Vehicle control method, device and equipment and storage medium
By obtaining vehicle position information and calculating the target speed limit value, and dynamically adjusting the vehicle speed limit with multiple factors, the problem that traditional speed limit methods cannot adapt to complex driving environments is solved, and the safe operation of autonomous vehicles in various scenarios is achieved.
Patent Information
- Application Number
- CN202411986802.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-03-14
AI Technical Summary
Traditional speed limiting methods cannot fully adapt to complex driving environments and cannot comprehensively consider a variety of factors, such as road environment, driving conditions and vehicle status, resulting in the safety operation of autonomous vehicles in various scenarios being restricted.
By acquiring the position information of the vehicle, the distance from the vehicle and the target area is determined, the target speed limit value is calculated in combination with the preset acceleration, and the vehicle speed of the vehicle is controlled based on the speed limit value. At the same time, considering factors such as curves, lateral deviations and heading deviations, the vehicle's speed limit value is dynamically adjusted.
It realizes intelligent control of vehicle speed in complex driving environments, ensures the safe operation of vehicles in various scenarios, and improves the adaptability and safety of autonomous driving technology.
Smart Images
Figure CN119611431A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle control method, device, equipment and storage medium. Background Art
[0002] With the rapid development of autonomous driving technology, autonomous vehicles are increasingly used in various scenarios. However, different road environments, driving conditions and vehicle states have strict requirements on vehicle speeds. Traditional speed limit methods often only consider a single factor and cannot fully adapt to complex driving environments. Summary of the invention
[0003] In view of this, the present application provides a vehicle control method, device, equipment and storage medium to facilitate solving the above-mentioned technical problems.
[0004] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:
[0005] Get the vehicle's location information;
[0006] Determine a first distance between the vehicle and a target area according to the position information; wherein the target area is a special area in a preset path corresponding to the vehicle and having a minimum distance from the position information;
[0007] Obtaining a target speed limit value according to a preset acceleration and the first distance;
[0008] The vehicle speed is controlled based on the target speed limit value.
[0009] In some possible embodiments, after obtaining the target speed limit value according to the preset acceleration and the first distance, the method further includes:
[0010] Determining whether the target speed limit value is greater than a speed limit threshold;
[0011] If it is determined that the target speed limit value is greater than the speed limit threshold, adjusting the vehicle speed based on the target speed limit value includes:
[0012] The speed of the vehicle is adjusted based on the speed limit threshold.
[0013] In some possible embodiments, the method further includes:
[0014] Obtaining the curvature of each point in the first curve corresponding to the vehicle;
[0015] Taking a point whose curvature is greater than a preset curvature threshold value among the points as a first point;
[0016] Determining a curve entry point from the first points;
[0017] Obtaining a curve speed limit value based on the curve entry point;
[0018] The vehicle is controlled based on the curve speed limit value.
[0019] In some possible embodiments, obtaining the curve speed limit value based on the curve entry point includes:
[0020] Get the curvature of each second point in the target path;
[0021] Based on the curvature of each second point and the curvature of the curve entry point, a curvature mean is obtained;
[0022] The curve speed limit value is obtained based on the curvature mean value and a preset curve speed limit table.
[0023] In some possible embodiments, controlling the vehicle based on the curve speed limit value includes:
[0024] Determine a second distance between the vehicle and the curve entry point according to the position information of the vehicle;
[0025] Obtaining an expected vehicle speed according to the curve speed limit threshold and the second distance;
[0026] The vehicle is controlled according to the desired vehicle speed.
[0027] In some possible embodiments, the method further includes:
[0028] Determining a lateral deviation value between the vehicle and the preset path according to the position information of the vehicle;
[0029] Obtaining a first driving posture speed limit value according to the lateral deviation value and a preset lateral deviation speed limit table;
[0030] The vehicle is controlled according to the first driving posture speed limit value.
[0031] In some possible embodiments, the method further includes:
[0032] Determining a heading deviation value between the vehicle and the preset path according to the position information of the vehicle;
[0033] Obtaining a second driving posture speed limit value according to the heading deviation value and a preset heading deviation speed limit table;
[0034] The vehicle is controlled according to the second driving posture speed limit value.
[0035] In a second aspect, an embodiment of the present application provides a vehicle control device, the device comprising:
[0036] An acquisition module, used to acquire the location information of the vehicle;
[0037] a distance determination module, configured to determine a first distance between the vehicle and a target area according to the position information; wherein the target area is a special area in a preset path corresponding to the vehicle and having a minimum distance from the position information;
[0038] A speed limit value determination module, configured to obtain a target speed limit value according to a preset acceleration and the first distance;
[0039] A control module is used to control the speed of the vehicle based on the target speed limit value.
[0040] In some possible embodiments, the speed limit value determination module is further used to: determine whether the target speed limit value is greater than a speed limit threshold;
[0041] The control module is specifically used to adjust the speed of the vehicle based on the speed limit threshold.
[0042] In some possible embodiments, the control module is further used to: obtain the curvature of each point in the first curve corresponding to the vehicle;
[0043] Taking a point whose curvature is greater than a preset curvature threshold value among the points as a first point;
[0044] Determining a curve entry point from the first points;
[0045] Obtaining a curve speed limit value based on the curve entry point;
[0046] The vehicle is controlled based on the curve speed limit value.
[0047] In some possible embodiments, the control module is specifically used to: obtain the curvature of each second point in the target path;
[0048] Based on the curvature of each second point and the curvature of the curve entry point, a curvature mean is obtained;
[0049] The curve speed limit value is obtained based on the curvature mean value and a preset curve speed limit table.
[0050] In some possible embodiments, the control module is specifically configured to: determine a second distance between the vehicle and the curve entry point according to the position information of the vehicle;
[0051] Obtaining an expected vehicle speed according to the curve speed limit threshold and the second distance;
[0052] The vehicle is controlled according to the desired vehicle speed.
[0053] In some possible embodiments, the control module is further used to: determine a lateral deviation value between the vehicle and the preset path according to the position information of the vehicle;
[0054] Obtaining a first driving posture speed limit value according to the lateral deviation value and a preset lateral deviation speed limit table;
[0055] The vehicle is controlled according to the first driving posture speed limit value.
[0056] In some possible embodiments, the control module is further used to: determine a heading deviation value between the vehicle and the preset path according to the position information of the vehicle;
[0057] Obtaining a second driving posture speed limit value according to the heading deviation value and a preset heading deviation speed limit table;
[0058] The vehicle is controlled according to the second driving posture speed limit value.
[0059] In the third aspect, another embodiment of the present application also provides an electronic device, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any method provided in the embodiment of the first aspect of the present application.
[0060] In a fourth aspect, another embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute any method provided in the embodiment of the first aspect of the present application.
[0061] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0063] Figure 1A schematic diagram of an application scenario of a vehicle control method provided in an embodiment of the present application;
[0064] Figure 2 A schematic diagram of the overall process of a vehicle control method provided in an embodiment of the present application;
[0065] Figure 3 A schematic diagram of a target area and a first distance of a vehicle control method provided in an embodiment of the present application;
[0066] Figure 4A A schematic diagram of the overall process of speed limiting on a curve of a vehicle control method provided in an embodiment of the present application;
[0067] Figure 4B A schematic diagram of curve points of a vehicle control method provided in an embodiment of the present application;
[0068] Figure 5 A schematic diagram of a flow chart of obtaining a curve speed limit value based on a curve entry point in a vehicle control method provided in an embodiment of the present application;
[0069] Fig. 6A A schematic diagram of a curve entry point of a vehicle control method provided in an embodiment of the present application;
[0070] Figure 6B A schematic diagram of a preset curve speed limit for a vehicle control method provided in an embodiment of the present application;
[0071] Figure 7 A schematic diagram of a flow chart of controlling a vehicle based on a curve speed limit value in a vehicle control method provided in an embodiment of the present application;
[0072] Figure 8 A schematic diagram of a flow chart of controlling a vehicle in a situation where a vehicle has lateral deviation according to a vehicle control method provided in an embodiment of the present application;
[0073] Fig. 9 A schematic diagram of lateral deviation of a vehicle control method provided in an embodiment of the present application;
[0074] Fig.10 A preset lateral deviation speed limit representation of a vehicle control method provided in an embodiment of the present application;
[0075] Fig.11 A schematic diagram of a process flow of controlling a vehicle according to a heading deviation of the vehicle provided in a vehicle control method according to an embodiment of the present application;
[0076] Fig.12 A preset heading deviation speed limit representation of a vehicle control method provided in an embodiment of the present application;
[0077] Fig.13 A schematic diagram of a speed limit at a station of a vehicle control method provided in an embodiment of the present application;
[0078] Fig.14 A schematic diagram of the station distance representation of a vehicle control method provided in an embodiment of the present application;
[0079] Fig.15 A schematic diagram of a vehicle control method provided in an embodiment of the present application;
[0080] Fig.16 A schematic diagram of an electronic device for a vehicle control method provided in an embodiment of the present application. DETAILED DESCRIPTION
[0081] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.
[0082] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.
[0083] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.
[0084] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.
[0085] The inventors have found that with the rapid development of autonomous driving technology, autonomous driving vehicles are increasingly used in various scenarios. However, different road environments, driving conditions and vehicle states have strict requirements on vehicle speed. Traditional speed limit methods often only consider a single factor and cannot fully adapt to complex driving environments. Therefore, a speed limit system that can comprehensively consider multiple factors is needed to ensure the safe operation of autonomous driving vehicles in various scenarios.
[0086] In view of the above problems, the embodiments of the present application provide a vehicle control method, device, equipment and storage medium for solving the above problems. The inventive concept of the present application can be summarized as follows: obtaining the position information of the vehicle; determining the first distance between the vehicle and the target area according to the position information; wherein the target area is a special area in the preset path corresponding to the vehicle with the smallest distance from the position information; obtaining the target speed limit value according to the preset acceleration and the first distance; and controlling the vehicle speed based on the target speed limit value.
[0087] In the embodiment of the present application, the vehicle speed is adjusted by calculating the distance to the special area and the preset acceleration, so that the vehicle can pass through the special area smoothly and safely.
[0088] For ease of understanding, a vehicle control method provided by an embodiment of the present application is described in detail below with reference to the accompanying drawings:
[0089] like Figure 1 As shown, it is an application scenario diagram of a vehicle control method in an embodiment of the present application. The diagram includes: a vehicle 10, a special area 20, and a target area 201; wherein:
[0090] In Park A, the vehicle needs to travel from position 1 to position 2. During the travel, the position information of the vehicle 10 is obtained in real time; the first distance between the vehicle 10 and the target area 201 is determined according to the position information of the vehicle 10; wherein the target area 201 is a special area 20 with the smallest distance from the position information in the preset path (the path between position 1 and position 2) corresponding to the vehicle 10; the target speed limit value is obtained according to the preset acceleration and the first distance; and the speed of the vehicle 10 is controlled based on the target speed limit value.
[0091] The description in this application only details a single vehicle 10, a special area 20, and a target area 201, but those skilled in the art should understand that the illustrated vehicle 10, the special area 20, and the target area 201 are intended to represent the operation of the vehicle 10, the special area 20, and the target area 201 involved in the technical solution of this application. It does not imply a limitation on the number, type, or location of the vehicle 10, the special area 20, and the target area 201. It should be noted that if additional modules are added to the illustrated environment or individual modules are removed therefrom, the underlying concept of the example embodiment of this application will not be changed.
[0092] It should be noted that the vehicle control method proposed in this application is not only applicable to Figure 1 The application scenario shown is also applicable to any device with vehicle control requirements.
[0093] like Figure 2FIG. 1 is a schematic diagram of the overall process of a vehicle control method provided by an embodiment of the present application, wherein:
[0094] In step 201: obtain the location information of the vehicle.
[0095] In the embodiment of the present application, in order to ensure safe driving of the vehicle, the speed limit value for the vehicle can be determined in real time according to the distance between the vehicle and the target area, and then the vehicle speed can be controlled according to the speed limit value. Therefore, the location information of the vehicle can be obtained through other devices such as a locator installed in the vehicle.
[0096] In step 202: a first distance between the vehicle and a target area is determined based on the position information; wherein the target area is a special area in a preset path corresponding to the vehicle and having a minimum distance from the position information.
[0097] In the embodiment of the present application, considering that there may be safety hazards if a vehicle passes through some areas at a faster speed, this area is set as a special area, and the special area that is closest to the vehicle and in the preset path of the vehicle is used as the target area.
[0098] In some possible embodiments, special areas include, but are not limited to: intersections, zebra crossings, lane intersections, workshops, downhill slopes, narrow sections, etc.
[0099] For example: Figure 3 As shown, path 1 is the preset path of the vehicle. The special areas included in path 1 are: intersection 1, intersection 2, intersection 3, intersection 4, workshop 1, workshop 2, workshop 3, workshop 4, and workshop 5. According to the vehicle's location information, it is determined that the vehicle is currently at point A, and it is determined that the special area closest to point A is workshop 1. Then, workshop 1 is used as the target area, and the distance between the target area and point A is used as the first distance.
[0100] In step 203: a target speed limit value is obtained according to the preset acceleration and the first distance.
[0101] In an embodiment of the present application, after obtaining the first distance, the target speed limit value can be obtained according to the preset acceleration and the uniformly accelerated linear motion formula, wherein the preset acceleration is set according to the perception of the passengers in the vehicle of the vehicle deceleration. The present application does not limit the specific value of the preset acceleration.
[0102] In some possible embodiments, the target speed limit value may be obtained using Formula 1, where:
[0103]
[0104] Among them, v limit1 is the target speed limit, vlimitArea is the speed limit value of the target area when passing through the area, a limit is the preset acceleration, S into_vLimitArea is the first distance between the vehicle and the target area.
[0105] Among them, for different special areas, the corresponding speed limit values for passing through the area can be the same or different, and this application does not limit this.
[0106] In step 204: the vehicle speed is controlled based on the target speed limit value.
[0107] In the embodiment of the present application, after the target speed limit value is obtained, it is necessary to control the vehicle speed to be less than or equal to the target speed limit value to ensure the safety of vehicle driving.
[0108] In some possible embodiments, if the distance between the vehicle and the target area is far, the target speed limit value calculated by formula 1 is larger. When the target speed limit value is too large, it can be ensured that the speed of the vehicle drops to the speed limit value corresponding to the target area when driving to the target area. However, there may be dangers during driving. Therefore, in this case, it can be implemented: determine whether the target speed limit value is greater than the speed limit threshold; if it is determined that the target speed limit value is greater than the speed limit threshold, adjust the vehicle speed based on the speed limit threshold.
[0109] In an embodiment of the present application, a speed limit threshold is set. When the target speed limit value is greater than the speed limit threshold, the speed limit threshold is used to replace the target speed limit value, that is, the vehicle speed is controlled to be less than or equal to the speed limit threshold. The speed limit threshold can be set according to the specific implementation situation, and the present application does not limit the specific value of the speed limit threshold.
[0110] For example: Figure 3 As shown, path 1 is the preset path of the vehicle, and the special areas included in path 1 are: intersection 1, intersection 2, workshop 1, and workshop 2. According to the location information of the vehicle, it is determined that the vehicle is currently at point A, and it is determined that the special area closest to point A is intersection 1. Then intersection 1 is used as the target area, and the distance between the target area and point A is used as the first distance. According to the first distance and the above formula 1, the target speed limit value is calculated to be 35 kilometers per hour, and the speed limit value is determined to be 15 kilometers per hour. Figure 3 The corresponding speed limit threshold of the factory area is 25 kilometers per hour. It can be determined that the target speed limit value is greater than the speed limit threshold. The speed limit threshold is used to control the vehicle, that is, the vehicle speed is controlled to be less than or equal to 25 kilometers per hour.
[0111] In some other possible embodiments, in order to ensure that the vehicle can safely pass through the curve, the curve can be used Figure 4A The vehicle speed is controlled in the manner shown, wherein:
[0112] In step 401: the curvature of each point in the first curve corresponding to the vehicle is obtained.
[0113] In the embodiment of the present application, the points are pre-set for each curve, and the intervals between each point are equal, for example, Figure 4B As shown, for curve A, the points included are: point 1, point 2, point 3, point 4, point 5 and point 6 (not shown in the figure). The intervals between the points are not limited in this application. For example, one point can be set every 20 cm.
[0114] In step 402: a point whose curvature is greater than a preset curvature threshold value among each point is taken as the first point.
[0115] In the embodiment of the present application, a point where the curvature is greater than a preset curvature threshold indicates that the point is the entry position of the curve, and the vehicle speed needs to be reduced to the speed limit value corresponding to the curve at the entry position of the curve.
[0116] In step 403: a curve entry point is determined from the first point.
[0117] In the embodiment of the present application, when multiple first points are determined, the point closest to the vehicle can be used as the curve entry point.
[0118] In step 404: a curve speed limit value is obtained based on the curve entry point.
[0119] In some possible embodiments, the curve speed limit value is obtained based on the curve entry point, which can be specifically implemented as follows: Figure 5 The steps shown, where:
[0120] In step 501: the curvature of each second point in the target path is obtained.
[0121] In the embodiment of the present application, the target path is a path of a preset length before the curve entry point, and the second point is a point in the target path.
[0122] For example: Fig. 6A As shown, the entry point of the curve is A, and the preset length is 20 meters. The 20 meters before point A is the target path. The target path includes points B, C, D, and E (not shown in the figure). Points B, C, D, and E are used as the second point.
[0123] In step 502: based on the curvature of each second point and the curvature of the curve entry point, a curvature mean is obtained.
[0124] In the embodiment of the present application, in order to improve the accuracy of the obtained curve curvature, the average curvature of the second point and the curve entry point is taken as the curvature corresponding to the curve entry point.
[0125] In step 503: based on the curvature mean value and a preset curve speed limit table, a curve speed limit value is obtained.
[0126] In the embodiment of the present application, after the curvature mean value is obtained, the curve speed limit value can be obtained through a pre-constructed preset curve speed limit table.
[0127] For example: Preset curve speed limit table Figure 6B As shown, the mean curvature is determined to be 0.007, and 7 m / s corresponding to 0.007 can be used as the speed limit on the curve.
[0128] Understandably, Figure 6B The preset curve speed limit table shown is only an embodiment and does not limit the specific values of the specific curvature mean and the curve speed limit. It can be understood that the curve speed limit is the maximum speed for safely passing the curve, which is used to guide the speed limit of the autonomous driving vehicle before entering the curve. The value is set according to the specific usage scenario. For example, an unmanned logistics vehicle that needs to pull heavy objects will have the speed limit calibrated to a smaller value; if it is an autonomous patrol vehicle, an autonomous sightseeing vehicle, etc. that does not need to pull heavy objects, the speed value can be calibrated to a larger value.
[0129] In step 405: the vehicle is controlled based on the curve speed limit value.
[0130] In some possible embodiments, the vehicle is controlled based on the curve speed limit value, which can be specifically implemented as follows: Figure 7 The steps shown, where:
[0131] In step 701: a second distance between the vehicle and the curve entry point is determined based on the position information of the vehicle.
[0132] In the embodiment of the present application, in order to ensure that the vehicle can safely drive to the curve entry point, after obtaining the curve speed limit value, it is necessary to determine the second distance between the curve speed limit point and the vehicle, and then control the vehicle speed according to the motion formula between uniform speed changes.
[0133] In step 702: the expected vehicle speed is obtained according to the curve speed limit threshold and the second distance.
[0134] In some possible embodiments, the expected vehicle speed may be obtained using Formula 2, where:
[0135]
[0136] Among them, v limit2 is the expected vehicle speed, v limitcurv is the speed limit threshold of the curve, a limit is the preset acceleration, S into_vLimitcurv It is the second distance between the vehicle and the curve entry point.
[0137] In step 703: the vehicle is controlled according to the desired vehicle speed.
[0138] In the embodiment of the present application, after the desired vehicle speed is obtained, the vehicle speed is controlled according to the desired vehicle speed so that the vehicle speed is less than or equal to the desired vehicle speed.
[0139] In some possible embodiments, when a vehicle deviates from a preset driving trajectory, or the driving direction deviates from a preset driving trajectory, it is necessary to limit the speed of the vehicle to ensure that the vehicle reduces its speed and safely returns to the expected trajectory when the vehicle is lateral or directional with the expected trajectory. Figure 8 The embodiment shown in the figure is used to control the lateral deviation of the vehicle, and the following Fig.11 The embodiment shown is used to control the heading deviation of the vehicle, which is described below respectively:
[0140] First, if Figure 8 As shown, where:
[0141] In step 801: a lateral deviation value between the vehicle and a preset path is determined based on the position information of the vehicle.
[0142] In an embodiment of the present application, the distance between the vehicle and both sides of the preset path can be determined based on the vehicle's position information, and the minimum value of the distance between the vehicle and both sides of the preset path is used as the lateral deviation.
[0143] For example: Fig. 9 As shown, the lateral deviation between the vehicle and the left side is determined to be L1, and the lateral deviation between the vehicle and the right side of the preset path is determined to be L2. If it is determined that L1 is less than L2, L1 is used as the lateral deviation.
[0144] In step 802: a first driving posture speed limit value is obtained according to the lateral deviation value and a preset lateral deviation speed limit table.
[0145] In the embodiment of the present application, after the lateral deviation value is obtained, the first driving posture speed limit value corresponding to the vehicle can be obtained according to a preset lateral deviation speed limit table.
[0146] For example: Preset lateral deviation speed limit table as Fig.10 As shown, if the lateral deviation value is determined to be 0.15, the speed limit value of the first driving posture can be determined to be 8 m / s.
[0147] In step 803: the vehicle is controlled according to the first driving posture speed limit value.
[0148] In the embodiment of the present application, after the first driving posture speed limit value is obtained, the vehicle is controlled according to the first driving posture speed limit value so that the vehicle speed is less than or equal to the first driving posture speed limit value.
[0149] In some other possible embodiments, the vehicle is controlled according to the heading deviation of the vehicle, which can be specifically implemented as follows: Fig.11 The steps shown, where:
[0150] In step 1101: a heading deviation value between the vehicle and a preset path is determined based on the position information of the vehicle.
[0151] In an embodiment of the present application, the heading angle of the vehicle can be acquired according to a sensor provided in the vehicle, and a heading deviation value of the vehicle from a preset path can be determined according to the heading angle of the vehicle.
[0152] In step 1102: a second driving posture speed limit value is obtained according to the heading deviation value and a preset heading deviation speed limit table.
[0153] In the embodiment of the present application, after the heading deviation value is obtained, the second driving posture speed limit value corresponding to the vehicle can be obtained according to a preset heading deviation speed limit table.
[0154] For example: The preset course deviation speed limit table is as follows: Fig.12 As shown, if the heading deviation value is determined to be 0.05, the speed limit value of the second driving posture can be determined to be 8 meters per second.
[0155] In step 1103: the vehicle is controlled according to the second driving posture speed limit value.
[0156] In the embodiment of the present application, after the second driving posture speed limit value is obtained, when the vehicle is controlled according to the second driving posture speed limit value, it is necessary to make the vehicle speed less than or equal to the second driving posture speed limit value.
[0157] In some other possible embodiments, in order to ensure the stopping accuracy of the vehicle after arriving at the station, especially the unmanned logistics vehicle has a high requirement for stopping accuracy to complete the precise docking of goods, the following can be implemented: Fig.13 The steps shown, where:
[0158] In step 1301: obtain the vehicle's location information, the vehicle's current speed, and the station's location information.
[0159] In step 1302: the distance between the vehicle and the site is determined based on the location information of the vehicle and the location information of the site of the vehicle.
[0160] In step 1303: the site speed limit value is obtained according to the preset site distance table and the distance between the vehicle and the site, and the vehicle is controlled according to the site speed limit value.
[0161] In the embodiment of the present application, the corresponding relationship between the speed limit value of the station and the distance between the vehicle stations is pre-calibrated, and the following is constructed based on the corresponding relationship: Fig.14 The station distance table shown can be used to look up the calculated distance between the vehicle and the station to obtain the station speed limit value, and the vehicle can be controlled by the obtained station speed limit value so that the vehicle speed is less than or equal to the station speed limit value.
[0162] In an embodiment of the present application, the vehicle control methods corresponding to the various scenarios provided above can be used simultaneously. If multiple speed limit values are calculated according to the vehicle control methods corresponding to the various scenarios provided above, the minimum value among the multiple speed limit values is used as the final speed limit value of the vehicle, and the final speed limit value is used to control the vehicle so that the vehicle speed is less than or equal to the final speed limit value of the vehicle.
[0163] Based on the same inventive concept, after introducing a vehicle control method provided by an embodiment of the present application, as shown in FIG. Fig.15 As shown, a vehicle control device 1500 provided in an embodiment of the present application is described below, and the device includes:
[0164] The acquisition module 15001 is used to acquire the location information of the vehicle;
[0165] The distance determination module 15002 is used to determine a first distance between the vehicle and a target area according to the position information; wherein the target area is a special area in a preset path corresponding to the vehicle and having a minimum distance from the position information;
[0166] A speed limit value determination module 15003, configured to obtain a target speed limit value according to a preset acceleration and the first distance;
[0167] The control module 15004 is used to control the speed of the vehicle based on the target speed limit value.
[0168] In some possible embodiments, the speed limit value determination module 15003 is further used to: determine whether the target speed limit value is greater than a speed limit threshold;
[0169] The control module 15004 is specifically used to adjust the speed of the vehicle based on the speed limit threshold.
[0170] In some possible embodiments, the control module 15004 is further used to: obtain the curvature of each point in the first curve corresponding to the vehicle;
[0171] Taking a point whose curvature is greater than a preset curvature threshold value among the points as a first point;
[0172] Determining a curve entry point from the first points;
[0173] Obtaining a curve speed limit value based on the curve entry point;
[0174] The vehicle is controlled based on the curve speed limit value.
[0175] In some possible embodiments, the control module 15004 is specifically used to: obtain the curvature of each second point in the target path;
[0176] Based on the curvature of each second point and the curvature of the curve entry point, a curvature mean is obtained;
[0177] The curve speed limit value is obtained based on the curvature mean value and a preset curve speed limit table.
[0178] In some possible embodiments, the control module 15004 is specifically configured to: determine a second distance between the vehicle and the curve entry point according to the position information of the vehicle;
[0179] Obtaining an expected vehicle speed according to the curve speed limit threshold and the second distance;
[0180] The vehicle is controlled according to the desired vehicle speed.
[0181] In some possible embodiments, the control module 15004 is further used to: determine a lateral deviation value between the vehicle and the preset path according to the position information of the vehicle;
[0182] Obtaining a first driving posture speed limit value according to the lateral deviation value and a preset lateral deviation speed limit table;
[0183] The vehicle is controlled according to the first driving posture speed limit value.
[0184] In some possible embodiments, the control module 15004 is further used to: determine a heading deviation value between the vehicle and the preset path according to the position information of the vehicle;
[0185] Obtaining a second driving posture speed limit value according to the heading deviation value and a preset heading deviation speed limit table;
[0186] The vehicle is controlled according to the second driving posture speed limit value.
[0187] Corresponding to the above embodiments, the present application also provides an electronic device. Fig.16A schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, the electronic device 1600 may include: a processor 1601, a memory 1602 and a communication unit 1603. These components communicate through one or more buses, and those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiment of the present invention, it can be a bus structure or a star structure, and can also include more or less components than shown in the figure, or combine certain components, or arrange the components differently.
[0188] The communication unit 1603 is used to establish a communication channel so that the electronic device can communicate with other devices, receive user data sent by other devices or send user data to other devices.
[0189] The processor 1601 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs and / or modules stored in the memory 1602, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 1601 can only include a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.
[0190] The memory 1602 is used to store the execution instructions of the processor 1601. The memory 1602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.
[0191] When the execution instructions in the memory 1602 are executed by the processor 1601, the electronic device 1600 can execute Figure 2 Some or all of the steps in the illustrated embodiments.
[0192] In a specific implementation, the present invention further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the vehicle control method provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.
[0193] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention or some parts of the embodiments.
[0194] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.
Claims
1. A vehicle control method, characterized in that: Applied to a vehicle, the method comprises: Get the vehicle's location information; Determine a first distance between the vehicle and a target area according to the position information; wherein the target area is a special area in a preset path corresponding to the vehicle and having a minimum distance from the position information; Obtaining a target speed limit value according to a preset acceleration and the first distance; The vehicle speed is controlled based on the target speed limit value.
2. The method according to claim 1, characterized in that After obtaining the target speed limit value according to the preset acceleration and the first distance, the method further includes: Determining whether the target speed limit value is greater than a speed limit threshold; If it is determined that the target speed limit value is greater than the speed limit threshold, controlling the vehicle speed based on the target speed limit value includes: The speed of the vehicle is adjusted based on the speed limit threshold.
3. The method according to claim 1, characterized in that The method further comprises: Obtaining the curvature of each point in the first curve corresponding to the vehicle; Taking a point whose curvature is greater than a preset curvature threshold value among the points as a first point; Determining a curve entry point from the first points; Obtaining a curve speed limit value based on the curve entry point; The vehicle is controlled based on the curve speed limit value.
4. The method according to claim 3, characterized in that The obtaining of the curve speed limit value based on the curve entry point comprises: Get the curvature of each second point in the target path; Based on the curvature of each second point and the curvature of the curve entry point, a curvature mean is obtained; The curve speed limit value is obtained based on the curvature mean value and a preset curve speed limit table.
5. The method according to claim 3, characterized in that: The controlling the vehicle based on the curve speed limit value includes: Determine a second distance between the vehicle and the curve entry point according to the position information of the vehicle; Obtaining an expected vehicle speed according to the curve speed limit threshold and the second distance; The vehicle is controlled according to the desired vehicle speed.
6. The method according to claim 1, characterized in that The method further comprises: Determining a lateral deviation value between the vehicle and the preset path according to the position information of the vehicle; Obtaining a first driving posture speed limit value according to the lateral deviation value and a preset lateral deviation speed limit table; The vehicle is controlled according to the first driving posture speed limit value.
7. The method according to claim 1, characterized in that The method further comprises: Determining a heading deviation value between the vehicle and the preset path according to the position information of the vehicle; Obtaining a second driving posture speed limit value according to the heading deviation value and a preset heading deviation speed limit table; The vehicle is controlled according to the second driving posture speed limit value.
8. A vehicle control device, characterized in that: Applied to a vehicle, the device comprises: An acquisition module, used to acquire the location information of the vehicle; a distance determination module, configured to determine a first distance between the vehicle and a target area according to the position information; wherein the target area is a special area in a preset path corresponding to the vehicle and having a minimum distance from the position information; A speed limit value determination module, configured to obtain a target speed limit value according to a preset acceleration and the first distance; A control module is used to control the speed of the vehicle based on the target speed limit value.
9. An electronic device, characterized in that: The device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.