Method, device, vehicle and storage medium for controlling travel of a vehicle
By acquiring vehicle speed and gradient information and adjusting the integral term in the PID control algorithm, the acceleration overshoot problem when the vehicle passes over speed bumps is solved, thus improving the user's riding experience.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGZHOU AUTOMOBILE GROUP CO LTD
- Filing Date
- 2024-10-31
- Publication Date
- 2026-08-04
AI Technical Summary
When a vehicle goes over a speed bump, the existing PID control algorithm causes the vehicle to accelerate overshoot, affecting the user's riding experience.
By acquiring vehicle speed and gradient information, it is determined whether to clear the integral term in the PID control algorithm to adjust the vehicle's acceleration and torque, thereby eliminating accumulated errors.
This avoids vehicle acceleration overshoot and improves the user's riding experience.
Smart Images
Figure CN119590446B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent driving technology, and in particular to a method, apparatus, vehicle, and storage medium for controlling vehicle movement. Background Technology
[0002] Automatic parking systems primarily utilize sensors (cameras, ultrasonic sensors, and lidar, etc.) on the vehicle itself and in its surroundings to plan suitable parking paths and control the vehicle's steering and acceleration / deceleration, thereby achieving automatic parking and exiting functions.
[0003] In related technologies, when using proportional-integral-derivative (PID) control algorithms to control vehicle parking, if the vehicle travels over a speed bump, the system increases torque to help it overcome the speed bump. However, after the vehicle overcomes the speed bump, the torque does not decrease, meaning the vehicle continues to accelerate, resulting in excessive speed overshoot and affecting the user's riding experience. Summary of the Invention
[0004] This application discloses a method, apparatus, vehicle, and storage medium for controlling vehicle movement.
[0005] In a first aspect, embodiments of this application provide a method for controlling vehicle driving, the method comprising: acquiring vehicle speed; acquiring slope information, the slope information representing the degree of inclination of the ground on which the vehicle is currently driving; determining a control result based on the vehicle speed and slope information, the control result indicating whether to clear the integral term in a specified calculation formula, the specified calculation formula being the calculation formula used when using a PID control algorithm to control vehicle driving, the integral term representing the cumulative error of using the PID control algorithm to control vehicle driving; and controlling vehicle driving based on the control result.
[0006] Secondly, embodiments of this application provide a device for controlling vehicle driving. The device includes: a speed acquisition module for acquiring the speed of the vehicle; a slope acquisition module for acquiring slope information, wherein the slope information represents the inclination of the ground on which the vehicle is currently driving; a control result determination module for determining a control result based on the vehicle's speed and slope information, wherein the control result indicates whether to clear the integral term in a specified calculation formula, wherein the specified calculation formula is the calculation formula used when using a PID control algorithm to control the vehicle's driving, and the integral term represents the cumulative error of using the PID control algorithm to control the vehicle's driving; and a driving control module for controlling the vehicle's driving based on the control result.
[0007] Thirdly, embodiments of this application provide a vehicle, including: a memory; one or more processors coupled to the memory; and 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 for use in the method described in the first aspect.
[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions that can be invoked by a processor to execute the method as described in the first aspect.
[0009] Fifthly, embodiments of this application provide a computer program product, which, when the instructions in the computer program product are executed, is used to implement the method as described in the first aspect.
[0010] Compared to existing technologies, the technical solution provided in this application obtains the vehicle's speed and the slope information of the ground the vehicle is currently traveling on. Based on the vehicle's speed and slope information, it determines whether to clear the integral term in a specified calculation formula, i.e., the accumulated error when controlling the vehicle's driving using a PID control algorithm. This way, when the slope information of the ground the vehicle is currently traveling on changes and the acceleration process needs to end, the accumulated error can be cleared, preventing the vehicle from failing to end the acceleration process in time and avoiding excessive speed overshoot, thereby improving the user's riding experience. For example, when a vehicle is driving over a speed bump, initially, torque needs to be increased to increase the vehicle's acceleration so that the vehicle can smoothly cross the speed bump. However, when the vehicle reaches the highest point of the speed bump, the slope information decreases, and the PID control algorithm clears the integral term to eliminate accumulated error. At this point, the determined acceleration is significantly reduced, and the vehicle's torque needs to be reduced to avoid excessive speed overshoot, thus improving the user's riding experience. Attached Figure Description
[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0012] Figure 1 This is a schematic diagram of the implementation environment provided in the embodiments of this application.
[0013] Figure 2 This is a flowchart of a method for controlling vehicle movement provided in one embodiment of this application.
[0014] Figure 3This is a flowchart of a method for controlling vehicle movement provided in another embodiment of this application.
[0015] Figure 4 This is a flowchart of a method for controlling vehicle movement provided in another embodiment of this application.
[0016] Figure 5 This is a block diagram of a device for controlling vehicle movement provided in one embodiment of this application.
[0017] Figure 6 This is a structural block diagram of a vehicle provided in one embodiment of this application. Detailed Implementation
[0018] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0019] To enable those skilled in the art to better understand the solutions of this application, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0020] Please refer to Figure 1 This diagram illustrates an implementation environment provided in one embodiment of the present application. The implementation environment includes a vehicle 100.
[0021] The vehicle 100 includes a control module. In this embodiment, the control module uses a preset control algorithm to control the vehicle's driving. The preset control algorithm includes PID control, Model Predictive Control (MPC), and other algorithms. In some embodiments, the control module uses a PID control algorithm to control the vehicle 100 in parking scenarios and an MPC control algorithm to control the vehicle 100 in driving scenarios.
[0022] In related technologies, when a vehicle 100 is parking, if it needs to pass over a speed bump, it needs to increase torque to get over the speed bump. When the vehicle leaves the speed bump, due to the existence of accumulated errors, the acceleration determined by the control module is still too large, and the increased torque cannot be withdrawn in time, resulting in vehicle speed overshoot and affecting the user's riding experience.
[0023] In this embodiment, the control module acquires the speed of vehicle 100 and the slope information of the ground on which vehicle 100 is currently traveling. Based on the speed of vehicle 100 and the aforementioned slope information, it determines whether to clear the integral term in the specified calculation formula, that is, the accumulated error when controlling the vehicle's driving using the PID control algorithm. This way, when the slope information of the ground on which vehicle 100 is currently traveling changes and the acceleration process needs to end, the accumulated error can be cleared, preventing the vehicle 100 from failing to end the acceleration process in time and avoiding excessive speed overshoot, thereby improving the user's riding experience. For example, when vehicle 100 is traveling over a speed bump, initially, torque needs to be increased to increase the acceleration of vehicle 100 so that it can smoothly cross the speed bump. Upon reaching the highest point of the speed bump, due to the reduced slope information, the integral term is cleared when vehicle 100 is controlled using the PID control algorithm to eliminate the accumulated error. At this point, the determined acceleration is significantly reduced, and the torque of vehicle 100 also decreases to avoid excessive speed overshoot and improve the user's riding experience.
[0024] In this embodiment, the vehicle 100 is equipped 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. Specifically, the slope information sensing module can determine the slope information through output data from one or more of the following: 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 this embodiment, 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, and whether there are obstacles, speed bumps, etc. in the direction of travel of the vehicle 100. The detection module may include radar components (LiDAR, millimeter-wave radar, ultrasonic radar, etc.), image acquisition devices, etc.
[0026] Please refer to Figure 2 The diagram illustrates a flowchart of a method for controlling vehicle movement according to an embodiment of this application. The method includes the following procedures.
[0027] S201, Obtain the vehicle's speed.
[0028] The vehicle is equipped with a speed sensor that periodically acquires the vehicle's speed. The control module can then obtain the speed measured by the speed sensor via a bus.
[0029] S202, obtain slope information.
[0030] Slope information represents the degree of inclination of the ground on which the vehicle is currently traveling, and it is usually the ratio of the vertical height of the slope to the horizontal distance.
[0031] In this embodiment, the vehicle is equipped with a lidar and an IMU. The vehicle first acquires point cloud data of the ground it is currently traveling on using the lidar. Then, based on the point cloud data, it determines the coordinates of the ground in the lidar coordinate system. Next, it acquires the vehicle's current pitch angle information using the IMU. Finally, based on the pitch angle information and the coordinates of the ground in the lidar coordinate system, it determines the slope information. Other methods can also be used to acquire the slope information, and this embodiment does not limit this approach.
[0032] S203 determines the control outcome based on vehicle speed and gradient information.
[0033] The control result indicator asks whether to clear the integral term in the specified formula, which is the formula used when using the PID control algorithm to control the vehicle's driving. The integral term represents the cumulative error of the PID control algorithm for driving the vehicle.
[0034] The PID control algorithm consists of three parts: proportional, integral, and derivative. It reduces the error between the system output and the desired value by adjusting the control input, thereby maintaining system stability. Its core lies in optimizing the control effect by adjusting these three parameters. In the PID control algorithm, the proportional term directly generates the control action based on the magnitude of the error; the larger the error, the stronger the control action. The integral term reduces the system's static error, i.e., the error caused by the accumulation of errors over a long period. The derivative term reduces system overshoot and oscillations, improving system stability.
[0035] In this embodiment, a PID control algorithm is used to control the vehicle's movement, specifically by controlling the vehicle's actual speed V. now With the target velocity V set A PID controller is constructed at time k, with velocity error e as input and acceleration a as output, to control the vehicle's movement. This process involves the following first calculation formula:
[0036]
[0037] Where e(k) refers to the difference between the target velocity and the actual velocity at time k, that is, e(k) = V set (k)-V now (k). K P e(k) is the proportional term. It is an integral term, K D (e(k)-e(k-1)) is the differential term. P It is the proportionality coefficient, KI It is the integral coefficient, K D These are differential coefficients, all of which are calibration parameters for actual vehicles.
[0038] In this embodiment, the vehicle determines whether to clear the integral term in the specified calculation formula, i.e., the accumulated error when controlling the vehicle's driving, based on its own speed and slope information. This way, when the slope information of the road surface changes and the acceleration process needs to end, the accumulated error can be cleared, preventing the vehicle from failing to end the acceleration process in time and avoiding excessive speed overshoot, thereby improving the user's riding experience. For example, when the vehicle is driving over a speed bump, initially, torque needs to be increased to increase the vehicle's acceleration so that it can smoothly cross the speed bump. Upon reaching the highest point of the speed bump, as the slope information decreases, the vehicle's driving control algorithm clears the integral term to eliminate the accumulated error. At this point, the determined acceleration is significantly reduced, and the vehicle's torque needs to be reduced to avoid excessive speed overshoot and improve the user's riding experience.
[0039] S204, controlling vehicle movement based on control results.
[0040] In this embodiment, the vehicle determines its acceleration based on the control result, then determines the target torque based on the vehicle's acceleration, and finally controls its own torque to the aforementioned target torque to drive.
[0041] In summary, the technical solution provided in this application obtains the vehicle's speed and the slope information of the ground on which the vehicle is currently traveling. Based on the vehicle's speed and slope information, it determines whether to clear the integral term in a specified calculation formula, i.e., the accumulated error when controlling the vehicle's driving using a PID control algorithm. This way, when the slope information of the ground on which the vehicle is currently traveling changes and the acceleration process needs to end, the accumulated error can be cleared, preventing the vehicle from failing to end the acceleration process in time and avoiding excessive speed overshoot, thereby improving the user's riding experience. For example, when a vehicle is driving over a speed bump, initially, torque needs to be increased to increase the vehicle's acceleration so that the vehicle can smoothly cross the speed bump. Upon reaching the highest point of the speed bump, due to the reduced slope information, the PID control algorithm clears the integral term to eliminate accumulated error. At this point, the determined acceleration is significantly reduced, and the vehicle's torque needs to be reduced to avoid excessive speed overshoot and improve the user's riding experience.
[0042] Please refer to Figure 3 It shows a flowchart of a method for controlling vehicle driving according to an embodiment of this application. Figure 3In this embodiment, S203 is replaced by S303, and S204 is replaced by S304-S306. The method includes the following process.
[0043] S301, obtain the vehicle's speed.
[0044] S302, obtain slope information.
[0045] Slope information indicates the degree of inclination of the ground on which the vehicle is currently traveling.
[0046] S303 determines the on / off state of the integral clearing switch based on the vehicle's speed and gradient information.
[0047] The integral clear switch has two states: on and off. When the integral clear switch is on, the control result indicates that the integral term in the specified formula is cleared. When the integral clear switch is off, the control result indicates that the integral term in the specified formula is not cleared.
[0048] In this embodiment of the application, an integral clear switch is introduced into the PID control algorithm to achieve [the desired effect].
[0049] In some embodiments, S303 includes the following sub-steps:
[0050] S3031, determine the actual value of the integral term based on the vehicle's speed and a specified formula.
[0051] The actual value of the integral term is calculated based on the original PID control algorithm used to control the vehicle's driving. Optionally, the actual value of the integral term can be expressed by the following second formula:
[0052]
[0053] S3032 determines the baseline value of the integral term based on the vehicle's speed and gradient information.
[0054] The baseline value of the integral term is directly proportional to the gradient information; that is, the greater the gradient, the greater the baseline value of the integral term, and the smaller the gradient, the smaller the baseline value of the integral term. The baseline value of the integral term is also directly proportional to the vehicle speed; the greater the vehicle speed, the greater the baseline value of the integral term, and the smaller the vehicle speed, the smaller the baseline value of the integral term.
[0055] Alternatively, the baseline value of the integral term can be calculated using the following third formula:
[0056] IValue 基准 (k)=k1*sinα(k)+k2v(k)+k3.
[0057] Where α represents the slope of the road surface on which the vehicle travels at time k, v(k) is the actual speed of the vehicle at time k, and k1, k2, and k3 are the calibration parameters of the actual vehicle.
[0058] S3033, when the actual value of the integral term is less than or equal to the reference value of the integral term, the switch state of the integral clearing switch is determined to be closed.
[0059] If the actual value of the integral term is less than or equal to the reference value of the integral term, it indicates that the slope of the ground on which the vehicle is currently traveling is relatively large. In this case, the integral term used by the PID control algorithm to control the vehicle's driving is retained, and the vehicle's torque continues to increase to improve acceleration.
[0060] S3034, when the actual value of the integral term is greater than the reference value of the integral term, the switch state of the integral clearing switch is determined to be open.
[0061] If the actual value of the integral term is greater than the baseline value of the integral term, it indicates that the slope of the ground the vehicle is currently traveling on is relatively small. In this case, the integral term is removed when the vehicle is controlled by the PID control algorithm, the vehicle torque is reduced to avoid excessive speed overshoot, and the user's riding experience is improved.
[0062] Optionally, the process of determining the switching state of the integral clear switch can be expressed by the following fourth calculation formula:
[0063]
[0064] S304, Determine the target calculation formula based on the switching state of the integral clear switch.
[0065] The target calculation formula refers to the formula used to determine the vehicle's acceleration when performing driving control. Optionally, the target calculation formula is expressed by the following fifth calculation formula:
[0066]
[0067] When the integral clear switch is in the open state (i.e., Switch(k) equals 1), the control result indicates that the integral term of the specified formula should be cleared. At this time, the vehicle will remove the integral term from the specified formula to obtain the target formula, which is a(k) = K. P e(k)+K D (e(k)-e(k-1)).
[0068] When the integral clear switch is in the closed state (i.e., Switch(k) equals 0), the control result indicates that the integral term of the specified formula is not cleared, and the specified formula is determined as the target formula. At this time, the target formula is...
[0069] S305, determine the vehicle's acceleration according to the target calculation formula.
[0070] The vehicle calculates its acceleration using a target calculation formula and various parameters of the vehicle during its operation (such as the vehicle's actual speed at the current moment, the desired speed, the cumulative error of the vehicle during operation, and the rate of change of the error of the vehicle during operation).
[0071] S306 controls the vehicle's movement according to the determined vehicle acceleration.
[0072] The vehicle determines the target torque based on the determined acceleration and adjusts the vehicle's torque to the target torque in order to control the vehicle's movement according to the controlled vehicle acceleration.
[0073] In summary, the technical solution provided in this application obtains the vehicle's speed and the slope information of the ground on which the vehicle is currently traveling. Based on the vehicle's speed and slope information, it determines whether to clear the integral term in a specified calculation formula, i.e., the accumulated error when controlling the vehicle's driving using a PID control algorithm. This way, when the slope information of the ground on which the vehicle is currently traveling changes and the acceleration process needs to end, the accumulated error can be cleared, preventing the vehicle from failing to end the acceleration process in time and avoiding excessive speed overshoot, thereby improving the user's riding experience. For example, when a vehicle is driving over a speed bump, initially, torque needs to be increased to increase the vehicle's acceleration so that the vehicle can smoothly cross the speed bump. Upon reaching the highest point of the speed bump, due to the reduced slope information, the PID control algorithm clears the integral term to eliminate accumulated error. At this point, the determined acceleration is significantly reduced, and the vehicle's torque needs to be reduced to avoid excessive speed overshoot and improve the user's riding experience.
[0074] Please refer to Figure 4 The diagram illustrates a flowchart of a method for controlling vehicle movement according to an embodiment of this application. The method includes the following procedures.
[0075] S401, detects whether the vehicle is in a parking scenario.
[0076] On the one hand, in parking scenarios, vehicle speeds are typically low. If the vehicle encounters a speed bump and fails to reduce torque in time, it may accelerate rapidly, which is more noticeable to passengers. In driving scenarios, however, due to higher vehicle speeds, even if the vehicle accelerates rapidly when encountering a speed bump without timely torque reduction, the effect is less noticeable to passengers. On the other hand, the algorithm used for vehicle control in parking scenarios is a PID control algorithm, while the algorithm used in driving scenarios is typically not a PID control algorithm. Therefore, in this embodiment, the subsequent steps are only executed when the vehicle is detected to be in a parking scenario, thus saving vehicle energy.
[0077] Optionally, the vehicle detects whether it is in a parking lot using detection components, such as by capturing images of parking signs to determine if it is in a parking scenario. These parking signs include, but are not limited to, parking lines, parking signs, parking barriers, etc. Further, after recognizing that it is in a parking lot, the vehicle also checks whether the distance between its current location and the planned route endpoint is less than a preset distance; if it is less than the preset distance, the vehicle is confirmed to be in a parking scenario. Alternatively, after recognizing that it is in a parking lot, the vehicle also checks whether its current speed is less than a preset speed; if it is less than the preset speed, the vehicle is confirmed to be in a parking scenario.
[0078] S402 detects whether there are speed bumps in the vehicle's trajectory when the vehicle is in a parking situation.
[0079] Speed bumps are safety features designed to slow down passing vehicles. They are typically yellow and black striped to attract visual attention and create a slight bulge in the road surface to reduce vehicle speed. They are generally installed at highway intersections, industrial and mining enterprises, school entrances, residential area entrances, and other road sections where vehicles need to slow down or where traffic accidents are prone to occur.
[0080] In some embodiments, an image acquisition device on the vehicle acquires environmental images and then identifies these images to detect whether speed bumps exist on the vehicle's intended driving trajectory. In other embodiments, the vehicle acquires point cloud data using LiDAR and then detects whether speed bumps exist on the vehicle's intended driving trajectory based on the point cloud data.
[0081] The process ends if the vehicle is detected not to be in a parking scenario.
[0082] In other possible implementations, the vehicle can obtain its speed and perform subsequent steps when it is detected that it is in a parking scenario.
[0083] S403 obtains the vehicle's speed when a speed bump is detected in the vehicle's trajectory.
[0084] The process ends when it is determined that there are no speed bumps on the vehicle's intended path.
[0085] S404, obtain slope information.
[0086] Slope information indicates the degree of inclination of the ground on which the vehicle is currently traveling.
[0087] S405 determines the control outcome based on vehicle speed and gradient information.
[0088] The control result indicates whether to clear the integral term in the specified formula. The specified formula is the one used when using the PID control algorithm to control the vehicle's driving. The integral term represents the cumulative error of the PID control algorithm for driving the vehicle.
[0089] S406 controls vehicle movement based on control results.
[0090] In summary, the technical solution provided in this application also saves vehicle energy by acquiring the vehicle's speed and slope information when the vehicle is detected to be in a parking scenario and 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 The diagram illustrates a block diagram of a device for controlling vehicle movement according to an embodiment of this application. The device includes: a speed acquisition module 510, a slope acquisition module 520, a control result determination module 530, and a driving control module 540.
[0092] 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, which 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 vehicle's speed and gradient information. 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 using the PID control algorithm to control the vehicle's driving. The integral term represents the cumulative error of using the PID control algorithm to control the vehicle's driving.
[0095] The driving control module 540 is used to control the vehicle's driving based on the control results.
[0096] In some embodiments, the control result determination module 530 is used to determine the on / off state of the integral clearing switch based on the vehicle's speed and gradient information; wherein the on / off state of the integral clearing switch includes an open state and a closed state; when the on / off state of the integral clearing switch is open, the control result indicates that the integral term in the specified calculation formula is cleared; when the on / off state of the integral clearing switch is closed, the control result indicates that the integral term in the specified calculation formula is not cleared.
[0097] In some embodiments, the control result determination module 530 is used to determine the actual value of the integral term based on the vehicle speed and a specified calculation formula; determine the reference value of the integral term based on the vehicle speed and slope information; determine the switch state of the integral clearing switch to be open if the reference value of the integral term is greater than the actual value of the integral term; and determine the switch state of the integral clearing switch to be closed if the reference value of the integral term is less than or equal to the actual value of the integral term.
[0098] In some embodiments, the driving control module 540 is used to determine a target calculation formula based on the control result; determine the vehicle's acceleration according to the target calculation formula; and control the vehicle's driving according to the controlled vehicle acceleration.
[0099] In some embodiments, the driving control module 540 is configured to remove the integral term in the specified calculation formula to obtain the target calculation formula if the control result indicates that the integral term in the specified calculation formula should be cleared; and to determine the specified calculation formula as the target calculation formula if the control result indicates that the integral term in the specified calculation formula should not be cleared.
[0100] In some embodiments, the apparatus further includes: a detection module (not shown). The detection module is used to detect whether the vehicle is in a parking scenario. The speed acquisition module 510 is used to perform the step of acquiring the vehicle's speed when the vehicle is detected to be in a parking scenario.
[0101] In some embodiments, the detection module is further configured to detect whether there is a speed bump on the vehicle's trajectory when the vehicle is detected to be in a parking scenario. The speed acquisition module 510 is configured to perform the step of acquiring the vehicle's speed when a speed bump is detected on the vehicle's trajectory.
[0102] In summary, the technical solution provided in this application obtains the vehicle's speed and the slope information of the ground on which the vehicle is currently traveling. Based on the vehicle's speed and slope information, it determines whether to clear the integral term in a specified calculation formula, i.e., the accumulated error when controlling the vehicle's driving using a PID control algorithm. This way, when the slope information of the ground on which the vehicle is currently traveling changes and the acceleration process needs to end, the accumulated error can be cleared, preventing the vehicle from failing to end the acceleration process in time and avoiding excessive speed overshoot, thereby improving the user's riding experience. For example, when a vehicle is driving over a speed bump, initially, torque needs to be increased to increase the vehicle's acceleration so that the vehicle can smoothly cross the speed bump. Upon reaching the highest point of the speed bump, due to the reduced slope information, the PID control algorithm clears the integral term to eliminate accumulated error. At this point, the determined acceleration is significantly reduced, and the vehicle's torque needs to be reduced to avoid excessive speed overshoot and improve the user's riding experience.
[0103] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0104] In the several embodiments provided in this application, the coupling between modules can be electrical, mechanical, or other forms of coupling.
[0105] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.
[0106] Please see Figure 6 The illustration shows that an embodiment of this application also provides a vehicle 600, which includes one or more multi-core processors 610, a memory 620, and one or more application programs. The one or more application programs are stored in the memory 620 and configured to be executed by the one or more multi-core processors 610, and are configured to perform the methods described in the above embodiments.
[0107] The multi-core processor 610 may include one or more processing cores. The multi-core processor 610 connects to various parts of the entire battery management system using various interfaces and lines, and performs various functions and processes data of the battery management system by running or executing instructions, programs, code sets, or instruction sets stored in memory 620, and by calling data stored in memory 620. Optionally, the multi-core processor 610 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The multi-core processor 610 may integrate one or a combination of several of the following: a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the multi-core processor 610 and may be implemented separately through a communication chip.
[0108] The memory 620 may include random access memory (RAM) or read-only memory (ROM). The memory 620 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 620 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described below. The data storage area may also store data created during vehicle operation (such as phonebook data, audio / video data, chat log data, etc.).
[0109] This application also provides a computer-readable storage medium storing computer program instructions that can be invoked by a processor to execute the methods described in the above embodiments.
[0110] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, computer-readable storage media include non-transitory computer-readable storage media. The computer-readable storage medium has storage space for computer program instructions that perform any of the method steps described above. These computer program instructions can 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 merely preferred embodiments of this application and are not intended to limit this application in any way. Although this application has disclosed preferred embodiments as above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.
Claims
1. A method for controlling vehicle movement, characterized in that, The method includes: Get the vehicle's speed; Obtain slope information, which represents the degree of inclination of the ground on which the vehicle is currently traveling; Based on the vehicle's speed and the gradient information, the on / off state of the integral clear switch is determined; wherein, the on / off state of the integral clear switch includes an open state and a closed state; when the on / off state of the integral clear switch is the open state, the control result indicates that the integral term in the specified formula is cleared; when the on / off state of the integral clear switch is the closed state, the control result indicates that the integral term in the specified formula is not cleared, wherein the specified formula is the formula used when the vehicle is driven by the PID control algorithm, and the integral term represents the cumulative error of the vehicle being driven by the PID control algorithm; The vehicle is controlled to move based on the control results; The step of determining the on / off state of the integral clearing switch based on the vehicle's speed and the gradient information includes: The actual value of the integral term is determined based on the vehicle's speed and the specified formula. The baseline value of the integral term is determined based on the vehicle's speed and the gradient information; the baseline value of the integral term is positively correlated with the gradient information, and the baseline value of the integral term is positively correlated with the speed. If the baseline value of the integral term is greater than the actual value of the integral term, the switch state of the integral clearing switch is determined to be the open state. If the baseline value of the integral term is less than or equal to the actual value of the integral term, the on / off state of the integral clear switch is determined to be the off state.
2. The method according to claim 1, characterized in that, The control of the vehicle's movement based on the control result includes: The target calculation formula is determined based on the control results; The vehicle's acceleration is determined according to the target calculation formula; The vehicle is controlled to move according to the determined acceleration of the vehicle.
3. The method according to claim 2, characterized in that, The determination of the target calculation formula based on the control result includes: If the control result indicates that the integral term in the specified formula should be cleared, the integral term in the specified formula is removed to obtain the target formula; If the control result indicates that the integral term in the specified formula is not cleared, the specified formula is determined as the target formula.
4. The method according to any one of claims 1 to 3, characterized in that, Before obtaining the vehicle's speed, the following is also included: Detect whether the vehicle is in a parking scenario; If the vehicle is detected to be in the parking scenario, the step of obtaining the vehicle's speed is performed.
5. The method according to claim 4, characterized in that, The method further includes: When the vehicle is detected to be in the parking scenario, the system detects whether there are speed bumps on the vehicle's expected driving trajectory. If the speed bump is detected in the vehicle's trajectory, the step of obtaining the vehicle's speed is performed.
6. A device for controlling the movement of a vehicle, characterized in that, The device includes: Speed acquisition module, used to acquire the vehicle's speed; A slope acquisition module is used to acquire slope information, which represents the degree of inclination of the ground on which the vehicle is currently traveling; The control result determination module is used to determine the on / off state of the integral clear switch based on the vehicle's speed and the slope information; wherein, the on / off state of the integral clear switch includes an open state and a closed state; when the on / off state of the integral clear switch is the open state, the control result indicates that the integral term in the specified calculation formula is cleared; when the on / off state of the integral clear switch is the closed state, the control result indicates that the integral term in the specified calculation formula is not cleared, the specified calculation formula is the calculation formula used when the vehicle is driven by the PID control algorithm, and the integral term represents the cumulative error of the vehicle being driven by the PID control algorithm; A driving control module is used to control the vehicle's movement based on the control results; Specifically, the control result determination module is used to: determine the actual value of the integral term based on the vehicle's speed and the specified calculation formula; determine a reference value of the integral term based on the vehicle's speed and the slope information, wherein the reference value of the integral term is positively correlated with the slope information and the speed; determine the on / off state of the integral clearing switch when the reference value of the integral term is greater than the actual value of the integral term; and determine the off state of the integral clearing switch when the reference value of the integral term is less than or equal to the actual value of the integral term.
7. A vehicle, characterized in that, Includes: Memory; One or more processors are 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, the one or more programs being configured to perform the method as described in any one of claims 1-5.
8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that can be invoked by a processor to perform the method as described in any one of claims 1-5.