Method and device for controlling vehicle driving, vehicle and storage medium

Abstract

The invention discloses a method and device for controlling vehicle driving, a vehicle and a storage medium. The method comprises the steps of obtaining the speed of a vehicle; gradient information is obtained, wherein the gradient information represents the inclination degree of the ground where the vehicle runs currently; based on the speed and gradient information of the vehicle, a control result is determined, the control result indicates whether an integral term in a specified calculation formula is cleared or not, the specified calculation formula is a calculation formula adopted when the PID control algorithm is adopted for carrying out driving control on the vehicle, and the integral term represents an accumulative error generated when the PID control algorithm is adopted for carrying out driving control on the vehicle; and controlling vehicle driving based on the control result. According to the technical scheme provided by the embodiment of the invention, when the gradient information of the current driving ground of the vehicle changes and the acceleration process needs to be ended, the accumulated error can be eliminated, the situation that the acceleration process of the vehicle cannot be ended in time is avoided, excessive overshoot of the vehicle speed is avoided, and thus the riding experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, vehicle and storage medium for controlling vehicle driving. Background Art

[0002] The automatic parking system mainly utilizes the vehicle's own and surrounding sensors (cameras, ultrasonic waves, lidar, etc.) to plan a suitable parking route and control the vehicle's steering and acceleration and deceleration, thereby realizing automatic parking in and out and other driving functions.

[0003] In the related art, when a vehicle is parked using a proportional-integral-derivative control (PID) algorithm, if the vehicle passes over a speed bump, the vehicle is controlled to increase torque in order to go over the speed bump. However, after the vehicle passes over the speed bump, the vehicle's torque does not decrease, that is, the vehicle is still accelerating, causing excessive speed overshoot, affecting the user's riding experience. Summary of the invention

[0004] The present application proposes a method, device, vehicle and storage medium for controlling vehicle driving.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling vehicle driving, the method comprising: obtaining the speed of the vehicle; obtaining slope information, the slope information representing the inclination of the ground on which the vehicle is currently driving; determining a control result based on the speed and slope information of the vehicle, the control result indicating whether to clear an integral term in a specified calculation formula, the specified calculation formula being a calculation formula used when a PID control algorithm is used to control the vehicle driving, the integral term representing the cumulative error of the PID control algorithm used to control the vehicle driving; and controlling the vehicle driving based on the control result.

[0006] In a second aspect, an embodiment of the present application provides a device for controlling vehicle driving, the device comprising: a speed acquisition module for acquiring the speed of the vehicle; a slope acquisition module for acquiring slope information, the slope information representing the degree of inclination of the ground on which the vehicle is currently driving; a control result determination module for determining a control result based on the speed and slope information of the vehicle, the control result indicating whether to clear an integral term in a specified calculation formula, the specified calculation formula being a calculation formula used when a PID control algorithm is used to control the driving of the vehicle, the integral term representing the cumulative error of the PID control algorithm used to control the driving of the vehicle; and a driving control module for controlling the driving of the vehicle based on the control result.

[0007] In a third aspect, an embodiment of the present application provides a vehicle, comprising: a memory; one or more processors coupled to the memory; one or more programs, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured for the method described in the first aspect.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the method of the first aspect.

[0009] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when instructions in the computer program product are executed, is used to implement the method of the first aspect.

[0010] Compared with the prior art, the technical solution provided by the embodiment of the present application obtains the speed of the vehicle and the slope information of the ground on which the vehicle is currently traveling, and determines whether to clear the integral term in the specified calculation formula according to the speed and slope information of the vehicle, that is, the accumulated error when the vehicle is controlled by the PID control algorithm. In this way, when the slope information of the ground on which the vehicle is currently traveling changes and the acceleration process needs to be ended, the above-mentioned accumulated error can be cleared to avoid the situation where the vehicle cannot end the acceleration process in time and the vehicle speed overshoots too much, thereby improving the user's riding experience. For example, when a vehicle is traveling over a speed bump, when it just passes the speed bump, it is necessary to increase the torque to increase the acceleration of the vehicle so that the vehicle can smoothly cross the speed bump. When it travels to the highest point of the speed bump, due to the decrease in the slope information, the vehicle will clear the integral term when controlling the vehicle through the PID control algorithm to eliminate the accumulated error. At this time, the determined acceleration is significantly reduced. At this time, the torque of the vehicle needs to be reduced to avoid excessive speed overshoot and improve the user's riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 It is a schematic diagram of the implementation environment provided by the embodiment of the present application.

[0013] Figure 2 This is a flow chart of a method for controlling vehicle driving provided by an embodiment of the present application.

[0014] Figure 3This is a flowchart of a method for controlling vehicle driving provided by another embodiment of the present application.

[0015] Figure 4 This is a flowchart of a method for controlling vehicle driving provided by another embodiment of the present application.

[0016] Figure 5 This is a block diagram of a device for controlling vehicle travel provided by an embodiment of the present application.

[0017] Figure 6 It is a structural block diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0019] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0020] Please refer to Figure 1 , which shows a schematic diagram of an implementation environment provided by an embodiment of the present application. The implementation environment includes a vehicle 100.

[0021] The vehicle 100 includes a control module. In an embodiment of the present application, the control module uses a preset control algorithm to control the vehicle. The preset control algorithm includes a PID control algorithm, a model predictive control (MPC) control algorithm, etc. In some embodiments, the control module uses a PID control algorithm to control the vehicle 100 in a parking scenario, and uses an MPC control algorithm to control the vehicle 100 in a driving scenario.

[0022] In the related art, if the vehicle 100 needs to pass through a speed bump in a parking scenario, it is necessary to increase the torque first to cross the speed bump. When the vehicle leaves the speed bump, due to the existence of cumulative errors, the acceleration determined by the control module is still large, and the increased torque cannot be withdrawn in time, resulting in overshoot of the vehicle speed, affecting the user's riding experience.

[0023] In the embodiment of the present application, the control module obtains the speed of the vehicle 100 and the slope information of the ground on which the vehicle 100 is currently traveling, and determines whether to clear the integral term in the specified calculation formula according to the speed of the vehicle 100 and the above-mentioned slope information, that is, the cumulative error when the vehicle is controlled by the PID control algorithm. In this way, when the slope information of the ground on which the vehicle 100 is currently traveling changes and the acceleration process needs to be ended, the above-mentioned cumulative error can be cleared to avoid the situation that the vehicle 100 cannot end the acceleration process in time, and avoid excessive overshoot of the vehicle speed, thereby improving the user's riding experience. For example, when the vehicle 100 is traveling over a speed bump, when it just passes the speed bump, it is necessary to increase the torque to increase the acceleration of the vehicle 100 so that the vehicle 100 can smoothly cross the speed bump. When it travels to the highest point of the speed bump, due to the decrease in the slope information, the vehicle 100 will clear the integral term when controlling the vehicle through the PID control algorithm to eliminate the cumulative error. At this time, the determined acceleration is significantly reduced, and at this time, the torque of the vehicle 100 will also be reduced to avoid excessive overshoot of the vehicle speed, thereby improving the user's riding experience.

[0024] In the embodiment of the present application, the vehicle 100 is provided with a slope information sensing module and a speed sensing module. The slope information sensing module is used to sense the slope information of the ground on which the vehicle 100 is currently traveling. The slope information sensing module can determine the slope information through output data of one or more of a positioning module, an inertial measurement unit (IMU), and a radar component. The speed sensing module is used to sense the speed of the vehicle 100. The speed sensing module can be a speed sensor.

[0025] In the embodiment of the present application, the vehicle 100 is further provided with a detection module, which is used to detect environmental information of the vehicle 100, such as whether the vehicle 100 is in a parking lot, whether there are obstacles or speed bumps in the driving direction of the vehicle 100, etc. The detection module may include a radar component (laser radar, millimeter wave radar, ultrasonic radar, etc.), an image acquisition device, etc.

[0026] Please refer to Figure 2 , which shows a flow chart of a method for controlling vehicle driving provided by an embodiment of the present application. The method includes the following process.

[0027] S201, obtaining the speed of the vehicle.

[0028] The vehicle is provided with a speed sensor, which periodically obtains the speed of the vehicle. At this time, the control module can obtain the speed measured by the speed sensor through the bus.

[0029] S202, obtaining slope information.

[0030] The slope information represents the inclination of the ground on which the vehicle is currently traveling, which is usually the ratio of the vertical height of the slope to the horizontal distance.

[0031] In the embodiment of the present application, the vehicle is equipped with a laser radar and an IMU. The vehicle first obtains point cloud data of the ground on which it is currently traveling through the laser radar, and then determines the coordinates of the ground on which the vehicle is currently traveling in the laser radar coordinate system based on the above point cloud data, and then obtains the current pitch angle information of the vehicle through the IMU, and then determines the slope information based on the pitch angle information and the coordinates of the ground on which the vehicle is currently traveling in the laser radar coordinate system. There may be other ways to obtain the slope information, which are not limited in the embodiment of the present application.

[0032] S203, determining a control result based on the speed and slope information of the vehicle.

[0033] The control result indicates whether to clear the integral term in the specified calculation formula, which is the calculation formula used when the PID control algorithm is used to control the vehicle's driving. The integral term represents the cumulative error of the PID control algorithm used to control the vehicle's driving.

[0034] The PID control algorithm consists of three parts: proportional, integral, and differential. It adjusts the control input to reduce the error between the system output and the expected value, thereby maintaining the stability of the system. The core is to optimize the control effect by adjusting the three parameters of proportional, integral, and differential. In the PID control algorithm, the proportional term is used to directly produce a control effect based on the size of the error. The larger the error, the stronger the control effect; the integral term is used to reduce the static error of the system, that is, the error caused by the accumulation of errors over a long period of time; the differential term is used to reduce the overshoot and oscillation of the system and improve the stability of the system.

[0035] In the embodiment of the present application, a PID control algorithm is used to control the vehicle's driving, specifically, the actual speed V of the vehicle is used to control the vehicle's driving. now With the target speed V set , construct a PID controller with speed error e as input and acceleration a as output at time k to control the vehicle. This process involves the following first calculation formula:

[0036]

[0037] Where e(k) refers to the difference between the target speed and the actual speed at time k, that is, e(k) = V set (k)-V now (k) K P e(k) is the proportional term, is the integral term, K D (e(k)-e(k-1)) is the differential term. K P is the proportionality coefficient, KI is the integration coefficient, K D are differential coefficients, which are all actual vehicle calibration parameters.

[0038] In the embodiment of the present application, the vehicle determines whether to clear the integral term in the specified calculation formula based on its own speed and slope information, that is, the accumulated error when the vehicle is driving. In this way, when the slope information of the ground on which the vehicle is currently driving changes and the acceleration process needs to be ended, the above-mentioned accumulated error can be cleared to avoid the situation where the vehicle cannot end the acceleration process in time and avoid excessive overshoot of the vehicle speed, thereby improving the user's riding experience. For example, when the vehicle is driving over a speed bump, when it just passes the speed bump, it is necessary to increase the torque to increase the acceleration of the vehicle so that the vehicle can smoothly cross the speed bump. When driving to the highest point of the speed bump, due to the decrease in slope information, the vehicle will clear the integral term when driving through the PID control algorithm to eliminate the accumulated error. At this time, the determined acceleration is significantly reduced. At this time, the torque of the vehicle needs to be reduced to avoid excessive overshoot of the vehicle speed and improve the user's riding experience.

[0039] S204, controlling the vehicle driving based on the control result.

[0040] In an embodiment of the present application, the vehicle determines the acceleration of the vehicle based on the control result, then determines the target torque based on the acceleration of the vehicle, and finally controls its own torque to be the above target torque to travel.

[0041] In summary, the technical solution provided by the embodiment of the present application obtains the speed of the vehicle and the slope information of the ground on which the vehicle is currently traveling, and determines whether to clear the integral term in the specified calculation formula according to the speed and slope information of the vehicle, that is, the cumulative error when the vehicle is controlled by the PID control algorithm. In this way, when the slope information of the ground on which the vehicle is currently traveling changes and the acceleration process needs to be ended, the above-mentioned cumulative error can be cleared to avoid the situation where the vehicle cannot end the acceleration process in time and the vehicle speed overshoots too much, thereby improving the user's riding experience. For example, when a vehicle is traveling over a speed bump, when it just passes the speed bump, it is necessary to increase the torque to increase the acceleration of the vehicle so that the vehicle can smoothly cross the speed bump. When it travels to the highest point of the speed bump, due to the decrease in the slope information, the vehicle will clear the integral term when controlling the vehicle through the PID control algorithm to eliminate the cumulative error. At this time, the determined acceleration is significantly reduced. At this time, the torque of the vehicle needs to be reduced to avoid excessive speed overshoot and improve the user's riding experience.

[0042] Please refer to Figure 3 , which shows a flow chart of a method for controlling vehicle driving provided by an embodiment of the present application, Figure 3In the embodiment, S203 is replaced by S303, and S204 is replaced by S304-S306. The method includes the following process.

[0043] S301, obtaining the speed of the vehicle.

[0044] S302, obtaining slope information.

[0045] The slope information represents the inclination of the ground on which the vehicle is currently traveling.

[0046] S303, determining the switch state of the integral clear switch based on the speed and slope information of the vehicle.

[0047] The switch state of the integral clear switch includes an on state and an off state. When the switch state of the integral clear switch is on, the control result indicates that the integral term in the specified calculation formula is cleared. When the switch state of the integral clear switch is off, the control result indicates that the integral term in the specified calculation formula is not cleared.

[0048] In the embodiment of the present application, an integral clear switch is introduced into the PID control algorithm to realize

[0049] In some embodiments, S303 includes the following sub-steps:

[0050] S3031, determining the actual value of the integral term based on the vehicle speed and a specified calculation formula.

[0051] The actual value of the integral term is the integral term calculated when the vehicle is controlled based on the original PID control algorithm. Optionally, the actual value of the integral term can be expressed by the following second calculation formula:

[0052]

[0053] S3032: Determine a reference value of the integral item based on the vehicle speed and slope information.

[0054] The reference value of the integral item is proportional to the slope information, that is, the greater the slope information, the greater the reference value of the integral item, and the smaller the slope information, the smaller the reference value of the integral item. The reference value of the integral item is also proportional to the speed of the vehicle, the greater the speed of the vehicle, the greater the reference value of the integral item, and the smaller the speed of the vehicle, the smaller the reference value of the integral item.

[0055] Optionally, the reference value of the integral term can be calculated by the following third calculation formula:

[0056] IValue 基准 (k)=k1*sinα(k)+k2v(k)+k3.

[0057] Among them, α is the slope information of the road on which the vehicle is traveling at time k, v(k) is the actual speed of the vehicle at time k, and k1, k2, and k3 are real vehicle calibration parameters.

[0058] S3033: When the actual value of the integral term is less than or equal to the reference value of the integral term, determine that the switch state of the integral clearing switch is the closed state.

[0059] When the actual value of the integral term is less than or equal to the reference value of the integral term, it means that the slope of the ground on which the vehicle is currently traveling is large. At this time, the integral term used when the vehicle is controlled by the PID control algorithm is retained, and the vehicle's torque continues to increase to increase acceleration.

[0060] S3034: When the actual value of the integral term is greater than the reference value of the integral term, determine that the switch state of the integral clear switch is an open state.

[0061] When the actual value of the integral item is greater than the baseline value of the integral item, it means that the slope of the ground on which the vehicle is currently traveling is small. At this time, the integral item is removed when the vehicle is controlled by the PID control algorithm, and the vehicle's torque is reduced to avoid excessive speed overshoot, thereby improving the user's riding experience.

[0062] Optionally, the process of determining the switch state of the integral clearing switch may be expressed by the following fourth calculation formula:

[0063]

[0064] S304, determining a target calculation formula based on the switch state of the integral clear switch.

[0065] The target calculation formula refers to a calculation formula used to determine the acceleration of the vehicle when the vehicle is controlled. Optionally, the target calculation formula is represented by the following fifth calculation formula:

[0066]

[0067] When the integral clearing switch is in the on state (i.e. Switch(k) is equal to 1), the control result indicates to clear the integral term of the specified calculation formula. At this time, the vehicle removes the integral term in the specified calculation formula to obtain the target calculation formula. At this time, the target calculation formula is a(k)=K P e(k)+K D (e(k)-e(k-1)).

[0068] When the switch state of the integral clear switch is in the off state (that is, Switch(k) is equal to 0), the control result indicates that the integral term of the specified calculation formula is not cleared, and the specified calculation formula is determined as the target calculation formula. At this time, the target calculation formula is

[0069] S305: Determine the acceleration of the vehicle according to the target calculation formula.

[0070] The vehicle calculates the acceleration of the vehicle through the target calculation formula and various parameters of the vehicle while driving (such as the actual speed of the vehicle at the current moment, the expected speed, the accumulated error of the vehicle during driving, the error change rate of the vehicle during driving, etc.).

[0071] S306: Control the vehicle to travel according to the determined vehicle acceleration.

[0072] The vehicle determines a target torque according to the determined acceleration, and adjusts the torque of the vehicle to the target torque, so as to control the vehicle to travel according to the controlled acceleration of the vehicle.

[0073] In summary, the technical solution provided by the embodiment of the present application obtains the speed of the vehicle and the slope information of the ground on which the vehicle is currently traveling, and determines whether to clear the integral term in the specified calculation formula according to the speed and slope information of the vehicle, that is, the cumulative error when the vehicle is controlled by the PID control algorithm. In this way, when the slope information of the ground on which the vehicle is currently traveling changes and the acceleration process needs to be ended, the above-mentioned cumulative error can be cleared to avoid the situation where the vehicle cannot end the acceleration process in time and the vehicle speed overshoots too much, thereby improving the user's riding experience. For example, when a vehicle is traveling over a speed bump, when it just passes the speed bump, it is necessary to increase the torque to increase the acceleration of the vehicle so that the vehicle can smoothly cross the speed bump. When it travels to the highest point of the speed bump, due to the decrease in the slope information, the vehicle will clear the integral term when controlling the vehicle through the PID control algorithm to eliminate the cumulative error. At this time, the determined acceleration is significantly reduced. At this time, the torque of the vehicle needs to be reduced to avoid excessive speed overshoot and improve the user's riding experience.

[0074] Please refer to Figure 4 , which shows a flow chart of a method for controlling vehicle driving provided by an embodiment of the present application. The method includes the following process.

[0075] S401, detecting whether the vehicle is in a parking scene.

[0076] On the one hand, in the parking scenario, the vehicle's driving speed is usually low. At this time, if the vehicle passes over a speed bump, if the vehicle does not release the torque in time, the vehicle will accelerate suddenly, and the perception of the user sitting in the vehicle is more obvious. In the driving scenario, because the vehicle's driving speed is high, when the vehicle passes over a speed bump, even if the vehicle does not release the torque in time, the vehicle will accelerate suddenly, and the perception of the user sitting in the vehicle is not obvious. On the other hand, the algorithm used by the vehicle to control the vehicle in the parking scenario is the PID control algorithm, and the algorithm used to control the vehicle in the driving scenario is usually not the PID control algorithm. Therefore, in the embodiment of the present application, only when it is detected that the vehicle is in the parking scenario, the subsequent plan will be executed, thereby saving the vehicle's energy consumption.

[0077] Optionally, the vehicle detects whether it is in a parking lot through a detection component, for example, when a parking sign is photographed by an image acquisition device, it is determined that the vehicle is in a parking scene. The above-mentioned parking signs include but are not limited to: parking space lines, parking signs, parking gates, etc. Further, when the vehicle recognizes that it is in a parking lot, it also detects whether the distance between the current position and the end point of the path planning is less than a preset distance. If it is less than the preset distance, it is determined that the vehicle is in a parking scene. Alternatively, when the vehicle recognizes that it is in a parking lot, it also detects whether the current speed is less than a preset speed. If it is less than the preset speed, it is determined that the vehicle is in a parking scene.

[0078] S402, when it is detected that the vehicle is in a parking scene, detecting whether there is a speed bump on the vehicle's travel trajectory.

[0079] Speed ​​bumps are facilities that slow down passing vehicles. They are usually yellow and black to attract visual attention, and slightly raise the road surface to slow down vehicles. They are usually installed at highway intersections, industrial and mining enterprises, schools, residential area entrances and other sections where vehicles need to slow down and sections that are prone to traffic accidents.

[0080] In some embodiments, an image acquisition device on the vehicle acquires an environmental image and then recognizes the environmental image to detect whether there is a speed bump on the vehicle's to-be-traveled trajectory. In other embodiments, the vehicle acquires point cloud data through a laser radar and then detects whether there is a speed bump on the vehicle's to-be-traveled trajectory based on the point cloud data.

[0081] When it is detected that the vehicle is not in the parking scene, the process ends.

[0082] In other possible implementations, the vehicle may obtain the vehicle speed and execute subsequent steps when detecting that the vehicle is in a parking scenario.

[0083] S403, when it is detected that there is a speed bump on the trajectory to be driven by the vehicle, the speed of the vehicle is obtained.

[0084] When it is detected that there is no speed bump in the vehicle's to-be-traveled trajectory, the process ends.

[0085] S404, obtaining slope information.

[0086] The slope information represents the inclination of the ground on which the vehicle is currently traveling.

[0087] S405, determining a control result based on the speed and slope information of the vehicle.

[0088] The control result indicates whether to clear the integral term in the specified calculation formula. The specified calculation formula is the calculation formula used when the PID control algorithm is used to control the vehicle's driving. The integral term represents the cumulative error of the PID control algorithm used to control the vehicle's driving.

[0089] S406, controlling the vehicle driving based on the control result.

[0090] To summarize, the technical solution provided in the embodiment of the present application can save the vehicle's energy consumption by obtaining the vehicle's speed and slope information when it is detected that the vehicle is in a parking scenario and is about to pass a speed bump, and determining the control result based on the vehicle's speed and slope information, and controlling the vehicle's driving based on the control result.

[0091] Please refer to Figure 5 , which shows a block diagram of a device for controlling vehicle travel provided by an embodiment of the present application. The device includes: a speed acquisition module 510, a slope acquisition module 520, a control result determination module 530 and a travel control module 540.

[0092] The speed acquisition module 510 is used to acquire the speed of the vehicle.

[0093] The slope acquisition module 520 is used to acquire slope information, where the slope information represents the degree of inclination of the ground on which the vehicle is currently traveling.

[0094] The control result determination module 530 is used to determine the control result based on the speed and slope information of the vehicle. The control result indicates whether to clear the integral term in the specified calculation formula. The specified calculation formula is the calculation formula used when the PID control algorithm is used to control the vehicle's driving. The integral term represents the cumulative error of the PID control algorithm used to control the vehicle's driving.

[0095] The driving control module 540 is used to control the vehicle driving based on the control result.

[0096] In some embodiments, the control result determination module 530 is used to determine the switch state of the integral clear switch based on the speed and slope information of the vehicle; wherein the switch state of the integral clear switch includes an open state and a closed state; when the switch state of the integral clear switch is an open state, the control result indicates clearing the integral term in the specified calculation formula; when the switch state of the integral clear switch is a closed state, the control result indicates not clearing the integral term in the specified calculation formula.

[0097] In some embodiments, the control result determination module 530 is used to determine the actual value of the integral item based on the vehicle speed and a specified calculation formula; determine the reference value of the integral item based on the vehicle speed and slope information; when the reference value of the integral item is greater than the actual value of the integral item, determine that the switch state of the integral clear switch is an open state; when the reference value of the integral item is less than or equal to the actual value of the integral item, determine that the switch state of the integral clear switch is a closed state.

[0098] In some embodiments, the driving control module 540 is used to determine a target calculation formula based on a control result; determine the acceleration of the vehicle according to the target calculation formula; and control the driving of the vehicle according to the controlled acceleration of the vehicle.

[0099] In some embodiments, the driving control module 540 is used to remove the integral term in the specified calculation formula to obtain a target calculation formula when the control result indicates that the integral term in the specified calculation formula should be cleared; when the control result indicates that the integral term in the specified calculation formula should not be cleared, the specified calculation formula is determined as the target calculation formula.

[0100] In some embodiments, the device further includes: a detection module (not shown in the figure). The detection module is used to detect whether the vehicle is in a parking scene. The speed acquisition module 510 is used to execute the step of acquiring the speed of the vehicle when the vehicle is detected to be in a parking scene.

[0101] In some embodiments, the detection module is further used to detect whether there is a speed bump in the vehicle's to-be-traveled trajectory when the vehicle is detected to be in a parking scene. The speed acquisition module 510 is used to execute the step of acquiring the vehicle's speed when a speed bump is detected in the vehicle's to-be-traveled trajectory.

[0102] In summary, the technical solution provided by the embodiment of the present application obtains the speed of the vehicle and the slope information of the ground on which the vehicle is currently traveling, and determines whether to clear the integral term in the specified calculation formula according to the speed and slope information of the vehicle, that is, the cumulative error when the vehicle is controlled by the PID control algorithm. In this way, when the slope information of the ground on which the vehicle is currently traveling changes and the acceleration process needs to be ended, the above-mentioned cumulative error can be cleared to avoid the situation where the vehicle cannot end the acceleration process in time and the vehicle speed overshoots too much, thereby improving the user's riding experience. For example, when a vehicle is traveling over a speed bump, when it just passes the speed bump, it is necessary to increase the torque to increase the acceleration of the vehicle so that the vehicle can smoothly cross the speed bump. When it travels to the highest point of the speed bump, due to the decrease in the slope information, the vehicle will clear the integral term when controlling the vehicle through the PID control algorithm to eliminate the cumulative error. At this time, the determined acceleration is significantly reduced. At this time, the torque of the vehicle needs to be reduced to avoid excessive speed overshoot and improve the user's riding experience.

[0103] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0104] In several embodiments provided in the present application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0105] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0106] See also Figure 6 , which shows that the embodiment of the present application further provides a vehicle 600, which includes: one or more multi-core processors 610, a memory 620, and one or more applications. Among them, the one or more applications are stored in the memory 620 and are configured to be executed by the one or more multi-core processors 610, and the one or more applications are configured to execute the method described in the above embodiment.

[0107] The multi-core processor 610 may include one or more processing cores. The multi-core processor 610 uses various interfaces and lines to connect various parts of the entire battery management system, and executes various functions and processes data of the battery management system by running or executing instructions, programs, code sets or instruction sets stored in the memory 620, and calling data stored in the memory 620. Optionally, the multi-core processor 610 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The multi-core processor 610 can integrate one or more combinations of a central multi-core processor 610 (Central Processing Unit, CPU), an image multi-core processor 610 (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the multi-core processor 610, and may be implemented separately through a communication chip.

[0108] The memory 620 may include a random access memory 620 (Random Access Memory, RAM), and may also include a read-only memory 620 (Read-Only Memory). The memory 620 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 620 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described below, etc. The data storage area may also store data created by the vehicle map during use (such as a phone book, audio and video data, chat record data), etc.

[0109] An embodiment of the present application further provides a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the method described in the above embodiment.

[0110] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for computer program instructions for executing any method step in the above method. These computer program instructions may be read from or written to one or more computer program products. The computer program instructions may be compressed in an appropriate form.

[0111] The above are only preferred embodiments of the present application, and are not intended to limit the present application in any form. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any technical personnel in the field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for controlling vehicle travel, characterized in that: The method comprises: Get the speed of the vehicle; Acquiring slope information, wherein the slope information represents the inclination of the ground on which the vehicle is currently traveling; Determining a control result based on the speed of the vehicle and the slope information, the control result indicating whether to clear an integral term in a specified calculation formula, the specified calculation formula being a calculation formula used when a PID control algorithm is used to control the vehicle, the integral term representing a cumulative error of the vehicle when the PID control algorithm is used to control the vehicle; The vehicle is controlled to travel based on the control result.

2. The method according to claim 1, characterized in that The determining of a control result based on the speed of the vehicle and the slope information includes: Based on the speed of the vehicle and the slope information, a switch state of an integral clearing switch is determined; wherein the switch state of the integral clearing switch includes an open state and a closed state; when the switch state of the integral clearing switch is the open state, the control result indicates that the integral term in the specified calculation formula is cleared; when the switch state of the integral clearing switch is the closed state, the control result indicates that the integral term in the specified calculation formula is not cleared.

3. The method according to claim 2, characterized in that The step of determining the switch state of the integral clear switch based on the speed of the vehicle and the slope information includes: determining an actual value of the integral term based on the speed of the vehicle and the specified calculation formula; determining a reference value of the integral term based on the speed of the vehicle and the slope information; In a case where the reference value of the integral term is greater than the actual value of the integral term, determining that the switch state of the integral clear switch is the open state; In a case where the reference value of the integral term is less than or equal to the actual value of the integral term, the switch state of the integral clear switch is determined to be the closed state.

4. The method according to claim 1, characterized in that: The controlling the vehicle to travel based on the control result includes: Determine a target calculation formula based on the control result; determining the acceleration of the vehicle according to the target calculation formula; The vehicle is controlled to travel according to the determined acceleration of the vehicle.

5. The method according to claim 4, characterized in that The determining of a target calculation formula based on the control result includes: When the control result indicates to clear the integral term in the specified calculation formula, the integral term in the specified calculation formula is removed to obtain the target calculation formula; When the control result indicates that the integral term in the designated calculation formula is not to be cleared, the designated calculation formula is determined as the target calculation formula.

6. The method according to any one of claims 1 to 5, characterized in that Before obtaining the speed of the vehicle, the method further includes: Detecting whether the vehicle is in a parking scene; In case that it is detected that the vehicle is in the parking scene, the step of acquiring the speed of the vehicle is performed.

7. The method according to claim 6, characterized in that The method further comprises: When the vehicle is detected to be in the parking scene, detecting whether there is a speed bump in the to-be-traveled trajectory of the vehicle; When it is detected that the speed bump exists in the to-be-traveled trajectory of the vehicle, the step of acquiring the speed of the vehicle is performed.

8. A device for controlling vehicle travel, characterized in that: The device comprises: A speed acquisition module is used to obtain the speed of the vehicle; A slope acquisition module, used to acquire slope information, wherein the slope information represents the inclination of the ground on which the vehicle is currently traveling; a control result determination module, configured to determine a control result based on the speed of the vehicle and the slope information, wherein the control result indicates whether to clear an integral term in a specified calculation formula, wherein the specified calculation formula is a calculation formula used when a PID control algorithm is used to control the vehicle, and the integral term represents a cumulative error of the vehicle when the PID control algorithm is used to control the vehicle; A driving control module is used to control the driving of the vehicle based on the control result.

9. A vehicle, characterized in that: include: Memory; One or more processors coupled to the memory; One or more programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and the computer program instructions can be called by a processor to execute the method according to any one of claims 1 to 7.

Images