Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the steps that jerk corresponding to acceleration parameters of the vehicle is determined, and target jerk in a jerk interval is determined; determining the jerk amplitude limit of the vehicle according to the target jerk; according to the jerk interval, the acceleration amplitude limit of the vehicle is determined; and the vehicle is controlled to adopt the acceleration within the acceleration amplitude limit, and the jerk of the vehicle is controlled to be within the jerk amplitude limit. According to the method and the device, the power supply continuity of the vehicle can be accurately controlled through the amplitude limiting of the acceleration and the amplitude limiting of the jerk, and the stable riding experience of a user is ensured.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a vehicle control method, device, electronic device and storage medium. Background Art

[0002] The vehicle is a vehicle with an autonomous driving function. With the development of autonomous driving technology, more and more vehicles are equipped with autonomous driving functions. During the process of autonomous driving, the vehicle's actuator is needed to control the vehicle's power so as to achieve normal driving of the vehicle.

[0003] The physical sensation of a person sitting in a vehicle is directly related to the power provided by the vehicle. The continuity of the power provided by the vehicle will directly affect the physical sensation of the person. When the continuity of the power is poor, it is easy for passengers to have the problem of shaking back and forth, which affects the passenger's riding experience. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to provide a vehicle control method, device, electronic device and storage medium, which can solve the existing problems in a targeted manner.

[0005] Based on the above purpose, in a first aspect, the present disclosure proposes a vehicle control method, including: determining the jerk corresponding to the acceleration parameters of the vehicle, and determining a target jerk within a jerk range; determining the jerk limit of the vehicle according to the target jerk; determining the acceleration limit of the vehicle according to the jerk range; controlling the vehicle to adopt an acceleration within the acceleration limit, and controlling the jerk of the vehicle within the jerk limit.

[0006] In a second aspect, a vehicle control device is also provided, including: a jerk determination unit, configured to determine a target jerk within a jerk range according to the jerk corresponding to the acceleration parameter of the vehicle; a first limit determination unit, configured to determine the jerk limit of the vehicle according to the target jerk; a second limit determination unit, configured to determine the acceleration limit of the vehicle according to the jerk range; and a control unit, configured to control the vehicle to adopt an acceleration within the acceleration limit, and to control the jerk of the vehicle within the jerk limit.

[0007] In a third aspect, an electronic device is also provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0008] According to a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and the program is executed by a processor to implement any method described in the first aspect.

[0009] In general, the present disclosure has at least the following beneficial effects: by limiting the acceleration and the jerk, the continuity of the power provided by the vehicle is accurately controlled, large fluctuations in acceleration are avoided, the vehicle's driving is more stable, the problem of passengers swaying back and forth is avoided, and a smooth riding experience for users is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in accordance with the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0011] Figure 1 A flow chart of a vehicle control method according to an embodiment of the present disclosure is shown;

[0012] Figure 2 A flow chart showing another vehicle control method according to an embodiment of the present disclosure;

[0013] Figure 3a A schematic diagram showing an interval mapping relationship in another vehicle control method according to an embodiment of the present disclosure;

[0014] Figure 3b The following is a flowchart showing an execution of a module for executing the above vehicle control method according to an embodiment of the present disclosure;

[0015] Figure 4 A schematic diagram showing a vehicle control device according to an embodiment of the present disclosure;

[0016] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure is shown;

[0017] Figure 6 A schematic diagram of a storage medium provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0018] The present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] Figure 1 A flow chart of a vehicle control method of the present disclosure is shown. In an embodiment of the present disclosure, the vehicle control method may include the following steps:

[0021] S101, determining the jerk corresponding to the acceleration parameter of the vehicle, and determining a target jerk within a jerk range.

[0022] In this embodiment, the execution subject can determine the target jerk within the jerk range according to the jerk. The jerk here is the jerk corresponding to the acceleration parameter of the vehicle, such as the autonomous driving vehicle, in the current control cycle. The autonomous driving vehicle in this disclosure refers to a vehicle with an autonomous driving function.

[0023] The acceleration parameters of a vehicle are acceleration-related parameters used when the vehicle is traveling. For example, the acceleration parameters may include a target acceleration. The current target acceleration of the vehicle is the acceleration that the vehicle is expected to use when traveling during the current control cycle to be controlled. The duration of a control cycle may be one second or one frame, etc. For example, if one second includes 5 frames and one frame is one control cycle, then the control cycle is 0.2 seconds.

[0024] The target acceleration is the acceleration determined by the data measured by the sensor. After the execution subject processes the acceleration, the processing result will be added to the vehicle for driving. The data measured by the sensor may include parameters such as speed measured in the previous control cycle.

[0025] The jerk corresponding to the acceleration parameter may be determined in various ways. For example, when the acceleration parameter is the target acceleration, a preset correspondence table between acceleration and jerk is queried to determine the jerk corresponding to the target acceleration.

[0026] The jerk interval is a numerical range limit set for the jerk. In practice, if the jerk corresponding to the target acceleration is within the jerk interval, the execution entity may use the jerk as the target jerk. If the jerk corresponding to the target acceleration is not within the jerk interval, the execution entity may use the boundary value of the two boundary values ​​of the jerk interval that is closest to the jerk corresponding to the target acceleration as the target jerk.

[0027] For example, there are two boundary values ​​in the acceleration range, namely -1.5m / s 3 and 3m / s 3In the case of: If the jerk corresponding to the target acceleration is 4, then the target jerk is 3m / s 3 ; If the jerk corresponding to the target acceleration is 1m / s 3 , then the target acceleration is 1m / s 3 .

[0028] S102: Determine a jerk limit of the vehicle according to the target jerk.

[0029] In this embodiment, the execution entity may determine the jerk limit to be adopted by the vehicle in the current control cycle according to the target jerk in various ways.

[0030] For example, the execution entity may input the target jerk into a preset model and obtain the jerk limit output from the model, and the model is used to predict the jerk limit corresponding to the target jerk.

[0031] S103: Determine an acceleration limit of the vehicle according to the jerk range.

[0032] In this embodiment, the execution subject may determine the acceleration limit of the vehicle in the current control cycle according to the jerk interval in various ways. For example, the execution subject may input the boundary value of the jerk interval into a preset model and obtain the acceleration limit output from the model. The model may predict the acceleration limit using the input jerk interval. The acceleration limit is a numerical range for limiting acceleration.

[0033] S104, controlling the vehicle to adopt an acceleration within the acceleration limit, and controlling the jerk of the vehicle to be within the jerk limit.

[0034] In this embodiment, the execution subject may control the vehicle to make the vehicle adopt an acceleration within the acceleration limit, and control the jerk of the vehicle in the current control cycle to be within the jerk limit.

[0035] Specifically, if the power and braking of the vehicle are controlled by an actuator, the execution subject can send the acceleration limit and the jerk limit to the actuator. In this way, the actuator allows the acceleration adopted by the vehicle to be within the acceleration limit. That is, if the acceleration to be adopted is within the acceleration limit, the acceleration is directly adopted. If the acceleration to be adopted is not within the acceleration limit, the limit value within the acceleration limit that is closest to the acceleration is adopted, such as the upper acceleration limit or the lower acceleration limit.

[0036] If the acceleration adopted by the vehicle causes the jerk of the vehicle to be outside the jerk limit, the execution subject may use a value within the jerk limit that is closest to the jerk and use the value to adjust the acceleration, so that the jerk corresponding to the adjusted acceleration meets the jerk limit.

[0037] This embodiment can accurately control the continuity of the power provided by the vehicle by limiting the acceleration and the jerk, avoid large fluctuations in acceleration, make the vehicle's driving more stable, avoid the problem of passengers swaying back and forth, and ensure a smooth riding experience for users.

[0038] Figure 2 A vehicle control method according to an embodiment of the present disclosure is shown. Figure 2 As shown, the vehicle control method includes:

[0039] Step S201, determining the jerk corresponding to the acceleration parameter of the vehicle, and determining the target jerk within the jerk range.

[0040] Step S202: determining the jerk limit of the vehicle according to the target jerk.

[0041] Step S203: determining the acceleration limit of the vehicle according to the jerk interval.

[0042] Step S204: determining a final acceleration within the acceleration limit according to the target acceleration of the vehicle.

[0043] In this embodiment, the execution subject may obtain the target acceleration, and when the target acceleration is within the acceleration limit, determine the target acceleration as the final acceleration, and when the target acceleration is not within the acceleration limit, use the acceleration limit value closest to the target acceleration as the final acceleration.

[0044] Step S205: transmitting the final acceleration and the jerk limit to the chassis of the vehicle to control the vehicle to adopt the final acceleration and control the jerk of the vehicle to be within the jerk limit.

[0045] In this embodiment, the execution subject can transmit three parameters to the chassis of the vehicle: the final acceleration, the upper limit of the jerk limit, and the lower limit of the jerk limit. In this way, the vehicle can be controlled to adopt the target acceleration and the jerk can be controlled within the jerk limit. Specifically, the vehicle chassis has a power device of the vehicle, and the execution subject can allow the vehicle to travel directly at the final acceleration by transmitting the final acceleration to the vehicle chassis. In addition, in the case where the jerk does not meet the jerk limit, the jerk can be changed by changing the acceleration used for driving to make the jerk meet the jerk limit.

[0046] This embodiment can transmit the target acceleration and the jerk limit to the vehicle chassis, so that the vehicle can directly travel at the target acceleration and be limited within the jerk limit, thereby accurately controlling the vehicle.

[0047] In some optional implementations of any embodiment of the present disclosure, the acceleration parameters include a target acceleration, a feedback acceleration, and a preset acceleration time; determining the jerk corresponding to the acceleration parameters of the vehicle includes: obtaining the feedback acceleration measured in the forward direction of the vehicle; and determining the jerk corresponding to the target acceleration of the vehicle based on the target acceleration, the feedback acceleration, and the preset acceleration time.

[0048] In these optional implementations, the execution subject may determine the jerk of the vehicle. The execution subject may first obtain the feedback acceleration measured in the forward direction of the vehicle, and then the execution subject may determine the jerk of the vehicle in various ways according to the target acceleration, the feedback acceleration and the preset acceleration time. For example, the execution subject may input the target acceleration, the feedback acceleration and the preset acceleration time into a pre-trained model and obtain the jerk output from the model. The model may predict the jerk according to the target acceleration, the feedback acceleration and the preset acceleration time.

[0049] In practice, the feedback acceleration can be measured by an inertial measurement unit (IMU) or an inertial navigation system of the vehicle. The preset acceleration time refers to the delay time that will be generated when the vehicle switches power (for example, the accelerator switches to the brake) to reach the target acceleration.

[0050] These implementations can determine a reasonable acceleration by combining the expected and actual feedback of the vehicle, as well as the time required to achieve the acceleration.

[0051] In some optional application scenarios of these implementations, determining the jerk corresponding to the target acceleration of the vehicle based on the target acceleration, the feedback acceleration and the preset acceleration time may include: determining the difference between the target acceleration and the feedback acceleration; and determining the jerk corresponding to the target acceleration of the vehicle by taking the quotient of the difference and the preset acceleration time.

[0052] In these application scenarios, the execution subject may first determine the difference between the target acceleration and the feedback acceleration, and calculate the quotient of the difference and the preset acceleration time. Afterwards, the execution subject may determine the jerk of the vehicle based on the quotient in various ways. For example, the execution subject may input the quotient into a preset formula, and use the result of the preset formula as the target jerk.

[0053] Alternatively, the above execution entity may use the following formula to calculate the acceleration:

[0054] jerk_raw=(acc_target-acc_feedback) / delay,

[0055] Among them, acc_target is the target acceleration, jerk_raw is the jerk corresponding to the target acceleration, acc_feedback is the feedback acceleration, and delay is the preset acceleration time.

[0056] These applications can accurately determine the jerk by the difference between the target acceleration and the feedback acceleration.

[0057] In some optional implementations of any embodiment of the present disclosure, the above-mentioned step of determining the acceleration interval includes: determining the jerk interval corresponding to the target acceleration according to a preset interval mapping relationship, wherein the limit mapping relationship is used to indicate the correspondence between the target acceleration and the jerk interval.

[0058] In these implementations, the above-mentioned execution subject or other electronic devices can execute these implementations. Taking the above-mentioned execution subject as an example, the above-mentioned execution subject can directly obtain a preset interval mapping relationship from a local or other electronic device. The interval mapping relationship is used to indicate the correspondence between the target acceleration and the jerk interval. Afterwards, the above-mentioned execution subject can find the jerk interval corresponding to the target acceleration in the interval mapping relationship.

[0059] like Figure 3a As shown in the figure, the mapping relationship between the target acceleration and the jerk interval is shown. Specifically, the horizontal axis of the coordinate system in the figure indicates the target acceleration, and the vertical axis indicates the jerk. When the target acceleration is 1.0, the jerk interval is [-1.5, 3].

[0060] These implementations can quickly and accurately determine the jerk range that meets the current target acceleration through the mapping relationship between acceleration and jerk range.

[0061] In some optional implementations of any embodiment of the present disclosure, the above-mentioned determining the jerk limit of the vehicle in the current control cycle based on the target jerk includes: determining the sum of the target jerk and a specified value, wherein the specified value is a first specified value; if the sum is greater than or equal to zero, using the sum as the upper limit of the jerk limit of the vehicle; if the sum is less than zero, using zero as the upper limit of the jerk limit of the vehicle.

[0062] In these implementations, the jerk limit may include an upper limit and a lower limit. The above execution entity may calculate the jerk upper limit using the following formula:

[0063] jerk_limit_upperbound=max(0, jerk_limit+k1)

[0064] Among them, jerk_limit_upperbound is the upper limit of the jerk limit, jerk_limit is the target jerk, and k1 is the first specified value, which is a priori value.

[0065] In addition, different control types may correspond to different limiting ranges. The limiting range here indicates that the numerical range of the jerk limiting is further narrowed. That is, the above-mentioned execution subject can reduce the upper limit of the jerk limiting according to the control type, and can also increase the lower limit of the jerk limiting according to the control type. Specifically, the control type refers to the type of control vehicle, that is, the response type of the vehicle's actuator. The type can be various, for example, the control type can include the vehicle model. That is, the control type corresponding to different vehicle models may be different.

[0066] These implementations can find an upper jerk limit value greater than zero, thereby ensuring that the upper limit in the jerk limit is a non-negative value.

[0067] In some optional implementations of any embodiment of the present disclosure, determining the jerk limit of the vehicle in the current control cycle based on the target jerk includes: determining the difference between the target jerk and a specified value, wherein the specified value is a second specified value; if the difference is less than or equal to zero, using the difference as the lower limit of the jerk limit of the vehicle; if the difference is greater than zero, using zero as the lower limit of the jerk limit of the vehicle.

[0068] In these implementations, the execution subject may calculate the lower jerk limit using the following formula:

[0069] jerk_limit_lowerbound=min(0, jerk_limit-k2),

[0070] Among them, jerk_limit_lowerbound is the lower limit of the jerk limit, jerk_limit is the target jerk, and k2 is the second specified value, which is a priori value.

[0071] These implementations can find a lower jerk limit that is less than zero, thereby ensuring that the lower limit in the jerk limit is a non-positive value.

[0072] In some optional application scenarios of any of the above-mentioned implementation methods, the step of generating the specified value includes at least one of the following: for the actuator that executes the control instructions of the vehicle, if the response duration of the actuator is greater than or equal to a duration threshold, the specified value is updated in an increasing manner; for the actuator that executes the control instructions of the vehicle, if the overshoot value of the actuator is greater than or equal to the overshoot threshold, the specified value is updated in a decreasing manner.

[0073] In these application scenarios, the above-mentioned specified value may be the first specified value or the second specified value. The above-mentioned execution subject or other electronic device may update the specified value according to the response time of the actuator, and may also update the specified value according to the overshoot value of the actuator.

[0074] These application scenarios can adjust the value of the specified value in various aspects through the actuator response time and overshoot value, which helps to make the obtained acceleration limit more realistic.

[0075] In some optional implementations of any one of the embodiments of the present disclosure, determining the acceleration limit of the vehicle based on the jerk interval may include: determining the product between the end value of the jerk interval and the control cycle of the vehicle; determining the acceleration limit to be adopted by the vehicle based on the sum of the product and a target prior value, wherein the target prior value is the target acceleration of the vehicle in a prior control cycle.

[0076] In these optional implementations, the execution subject may first determine the product of the end value of the acceleration interval and the control period of the vehicle. The end value here refers to the maximum value of the upper boundary value and the minimum value of the lower boundary value, such as Figure 3a 3m / s 3 and -5m / s 3Afterwards, the execution subject may determine the acceleration limit to be adopted by the vehicle according to the sum of the product and the target prior value in various ways. For example, the execution subject may input the sum into a specified formula and use the calculation result of the formula as the acceleration limit to be adopted.

[0077] In practice, the above-mentioned execution entity can determine the lower limit and upper limit of the acceleration limit in the following manner:

[0078] [acc_last+jerk_limit×Control Interval,acc_last+jerk_limit×ControlInterval],

[0079] Where acc_last is the target acceleration of the previous control cycle, such as the target acceleration of the previous frame. Control Interval is the control cycle.

[0080] These implementations can determine the acceleration limit by the acceleration of a previous control cycle, thereby increasing the power continuity of the vehicle.

[0081] like Figure 3b As shown in the figure, the execution steps of the module for executing the above vehicle control method are shown. The module is an acceleration post-processing module. The module controls the vehicle by outputting the upper limit, lower limit and final acceleration of the acceleration limit to the chassis of the vehicle.

[0082] The embodiment of the application provides a vehicle control device, which is used to execute the vehicle control method described in the above embodiment, such as Figure 4 As shown, the vehicle control device includes: a jerk determination unit 401, configured to determine a target jerk within a jerk range according to a jerk corresponding to an acceleration parameter of the vehicle; a first limit determination unit 402, configured to determine a jerk limit of the vehicle according to the target jerk; a second limit determination unit 403, configured to determine an acceleration limit of the vehicle according to the jerk range; and a control unit 404, configured to control the vehicle to adopt an acceleration within the acceleration limit, and to control the jerk of the vehicle within the jerk limit.

[0083] Optionally, the control unit is further configured to control the vehicle to adopt an acceleration within the acceleration limit and control the jerk of the vehicle to be within the jerk limit in the following manner: determine a final acceleration within the acceleration limit based on a target acceleration of the vehicle; transmit the final acceleration and the jerk limit to a chassis of the vehicle to control the vehicle to adopt the final acceleration and control the jerk of the vehicle to be within the jerk limit.

[0084] Optionally, the acceleration parameters include target acceleration, feedback acceleration and preset acceleration time; the jerk determination unit is configured to perform the determination of the jerk corresponding to the acceleration parameters of the vehicle in the following manner: obtaining the feedback acceleration measured in the forward direction of the vehicle; determining the jerk corresponding to the target acceleration of the vehicle based on the target acceleration, the feedback acceleration and the preset acceleration time.

[0085] Optionally, the continued determination unit is further configured to perform the determination of the jerk corresponding to the target acceleration of the vehicle based on the target acceleration, the feedback acceleration and the preset acceleration time in the following manner: determining the difference between the target acceleration and the feedback acceleration; and determining the jerk corresponding to the target acceleration of the vehicle based on the quotient of the difference and the preset acceleration time.

[0086] Optionally, the step of determining the jerk interval includes: determining the jerk interval corresponding to the target acceleration according to a preset interval mapping relationship, wherein the limit mapping relationship is used to indicate the correspondence between the target acceleration and the jerk interval.

[0087] Optionally, the first limit determination unit is further configured to perform the determination of the jerk limit of the vehicle based on the target jerk in the following manner: determine the sum of the target jerk and a specified value, wherein the specified value is a first specified value; if the sum is greater than or equal to zero, use the sum as the upper limit of the jerk limit of the vehicle; if the sum is less than zero, use zero as the upper limit of the jerk limit of the vehicle.

[0088] Optionally, the first limit determination unit is further configured to perform the determination of the jerk limit of the vehicle based on the target jerk in the following manner: determine the difference between the target jerk and a specified value, wherein the specified value is a second specified value; if the difference is less than or equal to zero, use the difference as the lower limit of the jerk limit of the vehicle; if the difference is greater than zero, use zero as the lower limit of the jerk limit of the vehicle.

[0089] Optionally, the step of generating the specified value includes at least one of the following: for the actuator that executes the control instructions of the vehicle, if the response duration of the actuator is greater than or equal to a duration threshold, the specified value is updated in an increasing manner; for the actuator that executes the control instructions of the vehicle, if the overshoot value of the actuator is greater than or equal to an overshoot threshold, the specified value is updated in a decreasing manner.

[0090] Optionally, the second limit determination unit is further configured to perform the determination of the acceleration limit of the vehicle based on the jerk interval in the following manner: determine the product between the end value of the jerk interval and the control cycle of the vehicle; determine the acceleration limit to be adopted by the vehicle based on the sum of the product and a target prior value, wherein the target prior value is the target acceleration of the vehicle in a previous control cycle.

[0091] The vehicle control device provided by the above-mentioned embodiments of the present disclosure and the vehicle control method provided by the embodiments of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0092] The embodiment of the present disclosure also provides an electronic device corresponding to the vehicle control method provided in the above embodiment to execute the above vehicle control method. The embodiment of the present disclosure is not limited.

[0093] Please refer to Figure 5 , which shows a schematic diagram of an electronic device provided by some embodiments of the present disclosure. Figure 5 As shown, the electronic device 50 includes: a processor 500, a memory 501, a bus 502 and a communication interface 503, and the processor 500, the communication interface 503 and the memory 501 are connected via the bus 502; the memory 501 stores a computer program that can be run on the processor 500, and the processor 500 executes the method provided in any of the aforementioned embodiments of the present disclosure when running the computer program.

[0094] The memory 501 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 503 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0095] The bus 502 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 501 is used to store programs, and the processor 500 executes the programs after receiving execution instructions. The vehicle control method disclosed in any implementation of the aforementioned embodiment of the present disclosure may be applied to the processor 500, or implemented by the processor 500.

[0096] The processor 500 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 500 or the instruction in the form of software. The above processor 500 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present disclosure can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 501, and the processor 500 reads the information in the memory 501 and completes the steps of the above method in combination with its hardware.

[0097] The electronic device provided by the embodiment of the present disclosure and the vehicle control method provided by the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented by them.

[0098] The present disclosure also provides a computer-readable storage medium corresponding to the vehicle control method provided in the above embodiment. Figure 6 The computer-readable storage medium shown is a CD 60 on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, the vehicle control method provided by any of the aforementioned embodiments will be executed.

[0099] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0100] The computer-readable storage medium provided by the above-mentioned embodiments of the present disclosure and the vehicle control method provided by the embodiments of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0101] It should be noted that:

[0102] In the above text, the term "comprises", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the method and device in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0103] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0104] The embodiments of the present disclosure are described above in conjunction with the accompanying drawings, which are only specific implementation modes of the present disclosure. However, the present disclosure is not limited to the above-mentioned specific implementation modes. The above-mentioned specific implementation modes are merely illustrative and not restrictive. Under the guidance of the present disclosure, ordinary technicians in this field can also make many forms without departing from the purpose of the present disclosure and the scope of protection of the claims, all of which are within the protection of the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Determining a jerk corresponding to the acceleration parameter of the vehicle, and determining a target jerk within a jerk range; Determining a jerk limit of the vehicle according to the target jerk; determining an acceleration limit of the vehicle according to the jerk range; The vehicle is controlled to adopt an acceleration within the acceleration limit, and a jerk of the vehicle is controlled to be within the jerk limit.

2. The method according to claim 1, characterized in that The controlling the vehicle to adopt an acceleration within the acceleration limit, and controlling the jerk of the vehicle within the jerk limit, comprises: determining a final acceleration within the acceleration limit according to a target acceleration of the vehicle; The final acceleration and the jerk limit are transmitted to a chassis of the vehicle to control the vehicle to adopt the final acceleration and to control the jerk of the vehicle to be within the jerk limit.

3. The method according to claim 1, characterized in that The acceleration parameters include target acceleration, feedback acceleration and preset acceleration time; The determining the jerk corresponding to the acceleration parameter of the vehicle includes: Obtaining feedback acceleration measured by the vehicle in the forward direction; The jerk corresponding to the target acceleration of the vehicle is determined according to the target acceleration, the feedback acceleration and the preset acceleration time.

4. The method according to claim 3, characterized in that The determining, according to the target acceleration, the feedback acceleration and the preset acceleration time, the jerk corresponding to the target acceleration of the vehicle comprises: determining a difference between the target acceleration and the feedback acceleration; The jerk corresponding to the target acceleration of the vehicle is determined according to the quotient of the difference and the preset acceleration time.

5. The method according to claim 1, characterized in that Determining the jerk limit of the vehicle according to the target jerk includes: Determining a sum of the target jerk and a specified value, wherein the specified value is a first specified value; If the sum is greater than or equal to zero, taking the sum as the upper limit of the jerk limit of the vehicle; If the sum is less than zero, zero is used as the upper limit of the jerk limit of the vehicle. Alternatively, determining a difference between the target jerk and a specified value, wherein the specified value is a second specified value; If the difference is less than or equal to zero, taking the difference as the lower limit of the jerk limit of the vehicle; If the difference is greater than zero, zero is used as the lower limit of the jerk limit of the vehicle.

6. The method according to claim 5, characterized in that The step of generating the specified value includes at least one of the following: For an actuator executing the control command of the vehicle, if the response time of the actuator is greater than or equal to the time threshold, updating the specified value in an increasing manner; For an actuator that executes the control command of the vehicle, if the overshoot value of the actuator is greater than or equal to the overshoot threshold, the specified value is updated in a decreasing manner.

7. The method according to claim 1, characterized in that Determining the acceleration limit of the vehicle according to the jerk range includes: determining a product of an end value of the jerk interval and a control period of the vehicle; The acceleration limit to be adopted by the vehicle is determined according to the sum of the product and a target prior value, wherein the target prior value is a target acceleration of the vehicle in a previous control cycle.

8. A vehicle control device, characterized in that: include: a jerk determination unit configured to determine a target jerk within a jerk interval according to the jerk corresponding to the acceleration parameter of the vehicle; a first limit determination unit, configured to determine a jerk limit of the vehicle according to the target jerk; A second limit determination unit is configured to determine an acceleration limit of the vehicle according to the jerk interval; A control unit is configured to control the vehicle to adopt an acceleration within the acceleration limit and to control a jerk of the vehicle within the jerk limit.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: The processor runs the computer program to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method according to any one of claims 1 to 7.

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