according to actual conditions. For example, different load states can correspond to different load ranges and / or load values.

[0043] Specifically, the correspondence between the load and the load state is pre-set. Then, the load state corresponding to the current load can be determined based on the correspondence between the load and the load state, i.e. the current load state of the target vehicle is determined. For example, referring to Figure 2 In the case of a load of 0 tons, the load state is an empty load state. In the case of a load range of 27 tons to 38 tons, the load state is a half full load state. In the case of a load of 42 tons, the load state is a full load state. Based on this, in the case of a current load of 30 tons of the target vehicle, at this time, the current load of the target vehicle is between 27 tons and 38 tons, then it can be determined that the current load state of the target vehicle is a half full load state. Similarly, in the case of a current load of 0 tons of the target vehicle, it can be determined that the current load state of the target vehicle is an empty load state. In the case of a current load of 42 tons of the target vehicle, it can be determined that the current load state of the target vehicle is a full load state.

[0044] S130, determining the current limit speed corresponding to the current load state according to the correspondence between the load state and the limit speed.

[0045] The limit speed can be understood as the highest driving speed set during the driving of the vehicle. The correspondence between the load state and the limit speed can be pre-set according to actual conditions. It should be noted that in the embodiment of the present application, different limit speeds are set for different load states, and the advantage of such setting is to improve the driving safety of the vehicle. The current limit speed can be understood as the highest driving speed set for the target vehicle at the current time.

[0046] Specifically, the correspondence between the load state and the limit speed is pre-set. Thus, the limit speed corresponding to the current load state can be determined based on the correspondence between the load state and the limit speed, that is, the current limit speed of the target vehicle is determined.

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

[0048] In the embodiment of the present application, the maximum value of the safe vehicle speed range is less than the current limit speed; or the maximum value of the safe vehicle speed range is equal to the current limit speed. In the embodiment of the present application, the limit speed corresponding to different load states is pre-set corresponding to the safe vehicle speed range, and the maximum value of each safe vehicle speed range is less than or equal to the limit speed corresponding to the safe vehicle speed range. The speed reduction operation can include manual speed reduction operation and / or automatic speed reduction operation. As shown in the figure, flow direction 1 is manual speed reduction operation, and flow direction 2 is automatic speed reduction operation. Optionally, the automatic speed reduction operation can be a speed reduction operation through a PI controller. Figure 3 Figure 3 The load estimation value can be understood as the current load of the target vehicle.

[0049] Specifically, in the case where the current vehicle speed exceeds the current limit speed, the safe vehicle speed range corresponding to the current limit speed can be determined. Thus, 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 drives at a speed within the safe vehicle speed range.

[0050] In the embodiment of the present application, the method can further include: in the case where the current vehicle speed exceeds the current limit speed, vehicle speed warning information can be generated, and the vehicle speed warning information is displayed to prompt the vehicle to drive safely in a visual form. In the embodiment of the present application, the vehicle speed warning information can be at least one of voice information, text information and graphical information. Optionally, the vehicle speed warning information can include at least the current vehicle speed, the current limit speed, the current load and the current load state of the target vehicle. ​

[0051] In the embodiment of the present application, the method can further comprise: during the speed reduction based on the speed reduction operation, the target vehicle can be subjected to speed auxiliary control processing by a PI controller. Specifically, the speed change amount per unit time is set for the PI controller in advance, 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 limit speed of the target vehicle. In the embodiment of the present application, the target vehicle is subjected to speed auxiliary control processing by the PI controller, which can intelligently limit the speed of the vehicle, improve the energy use efficiency of the vehicle, and improve the driving safety and driving experience through smooth processing of the speed.

[0052] The technical scheme of the embodiment of the present application comprises: acquiring the current speed of a target vehicle, determining the current load of the target vehicle; determining the current load state corresponding to the current load based on the correspondence between the load and the load state; determining the current limit speed corresponding to the current load state according to the correspondence between the load state and the limit speed; and in the case that the current speed exceeds the current limit speed, reducing the current speed to a safe speed range based on the detected speed reduction operation, wherein the maximum value of the safe speed range is less than or equal to the current limit speed. The technical scheme of the embodiment of the present application realizes more reasonable and effective control of the driving speed of the vehicle according to the load of the vehicle, and improves the safety of the driving of the vehicle.

[0053] Embodiment Two

[0054] Figure 4 A flowchart of a vehicle speed control method provided by the second embodiment of the present application is shown in the foregoing embodiment. Optionally, the determination of the current load of the target vehicle comprises: determining vehicle driving data for calculating the current load of the target vehicle based on a vehicle driving equation; and determining the current load of the target vehicle based on the vehicle driving data. Wherein, the same or similar technical features as the above embodiment are not described herein. As shown in the above embodiment, the method of the present embodiment specifically comprises: Figure 4

[0055] S210, acquiring the current speed of a target vehicle.

[0056] S220, determining vehicle driving data for calculating the current load of the target vehicle based on a vehicle driving equation.

[0057] ​The vehicle driving equation can be understood as the vehicle dynamics equation. In this embodiment of the invention, the target vehicle driving data may include at least vehicle speed, torque, final drive ratio, gradient, transmission gear, 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 this embodiment of the invention, the vehicle driving equation can be:

[0059]

[0060] Among them, F t It can represent driving force, F f F can represent rolling resistance. w F can represent air resistance. i F can represent slope resistance. j It can represent acceleration resistance; T tq It can represent driving torque, i g i0 can represent the gearbox ratio, i0 can represent the final drive ratio, and η can represent the gearbox ratio. T The values ​​can represent transmission efficiency, r can represent tire radius, m can represent vehicle mass, g can represent acceleration, f can represent rolling resistance coefficient, and C can represent the vehicle mass. D A can represent the air drag coefficient, A can represent the frontal area, v can represent the vehicle speed, i can represent the road gradient, δ can represent the vehicle rotational mass conversion factor, and a can represent the acceleration.

[0061] It should be noted that when the car is traveling at a constant speed, acceleration resistance does not need to be considered. When calculating the basic torque, only rolling resistance, air resistance, and gradient resistance are considered. The vehicle speed in the formula can be the maximum speed of the target vehicle during its travel.

[0062] In this embodiment of the invention, after obtaining vehicle driving data, data preprocessing can be performed on the vehicle driving data. This data preprocessing may at least include data unit conversion. In this embodiment of the invention, data unit conversion is performed on the vehicle driving data to facilitate unified unit calculations, for example, converting vehicle speed from km / h to mps.

[0063] S230. Based on the vehicle driving data, determine the current load capacity of the target vehicle.

[0064] Specifically, a machine learning model (such as a neural network or support vector machine) can be selected, using vehicles with known load capacities and corresponding driving data as training samples to train the model and obtain a vehicle load capacity estimation model. The vehicle driving data can then be input into the vehicle load capacity estimation model to obtain the current load capacity of the target vehicle.

[0065] S240, determining a current load state corresponding to the current load weight based on a correspondence relationship between load weights and load states.

[0066] S250, determining a current limit speed corresponding to the current load state according to a correspondence relationship between the load state and the limit speed.

[0067] S260, in the case where the current vehicle speed exceeds the current limit speed, reducing the current vehicle speed 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 limit speed.

[0068] The technical scheme of the embodiment of the application determines vehicle running data for calculating the current load weight of the target vehicle based on a vehicle running equation, and determines the current load weight of the target vehicle based on the vehicle running data, thereby achieving the technical effect of improving the accuracy of vehicle load weight calculation.

[0069] Embodiment three

[0070] Figure 5 A flowchart of a vehicle speed control method provided by the third embodiment of the application is shown in the foregoing embodiment, and the determination of the current load weight of the target vehicle based on the vehicle running data includes: using a sparrow search algorithm to generate a preset number of reference load weights of the target vehicle according to the vehicle running data, and selecting an optimal reference load weight from the preset number of reference load weights of the target vehicle as the current load weight of the target vehicle. Technical features same as or similar to the foregoing embodiments are not described herein.

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

[0072] S310, obtaining a current vehicle speed of a target vehicle.

[0073] S320, determining vehicle running data for calculating the current load weight of the target vehicle based on a vehicle running equation.

[0074] S330, using a sparrow search algorithm to generate a preset number of reference load weights of the target vehicle according to the vehicle running data, and selecting an optimal reference load weight from the preset number of reference load weights of the target vehicle 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 herein. Specifically, after determining the vehicle running data for calculating the current load weight of the target vehicle based on the vehicle running equation, referring to Figure 6The sparrow search algorithm can be used to construct a data model, and a population consisting of n sparrows is initialized, wherein 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 maximum fitness value is taken as the current load of the target vehicle.

[0076] In the embodiment of the application, the optimal reference load is selected from the preset number of reference loads of the target vehicle as the current load of the target vehicle in various ways.

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

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

[0079] In the embodiment of the application, the flow of the sparrow search algorithm is as shown in Figure 7 The specific steps can include:

[0080] A mathematical model of a sparrow population is simulated, and it is assumed that a population consisting 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 the population, and the energy, i.e., the fitness value f, of all individuals is expressed as follows:

[0083]

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

[0085]

[0086] In the formula, t is the number of the current iteration; i is the sparrow index, representing the ith sparrow; j represents the dimension, j = 1, 2, 3,..., d, X i,j represents the position of the ith sparrow in the jth dimension; iter maxis a constant, representing the maximum number of iterations; a e (0, 1) is a random number; R2 represents the early warning value, ST represents the safety value, R2 e (0, 1), ST e (0.5, 1), when the early warning value is less than the safety value, the leader can carry out foraging activities, when it exceeds the safety value, it means that there is a predator, and the other sparrows in the population are warned to go to other safe areas and update the position; Q is a random number subject to normal distribution, and L is a 1 x d matrix with all values being 1.

[0087] If the follower defeats the leader in the foraging process, the two competitors will exchange identities, and the follower becomes the leader, which is represented by the 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 is just the opposite, which is the current worst position; A is a 1 x d matrix composed of 1 or -1 at random, and in the formula, 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, the lower fitness and the peripheral of the population, and the advantage in the population is very low, so it will leave the population and find a new population to forage.

[0090] In the population, as a follower, the position is in the peripheral of the population, and the proportion of sparrows playing the role of warning is assumed to be 10% to 20%, and the expression is as follows:

[0091]

[0092] Among them, is the current global optimal position, β is a random number with zero mean and variance of 1, which is used to control the step size; f is the fitness value, f g and f w are the global optimal fitness value and the worst fitness value, f i > f g means that the sparrow is at the edge of the population, and the formula becomes an equation, which means that the sparrow in the middle of the population realizes the danger and needs to update the position to reduce the risk of being preyed upon; K e [-1, 1] is a random number, and represents the direction of the sparrow movement; ε is a constant that approaches 0, which is added to the denominator to avoid the denominator being 0.

[0093] In the embodiment of the present application, the fitness function relationship can be established based on the driving force-resistance dynamics equation. It should be noted that the sin and cos functions cannot be identified, and sin(x) is approximately equal to x when the slope value is very small, where x is used to replace sin(x), and the deformation expression of x is used to replace cos(x); the limit can be prevented, and the square root of the fitness value is processed.

[0094] In the embodiment of the present application, by using the sparrow search algorithm, the vehicle driving data can be efficiently processed, and a plurality of possible load solutions can be generated. 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 and efficiency of calculation.

[0095] S340, based on the correspondence between the load and the load state, determining the current load state corresponding to the current load.

[0096] S350, according to the correspondence between the load state and the limit speed, determining the current limit speed corresponding to the current load state.

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

[0098] The technical scheme of the embodiment of the present application generates a predetermined number of reference loads of the target vehicle according to the vehicle driving data by using the sparrow search algorithm, and selects the optimal reference load from the predetermined number of reference loads of the target vehicle as the current load of the target vehicle. Not only the accuracy of load calculation is improved, but also the real-time and efficiency of calculation are enhanced.

[0099] Embodiment four

[0100] Figure 8 The flowchart of the vehicle speed control method provided by the fourth embodiment of the present application is based on the foregoing embodiments. Optionally, the vehicle speed control method implemented by the present application further comprises: the method further comprises: when the load state of the target vehicle is detected to change from a first load state to a second load state, determining the duration of the second load state; in the case where the duration reaches a predetermined duration, determining that the load state of the target vehicle is the second load state; adjusting the driving speed of the target vehicle based on the second load state. Wherein, the same or similar technical features as the above embodiments are not described here.

[0101] As Figure 8As shown, the method of the embodiment specifically comprises:

[0102] S410, acquiring a current vehicle speed of the target vehicle, and determining a current load weight of the target vehicle.

[0103] S420, determining a current load state corresponding to the current load weight based on a correspondence between load weights and load states.

[0104] S430, determining a current limit speed corresponding to the current load state according to a correspondence between load states and limit speeds.

[0105] S440, in a case where the current vehicle speed exceeds the current limit speed, reducing the current vehicle speed 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 limit speed.

[0106] S450, in a case where the load state of the target vehicle is detected to change from a first load state to a second load state, determining a duration of the second load state.

[0107] Specifically, in a case where the load state of the target vehicle is detected to change from a first load state to a second load state, a state start time of the change of the load state from the first load state to the second load state is recorded. Thus, the duration of the second load state can be determined based on a current time and the state start time.

[0108] S460, in a case where the duration reaches a preset duration, determining that the load state of the target vehicle is the second load state, and adjusting a driving speed of the target vehicle based on the second load state.

[0109] The preset duration can be set according to actual needs, which is not specifically limited here, for example, 3S, 5S or 10S, etc.

[0110] Specifically, in a case where the duration reaches the preset duration, it can be determined that the load state of the target vehicle is the second load state. Then, a limit speed corresponding to the second load state can be determined based on the correspondence between the load state and the limit speed. In a case where the current vehicle speed exceeds the limit speed corresponding to the second load state, the current vehicle speed can be reduced to a safe vehicle speed range corresponding to the limit speed corresponding to the second load state.

[0111] The technical scheme of the embodiment of the present application determines the duration of the second load state when detecting that the load state of the target vehicle changes from the first load state to the second load state, determines that the load state of the target vehicle is the second load state when the duration reaches a preset duration, and adjusts the driving speed of the target vehicle based on the second load state, thereby achieving effective control of the driving speed of the vehicle according to the real-time change of the vehicle load.

[0112] Embodiment five

[0113] Figure 9 A structural schematic diagram of a vehicle speed control device provided by the embodiment five of the present application is shown in FIG. 5. Figure 9 As shown in the figure, the device includes a vehicle information acquisition module 510, a load state determination module 520, a limit speed determination module 530, and a vehicle speed control module 540.

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

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

[0116] Optionally, the vehicle information acquisition module 510 is configured to determine vehicle running data for calculating the current load of the target vehicle based on a vehicle running equation; and determine the current load of the target vehicle based on the vehicle running data.

[0117] Optionally, the target vehicle running data at least includes vehicle speed, torque, main reduction ratio, gearbox gear position, and tire radius.

[0118] Optionally, the vehicle information acquisition module 510 is configured to generate a preset number of reference loads of the target vehicle according to the vehicle running data by using a sparrow search algorithm, and select an optimal reference load from the preset number of reference loads of the target vehicle as the current load of the target vehicle.

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

[0120] Optionally, the device further comprises an auxiliary control module; wherein the auxiliary control module is configured to perform vehicle speed auxiliary control processing on the target vehicle by a PI controller during the speed reduction based on the speed reduction operation.

[0121] Optionally, the device further comprises a vehicle speed adjustment module; wherein the vehicle speed adjustment module is configured to determine the duration of the second load state when detecting that the load state of the target vehicle changes from the first load state to the second load state; determine that the load state of the target vehicle is the second load state when the duration reaches a preset duration; and adjust the running speed of the target vehicle based on the second load state.

[0122] The vehicle speed control device provided by the embodiments of the present application can perform the vehicle speed control method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0123] It should be noted that each unit and module included in the vehicle speed control device is only divided according to the function logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for easy mutual differentiation, and does not limit the protection scope of the embodiments of the present application.

[0124] Embodiment six

[0125] Figure 10A structural diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0126] As shown, Figure 10 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into 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] Various 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 magnetic 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 can be various general and / or special purpose 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-purpose 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 performs various methods and processes described above, such as the vehicle speed control method.

[0129] In some embodiments, the vehicle speed control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the vehicle speed control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the vehicle speed control method by other means, e.g., with the aid of firmware.

[0130] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0131] Computer programs implementing methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0132] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0133] To provide for interaction with a user, the systems and techniques described here can 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 a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0134] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can 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] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can 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 large management difficulty and weak business scalability in traditional physical host and VPS service.

[0136] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0137] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle speed control method characterized by comprising: The method comprises: obtaining the current speed of the target vehicle, and determining the current load of the target vehicle; determining the current load state corresponding to the current load based on the correspondence between the load and the load state; determining the current limit speed corresponding to the current load state according to the correspondence between the load state and the limit speed; in the case where the current speed exceeds the current limit speed, reducing the current speed to a safe speed range based on the detected speed reduction operation, wherein the maximum value of the safe speed range is less than or equal to the current limit speed; wherein the determination of the current load of the target vehicle comprises: determining vehicle driving data for calculating the current load of the target vehicle based on the vehicle driving equation; and determining the current load of the target vehicle based on the vehicle driving data; wherein the determination of the current load of the target vehicle based on the vehicle driving data comprises: generating a predetermined number of reference loads of the target vehicle according to the vehicle driving data by using the sparrow search algorithm, and selecting the optimal reference load from the predetermined number of reference loads of the target vehicle as the current load of the target vehicle.

2. The method of claim 1, wherein, The target vehicle driving data at least includes speed, torque, main reduction ratio, slope, gearbox gear and tire radius.

3. The method of claim 1, wherein, The method further comprises: in the case where the current speed exceeds the current limit speed, generating speed warning information, and displaying the speed warning information.

4. The method of claim 1, wherein, The method further comprises: in the process of speed reduction based on the speed reduction operation, the target vehicle is subjected to speed auxiliary control processing by a PI controller.

5. The method of claim 1, wherein, The method further comprises: when the load state of the target vehicle changes from the first load state to the second load state, the duration of the second load state is determined; in the case where the duration reaches a predetermined duration, the load state of the target vehicle is determined as the second load state; adjusting the driving speed of the target vehicle based on the second load state.

6. A vehicle speed control device characterized by comprising: The device comprises: a vehicle information acquisition module for obtaining the current speed of the target vehicle and determining the current load of the target vehicle; a load state determination module for determining the current load state corresponding to the current load based on the correspondence between the load and the load state; a limit speed determination module for determining the current limit speed corresponding to the current load state according to the correspondence between the load state and the limit speed; a speed control module for reducing the current speed to a safe speed range based on the detected speed reduction operation in the case where the current speed exceeds the current limit speed, wherein the maximum value of the safe speed range is less than or equal to the current limit speed; wherein the determination of the current load of the target vehicle comprises: determining vehicle driving data for calculating the current load of the target vehicle based on the vehicle driving equation; and determining the current load of the target vehicle based on the vehicle driving data; The determining of the current load of the target vehicle based on the vehicle driving data comprises: generating a preset number of reference loads of the target vehicle according to the vehicle driving data by using a sparrow search algorithm, and selecting an optimal reference load from the preset number of reference loads of the target vehicle as the current load of the target vehicle.

7. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; 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 to enable the at least one processor to execute the vehicle speed control method in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the vehicle speed control method in any one of claims 1-5 when executed.

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