Vehicle speed adjustment method, device, system, vehicle and equipment

Abstract

The application relates to a vehicle speed adjustment method, device, system, vehicle and equipment, and relates to the technical field of automobiles. The method is applied to a vehicle and comprises the following steps: acquiring road condition information of each sub-section in a plurality of sub-sections of a target route and a performance parameter of the vehicle; for each sub-section, adjusting a first planning speed of the vehicle according to the road condition information of the sub-section and the performance parameter of the vehicle to obtain a second planning speed corresponding to the sub-section; the first planning speed is determined according to a speed limit value of the sub-section and an expected driving time of a driver and passenger of the vehicle; and the vehicle is controlled to drive on the target route according to the second planning speeds corresponding to the plurality of sub-sections. Therefore, a driving mode meeting user requirements and having minimum energy consumption can be determined, and the battery life and cruising range of an automatic driving electric vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to the technical field of automatic driving, and specifically to a vehicle speed adjustment method, device, system, vehicle and equipment. BACKGROUND

[0002] With the continuous expansion of the electric vehicle market, the automobile industry is gradually moving towards the intelligent network connection field, and the automatic driving technology as a core element is increasingly important and has been gradually put into practical application. Among them, energy efficiency as a key factor directly affecting the endurance mileage and battery life of electric vehicles, in order to improve the battery life and endurance mileage of automatic driving electric vehicles, energy efficiency optimization has become an important problem to be solved.

[0003] In one related technology, efficiency optimization is proposed based on the current request torque of the electric drive system, without considering the user usage scenario and external environment, and the optimal efficiency is obtained by looking up the efficiency curve under the existing request torque.

[0004] In another related technology, the efficiency reference domain is confirmed based on the parameters of the electric drive itself, and the control efficiency of the electric drive system is optimized in combination with the driver demand.

[0005] However, the method in the related technology is difficult to efficiently optimize energy efficiency. SUMMARY

[0006] The present application provides a vehicle speed adjustment method, device, system, vehicle and equipment to at least solve the technical problem that energy efficiency is difficult to be efficiently optimized in the related technology. The technical solution of the present application is as follows:

[0007] According to the first aspect of the present application, a vehicle speed adjustment method is provided, applied to a vehicle, comprising: obtaining road condition information of each sub-section in a plurality of sub-sections of a target route and performance parameters of the vehicle; for each sub-section, adjusting a first planning speed of the vehicle according to the road condition information of the sub-section and the performance parameters of the vehicle to obtain a second planning speed corresponding to the sub-section; the first planning speed is determined according to the speed limit value of the sub-section and the expected driving time of the driver and passenger of the vehicle; and controlling the vehicle to drive on the target route according to the second planning speed corresponding to each of the plurality of sub-sections.

[0008] According to the above technical means, the present application can determine the driving mode that meets the user demand and has the minimum energy consumption according to the speed limit value of each sub-section and the expected driving time of the driver and passenger, in combination with the real-time road condition and vehicle performance, reduce the energy loss caused by frequent speed changes, and improve the battery life and endurance mileage of the automatic driving electric vehicle.

[0009] In a possible implementation, the first planning speed of the vehicle is adjusted according to the road condition information of the sub-road section and the performance parameter of the vehicle, to obtain a second planning speed corresponding to the sub-road section, including: determining the slope information of the sub-road section according to the road condition information of the sub-road section; and adjusting the first planning speed according to a speed adjustment strategy corresponding to the slope of the sub-road section, to obtain the second planning speed.

[0010] According to the technical means, the vehicle can travel in an optimized manner on different slopes, so that energy consumption is reduced, unnecessary acceleration and deceleration are reduced, travel is more stable, and passenger experience is improved.

[0011] In a possible implementation, in a case where the sub-road section is a downhill road section or a flat road section, the first planning speed is adjusted according to a speed adjustment strategy corresponding to the slope of the sub-road section, to obtain the second planning speed, including: adjusting the first planning speed in a preset speed interval according to a preset speed step, to obtain a plurality of candidate speeds; the preset speed interval is determined according to the first planning speed, the road condition information of the sub-road section, the performance parameter of the vehicle, and the tire pressure of the vehicle; and the first candidate speed with the minimum energy consumption in the plurality of first candidate speeds is taken as the second planning speed; the energy consumption is determined according to the length of the sub-road section, the second planning speed, the motor drive speed and torque corresponding to the second planning speed, and a preset parameter.

[0012] According to the technical means, the vehicle can travel in an optimized manner on a downhill or flat road section, so that energy consumption is maximally reduced.

[0013] In a possible implementation, in a case where the sub-road section is an uphill road section, the first planning speed is adjusted according to a speed adjustment strategy corresponding to the slope of the sub-road section, to obtain the second planning speed, including: determining a fourth planning speed based on the slope information of the sub-road section and the first planning speed; adjusting the fourth planning speed in a preset speed interval according to a preset speed step, to obtain a plurality of first candidate speeds; the preset speed interval is determined according to the fourth planning speed, the road condition information of the sub-road section, the performance parameter of the vehicle, and the tire pressure of the vehicle; and the first candidate speed with the minimum energy consumption in the plurality of first candidate speeds is taken as the second planning speed; the energy consumption is determined according to the length of the sub-road section, the first candidate speed, the motor drive speed and torque corresponding to the first candidate speed, and a preset parameter.

[0014] According to the technical means, the fourth planning speed can be adjusted in the preset speed range, and the candidate speed with the minimum energy consumption is selected as the second planning speed, which helps to minimize the energy consumption while ensuring the power output, realizes the best balance between the power and the energy consumption, and ensures the stable driving state of the vehicle on the uphill, avoiding the safety hazards caused by too fast or too slow speed.

[0015] In a possible implementation, the fourth planning speed is determined based on the slope information of the sub-road section and the first planning speed, including: determining a speed limit value corresponding to the slope information; and determining the smaller value between the speed limit value corresponding to the slope information and the first planning speed as the fourth planning speed.

[0016] According to the technical means, the speed limit value corresponding to the slope can be determined to ensure that the vehicle drives at a safe speed on the uphill, and the smaller value between the speed limit value corresponding to the slope information and the first planning speed is taken as the fourth planning speed, which can further ensure that the vehicle will not exceed the safe range due to too high speed.

[0017] In a possible implementation, the expected driving time of the target route by the driver and passengers of the vehicle, the speed limit value of each sub-road section in the plurality of sub-road sections of the target route, and the length of the target route are obtained; for each sub-road section, the first planning speed corresponding to the sub-road section is determined based on the expected driving time of the target route by the driver and passengers of the vehicle, the length of the target route, and the speed limit value and length of the sub-road section.

[0018] According to the technical means, the expected driving time of the target route by the driver and passengers of the vehicle can be considered to ensure that the planned driving speed can meet their travel needs and improve the driving experience.

[0019] In a possible implementation, the first planning speed corresponding to the sub-road section is determined based on the expected driving time of the target route by the driver and passengers of the vehicle, the length of the target route, and the speed limit value and length of the sub-road section, including: determining the expected driving time of the sub-road section based on the expected driving time of the target route, the length of the sub-road section, and the length of the target route; determining a second candidate speed based on the expected driving time of the target route by the driver and passengers of the vehicle and the length of the sub-road section; and determining the smaller value between the second candidate speed and the speed limit value of the sub-road section as the first planning speed.

[0020] According to the technical means, the smaller value between the second candidate speed and the speed limit value is determined as the first planning speed, which ensures that the driving speed of the vehicle does not exceed the safe range allowed by the road, thereby reducing the risk of traffic accidents.

[0021] In a possible implementation, before the first planning speed of the vehicle is adjusted according to the road condition information of the sub-road section to obtain the second planning speed corresponding to the sub-road section, the method further includes: obtaining weather information corresponding to the sub-road section; and adjusting the first planning speed based on the weather information of the sub-road section.

[0022] According to the above technical means, the application can adjust the planning speed based on the weather information, plan the driving strategy more intelligently, and ensure that the vehicle can safely and efficiently drive under various weather conditions.

[0023] According to a second aspect of the application, a vehicle speed adjustment device is provided, including: an acquisition unit, an adjustment unit and a control unit.

[0024] The acquisition unit is configured to acquire road condition information of each sub-road section in a plurality of sub-road sections of a target route and a performance parameter of a vehicle. The adjustment unit is configured to, for each sub-road section, adjust a first planning speed of the vehicle according to the road condition information of the sub-road section and the performance parameter of the vehicle to obtain a second planning speed corresponding to the sub-road section. The first planning speed is determined according to a speed limit value of the sub-road section and an expected driving time of a driver and passenger of the vehicle. The control unit is configured to control the vehicle to drive on the target route according to the second planning speed corresponding to each of the plurality of sub-road sections.

[0025] In a possible implementation, the adjustment unit is specifically configured to: determine slope information of the sub-road section according to the road condition information of the sub-road section; and adjust the first planning speed according to a speed adjustment strategy corresponding to the slope of the sub-road section to obtain the second planning speed.

[0026] In a possible implementation, the adjustment unit is specifically configured to: adjust the first planning speed in a preset speed interval according to a preset speed step to obtain a plurality of candidate speeds; the preset speed interval is determined according to the first planning speed, the road condition information of the sub-road section, the performance parameter of the vehicle and a tire pressure of the vehicle; and the first candidate speed with the minimum energy consumption in the plurality of first candidate speeds is taken as the second planning speed; the energy consumption is determined according to a length of the sub-road section, the second planning speed, an electric drive speed and torque corresponding to the second planning speed, and a preset parameter.

[0027] In a possible implementation, the adjusting unit is specifically configured to: determine the fourth planning speed based on the slope information of the sub-route and the first planning speed; adjust the fourth planning speed in a preset rotation speed interval according to a preset rotation speed step to obtain a plurality of first candidate speeds; the preset rotation speed interval is determined according to the fourth planning speed, road condition information of the sub-route, performance parameters of the vehicle, and tire pressure of the vehicle; and determine a first candidate speed with minimum energy consumption from the plurality of first candidate speeds as the second planning speed; the energy consumption is determined according to the length of the sub-route, the first candidate speed, an electric drive rotation speed and a torque corresponding to the first candidate speed, and preset parameters.

[0028] In a possible implementation, the adjusting unit is further configured to: determine a speed limit value corresponding to the slope information; and determine the smaller one of the speed limit value corresponding to the slope information and the first planning speed as the fourth planning speed.

[0029] In a possible implementation, the device further includes: a determining unit; and an obtaining unit, which is further configured to obtain an expected driving time of the target route by a driver or passenger of the vehicle, a speed limit value of each sub-route in the plurality of sub-routes of the target route, and a length of the target route; and the determining unit is configured to determine, for each sub-route, a first planning speed corresponding to the sub-route based on the expected driving time of the target route by the driver or passenger of the vehicle, the length of the target route, and the speed limit value and the length of the sub-route.

[0030] In a possible implementation, the determining unit is specifically configured to: determine an expected driving time of the sub-route based on the expected driving time of the target route, the length of the sub-route, and the length of the target route; determine a second candidate speed based on the expected driving time of the target route by the driver or passenger of the vehicle and the length of the sub-route; and determine the smaller one of the second candidate speed and the speed limit value of the sub-route as the first planning speed.

[0031] In a possible implementation, the obtaining unit is further configured to obtain weather information corresponding to the sub-route; and the adjusting unit is further configured to adjust the first planning speed based on the weather information of the sub-route.

[0032] According to a third aspect provided in the present application, a vehicle speed adjustment system is provided, including: a data acquisition device and a vehicle speed adjustment device.

[0033] The data acquisition device is used to acquire road condition information of each sub-section in the target route and performance parameters of the vehicle; the vehicle speed adjustment device is used to adjust the first planning speed of the vehicle according to the road condition information of each sub-section and the performance parameters of the vehicle, to obtain the second planning speed corresponding to each sub-section; the first planning speed is determined according to the speed limit value of the sub-section and the expected driving time of the driver and passenger of the vehicle; the vehicle speed adjustment device is also used to control the vehicle to travel on the target route according to the second planning speed corresponding to each sub-section.

[0034] According to a fourth aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method of the first aspect and any possible implementation thereof.

[0035] According to a fifth aspect provided by the present application, a computer-readable storage medium is provided, when the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device can execute the method of the first aspect and any possible implementation thereof.

[0036] According to a sixth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, when the computer instructions are run on an electronic device, the electronic device executes the method of the first aspect and any possible implementation thereof.

[0037] Therefore, the above technical features of the present application have the following beneficial effects:

[0038] (1) The driving mode that meets the user's demand and has the minimum energy consumption can be determined according to the speed limit value of each sub-section and the expected driving time of the driver and passenger, combined with the real-time road condition and the vehicle performance, so as to reduce the energy loss caused by frequent speed changes, and improve the battery life and the cruising range of the autonomous electric vehicle.

[0039] (2) By adjusting the speed according to the slope, the vehicle can travel in the most optimized way on different slopes, thereby reducing energy consumption, reducing unnecessary acceleration and deceleration, making the driving more stable, and improving the passenger experience.

[0040] (3) By adjusting the speed in the preset speed interval with the preset speed step, and selecting the candidate speed with the minimum energy consumption as the second planning speed, it can be ensured that the vehicle travels in the most optimized way on downhill or flat road sections, thereby minimizing energy consumption.

[0041] (4) The fourth planning speed can be adjusted within a preset speed range, and the candidate speed with the minimum energy consumption is selected as the second planning speed, which helps to minimize the energy consumption while ensuring the power output, realizes the best balance between power and energy consumption, and ensures the vehicle to maintain a stable driving state when climbing a slope, avoiding safety hazards caused by too fast or too slow speed.

[0042] (5) The speed limit value corresponding to the slope can be determined to ensure the vehicle to drive at a safe speed when climbing a slope, and the speed limit value corresponding to the slope information is compared with the first planning speed, and the smaller value is taken as the fourth planning speed, which can further ensure that the vehicle will not exceed the safe range due to too high speed.

[0043] (6) The expected driving time of the target route by the driver and passengers can be considered to ensure that the planned driving speed can meet their travel needs and improve the driving experience.

[0044] (7) The smaller value between the second candidate speed and the speed limit value is determined as the first planning speed, which ensures that the vehicle driving speed does not exceed the safe range allowed by the road, thereby reducing the risk of traffic accidents.

[0045] (8) The planning speed can be adjusted based on weather information to more intelligently plan the driving strategy and ensure the vehicle to drive safely and efficiently under various weather conditions.

[0046] It should be noted that the technical effects brought by any one of the implementation manners of the second aspect to the sixth aspect can be referred to the technical effects brought by the corresponding implementation manners in the first aspect, which will not be repeated here.

[0047] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application, but are not to be construed as setting forth any undue limitations on the application.

[0049] Figure 1 is a structural schematic diagram of a vehicle according to an exemplary embodiment;

[0050] Figure 2 is a flowchart of a vehicle speed adjustment method according to an exemplary embodiment;

[0051] Figure 3 is a schematic diagram of a speed adjustment process according to an exemplary embodiment;

[0052] Figure 4 Fig. 1 is a schematic diagram of a vehicle speed adjustment process for a flat road segment according to an example embodiment;

[0053] Figure 5 Fig. 2 is a schematic diagram of a vehicle speed adjustment process for an uphill road segment according to an example embodiment;

[0054] Figure 6 Fig. 3 is a schematic diagram of a vehicle speed adjustment process for a downhill road segment according to an example embodiment;

[0055] Figure 7 Fig. 4 is a block diagram of a vehicle speed adjustment device according to an example embodiment;

[0056] Figure 8 Fig. 5 is a block diagram of another vehicle speed adjustment device according to an example embodiment;

[0057] Figure 9 Fig. 6 is a block diagram of an electronic device according to an example embodiment. DETAILED DESCRIPTION

[0058] In order to make the ordinary person skilled in the art better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings.

[0059] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0060] First, the related art involved in the present application is explained and described in order to facilitate understanding by those skilled in the art.

[0061] A high-precision map, also known as a three-dimensional high-precision map, is a navigation map with high resolution, high abundance of elements, and absolute and relative accuracies of decimeter level. The high-precision map can not only contain static high-precision road network information such as road edges, road models, lane models, etc., but also contain dynamic change information elements such as intersection traffic light states, road dynamic traffic indicators, road network change conditions, etc.

[0062] Autonomous driving technology refers to the ability of a vehicle to travel without human intervention through the use of artificial intelligence, sensors, and other technologies. Autonomous vehicles rely on artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems to work together to allow a computer to safely operate a motor vehicle without any human initiative.

[0063] An electric drive system efficiency map, also known as an efficiency map, is a tool that describes the performance of an electric motor and drive system at a given torque / speed operating point. The electric drive system efficiency map is a contour plot of the efficiency of the electric motor in the torque-speed plane and is widely used to evaluate the performance of electric motors.

[0064] With the continuous expansion of the electric vehicle market, the automotive industry is gradually moving towards the field of intelligent networking, and autonomous driving technology, as a core element, is becoming increasingly important and has gradually been put into practical application. Among them, energy efficiency, as a key factor directly affecting the endurance mileage and battery life of electric vehicles, in order to improve the battery life and endurance mileage of autonomous electric vehicles, energy efficiency optimization has become an important problem to be solved.

[0065] One related technology proposes to optimize efficiency based on the current request torque of the electric drive system, without considering user usage scenarios and external environments, and to retrieve the optimal efficiency from the efficiency curve based on the existing request torque, but without considering real-time fluctuations in speed in actual usage scenarios, there is a certain lag.

[0066] In another related technology, the efficiency reference domain is confirmed based on the parameters of the electric drive itself, and the control efficiency of the electric drive system is optimized in combination with the driver's demand, but the external environment is not considered.

[0067] However, the method in the related art is difficult to efficiently optimize energy efficiency.

[0068] To solve the problem of difficulty in efficiently optimizing energy efficiency in the related art, the present application provides a vehicle speed adjustment method, which can obtain road condition information of each sub-section in a plurality of sub-sections of a target route and performance parameters of a vehicle, and for each sub-section, adjust a first planning speed of the vehicle according to the road condition information of the sub-section and the performance parameters of the vehicle to obtain a second planning speed corresponding to the sub-section, and further control the vehicle to travel on the target route according to the second planning speed corresponding to each of the plurality of sub-sections, so as to determine the lowest energy consumption speed of the vehicle when traveling on the sub-section through the road condition information of the sub-section and the performance parameters of the vehicle. Therefore, the present application can efficiently optimize energy efficiency.

[0069] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application.

[0070] The vehicle speed adjustment method provided by the embodiments of the present application can be applied to a vehicle. The vehicle can also be referred to as a vehicle, a mobile carrier, an electric vehicle (EV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell vehicle (FCV), an autonomous vehicle, an intelligent and connected vehicle (ICV), a driverless vehicle, etc.

[0071] In the embodiments of the present application, the vehicle can be a sedan, a sport utility vehicle (SUV), a truck, an electric vehicle, a motorcycle, a tricycle, a special vehicle (such as an ambulance, a fire truck, a police car, etc.), a driverless taxi, an intelligent and connected bus, an autonomous logistics vehicle, an electric truck, etc. In addition, the method is also applicable to various special vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, port vehicles, etc. The present application does not make specific limitations in this regard.

[0072] For example, as shown in FIG. 1, Figure 1 Figure 1 FIG. 1 is a structural schematic diagram of a vehicle 100 according to an exemplary embodiment.

[0073] In a possible implementation manner, the vehicle 100 can include a vehicle speed adjustment system 101. The vehicle speed adjustment system 101 can include a vehicle speed adjustment device 1011 and a data acquisition device 1012.

[0074] Optionally, Figure 1 A communication connection can be established between the vehicle speed adjustment device 1011 and the data acquisition device 1012 in the vehicle 100.

[0075] In actual application, the vehicle speed adjustment device 1011 can be in communication connection with one or more data acquisition devices 1012.

[0076] For ease of understanding, the present application takes the communication connection between one vehicle speed adjustment device 1011 and one data acquisition device 1012 as an example for description.​

[0077] Optional, Figure 1 The vehicle speed adjustment device 1011 and the data acquisition device 1012 can be functional modules integrated into the same device, or they can be independently set up. This application does not impose any restrictions on this.

[0078] It is easy to understand that when the speed adjustment device 1011 and the data acquisition device 1012 are functional modules integrated within the same device, the communication method between the speed adjustment device 1011 and the data acquisition device 1012 is the same as the communication method between modules within the device. In this case, the communication process between the two is the same as the communication process when the speed adjustment device 1011 and the data acquisition device 1012 are set up independently.

[0079] For ease of understanding, this application mainly uses the example of the vehicle speed adjustment device 1011 and the data acquisition device 1012 being set up independently of each other.

[0080] Figure 1 The data acquisition device 1012 can acquire the road condition information and vehicle performance parameters of each of the multiple sub-segments of the target route, and send the road condition information and vehicle performance parameters of each of the multiple sub-segments of the target route to the speed adjustment device 1011. The speed adjustment device 1011 can adjust the first planned speed of the vehicle for each sub-segment according to the road condition information and vehicle performance parameters of the sub-segment to obtain the second planned speed corresponding to the sub-segment, so as to further control the vehicle to travel on the target route according to the second planned speed corresponding to each of the multiple sub-segments.

[0081] Optionally, Figure 1 The vehicle speed adjustment device 1011 can be a terminal, a server, or other types of electronic equipment. Figure 1 The diagram shown is merely an example of the device configuration of the speed adjustment device 1011 and does not constitute a limitation thereof.

[0082] When the vehicle speed adjustment device 1011 is a terminal, the terminal can be a device providing voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device built into the vehicle 100 that exchanges voice and / or data with the radio access network, such as a mobile phone, tablet, laptop, netbook, or personal digital assistant (PDA). This application does not impose any limitations on this.

[0083] When the speed adjustment device 1011 is a server, the server can be a single server or a server cluster consisting of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. This application does not impose any limitations in this regard.

[0084] It should be noted that the structure illustrated in the embodiments of this application does not constitute a limitation on vehicle 100. It may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0085] For ease of understanding, the speed adjustment method provided in this application will be described in detail below with reference to the accompanying drawings.

[0086] like Figure 2 As shown, Figure 2 This is a flowchart illustrating a vehicle speed adjustment method according to an exemplary embodiment, the vehicle speed adjustment method including the following steps: S201-S203.

[0087] S201. Obtain road condition information and vehicle performance parameters for each of the multiple sub-segments of the target route.

[0088] In one possible implementation, the speed adjustment device can receive the user's input of the destination location and expected arrival time. The speed adjustment device can then determine the target route based on the destination location and expected travel time.

[0089] For example, the speed adjustment device can receive a destination location and expected arrival time input by the user. Based on a high-precision map, the speed adjustment device can output at least one driving route that matches the destination location and expected travel time. The user can select a target route from the at least one driving route. Alternatively, the speed adjustment device can determine a target driving route from the at least one driving route.

[0090] In a possible implementation, the vehicle speed adjustment apparatus can divide the target route section into a plurality of sub-route sections based on the road condition information of the target route section in the high-precision map, and determine the road condition information of each of the plurality of sub-route sections and the performance parameter of the vehicle in different sub-route sections.

[0091] For example, the vehicle speed adjustment apparatus can determine a route section with a slope greater than 5 degrees as an uphill route section, a route section with a slope less than -5 degrees as a downhill route section, and a route section with a slope greater than -5 degrees and less than 5 degrees as a flat route section.

[0092] In a possible implementation, the performance parameter of the vehicle includes but is not limited to the tire grip of the vehicle, the driving smoothness, the tire pressure of the vehicle, the speed control accuracy, and the efficiency map table of the electric drive system. The road condition information includes but is not limited to the slope information and the friction coefficient.

[0093] S202, for each sub-route section, adjusting the first planning speed of the vehicle according to the road condition information of the sub-route section and the performance parameter of the vehicle to obtain a second planning speed corresponding to the sub-route section.

[0094] The first planning speed is determined according to the speed limit value of the sub-route section and the expected driving time of the driver and passenger of the vehicle.

[0095] In a possible implementation, the vehicle speed adjustment apparatus can obtain the expected driving time of the target route section by the driver and passenger of the vehicle, the speed limit value of each of the plurality of sub-route sections of the target route section, and the length of the target route section. The vehicle speed adjustment apparatus can determine, for each sub-route section, the first planning speed corresponding to the sub-route section based on the expected driving time of the target route section by the driver and passenger of the vehicle, the length of the target route section, and the speed limit value and the length of the sub-route section.

[0096] Specifically, the vehicle speed adjustment apparatus can determine the expected driving time of the target route section based on the expected driving time of the target route section, the length of the sub-route section, and the length of the target route section. The vehicle speed adjustment apparatus can determine the second candidate speed based on the expected driving time of the target route section by the driver and passenger of the vehicle and the length of the sub-route section. The vehicle speed adjustment apparatus can determine the first planning speed as the smaller one of the second candidate speed and the speed limit value of the sub-route section.

[0097] For example, the vehicle speed adjustment apparatus can determine the expected driving time T of the target route section, the length d i, the length D of the target route, calculate the expected driving time ti = T * di / D for each sub-route i, and the second candidate vehicle speed Vmin1, Vmin2, …, Vmini, …. The vehicle speed adjusting device can compare the second candidate speed Vmin i with the speed limit value Vlimin i of the sub-route. i with the speed limit value Vlimin i of the sub-route. i determined as the first planning speed, that is, Min(Vmin i , Vlimin ).

[0098] In one possible implementation, the vehicle speed adjusting device can obtain weather information corresponding to the sub-route. The vehicle speed adjusting device can adjust the first planning speed based on the weather information of the sub-route.

[0099] For example, the vehicle speed adjusting device can determine the first safety factor k according to the vehicle wiper gear. When the wiper is off, k is 1. The value of k gradually decreases according to the gear, that is, the higher the wiper gear, the lower the first safety factor. The vehicle speed adjusting device can determine the second safety factor p according to the vehicle automatic headlight gear. When the automatic headlight is off, p is 1. The value of p gradually decreases according to the gear, that is, the higher the automatic headlight gear, the lower the second safety factor. The vehicle speed adjusting device can adjust the first planning speed based on the first safety factor k and the second safety factor p. The adjusted first planning speed satisfies the following first formula:

[0100] V1 = k * p * Min(Vlimit, Vmini) first formula

[0101] Wherein, V1 can be used to represent the adjusted first planning speed. k can be used to represent the first safety factor. p can be used to represent the second safety factor. Min(Vlimit, Vmini) can be used to represent the first planning speed.

[0102] In one possible implementation, the vehicle speed adjusting device can determine the slope information of the sub-route according to the road condition information of the sub-route. The vehicle speed adjusting device can adjust the first planning speed according to the speed adjustment strategy corresponding to the slope of the sub-route to obtain the second planning speed.

[0103] Specifically, in the case that the sub-road section is a downhill road section or a flat road section, the vehicle speed adjusting device can adjust the first planning speed in a preset speed interval according to a preset speed step to obtain a plurality of candidate speeds. The vehicle speed adjusting device can take the first candidate speed with the minimum energy consumption in the plurality of first candidate speeds as the second planning speed. The preset speed interval is determined according to the first planning speed, the road condition information of the sub-road section, the performance parameters of the vehicle, and the tire pressure of the vehicle. The energy consumption is determined according to the length of the sub-road section, the second planning speed, the electric drive speed and the torque corresponding to the second planning speed, and a preset parameter.

[0104] For example, in the case that the sub-road section is a flat road section, the vehicle speed adjusting device can convert the first planning speed V1 into an electric drive speed n1, and adjust the first planning speed V1 in a preset speed interval n1±λn d according to a preset speed step x to obtain a plurality of first candidate speeds V i corresponding to a plurality of speeds, and the torque T i corresponding to the first candidate speed V i . The vehicle speed adjusting device can determine the motor efficiency corresponding to the first candidate speed V i from the electric drive system efficiency map table, that is, the preset parameter. Thus, the vehicle speed adjusting device can determine the energy consumption corresponding to the second candidate speed, and the energy consumption corresponding to the second candidate speed satisfies the following second formula:

[0105] ∫((d i / V i )*(n i *T i / 9550 / η i ))dt second formula

[0106] Wherein, d i may be used to represent the length of the sub-road section. V i may be used to represent the first candidate speed. n i may be used to represent the electric drive speed corresponding to the first candidate speed. T i may be used to represent the torque corresponding to the first candidate speed. η i may be used to represent the motor efficiency corresponding to the first candidate speed V i , and 9550 / η i may be used to represent the preset parameter.

[0107] Optionally, n d of the flat road section can be set according to actual needs. For example, n d may be determined according to the friction coefficient of the sub-road section, the first candidate speed, the tire grip of the vehicle, and the driving smoothness. The present application does not make specific limitation on this.

[0108] Optionally, the λ can be set according to actual needs. For example, the λ can be automatically adjusted according to the tire pressure of the vehicle, the λ can be 1 under the standard tire pressure, the λ can be greater than 1 when the λ is lower than the standard tire pressure, and the λ can be less than 1 when the λ is higher than the standard tire pressure.

[0109] Optionally, the preset speed step x can be set according to actual needs. For example, the x can be determined according to the speed control accuracy, the electric drive system efficiency map table measurement point speed interval.

[0110] Exemplarily, in the case of the sub-section being a downhill section, the vehicle speed adjusting device can convert the first planning speed V1 into an electric drive speed n1, and adjust the first planning speed V1 in a preset speed interval n1+λn d by a preset speed step x to obtain a plurality of first candidate speeds V i corresponding to a plurality of speeds, and a plurality of torques T i corresponding to the V i . The vehicle speed adjusting device can determine the motor efficiency corresponding to the first candidate speed V i from the electric drive system efficiency map table, that is, a preset parameter. Thus, the vehicle speed adjusting device can determine the energy consumption corresponding to the second candidate speed according to the second formula.

[0111] Optionally, the n d of the downhill section can be set according to actual needs. For example, the n d of the downhill section can be related to the friction coefficient of the sub-section, the slope information of the sub-section, the first candidate speed, the tire grip of the vehicle, and the driving smoothness. The present application does not make specific limitations thereto.

[0112] In one possible implementation, in the case of the sub-section being an uphill section, the vehicle speed adjusting device can determine a fourth planning speed based on the slope information of the sub-section and the first planning speed. The vehicle speed adjusting device can adjust the fourth planning speed in a preset speed interval by a preset speed step to obtain a plurality of first candidate speeds. The vehicle speed adjusting device can take the first candidate speed with the minimum energy consumption among the plurality of first candidate speeds as the second planning speed. The preset speed interval is determined according to the fourth planning speed, the road condition information of the sub-section, the performance parameters of the vehicle, and the tire pressure of the vehicle, and the energy consumption is determined according to the length of the sub-section, the first candidate speed, the electric drive speed and the torque corresponding to the first candidate speed, and the preset parameter.

[0113] Exemplarily, in the case of the sub-section being an uphill section, the vehicle speed adjusting device can determine a speed limit value V max corresponding to the slope information, and the vehicle speed adjusting device can take the speed limit value V maxThe smaller value between the first planned speed and the second planned speed is determined as the fourth planned speed V2. The vehicle speed adjustment device can convert the fourth planned speed V2 into an electric drive speed n2, and maintain it within a preset speed range n2-λn. d Within the range, the fourth planned speed V2 is adjusted sequentially according to the preset speed step size x to obtain multiple first candidate speeds V corresponding to multiple speeds. i , and V i The corresponding torque T i The vehicle speed adjustment device can determine the first candidate speed V from the electric drive system efficiency map. i The corresponding motor efficiency, i.e., the preset parameter. Therefore, the vehicle speed adjustment device can determine the energy consumption corresponding to the second candidate speed according to the second formula.

[0114] Optionally, n of the uphill section d It can be set according to actual needs. For example, n for uphill sections. d This can be related to the friction coefficient of the sub-segment, the gradient information of the sub-segment, the first candidate speed, the vehicle's tire grip, and driving smoothness. This application does not impose specific limitations in this regard.

[0115] S203. Control the vehicle to travel on the target route according to the second planned speed corresponding to each of the multiple sub-road segments.

[0116] In one possible implementation, after completing route planning and speed planning for each sub-segment, the vehicle speed adjustment device can control the vehicle to travel on the target route to reach the destination based on the second planned speed corresponding to each of the multiple sub-segments.

[0117] based on Figure 2 According to the technical solution in this application, the driving mode that meets user needs and has the lowest energy consumption can be determined based on the speed limit of each sub-road segment and the expected travel time of drivers and passengers, combined with real-time road conditions and vehicle performance. This reduces energy loss caused by frequent gear changes and improves the battery life and driving range of autonomous electric vehicles.

[0118] In some embodiments, such as Figure 3 As shown, Figure 3 This is a schematic diagram illustrating a speed adjustment process according to an exemplary embodiment.

[0119] The vehicle speed adjustment device can determine a target route and speed limit values of a plurality of sub-sections based on a high-precision map, a destination and an expected travel time input by a user. The vehicle speed adjustment device can determine a sub-section corresponding expected travel time and an initial travel speed corresponding to the sub-section. The vehicle speed adjustment device can determine a safety factor, i.e., a first safety factor and a second safety factor, based on weather conditions. The vehicle speed adjustment device can determine slope information of the sub-section based on the high-precision map. The vehicle speed adjustment device can determine a first planning speed based on the slope information of the sub-section, the safety factor, the speed limit value, etc., and adjust the first planning speed to obtain a second planning speed to reduce energy consumption.

[0120] In some embodiments, as shown in FIG. 1, Figure 4 Figure 4 is a vehicle speed adjustment flowchart of a flat section according to an exemplary embodiment.

[0121] The vehicle speed adjustment device can determine a sub-section corresponding expected travel time, a sub-section length and a speed limit value of the sub-section based on an expected travel time, a target route and speed limit values sent by an on-board navigation system. The vehicle speed adjustment device can determine an initial travel speed based on the sub-section corresponding expected travel time, the sub-section length and the speed limit value of the sub-section. The vehicle speed adjustment device can determine a first safety factor based on a wiper gear sent by a body controller and a second safety factor based on an automatic headlight gear. The vehicle speed adjustment device can determine a first planning speed based on the initial travel speed, the first safety factor and the second safety factor. The vehicle speed adjustment device can determine a rotation speed corresponding to the first planning speed. The vehicle speed adjustment device can determine a preset rotation speed interval, a plurality of first candidate speeds and torques in the preset rotation speed interval based on information such as a tire pressure sensor and IPU efficiency identification. The vehicle speed adjustment device can determine energy consumption corresponding to the first candidate speeds and determine a first candidate speed with the lowest energy consumption as a second planning speed.

[0122] In some embodiments, as shown in FIG. 1, Figure 5 Figure 5 is a vehicle speed adjustment flowchart of an uphill section according to an exemplary embodiment.

[0123] ​​The vehicle speed adjustment device can determine the sub-section corresponding expected driving time, the sub-section length and the sub-section speed limit value based on the expected driving time, the target route and the speed limit value sent by the vehicle navigation system. The vehicle speed adjustment device can determine the initial driving speed according to the sub-section corresponding expected driving time, the sub-section length and the sub-section speed limit value. The vehicle speed adjustment device can determine the first safety factor through the wiper gear sent by the vehicle body controller, and determine the second safety factor based on the automatic headlight gear. The vehicle speed adjustment device can determine the first planning speed based on the initial driving speed, the first safety factor and the second safety factor. The vehicle speed adjustment device can determine the fourth planning speed based on the speed limit value corresponding to the slope information and the first planning speed. The vehicle speed adjustment device can determine the speed corresponding to the fourth planning speed. The vehicle speed adjustment device can determine the preset speed interval based on the tire pressure sensor, the IPU efficiency identification, the slope and other information, and determine a plurality of first candidate speeds and torques in the preset speed interval. The vehicle speed adjustment device can determine the energy consumption corresponding to the first candidate speed, and determine the first candidate speed with the lowest energy consumption as the second planning speed.

[0124] In some embodiments, as shown in Figure 6 , Figure 6 is a vehicle speed adjustment flowchart of a downhill section according to an exemplary embodiment.

[0125] The vehicle speed adjustment device can determine the sub-section corresponding expected driving time, the sub-section length and the sub-section speed limit value based on the expected driving time, the target route and the speed limit value sent by the vehicle navigation system. The vehicle speed adjustment device can determine the initial driving speed according to the sub-section corresponding expected driving time, the sub-section length and the sub-section speed limit value. The vehicle speed adjustment device can determine the first safety factor through the wiper gear sent by the vehicle body controller, and determine the second safety factor based on the automatic headlight gear. The vehicle speed adjustment device can determine the first planning speed based on the initial driving speed, the first safety factor and the second safety factor. The vehicle speed adjustment device can determine the speed corresponding to the first planning speed. The vehicle speed adjustment device can determine the preset speed interval based on the tire pressure sensor, the IPU efficiency identification, the slope and other information, and determine a plurality of first candidate speeds and torques in the preset speed interval. The vehicle speed adjustment device can determine the energy consumption corresponding to the first candidate speed, and determine the first candidate speed with the lowest energy consumption as the second planning speed.

[0126] In some embodiments, as shown in Figure 7 , Figure 7 is a block diagram of a vehicle speed adjustment device according to an exemplary embodiment.

[0127] In a possible implementation manner, the vehicle speed adjustment device comprises a navigation module 301, a monitoring module 302, a calculation module 303, an efficiency identification module 304, a vehicle speed determination module 305, and a torque execution module 306.

[0128] The navigation module 301 can receive a destination and a desired driving time input by a user, and determine a target route based on the destination and the desired driving time.

[0129] The monitoring module 302 can be configured to monitor an external weather condition, i.e., to determine a wiper gear and an automatic headlight gear.

[0130] The calculation module 303 can determine a sub-route corresponding desired driving time and a sub-route length based on the desired driving time and the target route sent by the vehicle-mounted navigation system.

[0131] The efficiency identification module 304 can determine an efficiency corresponding to different vehicle speeds.

[0132] The vehicle speed determination module 305 can be configured to determine vehicle speed information of each sub-route.

[0133] The torque execution module 306 can determine torque information corresponding to different vehicle speeds based on the determination.

[0134] Figure 8 is a block diagram of still another vehicle speed adjustment device according to an example embodiment. Referring to Figure 8 , the vehicle speed adjustment device includes an acquisition unit 401, an adjustment unit 402, a control unit 403, and a determination unit 404.

[0135] In a possible implementation, the acquisition unit 401 is configured to acquire road condition information of each sub-route in a plurality of sub-routes of a target route and a performance parameter of a vehicle.

[0136] In a possible implementation, the adjustment unit 402 is configured to, for each sub-route, adjust a first planned speed of the vehicle according to the road condition information of the sub-route and the performance parameter of the vehicle to obtain a second planned speed corresponding to the sub-route.

[0137] In a possible implementation, the control unit 403 is configured to control the vehicle to travel on the target route according to the second planned speed corresponding to each of the plurality of sub-routes.

[0138] In a possible implementation, the adjustment unit 402 is specifically configured to: determine slope information of the sub-route according to the road condition information of the sub-route; and adjust the first planned speed according to a speed adjustment strategy corresponding to the slope of the sub-route to obtain the second planned speed.

[0139] In a possible implementation, the adjustment unit 402 is specifically configured to: adjust the first planned speed according to a preset rotation speed step in a preset rotation speed interval to obtain a plurality of candidate speeds. A first candidate speed with minimum energy consumption in the plurality of first candidate speeds is taken as the second planned speed.

[0140] In a possible implementation, the adjusting unit 402 is specifically configured to: determine the fourth planning speed based on the slope information of the sub-section and the first planning speed. In the preset rotation speed interval, the fourth planning speed is adjusted in sequence according to the preset rotation speed step, to obtain a plurality of first candidate speeds. The first candidate speed with the minimum energy consumption in the plurality of first candidate speeds is taken as the second planning speed.

[0141] In a possible implementation, the adjusting unit 402 is further configured to: determine a speed limit value corresponding to the slope information; and determine, as the fourth planning speed, the smaller one of the speed limit value corresponding to the slope information and the first planning speed.

[0142] In a possible implementation, the obtaining unit 401 is further configured to obtain an expected driving time of the target route by a driver or passenger of the vehicle, a speed limit value of each sub-section in the plurality of sub-sections of the target route, and a length of the target route.

[0143] In a possible implementation, the determining unit 404 is configured to: for each sub-section, determine the first planning speed corresponding to the sub-section based on the expected driving time of the target route by the driver or passenger of the vehicle, the length of the target route, and the speed limit value and the length of the sub-section.

[0144] In a possible implementation, the determining unit 404 is specifically configured to: determine the expected driving time of the sub-route based on the expected driving time of the target route, the length of the sub-section, and the length of the target route; determine the second candidate speed based on the expected driving time of the target route by the driver or passenger of the vehicle and the length of the sub-section; and determine, as the first planning speed, the smaller one of the second candidate speed and the speed limit value of the sub-section.

[0145] In a possible implementation, the obtaining unit 401 is further configured to obtain weather information corresponding to the sub-section.

[0146] In a possible implementation, the adjusting unit 402 is further configured to adjust the first planning speed based on the weather information of the sub-section.

[0147] As to the apparatus in the above-described embodiments, specific manners in which various modules perform operations have been described in details in the embodiments of the method, and will not be described in details here.

[0148] Figure 9 is a block diagram of an electronic device according to an example embodiment. As shown in Figure 9 The electronic device includes, but is not limited to, a processor 501 and a memory 502.

[0149] The aforementioned memory 502 is used to store the executable instructions of the aforementioned processor 501. It is understood that the aforementioned processor 501 is configured to execute instructions to implement the vehicle speed adjustment method in the above embodiments.

[0150] It should be noted that those skilled in the art will understand that Figure 9 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 9 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0151] Processor 501 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 502, and by calling data stored in memory 502, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 501 may include one or more processing units. Optionally, processor 501 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 501.

[0152] The memory 502 can be used to store software programs and various data. The memory 502 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0153] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 502 including instructions, which can be executed by a processor 501 of an electronic device to implement the methods in the above embodiments.

[0154] In actual implementation, Figure 8 The functions of the acquisition unit 401, adjustment unit 402, control unit 403, and determination unit 404 can all be provided by... Figure 9 The processor 501 calls the computer program stored in the memory 502 to implement the process. The specific execution process can be found in the description of the method section in the previous embodiment, and will not be repeated here.

[0155] Optionally, the computer readable storage medium can be a non-transitory computer readable storage medium, for example, the non-transitory computer readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk and an optical data storage device, etc.

[0156] In the example embodiments, the embodiments of the present application also provide a computer program product comprising one or more instructions executable by the processor 501 of the electronic device to complete the method in the above embodiments.

[0157] It should be noted that the instructions in the above computer readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device to realize the various processes of the above method embodiments, and can achieve the same technical effects as the above method. To avoid repetition, it will not be repeated here.

[0158] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete the above described full classification or part of the function.

[0159] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the above described device embodiments are only schematic, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed each other can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0160] The units described as separate components can or can not be physically separate, and the components shown as units can be one physical unit or multiple physical units, that is, can be located in one place, or can be distributed to multiple different places. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment.

[0161] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0162] When the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application are essentially or say the part that contributes to the prior art or the whole classification or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing an apparatus (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute the whole classification or part of the steps of the method of each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various media that can store program codes.

[0163] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for adjusting vehicle speed, characterized in that, Applied to vehicles, including: Obtain road condition information for each sub-segment of the target route and the performance parameters of the vehicle; For each sub-segment, the slope information of the sub-segment is determined based on the road condition information of the sub-segment; The first planned speed is adjusted according to the speed adjustment strategy corresponding to the slope of the sub-road segment to obtain the second planned speed; the first planned speed is determined based on the speed limit value of the sub-road segment and the expected travel time of the vehicle's occupants. Based on the second planned speed corresponding to each of the multiple sub-road segments, the vehicle is controlled to travel on the target route; Wherein, when the sub-segment is a downhill or level slope, adjusting the first planned speed according to a speed adjustment strategy corresponding to the slope of the sub-segment to obtain the second planned speed includes: Within a preset speed range, the first planned speed is adjusted sequentially according to a preset speed step size to obtain multiple first candidate speeds; the preset speed range is determined based on the first planned speed, the road condition information of the sub-road segment, the performance parameters of the vehicle, and the tire pressure of the vehicle. The first candidate speed with the lowest energy consumption among multiple first candidate speeds is selected as the second planned speed; the energy consumption is determined based on the length of the sub-segment, the first candidate speed, the electric drive speed and torque corresponding to the first candidate speed, and the motor efficiency.

2. The method according to claim 1, characterized in that, When the sub-segment is an uphill section, adjusting the first planned speed according to a speed adjustment strategy corresponding to the slope of the sub-segment to obtain the second planned speed includes: Based on the slope information of the sub-segment and the first planned speed, a fourth planned speed is determined; Within a preset speed range, the fourth planned speed is adjusted sequentially according to a preset speed step size to obtain multiple first candidate speeds; the preset speed range is determined based on the fourth planned speed, the road condition information of the sub-road segment, the performance parameters of the vehicle, and the tire pressure of the vehicle. The first candidate speed with the lowest energy consumption among the plurality of first candidate speeds is selected as the second planned speed; the energy consumption is determined based on the length of the sub-segment, the first candidate speed, the electric drive speed and torque corresponding to the first candidate speed, and the motor efficiency.

3. The method according to claim 2, characterized in that, The determination of the fourth planned speed based on the slope information of the sub-road segment and the first planned speed includes: Determine the speed limit value corresponding to the slope information; The smaller value between the speed limit value corresponding to the slope information and the first planned speed is determined as the fourth planned speed.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: The system obtains the expected travel time of the vehicle's occupants for the target route, the speed limit of each sub-segment of the target route, and the length of the target route. For each sub-segment, a first planned speed is determined based on the expected travel time of the vehicle's occupants for the target route, the length of the target route, and the speed limit and length of the sub-segment.

5. The method according to claim 4, characterized in that, The step of determining the first planned speed corresponding to the sub-segment based on the expected travel time of the vehicle's occupants for the target route, the length of the target route, and the speed limit and length of the sub-segment includes: Based on the expected travel time of the target route, the length of the sub-segment, and the length of the target route, determine the expected travel time corresponding to the sub-segment; A second candidate speed is determined based on the expected travel time of the vehicle's occupants for the target route and the length of the sub-segment; The smaller value between the second candidate speed and the speed limit value of the sub-road segment is determined as the first planned speed.

6. The method according to any one of claims 1-3, characterized in that, Before adjusting the first planned speed of the vehicle based on the road condition information of the sub-road segment to obtain the second planned speed corresponding to the sub-road segment, the method further includes: Obtain the weather information corresponding to the sub-road segment; The first planned speed is adjusted based on the weather information of the sub-road segment.

7. A vehicle speed adjustment device, characterized in that, The device includes: an acquisition unit, an adjustment unit, and a control unit; The acquisition unit is used to acquire road condition information and vehicle performance parameters for each of the multiple sub-segments of the target route. The adjustment unit is used to determine the slope information of each sub-segment based on the road condition information of the sub-segment. The adjustment unit is further configured to adjust the first planned speed according to a speed adjustment strategy corresponding to the slope of the sub-road segment to obtain a second planned speed; the first planned speed is determined based on the speed limit value of the sub-road segment and the expected travel time of the vehicle's occupants. The control unit is used to control the vehicle to travel on the target route according to the second planned speed corresponding to each of the plurality of sub-road segments; Wherein, when the sub-segment is a downhill or level slope, adjusting the first planned speed according to a speed adjustment strategy corresponding to the slope of the sub-segment to obtain the second planned speed includes: Within a preset speed range, the first planned speed is adjusted sequentially according to a preset speed step size to obtain multiple first candidate speeds; the preset speed range is determined based on the first planned speed, the road condition information of the sub-road segment, the performance parameters of the vehicle, and the tire pressure of the vehicle. The first candidate speed with the lowest energy consumption among multiple first candidate speeds is selected as the second planned speed; the energy consumption is determined based on the length of the sub-segment, the first candidate speed, the electric drive speed and torque corresponding to the first candidate speed, and the motor efficiency.

8. A vehicle speed adjustment system, characterized in that, The vehicle speed adjustment system includes: a data acquisition device and a vehicle speed adjustment device; The data acquisition device is used to acquire road condition information and vehicle performance parameters for each of the multiple sub-segments of the target route. The speed adjustment device is used to determine the slope information of each sub-road segment based on the road condition information of the sub-road segment. The vehicle speed adjustment device is further configured to adjust the first planned speed according to a speed adjustment strategy corresponding to the slope of the sub-road segment to obtain a second planned speed; the first planned speed is determined based on the speed limit value of the sub-road segment and the expected travel time of the vehicle's occupants. The vehicle speed adjustment device is also used to control the vehicle to travel on the target route according to the second planned speed corresponding to each of the plurality of sub-road segments; Wherein, when the sub-segment is a downhill or level slope, adjusting the first planned speed according to a speed adjustment strategy corresponding to the slope of the sub-segment to obtain the second planned speed includes: Within a preset speed range, the first planned speed is adjusted sequentially according to a preset speed step size to obtain multiple first candidate speeds; the preset speed range is determined based on the first planned speed, the road condition information of the sub-road segment, the performance parameters of the vehicle, and the tire pressure of the vehicle. The first candidate speed with the lowest energy consumption among multiple first candidate speeds is selected as the second planned speed; the energy consumption is determined based on the length of the sub-segment, the first candidate speed, the electric drive speed and torque corresponding to the first candidate speed, and the motor efficiency.

9. A vehicle, characterized in that, The vehicle includes the speed adjustment system as described in claim 8.

10. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1-6.

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