Vehicle longitudinal control method, device, equipment, storage medium and product

Abstract

The invention discloses a vehicle longitudinal control method, device and equipment, a storage medium and a product, and belongs to the technical field of vehicles. Comprising the steps that in the driving process of the self-driving automobile, the current first speed and first deceleration value of the self-driving automobile are determined based on a reference longitudinal control curve of the self-driving automobile, and the reference longitudinal control curve is used for representing the change condition of displacement of the self-driving automobile along with time; based on the first speed, determining an energy recovery torque matched with the first speed, the energy recovery torque being used for recovering energy generated by deceleration of the autonomous vehicle; based on the first speed, the whole vehicle driving resistance is determined when the driving speed of the self-driving vehicle is the first speed; based on the energy recovery torque, the whole vehicle running resistance and the first deceleration value, the braking torque of the automatic driving vehicle is determined; and longitudinal control is performed on the self-driving automobile through the braking torque.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle longitudinal control method, device, equipment, storage medium and product. Background Art

[0002] Vehicle longitudinal control includes acceleration and deceleration, that is, controlling the acceleration of the vehicle or controlling the deceleration of the vehicle. Vehicle longitudinal control is often used in the field of autonomous driving. The process can be: before the autonomous driving car drives, the path planning is planned to generate a reference longitudinal control curve. The reference longitudinal control curve is the displacement change of the autonomous driving car over time; during the driving process of the autonomous driving car, the autonomous driving car is longitudinally controlled so that the actual longitudinal control curve of the autonomous driving car is as consistent as possible with the reference longitudinal control curve. Summary of the invention

[0003] The embodiments of the present application provide a vehicle longitudinal control method, device, equipment, storage medium and product. The technical solution is as follows:

[0004] In one aspect, a vehicle longitudinal control method is provided, the method comprising:

[0005] During the driving of the autonomous vehicle, determining a current first speed and a first deceleration value of the autonomous vehicle based on a reference longitudinal control curve of the autonomous vehicle, wherein the reference longitudinal control curve is used to represent a change in displacement of the autonomous vehicle over time;

[0006] Based on the first speed, determining an energy recovery torque matching the first speed, the energy recovery torque being used to recover energy generated by decelerating the autonomous driving vehicle;

[0007] Based on the first speed, determining a whole vehicle driving resistance when the driving speed of the autonomous driving vehicle is the first speed;

[0008] Determining a braking torque of the automatic driving vehicle based on the energy recovery torque, the whole vehicle driving resistance and the first deceleration value;

[0009] The autonomous driving vehicle is longitudinally controlled by means of the braking torque.

[0010] In a possible implementation, determining the braking torque of the automatic driving vehicle based on the energy recovery torque, the whole vehicle driving resistance and the first deceleration value includes:

[0011] Determining a driving scenario for the autonomous vehicle;

[0012] When the driving scenario is a deceleration scenario, the braking torque of the automatic driving vehicle is determined based on the energy recovery torque, the whole vehicle driving resistance and the first deceleration value.

[0013] In another possible implementation, determining the driving scenario of the autonomous driving vehicle includes:

[0014] Determining a net external force of the autonomous vehicle based on the mass of the autonomous vehicle and the first deceleration value;

[0015] Determining a comprehensive torque of the autonomous driving vehicle based on the recovery torque, the whole vehicle driving resistance and the tire rolling radius of the autonomous driving vehicle;

[0016] When the resultant external force is not less than the comprehensive torque, it is determined that the driving scenario of the automatic driving vehicle is a deceleration scenario.

[0017] In another possible implementation, when the resultant external force is not less than the comprehensive torque, determining that the driving scenario of the automatic driving vehicle is a deceleration scenario includes:

[0018] When the resultant external force is not less than the comprehensive torque, determining that the driving scenario of the automatic driving vehicle at the current moment is a deceleration scenario;

[0019] Acquire driving scenes of the autonomous driving vehicle at multiple historical moments;

[0020] In a case where the driving scenes of the autonomous driving vehicle at the current moment and the driving scenes at the multiple historical moments are all deceleration scenes, it is determined that the driving scene of the autonomous driving vehicle is a deceleration scene.

[0021] In another possible implementation, determining the comprehensive torque of the autonomous driving vehicle based on the recovery torque, the whole vehicle driving resistance, and the tire rolling radius of the autonomous driving vehicle includes:

[0022] Determining a vehicle resistance moment of the autonomous driving vehicle based on the vehicle running resistance and the tire rolling radius of the autonomous driving vehicle;

[0023] The sum of the recovery torque and the whole vehicle resistance torque is determined to obtain the comprehensive torque of the automatic driving vehicle.

[0024] In another possible implementation, determining the braking torque of the automatic driving vehicle based on the energy recovery torque, the whole vehicle driving resistance and the first deceleration value includes:

[0025] Determining a net external force of the autonomous vehicle based on the mass of the autonomous vehicle and the first deceleration value;

[0026] Determining a regenerative force of the autonomous driving vehicle based on the regenerative torque and a tire rolling radius of the autonomous driving vehicle;

[0027] Determining a braking force of the automatic driving vehicle based on the resultant external force, the whole vehicle driving resistance and the recovery force;

[0028] Based on the braking force and the rolling radius of the tire of the autonomous driving vehicle, the braking torque of the autonomous driving vehicle is determined.

[0029] In another aspect, a vehicle longitudinal control device is provided, the device comprising:

[0030] a first determination module, configured to determine a current first speed and a first deceleration value of the autonomous driving vehicle based on a reference longitudinal control curve of the autonomous driving vehicle during the driving of the autonomous driving vehicle, wherein the reference longitudinal control curve is used to represent a change in displacement of the autonomous driving vehicle over time;

[0031] a second determination module, configured to determine, based on the first speed, an energy recovery torque matching the first speed, the energy recovery torque being used to recover energy generated by decelerating the autonomous driving vehicle;

[0032] A third determination module is used to determine, based on the first speed, a whole vehicle driving resistance when the driving speed of the autonomous driving vehicle is the first speed;

[0033] a fourth determination module, configured to determine a braking torque of the automatic driving vehicle based on the energy recovery torque, the vehicle driving resistance and the first deceleration value;

[0034] A control module is used to perform longitudinal control of the automatic driving vehicle through the braking torque.

[0035] In one possible implementation, the fourth determination module is used to determine a driving scenario of the autonomous driving vehicle; when the driving scenario is a deceleration scenario, the braking torque of the autonomous driving vehicle is determined based on the energy recovery torque, the vehicle driving resistance and the first deceleration value.

[0036] In another possible implementation, the fourth determination module is used to determine the resultant external force of the autonomous driving vehicle based on the mass of the autonomous driving vehicle and the first deceleration value; determine the comprehensive torque of the autonomous driving vehicle based on the recovery torque, the vehicle driving resistance and the tire rolling radius of the autonomous driving vehicle; and determine that the driving scenario of the autonomous driving vehicle is a deceleration scenario when the resultant external force is not less than the comprehensive torque.

[0037] In another possible implementation, the fourth determination module is used to determine that the driving scene of the autonomous driving vehicle at the current moment is a deceleration scene when the resultant external force is not less than the comprehensive torque; obtain the driving scenes of the autonomous driving vehicle at multiple historical moments; and determine that the driving scene of the autonomous driving vehicle is a deceleration scene when the driving scene of the autonomous driving vehicle at the current moment and the driving scenes at the multiple historical moments are both deceleration scenes.

[0038] In another possible implementation, the fourth determination module is used to determine the vehicle resistance torque of the autonomous driving vehicle based on the vehicle driving resistance and the tire rolling radius of the autonomous driving vehicle; determine the sum of the recovery torque and the vehicle resistance torque to obtain the comprehensive torque of the autonomous driving vehicle.

[0039] In another possible implementation, the fourth determination module is used to determine the resultant external force of the autonomous driving vehicle based on the mass of the autonomous driving vehicle and the first deceleration value; determine the recovery force of the autonomous driving vehicle based on the energy recovery torque and the tire rolling radius of the autonomous driving vehicle; determine the braking force of the autonomous driving vehicle based on the resultant external force, the vehicle's driving resistance and the recovery force; and determine the braking torque of the autonomous driving vehicle based on the braking force and the tire rolling radius of the autonomous driving vehicle.

[0040] On the other hand, a vehicle control device is provided, which includes a processor and a memory, wherein at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor to implement the above-mentioned vehicle longitudinal control method.

[0041] On the other hand, a computer-readable storage medium is provided, wherein at least one program code is stored in the storage medium, and the at least one program code is loaded and executed by a processor to implement the above-mentioned vehicle longitudinal control method.

[0042] On the other hand, a computer program product is provided. The product stores at least one program code, and the at least one program code is used to be executed by a processor to implement the above-mentioned vehicle longitudinal control method.

[0043] In an embodiment of the present application, the energy recovery torque is used to recover the energy generated by the deceleration of the autonomous driving vehicle; therefore, determining the braking torque of the autonomous driving vehicle based on the energy recovery torque can achieve energy recovery during the deceleration process, thereby reducing the energy consumption of the autonomous driving vehicle and further improving the economy of the autonomous driving vehicle.

[0044] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of an implementation environment of a vehicle longitudinal control method shown in an exemplary embodiment of the present application;

[0046] Figure 2 is a schematic diagram of a vehicle longitudinal control method shown in an exemplary embodiment of the present application;

[0047] Figure 3 is a flow chart of a vehicle longitudinal control method shown in an exemplary embodiment of the present application;

[0048] Figure 4 is a schematic diagram of a reference bus control curve shown in an exemplary embodiment of the present application;

[0049] Figure 5 is a block diagram of a vehicle longitudinal control device shown in an exemplary embodiment of the present application;

[0050] Figure 6 It is a block diagram of a vehicle control device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the technical solutions and advantages of the present application clearer, the implementation methods of the present application are described in further detail below.

[0052] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0053] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions. For example, the reference longitudinal control curves involved in this application are all obtained with full authorization.

[0054] Please refer to Figure 1 , which shows a schematic diagram of an implementation environment of a vehicle longitudinal control method shown in an exemplary embodiment of the present application. The implementation environment includes a vehicle control device 10 and an autonomous driving vehicle 20; the vehicle control device 10 is used to control the autonomous driving vehicle 20 so that the autonomous driving vehicle 20 drives based on a reference longitudinal control curve, the horizontal coordinate of the reference longitudinal control curve is time, the vertical coordinate is displacement, and the reference longitudinal control curve is used to represent the change of the displacement of the autonomous driving vehicle 20 over time. Among them, the autonomous driving vehicle 20 can be a pure electric vehicle or a hybrid vehicle, etc.

[0055] Please refer to Figure 2 The vehicle control device 10 includes a first controller and a second controller, the output end of the first controller is electrically connected to the input end of the second controller, and the first controller is used to track the displacement by adjusting the speed of the autonomous driving vehicle 20; for example, the first controller can be a PID controller (Proportion Integration Differentiation). The second controller is used to control the speed of the autonomous driving vehicle 20 by calculating the braking torque of the autonomous driving vehicle 20 and adjusting the braking torque of the autonomous driving vehicle 20, thereby tracking the displacement; for example, the second controller can be a braking torque calculation module. The process of the second controller calculating the braking torque of the autonomous driving vehicle 20 is as follows: the second controller queries the energy recovery torque matching the first speed from the energy recovery torque query table based on the first speed, determines the vehicle driving resistance when the driving speed of the autonomous driving vehicle 20 is the first speed based on the first speed, and then determines the braking torque of the autonomous driving vehicle 20 based on the energy recovery torque, the vehicle driving resistance and the first deceleration value. Therefore, the embodiment of the present application can split the first deceleration value of the autonomous driving vehicle into two parts, one part is provided by the energy recovery torque (speed gain), and the other part is provided by the braking torque (braking torque gain).

[0056] Please refer to Figure 3 , which shows a flow chart of a vehicle longitudinal control method shown in an exemplary embodiment of the present application. Figure 3 , the method comprising:

[0057] Step 301: During the driving of the autonomous driving vehicle, the vehicle control device determines the current first speed and first deceleration value of the autonomous driving vehicle based on a reference longitudinal control curve of the autonomous driving vehicle. The reference longitudinal control curve is used to represent the change of the displacement of the autonomous driving vehicle over time.

[0058] The reference longitudinal control curve is the ST curve, that is, the horizontal coordinate of the reference longitudinal control curve is time, and the vertical coordinate is displacement. Among them, the vehicle control device determines the current first speed and first deceleration value of the autonomous driving vehicle based on the reference longitudinal control curve of the autonomous driving vehicle. The steps can be: the vehicle control device determines the coordinate point at the current moment in the reference longitudinal control curve, determines the first-order derivative of the reference longitudinal control curve corresponding to the coordinate point, obtains the first speed, determines the second-order derivative of the reference longitudinal control curve corresponding to the coordinate point, and obtains the first deceleration value. Since it has not been determined whether it is a deceleration scene, the first deceleration value here can also be called an acceleration value.

[0059] Prior to this step, the vehicle control device needs to determine the reference longitudinal control curve of the autonomous vehicle; wherein the process of the vehicle control device determining the reference longitudinal control curve of the autonomous vehicle may be: the vehicle control device determines the longitudinal planning path of the autonomous vehicle, determines multiple sampling points from the longitudinal planning path, determines the speed and displacement of the multiple sampling points, and obtains the coordinate values ​​of the multiple sampling points; and fits the coordinate values ​​of the multiple sampling points to obtain the reference longitudinal control curve. For example, please refer to Figure 4 , the vehicle control device selects the S value and T value of the next five moments from the longitudinal planning path of the autonomous vehicle. The S value represents the speed and the T value represents the displacement. The coordinate values ​​of the sampling points at the five moments are (S i , T i ), the value of i is 1-5, that is, i is the sequence number of 5 moments, and the vehicle control device fits the coordinate values ​​of the sampling points at the 5 moments into a curve to obtain a reference longitudinal control curve.

[0060] Step 302: The vehicle control device determines an energy recovery torque that matches the first speed based on the first speed, and the energy recovery torque is used to recover energy generated by decelerating the autonomous driving vehicle.

[0061] The relationship between speed and energy recovery torque is mainly reflected in the kinetic energy recovery system of autonomous vehicles (electric vehicles). When the autonomous vehicle decelerates, the motor driving the autonomous vehicle can be converted into a generator, which generates an opposite force through the rotation of the tire wheel, thereby generating electrical energy and storing it in the power battery. In this process, the greater the vehicle speed, the greater the recovery current and recovery power; therefore, the energy recovery torque is positively correlated with the first speed, that is, the greater the first speed, the greater the energy recovery torque; the smaller the first speed, the smaller the energy recovery torque. In a possible implementation, the vehicle control device stores a first energy recovery torque query table in advance, and the first energy recovery torque query table is used to store the corresponding relationship between speed and energy recovery torque; accordingly, this step can be: the vehicle control device queries the energy recovery torque corresponding to the first speed from the first energy recovery torque query table based on the first speed.

[0062] In another possible implementation, the energy recovery torque is related to the first speed, the battery status and the road condition information; accordingly, this step may be: the vehicle control device determines the battery status and the road condition information of the autonomous driving vehicle, and determines the energy recovery torque based on the first speed, the battery status and the road condition information; the battery status may be fully charged or not fully charged; the road condition information may be unblocked, slow moving, congested or severely congested, etc. In addition, the vehicle control device stores a second energy recovery torque query table in advance, and the second energy recovery torque query table is used to store the correspondence between the speed, the battery status, the road condition information and the energy recovery torque; accordingly, the step of the vehicle control device determining the energy recovery torque based on the first speed, the battery status and the road condition information may be: the vehicle control device obtains the energy recovery torque corresponding to the first speed, the battery status and the road condition information from the second energy recovery torque query table based on the first speed.

[0063] In the embodiment of the present application, the vehicle control device comprehensively determines the energy recovery torque in combination with the first speed, the battery state and the road condition information, so that the determined energy recovery torque is adapted to the current state of the autonomous vehicle, thereby improving the accuracy of the determined energy recovery torque. In addition, the embodiment of the present application can realize the splitting of the first deceleration value of the autonomous vehicle into two parts, one part is provided by the energy recovery torque, and the other part is provided by the braking torque.

[0064] Step 303: Based on the first speed, the vehicle control device determines the driving resistance of the entire vehicle when the driving speed of the autonomous driving vehicle is the first speed.

[0065] The relationship between the vehicle's driving resistance and speed is mainly reflected in the fact that the wind resistance increases significantly with the increase of vehicle speed. Correspondingly, the vehicle's driving resistance is positively correlated with the first speed, that is, the greater the first speed, the greater the vehicle's driving resistance, and the smaller the first speed, the smaller the vehicle's driving resistance. In one possible implementation, the vehicle control device determines first relationship data, and the first relationship data is used to represent the relationship between the first speed and the vehicle's driving resistance, that is, the dependent variable of the first relationship data is the vehicle's driving resistance, and the independent variable is the speed; therefore, this step can be: the vehicle control device brings the first speed into the first relationship data to obtain the vehicle's driving resistance when the driving speed of the autonomous driving car is the first speed. For example, the first relationship data refers to the following formula 1:

[0066] Formula 1: F1=f0+f1V+f2V 2

[0067] Among them, F1 represents the driving resistance of the whole vehicle, V represents the first speed, f0, f1 and f2 represent the first resistance parameter, the second resistance parameter and the third resistance parameter respectively, and f0, f1 and f2 are all calibrated in advance.

[0068] In an embodiment of the present application, the vehicle control device calibrates the first relationship data in advance; when determining the driving resistance of the whole vehicle, the first speed is directly brought into the first relationship data to determine the driving resistance of the whole vehicle. The operation is relatively simple, thereby improving the efficiency of determining the driving resistance of the whole vehicle.

[0069] In another possible implementation, the whole vehicle driving resistance includes friction resistance and wind resistance; accordingly, the step in which the vehicle control device determines the whole vehicle driving resistance when the driving speed of the autonomous vehicle is the first speed based on the first speed may be: the vehicle control device determines the friction resistance of the autonomous vehicle, and determines the wind resistance based on the first speed; determines the sum of the friction resistance and the wind resistance to obtain the whole vehicle driving resistance of the autonomous vehicle. Among them, the step in which the vehicle control device determines the friction resistance of the autonomous vehicle may be: the vehicle control device determines the weight and friction coefficient of the autonomous vehicle, determines the product of the weight, friction coefficient and gravity acceleration value of the autonomous vehicle, and obtains the friction resistance of the autonomous vehicle. The step in which the vehicle control device determines the wind resistance may be: the vehicle control device brings the first speed into the second relationship data to obtain the wind resistance when the driving speed of the autonomous vehicle is the first speed, and the second relationship data is used to represent the relationship between the first speed and the wind resistance, that is, the dependent variable wind resistance of the first relationship data, and the independent variable is speed; for example, the second relationship data refers to the following formula 2:

[0070] Formula 2: F2=f3V n

[0071] Among them, F2 represents wind resistance, f3 represents the fourth resistance parameter, and f3 is calibrated in advance; V represents the first speed, n is a constant, and the value of n can be 1, 2 or 3, etc.

[0072] In the embodiment of the present application, the driving resistance of the whole vehicle is determined comprehensively based on the friction resistance and the wind resistance, thereby improving the accuracy of the determined driving resistance of the whole vehicle.

[0073] Step 304: The vehicle control device determines the braking torque of the automatic driving vehicle based on the energy recovery torque, the vehicle driving resistance and the first deceleration value.

[0074] In one possible implementation, after the vehicle control device determines the energy recovery torque, the vehicle driving resistance and the first deceleration value, step 304 may be directly executed; in other embodiments, after the vehicle control device determines the energy recovery torque, the vehicle driving resistance and the first deceleration value, the driving scenario of the autonomous driving vehicle may be verified, and step 304 may be executed only when the driving scenario of the autonomous driving vehicle is verified to be a deceleration scenario; accordingly, this step may be: the vehicle control device determines the driving scenario of the autonomous driving vehicle; when the driving scenario is a deceleration scenario, the braking torque of the autonomous driving vehicle is determined based on the energy recovery torque, the vehicle driving resistance and the first deceleration value. When the driving scenario of the autonomous driving vehicle is an acceleration scenario, the autonomous driving vehicle is controlled based on the control strategy of the acceleration scenario. When the driving scenario of the autonomous driving vehicle is a uniform speed scenario, the autonomous driving vehicle is controlled based on the control strategy of the uniform speed scenario.

[0075] The step of determining the driving scene of the autonomous vehicle by the vehicle control device can be implemented by the following steps (1) to (3), including:

[0076] (1) The vehicle control device determines a resultant external force of the autonomous driving vehicle based on the mass of the autonomous driving vehicle and the first deceleration value.

[0077] The vehicle control device determines the product of the mass of the autonomous driving vehicle and the first deceleration value to obtain the resultant external force of the autonomous driving vehicle.

[0078] (2) The vehicle control device determines the comprehensive torque of the autonomous vehicle based on the recovery torque, the vehicle's driving resistance, and the rolling radius of the tires of the autonomous vehicle.

[0079] The vehicle control device determines the whole vehicle resistance torque of the autonomous vehicle based on the whole vehicle driving resistance and the tire rolling radius of the autonomous vehicle; determines the sum of the recovery torque and the whole vehicle resistance torque to obtain the comprehensive torque of the autonomous vehicle. Among them, the step in which the vehicle control device determines the whole vehicle resistance torque of the autonomous vehicle based on the whole vehicle driving resistance and the tire rolling radius of the autonomous vehicle can be: the vehicle control device determines the product of the whole vehicle driving resistance and the tire rolling radius of the autonomous vehicle to obtain the whole vehicle resistance torque of the autonomous vehicle. In addition, the step in which the vehicle control device determines the sum of the recovery torque and the whole vehicle resistance torque to obtain the comprehensive torque of the autonomous vehicle can also be replaced by: the vehicle control device performs a weighted summation of the recovery torque and the whole vehicle resistance torque to obtain the comprehensive torque of the autonomous vehicle, thereby taking into account the weights of the recovery torque and the whole vehicle resistance torque, thereby improving the accuracy of the determined comprehensive torque.

[0080] (3) When the resultant external force is not less than the comprehensive torque, the vehicle control device determines that the driving scenario of the autonomous driving vehicle is a deceleration scenario.

[0081] When the resultant external force is less than the comprehensive torque, the driving scenario of the autonomous driving vehicle is determined to be an acceleration scenario.

[0082] Since the reference longitudinal control curve includes coordinate points between the speed and displacement at multiple moments; in the above steps, what is determined is the driving scene of the coordinate point at the current moment; in a possible implementation method, the driving scenes of the coordinate points at multiple moments can be determined, and if the driving scenes of the coordinate points at multiple moments are all deceleration scenes, it means that the driving scene of the autonomous driving vehicle is a deceleration scene; accordingly, when the resultant external force is not less than the comprehensive torque, the step of determining that the driving scene of the autonomous driving vehicle is a deceleration scene can be: when the resultant external force is not less than the comprehensive torque, determining that the driving scene of the autonomous driving vehicle at the current moment is a deceleration scene; obtaining the driving scenes of the autonomous driving vehicle at multiple historical moments; when the driving scene of the autonomous driving vehicle at the current moment and the driving scenes at multiple historical moments are all deceleration scenes, determining that the driving scene of the autonomous driving vehicle is a deceleration scene.

[0083] The above steps (1) to (3) can be implemented by the following formula 3:

[0084] Formula 3: |ma|≥M recycle +F1·r

[0085] Wherein, m represents the weight of the autonomous vehicle, a represents the first deceleration value, and ma represents the resultant external force; M recycle represents the energy recovery torque, F1 represents the vehicle driving resistance, r represents the tire rolling radius, F1·r represents the vehicle resistance torque, M recycle+F1·r represents the comprehensive torque, that is, when the above formula 3 is satisfied, it indicates that the driving scenario of the autonomous driving vehicle is a deceleration scenario.

[0086] The steps for the vehicle control device to determine the braking torque of the autonomous driving vehicle based on the energy recovery torque, the vehicle's driving resistance and the first deceleration value may be as follows: the vehicle control device determines the resultant external force of the autonomous driving vehicle based on the mass of the autonomous driving vehicle and the first deceleration value; determines the recovery force of the autonomous driving vehicle based on the energy recovery torque and the tire rolling radius of the autonomous driving vehicle; determines the braking force of the autonomous driving vehicle based on the resultant external force, the vehicle's driving resistance and the recovery force; determines the braking torque of the autonomous driving vehicle based on the braking force and the tire rolling radius of the autonomous driving vehicle.

[0087] The step in which the vehicle control device determines the resultant external force of the autonomous vehicle based on the mass of the autonomous vehicle and the first deceleration value may be: the vehicle control device determines the product of the mass of the autonomous vehicle and the first deceleration value to obtain the resultant external force of the autonomous vehicle. In a possible implementation, before the vehicle control device executes this step, it may also determine whether the first deceleration value exceeds the deceleration threshold. If the first deceleration value does not exceed the deceleration threshold, the vehicle control device determines the resultant external force of the autonomous vehicle based on the mass of the autonomous vehicle and the first deceleration value; if the first deceleration value exceeds the deceleration threshold, the vehicle control device determines the resultant external force of the autonomous vehicle based on the mass of the autonomous vehicle and the deceleration threshold.

[0088] Among them, the step of determining the recovery force of the autonomous driving vehicle based on the energy recovery torque and the tire rolling radius of the autonomous driving vehicle by the vehicle control device can be: the vehicle control device determines the ratio of the energy recovery torque to the tire rolling radius to obtain the recovery force of the autonomous driving vehicle.

[0089] Among them, the steps for the vehicle control device to determine the braking force of the autonomous driving vehicle based on the resultant external force, the vehicle's driving resistance and the recovery force can be: the vehicle control device determines the difference between the resultant external force, the vehicle's driving resistance and the recovery force to obtain the braking force of the autonomous driving vehicle.

[0090] Based on the above explanation, it can be known that the step of determining the resultant external force of the autonomous driving vehicle by the vehicle control device based on the mass of the autonomous driving vehicle and the first deceleration value can be implemented by the following formula 4:

[0091] Formula 4: M = (|ma|-F1-M recycle / r)·r

[0092] Among them, M represents the braking torque, m represents the mass of the autonomous vehicle, a represents the first deceleration value, ma represents the resultant external force; F1 represents the driving resistance of the vehicle, M recyclerepresents the energy recovery torque, r represents the tire rolling radius, M recycle / r indicates recovery force.

[0093] Step 305: The vehicle control device performs longitudinal control on the autonomous driving vehicle through braking torque.

[0094] The vehicle control device determines the product of the braking force and the rolling radius of the tire wheel to obtain the braking torque of the autonomous vehicle. The vehicle control device adjusts the driving speed of the autonomous vehicle by the braking torque to obtain a second speed, and then adjusts the displacement by the second speed of the autonomous vehicle, so that the actual longitudinal control curve of the autonomous vehicle is as consistent as possible with the reference bus control curve.

[0095] In an embodiment of the present application, the energy recovery torque is used to recover the energy generated by the deceleration of the autonomous driving vehicle; therefore, determining the braking torque of the autonomous driving vehicle based on the energy recovery torque can achieve energy recovery during the deceleration process, thereby reducing the energy consumption of the autonomous driving vehicle and further improving the economy of the autonomous driving vehicle.

[0096] Please refer to Figure 5 , which shows a block diagram of a vehicle longitudinal control device shown in an exemplary embodiment of the present application. The device includes:

[0097] A first determination module 501 is used to determine a current first speed and a first deceleration value of the autonomous driving vehicle based on a reference longitudinal control curve of the autonomous driving vehicle during the driving process of the autonomous driving vehicle, wherein the reference longitudinal control curve is used to represent the change of the displacement of the autonomous driving vehicle over time;

[0098] A second determination module 502 is used to determine, based on the first speed, an energy recovery torque that matches the first speed, the energy recovery torque being used to recover energy generated by decelerating the autonomous driving vehicle;

[0099] A third determination module 503 is used to determine, based on the first speed, a whole vehicle driving resistance when the driving speed of the autonomous driving vehicle is the first speed;

[0100] a fourth determination module 504, configured to determine a braking torque of the automatic driving vehicle based on the energy recovery torque, the vehicle driving resistance and the first deceleration value;

[0101] The control module 505 is used to perform longitudinal control on the automatic driving vehicle through the braking torque.

[0102] In one possible implementation, the fourth determination module 504 is used to determine the driving scenario of the autonomous driving vehicle; when the driving scenario is a deceleration scenario, the braking torque of the autonomous driving vehicle is determined based on the energy recovery torque, the vehicle driving resistance and the first deceleration value.

[0103] In another possible implementation, the fourth determination module 504 is used to determine the resultant external force of the autonomous driving vehicle based on the mass of the autonomous driving vehicle and the first deceleration value; determine the comprehensive torque of the autonomous driving vehicle based on the recovery torque, the vehicle driving resistance and the tire rolling radius of the autonomous driving vehicle; and determine that the driving scenario of the autonomous driving vehicle is a deceleration scenario when the resultant external force is not less than the comprehensive torque.

[0104] In another possible implementation, the fourth determination module 504 is used to determine that the driving scene of the autonomous driving vehicle at the current moment is a deceleration scene when the resultant external force is not less than the comprehensive torque; obtain the driving scenes of the autonomous driving vehicle at multiple historical moments; and determine that the driving scene of the autonomous driving vehicle is a deceleration scene when the driving scene of the autonomous driving vehicle at the current moment and the driving scenes of the multiple historical moments are both deceleration scenes.

[0105] In another possible implementation, the fourth determination module 504 is used to determine the vehicle resistance torque of the autonomous driving vehicle based on the vehicle driving resistance and the tire rolling radius of the autonomous driving vehicle; determine the sum of the recovery torque and the vehicle resistance torque to obtain the comprehensive torque of the autonomous driving vehicle.

[0106] In another possible implementation, the fourth determination module 504 is used to determine the resultant external force of the autonomous driving vehicle based on the mass of the autonomous driving vehicle and the first deceleration value; determine the recovery force of the autonomous driving vehicle based on the energy recovery torque and the tire rolling radius of the autonomous driving vehicle; determine the braking force of the autonomous driving vehicle based on the resultant external force, the vehicle's driving resistance and the recovery force; and determine the braking torque of the autonomous driving vehicle based on the braking force and the tire rolling radius of the autonomous driving vehicle.

[0107] In an embodiment of the present application, the energy recovery torque is used to recover the energy generated by the deceleration of the autonomous driving vehicle; therefore, determining the braking torque of the autonomous driving vehicle based on the energy recovery torque can achieve energy recovery during the deceleration process, thereby reducing the energy consumption of the autonomous driving vehicle and further improving the economy of the autonomous driving vehicle.

[0108] It should be noted that the vehicle longitudinal control device provided in the above embodiment is only illustrated by the division of the above functional modules when performing vehicle longitudinal control. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the vehicle control device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle longitudinal control device provided in the above embodiment and the vehicle longitudinal control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0109] Figure 6 It is a block diagram of a vehicle control device 600 provided in an embodiment of the present application. Generally, the vehicle control device 600 includes: a processor 601, a memory 602, a voice receiving device 603 and a controller 604. The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0110] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include a high-speed random access memory and a non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, which is used to be executed by the processor 601 to implement the lighting control method provided in the method embodiment of the present application.

[0111] In some embodiments, the vehicle control device 600 may also optionally include: a peripheral device interface 605 and at least one peripheral device. The processor 601, the memory 602 and the peripheral device interface 605 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 605 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 606, an audio circuit 607 and a power supply 608.

[0112] The peripheral device interface 605 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 601 and the memory 602. In some embodiments, the processor 601, the memory 602, and the peripheral device interface 605 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 601, the memory 602, and the peripheral device interface 605 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0113] The radio frequency circuit 606 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 606 communicates with communication networks and other communication devices through electromagnetic signals. The radio frequency circuit 606 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 606 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The radio frequency circuit 606 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: a metropolitan area network, various generations of mobile communication networks (2G, 3G, 4G and 6G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 606 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0114] The audio circuit 607 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 601 for processing, or input them into the radio frequency circuit 606 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there can be multiple microphones, which are respectively arranged at different parts of the vehicle control device 600. The microphone can also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 601 or the radio frequency circuit 606 into sound waves. The speaker can be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 607 may also include a headphone jack.

[0115] The power supply 608 is used to power various components in the vehicle control device 600. The power supply 608 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 608 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0116] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the vehicle control device 600, and may include more or less components than those shown in the figure, or combine certain components, or adopt a different component arrangement.

[0117] The embodiment of the present application also provides a computer-readable storage medium, in which at least one program code is stored, and the at least one program code is loaded and executed by a processor to implement the vehicle longitudinal control method described in any of the above implementations. Optionally, the storage medium can be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium can be a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM (Compact Disc Read-Only Memory), a magnetic tape, a floppy disk, and an optical data storage device.

[0118] The embodiments of the present application further provide a computer program product, which stores at least one program code, and the at least one program code is loaded and executed by a processor to implement the vehicle longitudinal control method shown in the above embodiments.

[0119] In some embodiments, the computer program product involved in the embodiments of the present application may be deployed and executed on a vehicle control device, or on multiple vehicle control devices located at one location, or on multiple vehicle control devices distributed at multiple locations and interconnected by a communication network. Multiple vehicle control devices distributed at multiple locations and interconnected by a communication network may constitute a blockchain system.

[0120] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0121] The above description is only for the purpose of facilitating those skilled in the art to understand the technical solution of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle longitudinal control method, characterized in that: The method comprises: During the driving of the autonomous vehicle, determining a current first speed and a first deceleration value of the autonomous vehicle based on a reference longitudinal control curve of the autonomous vehicle, wherein the reference longitudinal control curve is used to represent a change in displacement of the autonomous vehicle over time; Based on the first speed, determining an energy recovery torque matching the first speed, the energy recovery torque being used to recover energy generated by decelerating the autonomous driving vehicle; Based on the first speed, determining a whole vehicle driving resistance when the driving speed of the autonomous driving vehicle is the first speed; Determining a braking torque of the automatic driving vehicle based on the energy recovery torque, the whole vehicle driving resistance and the first deceleration value; The autonomous driving vehicle is longitudinally controlled by means of the braking torque.

2. The method according to claim 1, characterized in that The determining the braking torque of the automatic driving vehicle based on the energy recovery torque, the whole vehicle driving resistance and the first deceleration value includes: Determining a driving scenario for the autonomous vehicle; When the driving scenario is a deceleration scenario, the braking torque of the automatic driving vehicle is determined based on the energy recovery torque, the whole vehicle driving resistance and the first deceleration value.

3. The method according to claim 2, characterized in that Determining a driving scenario of the autonomous driving vehicle includes: Determining a net external force of the autonomous vehicle based on the mass of the autonomous vehicle and the first deceleration value; Determining a comprehensive torque of the autonomous driving vehicle based on the recovery torque, the whole vehicle driving resistance and the tire rolling radius of the autonomous driving vehicle; When the resultant external force is not less than the comprehensive torque, it is determined that the driving scenario of the automatic driving vehicle is a deceleration scenario.

4. The method according to claim 3, characterized in that When the resultant external force is not less than the comprehensive torque, determining that the driving scenario of the automatic driving vehicle is a deceleration scenario includes: When the resultant external force is not less than the comprehensive torque, determining that the driving scenario of the automatic driving vehicle at the current moment is a deceleration scenario; Acquire driving scenes of the autonomous driving vehicle at multiple historical moments; In a case where the driving scenes of the autonomous driving vehicle at the current moment and the driving scenes at the multiple historical moments are all deceleration scenes, it is determined that the driving scene of the autonomous driving vehicle is a deceleration scene.

5. The method according to claim 3, characterized in that: The determining of the comprehensive torque of the autonomous driving vehicle based on the recovery torque, the whole vehicle driving resistance and the tire rolling radius of the autonomous driving vehicle comprises: Determining a vehicle resistance moment of the autonomous driving vehicle based on the vehicle running resistance and the tire rolling radius of the autonomous driving vehicle; The sum of the recovery torque and the whole vehicle resistance torque is determined to obtain the comprehensive torque of the automatic driving vehicle.

6. The method according to claim 1, characterized in that The determining the braking torque of the automatic driving vehicle based on the energy recovery torque, the whole vehicle driving resistance and the first deceleration value includes: Determining a net external force of the autonomous vehicle based on the mass of the autonomous vehicle and the first deceleration value; Determining a regenerative force of the autonomous driving vehicle based on the regenerative torque and a tire rolling radius of the autonomous driving vehicle; Determining a braking force of the autonomous driving vehicle based on the resultant external force, the whole vehicle driving resistance and the recovery force; Based on the braking force and the rolling radius of the tire of the autonomous driving vehicle, the braking torque of the autonomous driving vehicle is determined.

7. A vehicle longitudinal control device, characterized in that: The device comprises: a first determination module, configured to determine a current first speed and a first deceleration value of the autonomous driving vehicle based on a reference longitudinal control curve of the autonomous driving vehicle during the driving of the autonomous driving vehicle, wherein the reference longitudinal control curve is used to represent a change in displacement of the autonomous driving vehicle over time; a second determination module, configured to determine, based on the first speed, an energy recovery torque matching the first speed, the energy recovery torque being used to recover energy generated by decelerating the autonomous driving vehicle; A third determination module is used to determine, based on the first speed, a whole vehicle driving resistance when the driving speed of the autonomous driving vehicle is the first speed; a fourth determination module, configured to determine a braking torque of the automatic driving vehicle based on the energy recovery torque, the vehicle driving resistance and the first deceleration value; A control module is used to perform longitudinal control of the automatic driving vehicle through the braking torque.

8. A vehicle control device, characterized in that: The vehicle control device comprises a processor and a memory, wherein at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor to implement the vehicle longitudinal control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one program code, and the at least one program code is loaded and executed by the processor to implement the vehicle longitudinal control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The product stores at least one program code, and the at least one program code is used to be executed by a processor to implement the vehicle longitudinal control method according to any one of claims 1 to 6.

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