Method and apparatus for controlling the speed of a vehicle

Abstract

The present disclosure provides a vehicle control device including: a receiving section for recognizing a plurality of events including a first event and a second event, and receiving information of the plurality of events and information including a set speed of a vehicle and a current speed of the vehicle; a determination unit for determining whether or not a control start condition is satisfied; a calculation unit for calculating a reference distance for control, calculating a target speed using the reference distance for control, and modifying the target speed; and a vehicle control section for performing control including acceleration and deceleration such that the vehicle travels at the target speed when the control start condition is satisfied.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0127755 filed on September 25, 2023, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a method and device for controlling vehicle speed. More specifically, the present disclosure relates to a vehicle speed control method and device capable of preventing and / or reducing sudden acceleration and deceleration when the vehicle is traveling at a set speed. Background Art

[0004] The descriptions in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] Cruise control is a function that allows the driver to maintain a set speed set by the user without depressing the accelerator pedal or the brake pedal. With the development of autonomous driving technology, a function is provided in cruise control to change the vehicle speed according to the speed limit of an event that occurs during driving. For example, if there is an event such as an interchange, junction, toll booth, or speed limit change ahead, a vehicle equipped with cruise control can decelerate according to the set speed limit. In addition, when the event ends, the vehicle equipped with cruise control can accelerate to return to the set speed.

[0006] However, multiple events may occur within a short distance during driving. In this case, if the set speed is greater than the speed limit or safe speed, sudden deceleration and / or sudden acceleration may be repeated. Repeated sudden deceleration and sudden acceleration may reduce vehicle safety, fuel efficiency, and passenger comfort. Summary of the invention

[0007] The following summary provides a simplified summary of certain features. The summary is not an extensive overview and is not intended to identify key or critical elements.

[0008] One aspect of the present disclosure provides a method and apparatus for preventing and / or reducing sudden acceleration and sudden deceleration of a vehicle due to an event.

[0009] Aspects of the present disclosure are not limited to the above-mentioned aspects, and other aspects not mentioned herein will be clearly understood by those skilled in the art through the following description.

[0010] A device may include: at least one sensor; one or more processors; and a memory for storing instructions, which, when executed by the one or more processors, cause the device to perform the following operations: determine multiple events including a first event and a second event based on at least one of sensing information and navigation information of at least one sensor, wherein the first event is associated with a first speed control in a first section of a vehicle's driving route, and wherein the second event is associated with a second speed control in a second section of the driving route; determine information on multiple events and information on the vehicle, wherein the information on the vehicle includes a set speed for the vehicle and a current speed of the vehicle; determine a reference distance for determining whether to perform a target speed adjustment on the vehicle in an intermediate section of the driving route between an end point of the first section and a start point of the second section; determine an adjusted target speed in the intermediate section based on the reference distance; and perform speed control on the vehicle traveling in the intermediate section based on the adjusted target speed.

[0011] When executed by one or more processors, the instructions may cause the device to determine to perform a target speed adjustment based on the following conditions: the vehicle is located in the first road segment or the intermediate road segment, the set speed is greater than the speed limit of the second event, and the reference distance is greater than the distance between the end point of the first road segment and the starting point of the second road segment.

[0012] When executed by the one or more processors, the instructions may further cause the apparatus to determine an adjusted target speed based on the set speed and a distance between an end point of the first segment and a start point of the second segment.

[0013] When executed by one or more processors, the instructions may cause the apparatus to determine the adjusted target speed by multiplying the initial adjusted target speed by a predefined positive number less than one.

[0014] When executed by one or more processors, the instructions may cause the apparatus to determine an adjusted target speed after the vehicle passes an end point of the first road segment.

[0015] When executed by one or more processors, the instructions may cause the apparatus to determine the adjusted target speed to be slower than the unadjusted target speed.

[0016] When executed by one or more processors, the instructions may cause the apparatus to determine the adjusted target speed to be faster than or equal to the current speed of the vehicle and the speed limit of the second event.

[0017] When executed by one or more processors, the instructions may cause the apparatus to determine a reference distance such that the reference distance includes an acceleration distance and a deceleration distance.

[0018] When executed by one or more processors, the instructions may cause the device to control the vehicle to travel at a set speed before the control enabling condition is met.

[0019] When executed by one or more processors, the instructions may cause the device to control the vehicle to travel at the speed limit of the second road segment when the vehicle is located on the second road segment.

[0020] A method performed by a device of a vehicle may include: determining multiple events including a first event and a second event based on at least one of sensing information of at least one sensor or navigation information, wherein the first event is associated with a first speed control in a first section of a vehicle's driving route, and wherein the second event is associated with a second speed control in a second section of the driving route; determining information of multiple events and information of the vehicle, wherein the information of the vehicle includes a set speed of the vehicle and a current speed of the vehicle; determining a reference distance for judging whether to perform a target speed adjustment on the vehicle in an intermediate section of the driving route between an end point of the first section and a start point of the second section; determining an adjusted target speed in the intermediate section based on the reference distance; and performing speed control on the vehicle traveling in the intermediate section based on the adjusted target speed.

[0021] The method may further include determining whether to perform the target speed adjustment based on the following conditions: the vehicle is located in the first section or the intermediate section, the set speed is greater than the speed limit of the second event, and the reference distance is greater than the distance between the end point of the first section and the start point of the second section.

[0022] The adjusted target speed may also be determined based on the set speed and the distance between the end point of the first section and the start point of the second section.

[0023] The adjusted target speed may be determined by multiplying the initial adjusted target speed by a predefined positive number less than 1.

[0024] The adjusted target speed may be determined after the vehicle passes the end point of the first road segment.

[0025] The adjusted target speed may be determined to be slower than the unadjusted target speed.

[0026] The adjusted target speed may be determined to be faster than or equal to the current speed of the vehicle and the speed limit of the second event.

[0027] The reference distance may include an acceleration distance and a deceleration distance.

[0028] The method may further include controlling the vehicle to travel at a set speed before the control initiation condition is met.

[0029] The method may further include controlling the vehicle to travel at a speed limit of the second road section when the vehicle is located on the second road section.

[0030] According to the present disclosure, a vehicle control device is provided. The vehicle control device includes: a receiving unit for identifying multiple events including a first event and a second event, and receiving information of the multiple events and information including a set speed of the vehicle and a current speed of the vehicle; a judging unit for judging whether a control start condition is satisfied; a calculating unit for calculating a reference distance for control, calculating a target speed using the reference distance for control, and modifying the target speed; and a vehicle control unit for performing control including acceleration and deceleration, so that when the control start condition is satisfied, the vehicle travels at the target speed.

[0031] According to the present disclosure, a method for controlling a vehicle speed by a vehicle control device is provided. The method includes: identifying a plurality of events including a first event and a second event; receiving information of the plurality of events and information including a vehicle set speed and a vehicle current speed; determining whether a control start condition is satisfied; calculating a reference distance for control, and calculating a target speed using the reference distance for control; adjusting the target speed; and performing control including acceleration and deceleration so that the vehicle travels at the target speed when the control start condition is satisfied.

[0032] According to an embodiment of the present disclosure, by adjusting the set speed according to the distances between a plurality of events, it is possible to prevent a vehicle from being suddenly accelerated and suddenly decelerated due to an event.

[0033] The benefits of the present disclosure are not limited to the above-mentioned benefits, and other benefits not mentioned herein will be clearly understood by those skilled in the art through the following description.

[0034] These and other features and advantages are described in greater detail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic block diagram of a vehicle control device.

[0036] Figure 2 is a flowchart showing a method for determining whether a control start condition is satisfied.

[0037] Figure 3 is a flow chart illustrating a method for controlling vehicle speed.

[0038] Figure 4 is a schematic diagram showing a change in speed according to the position of the vehicle.

[0039] FIG. 5A to FIG. 5D is a schematic diagram for explaining the operation of a vehicle control device.

[0040] Figure 6 is a schematic block diagram illustrating an example vehicle that may be used to implement such a method or apparatus. DETAILED DESCRIPTION

[0041] Hereinafter, some examples of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals preferably represent the same elements, although these elements are shown in different drawings. In addition, in the following description of some examples, for the purpose of clarity and brevity, detailed descriptions of related known parts and functions will be omitted when it is considered that the subject matter of the present disclosure will be obscured.

[0042] In addition, various terms such as first, second, A, B, (a), (b), etc. are only used to distinguish one component from other components, and do not imply or suggest the nature, order or sequence of the components. In this specification, when a part "includes" or "contains" a component, it means that other components may also be included, and other components are not excluded unless there is a clear description to the contrary. Terms such as "-unit", "-module", "-part", etc. refer to a unit for processing at least one function or operation, which can be implemented by hardware, software or a combination thereof.

[0043] The detailed description set forth below in conjunction with the accompanying drawings is intended to describe exemplary embodiments of the present disclosure, and is not intended to represent that these are the only embodiments that can implement the present disclosure.

[0044] As described below, unless otherwise specified, a singular term may include a plural expression.

[0045] Figure 1 is a schematic block diagram of a vehicle control device according to an embodiment of the present disclosure. FIG. 5A to FIG. 5C is a schematic diagram for explaining the operation of a vehicle control device. Figure 1 The components shown in the figure represent functionally different elements, and at least one or more of the components may be implemented in an integrated form in an actual physical environment.

[0046] refer to Figure 1 The vehicle control device 10 may include all or part of a receiving unit 100, a computing unit 110, a judging unit 120, and a vehicle control unit 130. One or more of the receiving unit 100, the computing unit 110, the judging unit 120, and / or the vehicle control unit 130 may be implemented by using one or more controllers (e.g., one or more processors) and / or a memory storing instructions, which, when executed by the one or more controllers, causes the computing device to perform one or more operations described herein.

[0047] The receiving unit 100 can identify events that exist in front of the vehicle. Here, an event may refer to an occasion or location where the speed limit or driving speed of the vehicle needs to be changed. Events include, but are not limited to, overpasses, intersections, toll booths, speed limit change signs, sharp curves, construction signs, and child protection area signs. The recognition distance of the receiving unit 100 can be adjusted. For example, the recognition distance can be adjusted so that the receiving unit 100 can only identify events within a specific distance (e.g., 1 kilometer, 1 mile, etc.) in front of the vehicle. Here, the values ​​of 1 km or 1 mile are merely examples for illustration, and the recognition distance is not limited to this.

[0048] The receiving unit 100 may receive event information of the identified event. The receiving unit 100 may receive event information existing in front from at least one of, for example, a camera, LADAR, LiDAR, and navigation installed on the vehicle. The object to which the receiving unit 100 receives event information is not limited to the above-mentioned devices or software. The receiving unit 100 may receive event information from any device or software that can collect event information.

[0049] Event information may be information about an event that exists or may occur in the area in front of the vehicle (e.g., the front position). Event information may include, for example, the location of the starting point and the end point of the event, the distance from the vehicle to the starting point of the event, the distance from the vehicle to the end point of the event, the distance between the starting point and the end point of the event, the distance between the end point of one event and the starting point of the next event, the speed limit of the event, and the type of the event. The receiving unit 100 may identify multiple events and receive event information for each event. For example, the receiving unit 100 may identify a first event (e.g., an upcoming event that prompts a vehicle speed adjustment from the current vehicle speed) and a second event (e.g., a remote event that prompts a subsequent vehicle speed adjustment after the previous speed adjustment associated with the first event). The receiving unit 100 may receive first event information for the first event and second event information for the second event. Here, the first event may refer to an event whose starting point or end point is closest to the vehicle. The second event may refer to an event whose starting point is closest to the end point of the first event.

[0050] The receiving unit 100 may receive the current speed and the set speed of the vehicle. The set speed is a speed preset by a driver or a user. The set speed may be changed. For example, the set speed may be changed by the driver's manipulation.

[0051] The receiving part 100 may transmit the received information to the determining part 120. Here, the received information may include the presence or absence of an event, the current speed of the vehicle, the set speed, and / or event information.

[0052] refer to Figure 5A , the calculation unit 110 can calculate the acceleration time TACC , deceleration time T DEC , acceleration distance D ACC and / or deceleration distance D DEC . Acceleration time T ACC It can refer to when the vehicle accelerates using the preset acceleration, from the current speed v CUR When the set speed v is reached SET The deceleration time may refer to the time from the set speed v to the set speed v when the vehicle decelerates using the preset deceleration rate. SET Or the target speed reaches the speed limit v EVE2 The time taken. Acceleration distance D ACC It can refer to when the vehicle accelerates using a preset acceleration until the vehicle speed reaches the set speed v SET The distance traveled by the vehicle. Deceleration distance D DEC It can refer to when the vehicle decelerates using a preset deceleration until the vehicle speed reaches the speed limit v EVE2 The distance traveled by the vehicle.

[0053] refer to Figure 5B , the calculation unit 110 can calculate the cruising distance D CRU Here, the cruising distance D CRU It can be set at a speed v SET Distance travelled. Cruising time T CRU It can be referred to as setting the speed v SET Driving time. Cruising time T CRU It can be a preset specific time. Cruising distance d CRU The speed v can be set by, for example SET With the cruising time T CRU Multiply to calculate.

[0054] The calculation unit 110 can calculate the control reference distance D REF . Control reference distance D REF It can be a reference distance used as a basis for determining whether to control the acceleration or deceleration of the vehicle. For example, the control reference distance D REF The acceleration distance D ACC , deceleration distance D DEC and cruising distance D CRU As another example, the acceleration distance D ACC and deceleration distance D DEC Add to calculate the control reference distance D REF .

[0055] The calculation unit 110 can determine the target speed in the intermediate section between the end point of one event and the start point of the next event. SETis determined as the target speed. However, if the distance D of the intermediate section 12 Compared to the reference distance D REF If the vehicle speed is short, the vehicle speed may not reach the speed limit v at the starting point of the second event. EVE2 , or rapid acceleration or deceleration is required to reach the speed limit v EVE2 ,like Figure 5C shown.

[0056] To prevent this, the calculation unit 110 may adjust the target speed. Figure 5D , the adjusted target speed v TAR1 or v TAR2 It can be the speed at which the vehicle travels from the end point of one event to the start point of the next event without sudden acceleration or deceleration. The calculation unit 110 can use the control reference distance D REF , the distance D between the vehicle and the end point of one event and the start point of the next event 12 To determine the vehicle's adjusted target speed v TAR1 or v TAR2 For example, the target speed of the vehicle can be calculated as shown in Equation 1.

[0057] [Formula 1]

[0058]

[0059] Here, v tar is the target speed of the vehicle in the middle section, v set is the set speed of the vehicle, D 12 is the distance from the end point of the first event to the start point of the second event, D REF is the control reference distance, and b is a constant used to adjust the target speed. Here, b is a predefined positive number equal to or less than 1. b can be changed by setting.

[0060] The calculation unit 110 may modify the adjusted target speed v TAR1 or v TAR2 The calculation unit 110 can use the current speed v of the vehicle CUR and / or the speed limit v of the second event EVE2 To modify the adjusted target speed v TAR1 or v TAR2 For example, the calculation unit 110 may change the target speed to the current speed v of the vehicle. CUR and the speed limit v of the second event EVE2 The faster speed.

[0061] The calculation unit 110 can convert the adjusted target speed v TAR1 or v TAR2 With the current speed vCUR The calculation unit 110 can adjust the target speed v TAR1 or v TAR2 The speed limit v of the second event EVE2 If the adjusted target speed v TAR1 or v TAR2 Greater than or equal to the current speed v CUR and the speed limit v of the second event EVE2 , the calculation unit 110 may not modify the adjusted target speed v TAR1 or v TAR2 If the adjusted target speed v TAR1 or v TAR2 Less than the current speed v CUR or the speed limit v of the second event EVE2 , the calculation unit 110 can modify the adjusted target speed v TAR1 or v TAR2 In this case, the target speed of the vehicle can be expressed as shown in Equation 2.

[0062] [Formula 2]

[0063]

[0064] The judging unit 120 may judge whether the vehicle is located in the event section. The event section may refer to a section between the starting point and the ending point of an event. For example, if the vehicle passes the starting point of the event but does not pass the ending point, the judging unit 120 may determine that the vehicle is located in the event section.

[0065] The determination unit 120 may determine whether a control starting condition is satisfied. The control starting condition may be a condition for determining whether to perform a target speed adjustment on the vehicle in the intermediate section. Figure 2 The process of the determination unit 120 determining whether the control start condition is satisfied will be described in detail.

[0066] Figure 2 is a flowchart showing a method for determining whether a control start condition is satisfied.

[0067] refer to Figure 2 , the vehicle (e.g., the determination unit 120 or any other component of the vehicle) may determine whether the vehicle is located in the first event section (S200). If the vehicle is not currently located in the first event section, the vehicle (e.g., the determination unit 120 or any other component of the vehicle) may determine that the control start condition is not satisfied (S20).

[0068] If the vehicle is located within the first event section, the vehicle (e.g., the determination unit 120 or any other component of the vehicle) may check whether the second event has been recognized (e.g., whether the receiving unit 100 has recognized the second event) (S210). If the vehicle (e.g., the receiving unit 100) has not recognized the second event, the vehicle (e.g., the determination unit 120) may determine that the control start condition is not satisfied (S20).

[0069] If the vehicle (e.g., receiving unit 100) recognizes the second event, the vehicle (e.g., determining unit 120) may compare the set speed with the speed limit of the second event (S220). If the set speed is lower than or equal to the speed limit of the second event, the vehicle (e.g., determining unit 120) may determine that the control start condition is not satisfied (S20).

[0070] If the set speed is greater than the speed limit of the second event, the vehicle (e.g., the determination unit 120) may calculate the control reference distance and the distance between the events (S230). The distance between the events may be the distance between the end point of the first event and the start point of the second event. If the control reference distance is less than or equal to the distance between the events, the vehicle (e.g., the determination unit 120) may determine that the control start condition is not satisfied (S20).

[0071] If the control reference distance is greater than or equal to the distance between events, the vehicle (eg, the determination portion 120 ) may determine that the control initiation condition is satisfied ( S240 ).

[0072] The vehicle control unit 130 can control the acceleration or deceleration of the vehicle. The vehicle control unit 130 can control the acceleration or deceleration of the vehicle by controlling the driving components of the vehicle. For example, the vehicle control unit 130 can control the acceleration or deceleration of the vehicle by controlling at least one of the engine, transmission and brakes of the vehicle. In some configurations, the vehicle control unit 130 can control the acceleration or deceleration of the vehicle by controlling the motor of the vehicle. The vehicle components described are for illustrative purposes only, and the vehicle control unit 130 can use all means for controlling the speed of the vehicle to control the speed of the vehicle.

[0073] The vehicle control unit 130 can control the vehicle within the event section so that the vehicle speed becomes the speed limit of the event. If the vehicle is outside the event section, the vehicle control unit 130 can control the vehicle so that the vehicle speed becomes the set speed.

[0074] The vehicle control unit 130 may control the vehicle using the adjusted target speed instead of the set speed. If the vehicle (e.g., the determination unit 120) determines that the control start condition is satisfied, the vehicle (e.g., the vehicle control unit 130 or any other component of the vehicle) may control the vehicle using the adjusted target speed instead of the set speed. In other words, the vehicle is controlled to achieve the adjusted target speed.

[0075] The vehicle control unit 130 may accelerate the vehicle after the vehicle passes the event end point. The vehicle control unit 130 may accelerate the vehicle to a target speed (eg, a set speed or an adjusted target speed).

[0076] The vehicle control unit 130 may decelerate the vehicle from the point where the distance between the current vehicle and the event start point becomes equal to the deceleration distance. The vehicle control unit 130 may control the speed of the vehicle using a preset deceleration. The vehicle control unit 130 may decelerate the vehicle to the event speed limit.

[0077] Figure 3 is a flow chart illustrating a method for controlling vehicle speed.

[0078] refer to Figure 3 The vehicle (e.g., the receiving unit 100 or any other component of the vehicle) may identify the first event and the second event, and receive information about the events respectively (S300). Here, the information about the event may include: the location of the start point and the end point of the event, the distance from the vehicle to the start point of the event, the distance from the vehicle to the end point of the event, the distance between the start point and the end point of the event, the distance between the end point of one event and the start point of the next event, the speed limit of the event, and / or the type of the event.

[0079] The vehicle (e.g., the calculation unit 110 or any other component of the vehicle) may calculate the acceleration distance, the cruising distance, and the deceleration distance. The vehicle (e.g., the calculation unit 110) may calculate the acceleration time and the deceleration time. The calculation unit 110 may calculate the control reference distance using at least one of the acceleration distance, the cruising distance, and the deceleration distance (S310).

[0080] The vehicle (eg, the determination unit 120 or any other component of the vehicle) may determine whether the control start condition of the vehicle is satisfied (S320). If the control start condition is not satisfied, the vehicle (eg, the determination unit) may end the vehicle control process.

[0081] If the control start condition is satisfied, the vehicle (eg, the calculation part 110) may calculate the target speed (S330). The calculation part 110 may calculate the target speed using the set speed, the control reference distance, and the distance from the end point of the first event to the start point of the second event.

[0082] The vehicle (eg, computing unit 110) may determine whether the target speed is lower than the second event speed limit or lower than the vehicle current speed (S340). If the target speed is greater than or equal to the vehicle current speed and the second event speed limit, the vehicle (eg, computing unit 110) may not modify the target speed.

[0083] If the target speed is lower than the vehicle current speed or the second event speed limit, the vehicle (eg, the calculation unit 110 ) may modify the target speed ( S350 ). The calculation unit 110 may modify the target speed to the vehicle current speed or the second event speed limit, whichever is higher.

[0084] If the vehicle passes the end point of the first event, the vehicle control unit 130 may accelerate the speed of the vehicle to the target speed. The vehicle (eg, the vehicle control unit 130) may accelerate the speed of the vehicle to the target speed using a predefined acceleration.

[0085] If the distance to the second event starting point becomes equal to the deceleration distance, the vehicle (eg, the vehicle control portion 130 ) may decelerate the vehicle speed to the second event speed limit.

[0086] Figure 4 is a schematic diagram showing a change in speed according to the position of the vehicle.

[0087] refer to Figure 4 , the vehicle travels at the first event speed limit in the first event section (400).

[0088] If the vehicle recognizes the second event, an adjusted target speed may be determined. If the second event is not recognized, the vehicle may change its target speed to a set speed. The vehicle may accelerate to increase the vehicle speed to the set speed and travel at the set speed (410).

[0089] After the vehicle passes the end point of the first event segment, the vehicle begins to accelerate (420). The vehicle accelerates using a preset acceleration. For example, if a second event is identified, the vehicle will accelerate to the adjusted target speed.

[0090] The vehicle travels to a deceleration start position at the adjusted target speed (430).

[0091] When the deceleration start position is reached, the vehicle decelerates using a preset deceleration rate (440). Here, the deceleration start position may be a point where the distance between the vehicle and the start point of the second event is equal to the deceleration distance. The vehicle decelerates to the speed limit of the second event.

[0092] When the vehicle passes the starting point of the second event, the vehicle travels at the speed limit of the second event (450).

[0093] Figure 6 is a schematic block diagram illustrating an example vehicle that may be used to implement such a method or apparatus.

[0094] The vehicle 60 may include at least one of a communication device 610, a sensor 620, a positioning device 630, an operation device 640, a driving controller 650, a human machine interface unit (HMI) 660, a memory 670, and a controller or processor 680. The vehicle 60 may include the vehicle control device 10 in structure and / or function.

[0095] The communication device 610 can exchange signals with devices located outside and inside the vehicle 60. The communication device 610 can exchange signals with at least one of infrastructure equipment such as a server or a base station, other vehicles, and terminals. The communication device 610 may include at least one of a transmitting antenna, a receiving antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element for performing communication. The communication device 610 may include an internal communication component and an external communication component. The internal communication component may send or receive signals using various communication protocols present in the vehicle 60. In this regard, the internal communication protocol may include at least one of a controller area network (CAN), a CAN with a flexible data rate (CAN FD), Ethernet, a local interconnect network (LIN), and FlexRay. The communication protocol may include other protocols for performing communication between various devices installed on the vehicle. The external communication component may communicate with other vehicles, infrastructure systems, base stations, or roadside equipment using various communication protocols. In this regard, the external communication protocol may include vehicle-to-everything (V2X) communication, including vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-network (V2N) communication, and vehicle-to-pedestrian (V2P) communication. For example, the infrastructure may be a roadside unit or server that periodically transmits traffic information in conjunction with a traffic information system (TIS) or an intelligent transportation system (ITS).

[0096] The sensor 620 may sense the status of the vehicle 60 and external objects.

[0097] In order to sense the state of the vehicle 60, the sensor 620 may include at least one of an inertial measurement unit (IMU), a distance meter (DMI), a collision sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight detection sensor, a heading sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illumination sensor, and a pedal position sensor. On the other hand, the IMU sensor may include one or more of an acceleration sensor, a gyroscope sensor, and a magnetic sensor. The sensor 620 may generate vehicle state data based on a signal generated from at least one sensor. For example, the sensor 620 may collect directional information such as the heading and yaw rate of the vehicle 60.

[0098] In order to sense the external object, the sensor 620 may include at least one of a camera, a radar sensor, a light detection and ranging (LiDAR) sensor, an ultrasonic sensor, and an infrared sensor. The sensor 620 may measure at least one of information about the presence or absence of the object, information about the position of the object, information about the distance between the vehicle 60 and the object, and information about the relative speed between the vehicle 60 and the object.

[0099] The positioning device 630 may generate position data of the vehicle 60. The positioning device 630 may include at least one of a global positioning system (GPS), a differential global positioning system, or a global navigation satellite system (GNSS). The positioning device 630 may generate position data of the vehicle 60 based on a signal generated from at least one of the GPS, DGPS, or GNSS. The positioning device 630 may estimate the position of the vehicle 60 based on a wireless signal received from the communication device 610. The positioning device 630 may estimate the current position of the vehicle 60 based on the previous position of the vehicle 60, travel distance information, movement time information, speed information, or acceleration information using an IMU or a DMI. At the same time, the processor 680 may estimate the path history and path prediction of the vehicle 60 based on the position information of the vehicle 60 collected by the positioning device 630.

[0100] The operating device 640 receives a user input for driving. In the manual mode, the vehicle 60 can be driven based on a signal provided by the operating device 640. The operating device 640 may include a steering input device such as a steering wheel, an acceleration input device such as an accelerator pedal, and a brake input device such as a brake pedal.

[0101] The drive controller 650 is a device that electrically controls various vehicle drive devices in the vehicle 60. The drive controller 650 may include a powertrain drive control device, a chassis drive control device, a brake control device, an acceleration control device, a door / window drive control device, a safety device drive control device, a light drive control device, and an air conditioner drive control device. The drive controller 650 controls the movement of the vehicle 60 based on an input signal from the operating device 640 or a control signal from the processor 680.

[0102] The HMI 660 is a device for communication between the vehicle 60 and a person (e.g., a passenger of the vehicle 60 or another vehicle). The HMI 660 may receive user input and provide information generated in the vehicle 60 to the user. The vehicle 60 may implement a user interface (UI) or user experience (UX) through the HMI 660. The HMI 660 may include an input device such as a touch panel or a microphone, and the HMI 660 may include an output device such as a display device or a speaker. For example, the HMI 660 may include an internal display that outputs a screen to the inside of the vehicle 60 and / or an external display that outputs a screen to the outside of the vehicle.

[0103] The memory 670 may store a program that enables the processor 680 to execute the method according to the embodiment of the present disclosure. For example, the program may include a plurality of instructions executable by the processor, and the method according to the embodiment of the present disclosure may be executed by executing the plurality of instructions by the processor.

[0104] The memory 670 may be a single memory or a plurality of memories. When the memory 670 is formed of a plurality of memories, the plurality of memories may be physically separated. The memory 670 may include at least one of a volatile memory and a non-volatile memory. The volatile memory includes a static random access memory (SRAM) or a dynamic random access memory (DRAM), and the non-volatile memory includes a flash memory.

[0105] The memory 670 may store map information. The map information may be a navigation map and / or a high-definition map (HD map). The HD map may be received from an external device or stored in advance. The navigation map includes a node indicating a point where at least two roads intersect and a link connecting the two nodes. The navigation map may include geographic information, road information, lane information, building information, or signal information. Compared with the navigation map, the HD map contains more specific data. The ADAS map may include road slope, road curvature, or sign information based on the road. The HD map may include lane information, lane boundary information, stop line position, traffic light position, signal timing, or intersection information based on the lane. The HD map may include basic road information, surrounding environment information, detailed road environment information, or dynamic road condition information. The detailed road environment information may include static information such as terrain elevation, curvature, lane, lane centerline, control line, road boundary, road centerline, traffic sign, road surface marking, road shape and height, lane width, etc. Dynamic road condition information may include traffic congestion, accident section, construction section, etc. The HD map may include road surrounding environment information implemented in 3D, geometric information such as road shape or facility structure, and semantic information such as traffic signs or lane markings.

[0106] The processor 680 may include at least one chip capable of executing at least one command. The processor 680 may execute instructions stored in the memory 670. The processor 680 may be a single processor or a plurality of processors.

[0107] According to one or more aspects of the present disclosure, a vehicle control device may include: a receiving unit, which is used to identify multiple events including a first event and a second event, and receive information of the multiple events and information including a vehicle set speed and a vehicle current speed; a judging unit, which is used to judge whether a control start condition is met; a calculating unit, which is used to calculate a control reference distance, calculate a target speed using the control reference distance, and modify the target speed; and a vehicle control unit, which is used to perform control including acceleration and deceleration, so that when the control start condition is met, the vehicle travels at the target speed.

[0108] When the vehicle is located in the first event section, the set speed is greater than the speed limit of the first event, and the control reference distance is less than the distance between the first event end point and the second event start point, the judgment unit may determine that the control start condition is satisfied.

[0109] The calculation unit may calculate the target speed using the set speed, the distance between the first event end point and the second event start point, and the control reference distance.

[0110] The calculation section may modify the target speed by multiplying the target speed by a predefined positive number equal to or less than 1.

[0111] When the vehicle passes the end point of the first event section and the target speed is lower than the current speed or lower than the speed limit of the second event, the calculation section may modify the target speed.

[0112] The calculation section may modify the target speed to be a faster speed between the current speed and the second event speed limit.

[0113] The calculation unit may calculate the control reference distance by adding the acceleration distance and the deceleration distance.

[0114] When the determination portion determines that the control initiation condition is not satisfied, the vehicle control portion may control the vehicle to travel at a set speed.

[0115] When the vehicle is located in an event section, the vehicle control unit may control the vehicle to travel at the speed limit of the event section.

[0116] A method for controlling vehicle speed via a vehicle control device may include one or more of the operations described above. Such a method may be implemented in a non-transitory computer-readable medium storing instructions that, when executed, cause one or more of the operations described herein to be performed.

[0117] Each element of the device or method according to the present disclosure can be implemented by hardware, software or a combination of hardware and software. In addition, the function of each element can be implemented by software, and the microprocessor can be implemented to execute the function of the software corresponding to each element.

[0118] Various implementations of the systems and techniques described herein may be implemented by digital electronic circuits, integrated circuits, FPGAs (field programmable gate arrays), ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These different implementations may include implementations in one or more computer programs executed on a programmable system. A programmable system includes at least one programmable processor (which may be a special purpose processor or a general purpose processor) coupled to receive data and instructions from and send data and instructions to a storage system, at least one input device, and at least one output device. A computer program (also referred to as a program, software, software application, or code) contains instructions for a programmable processor and is stored on a "computer readable recording medium."

[0119] Computer-readable recording media include all or some types of recording devices in which data readable by a computer system is stored. These computer-readable recording media may include non-volatile or non-temporary media such as ROM, CD-ROM, magnetic tape, floppy disk, memory card, hard disk, magneto-optical disk, and storage device, and may also include temporary media such as data transmission media. In addition, computer-readable recording media may be distributed in network-connected computer systems, and computer-readable codes may be stored and executed in a distributed manner.

[0120] Although the flowchart / sequence diagram of this specification is shown as implementing each process in sequence, this is merely an illustration of the technical idea of ​​one or more examples of the present disclosure. In other words, a person of ordinary skill in the art can make various modifications and changes by changing the order described in the flowchart / sequence diagram or executing one or more processes in parallel without departing from the basic features of one or more features of the present disclosure, so the flowchart / sequence diagram is not limited to the time sequence.

[0121] Although various examples of the present disclosure are described for illustrative purposes, it will be understood by those skilled in the art that various modifications, additions and substitutions may be made without departing from the idea and scope of the claimed scheme. Therefore, for the sake of brevity and clarity, examples of the present disclosure are described. The scope of the technical ideas of the examples of the present disclosure are not limited by the specific description. Therefore, it will be understood by those of ordinary skill in the art that the scope of the claimed invention is not limited by the examples explicitly described above, but is defined by the claims and their equivalents.

Claims

1. A device comprising: at least one sensor; one or more processors; as well as a memory for storing instructions that, when executed by the one or more processors, cause the apparatus to: Determine, based on at least one of the sensing information of the at least one sensor and the navigation information, a plurality of events including a first event and a second event, wherein the first event is associated with a first speed control in a first section of a driving route of the vehicle, and the second event is associated with a second speed control in a second section of the driving route; determining information of the plurality of events and information of the vehicle, wherein the information of the vehicle includes a set speed of the vehicle and a current speed of the vehicle; determining a reference distance used to determine whether to perform a target speed adjustment on the vehicle in an intermediate section of the driving route between an end point of the first section and a start point of the second section; determining an adjusted target speed in the intermediate section based on the reference distance; and Based on the adjusted target speed, speed control is performed on the vehicle traveling in the intermediate section.

2. The device according to claim 1, wherein: When the instructions are executed by the one or more processors, the device determines to perform the target speed adjustment based on: The vehicle is located in the first road section or the middle road section, The set speed is greater than the speed limit of the second event, and The reference distance is greater than a distance between an end point of the first road segment and a start point of the second road segment.

3. The device according to claim 1, wherein: When the instructions are executed by the one or more processors, the device further determines the adjusted target speed based on: The set speed, and The distance between the end point of the first segment and the start point of the second segment.

4. The device according to claim 1, wherein: When the instructions are executed by the one or more processors, the device is caused to determine the adjusted target speed by multiplying the initial adjusted target speed by a predefined positive number less than 1.

5. The device according to claim 1, wherein: When the instructions are executed by the one or more processors, the device determines the adjusted target speed after the vehicle passes an end point of the first road segment.

6. The device according to claim 5, wherein: When executed by the one or more processors, the instructions cause the device to determine the adjusted target speed to be less than an unadjusted target speed.

7. The device according to claim 1, wherein: The instructions, when executed by the one or more processors, cause the device to determine the adjusted target speed to be greater than or equal to both a current speed of the vehicle and a speed limit for the second event.

8. The device according to claim 1, wherein: When the instructions are executed by the one or more processors, the device is caused to determine the reference distance such that the reference distance includes an acceleration distance and a deceleration distance.

9. The device according to claim 1, wherein: When the instructions are executed by the one or more processors, the device controls the vehicle to travel at the set speed before a control start condition is met.

10. The device according to claim 1, wherein: When the instructions are executed by the one or more processors, the device controls the vehicle to travel at the speed limit of the second road section when the vehicle is located in the second road section.

11. A method performed by a device of a vehicle, the method comprising the steps of: determining, based on at least one of the sensing information of the at least one sensor and the navigation information, a plurality of events including a first event and a second event, wherein the first event is associated with a first speed control in a first section of a driving route of the vehicle, and wherein the second event is associated with a second speed control in a second section of the driving route; determining information of the plurality of events and information of the vehicle, wherein the information of the vehicle includes a set speed of the vehicle and a current speed of the vehicle; determining a reference distance used to determine whether to perform a target speed adjustment on the vehicle in an intermediate section of the driving route between an end point of the first section and a start point of the second section; determining an adjusted target speed in the intermediate section based on the reference distance; and Based on the adjusted target speed, speed control is performed on the vehicle traveling in the intermediate section.

12. The method of claim 11 , further comprising determining whether to perform the target speed adjustment based on: The vehicle is located in the first road section or the middle road section, The set speed is greater than the speed limit of the second event, and The reference distance is greater than a distance between an end point of the first road segment and a start point of the second road segment.

13. The method according to claim 11, wherein: The adjusted target speed is also determined based on the set speed and a distance between an end point of the first section and a start point of the second section.

14. The method according to claim 11, wherein: The adjusted target speed is determined by multiplying the initial adjusted target speed by a predefined positive number less than one.

15. The method according to claim 11, wherein: After the vehicle passes an end point of the first road section, the adjusted target speed is determined.

16. The method according to claim 15, wherein: The adjusted target speed is determined to be less than the unadjusted target speed.

17. The method according to claim 15, wherein: The adjusted target speed is determined to be greater than or equal to both a current speed of the vehicle and a speed limit for the second event.

18. The method according to claim 11, wherein: The reference distance includes an acceleration distance and a deceleration distance.

19. The method according to claim 11, further comprising: Before a control start condition is satisfied, the vehicle is controlled to travel at the set speed.

20. The method according to claim 11, further comprising: When the vehicle is located in the second road section, the vehicle is controlled to travel at a speed limit of the second road section.

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