Vehicle speed control method and device, storage medium and product

Abstract

The invention provides a vehicle speed control method and device, a storage medium and a product. According to a plurality of obtained future road sections and selectable vehicle speeds corresponding to the future road sections, after a plurality of different speed change curves are generated, the change conditions of the selectable vehicle speeds in the speed change curves are evaluated to obtain speed change parameters of the speed change curves. According to the speed change parameters corresponding to the multiple speed change curves, a target speed change curve is selected from the multiple speed change curves, the first selectable vehicle speed in the target speed change curve serves as the target speed of the first future road section, and the vehicle is controlled to achieve the target speed. The vehicle is controlled in combination with the speed change parameters of the whole road section in the future, the speed change condition of the vehicle in a road section is considered, the running condition in the road section in the future can be estimated as much as possible, and the vehicle speed control effect can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle speed control method, device, storage medium and product. Background Art

[0002] With the continuous advancement of autonomous driving technology, predictive cruise technology has become a further development direction of autonomous driving and has also been applied to commercial vehicles.

[0003] The existing predictive cruise control technology usually only adjusts and controls the vehicle gear and speed according to the current road slope information. Therefore, the existing predictive cruise control technology has the problem of poor speed control effect. Summary of the invention

[0004] The present application provides a vehicle speed control method, device, storage medium and product to solve the defect that the prior art has poor vehicle speed control effect because the vehicle gear and speed are adjusted and controlled only according to the current road slope information.

[0005] In a first aspect, an embodiment of the present application provides a vehicle speed control method, comprising:

[0006] Obtaining N optional vehicle speeds for M future road sections, wherein the future road sections correspond to a plurality of the optional vehicle speeds, and both M and N are integers greater than 1;

[0007] Generating a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves include one optional vehicle speed corresponding to each of the M future road sections;

[0008] Evaluate the change conditions of the M optional vehicle speeds in the speed change curve to obtain a speed change parameter of the speed change curve;

[0009] According to the speed change parameters respectively corresponding to the multiple speed change curves, a target speed change curve is selected from the multiple speed change curves, and the first optional vehicle speed in the target speed change curve is used as the target speed of the first future road section to control the vehicle.

[0010] In a possible implementation, for M future road sections, the maximum optional vehicle speed of the future road section, the minimum optional vehicle speed of the future road section, and the road condition complexity are respectively obtained;

[0011] For each of the future road sections, the number of optional vehicle speeds for the future road section is determined according to the road condition complexity of the future road section, and multiple optional vehicle speeds for the future road section are generated according to the maximum optional vehicle speed of the future road section, the minimum optional vehicle speed of the future road section and the number of optional vehicle speeds for the future road section, wherein the multiple optional vehicle speeds for the future road section are evenly distributed in a closed interval formed by the maximum optional vehicle speed of the future road section and the minimum optional vehicle speed of the future road section, and the number of optional vehicle speeds for the future road section is positively correlated with the road condition complexity of the future road section.

[0012] In a possible implementation manner, the cruising speed of the future road section, the maximum speed of the gear of the future road section, the maximum speed limit of the future road section, and the maximum achievable speed of the future road section are obtained, and the minimum speed among the cruising speed, the maximum speed of the gear, the maximum speed limit, and the maximum achievable speed is determined as the maximum optional speed, the maximum speed of the gear is the speed corresponding to the maximum rotation speed of the gear of the future road section planned on the future road section, and the maximum achievable speed is the maximum speed that the engine of the vehicle can reach when accelerating the vehicle based on the current speed of the vehicle on the current road section or the target speed of the current road section;

[0013] The maximum speed among the minimum gear speed of the future road section and the minimum achievable speed of the future road section is determined as the minimum optional speed. The minimum gear speed is the speed corresponding to the minimum rotational speed of the gear of the future road section planned on the future road section. The minimum achievable speed is the minimum speed that can be reached when the vehicle is decelerated based on the current speed of the vehicle's engine on the current road section or the target speed of the current road section.

[0014] In a possible implementation manner, determining the number of changes and the total magnitude of changes in the optional vehicle speeds of the M future road sections included in the speed change curve;

[0015] The speed change parameter is determined according to the number of changes and the total magnitude of changes, and the speed change parameter is positively correlated to the number of changes and the total magnitude of changes.

[0016] In a possible implementation manner, a comfort parameter is determined according to the speed change parameter, and the comfort parameter is negatively correlated with the speed change parameter;

[0017] Determining a corresponding fuel consumption parameter according to the speed change curve, and weighting the comfort parameter and the fuel consumption parameter to obtain an evaluation result parameter;

[0018] The target speed change curve is selected from the plurality of speed change curves according to the evaluation result parameter.

[0019] In a possible implementation manner, a speed corresponding to the target vehicle speed in the current gear is determined as the target speed;

[0020] When the target speed is less than the minimum speed of the current gear, downshifting the current gear according to a first speed difference between the minimum speed of the current gear and the target speed, and the downshift amplitude of the downshifting is positively correlated with the first speed difference;

[0021] When the target speed is greater than or equal to the maximum speed of the current gear or a preset speed threshold, the current gear is upshifted according to a second speed difference between the target speed and the minimum speed of the current gear, and the upshift amplitude of the upshift is positively correlated with the second speed difference.

[0022] In a second aspect, an embodiment of the present application provides a vehicle speed control device, comprising:

[0023] An acquisition module, used for acquiring N optional vehicle speeds of M future road sections, wherein the future road sections correspond to a plurality of the optional vehicle speeds, and both M and N are integers greater than 1;

[0024] A first processing module, configured to generate a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves include one optional vehicle speed corresponding to each of the M future road sections;

[0025] A second processing module is used to evaluate the change of the M optional vehicle speeds in the speed change curve to obtain a speed change parameter of the speed change curve;

[0026] A control module is used to select a target speed change curve from the multiple speed change curves according to the speed change parameters respectively corresponding to the multiple speed change curves, and use the first optional vehicle speed in the target speed change curve as the target speed of the first future road section to control the vehicle.

[0027] In a possible implementation, the acquisition module is specifically used to respectively acquire, for each of the M future road sections, the maximum optional vehicle speed of the future road section, the minimum optional vehicle speed of the future road section, and the road condition complexity;

[0028] For each of the future road sections, the number of optional vehicle speeds for the future road section is determined according to the road condition complexity of the future road section, and multiple optional vehicle speeds for the future road section are generated according to the maximum optional vehicle speed of the future road section, the minimum optional vehicle speed of the future road section and the number of optional vehicle speeds for the future road section, wherein the multiple optional vehicle speeds for the future road section are evenly distributed in a closed interval formed by the maximum optional vehicle speed of the future road section and the minimum optional vehicle speed of the future road section, and the number of optional vehicle speeds for the future road section is positively correlated with the road condition complexity of the future road section.

[0029] In a possible implementation, the acquisition module is specifically used to acquire the cruising speed of the future road section, the maximum speed of the gear of the future road section, the maximum speed limit of the future road section, and the maximum achievable speed of the future road section, and determine the minimum speed among the cruising speed, the maximum speed of the gear, the maximum speed limit, and the maximum achievable speed as the maximum optional speed, the maximum speed of the gear is the speed corresponding to the maximum rotation speed of the gear of the future road section planned on the future road section, and the maximum achievable speed is the maximum speed that the engine of the vehicle can reach when accelerating the vehicle based on the current speed of the vehicle on the current road section or the target speed of the current road section;

[0030] The maximum speed among the minimum gear speed of the future road section and the minimum achievable speed of the future road section is determined as the minimum optional speed. The minimum gear speed is the speed corresponding to the minimum rotational speed of the gear of the future road section planned on the future road section. The minimum achievable speed is the minimum speed that can be reached when the vehicle is decelerated based on the current speed of the vehicle's engine on the current road section or the target speed of the current road section.

[0031] In a possible implementation, the second processing module is specifically configured to determine the number of changes and the total magnitude of changes in the optional vehicle speeds of the M future road sections included in the speed change curve;

[0032] The speed change parameter is determined according to the number of changes and the total magnitude of changes, and the speed change parameter is positively correlated to the number of changes and the total magnitude of changes.

[0033] In a possible implementation, the second processing module is specifically configured to determine a comfort parameter according to the speed change parameter, wherein the comfort parameter is negatively correlated with the speed change parameter;

[0034] Determining a corresponding fuel consumption parameter according to the speed change curve, and weighting the comfort parameter and the fuel consumption parameter to obtain an evaluation result parameter;

[0035] The target speed change curve is selected from the plurality of speed change curves according to the evaluation result parameter.

[0036] In a possible implementation, the control module is specifically configured to determine a speed corresponding to the target vehicle speed in the current gear as the target speed;

[0037] When the target speed is less than the minimum speed of the current gear, downshifting the current gear according to a first speed difference between the minimum speed of the current gear and the target speed, and the downshift amplitude of the downshifting is positively correlated with the first speed difference;

[0038] When the target speed is greater than or equal to the maximum speed of the current gear or a preset speed threshold, the current gear is upshifted according to a second speed difference between the target speed and the minimum speed of the current gear, and the upshift amplitude of the upshift is positively correlated with the second speed difference.

[0039] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0040] The memory stores computer-executable instructions;

[0041] The processor executes the computer-executable instructions stored in the memory to implement the method as described above.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-readable storage medium is stored computer-executable instructions, and the computer-executable instructions are used to implement the method described above when executed by a processor.

[0043] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0044] The vehicle speed control method, device, storage medium and product provided in the embodiments of the present application obtain multiple preset numbers of future road sections and the optional vehicle speeds corresponding to each future road section, generate multiple different speed change curves, and then evaluate the changes in the multiple optional vehicle speeds in the speed change curve to obtain the speed change parameters of the speed change curve. According to the speed change parameters corresponding to the multiple speed change curves, a target speed change curve is selected from the multiple speed change curves, and the first optional vehicle speed in the target speed change curve is used as the target speed of the first future road section to control the vehicle to achieve the target speed. The embodiments of the present application control the vehicle in combination with the speed change parameters of the future overall road section, taking into account the speed change of the vehicle in a section, and can estimate the operation in the future section as much as possible, which helps to improve the vehicle speed control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] Figure 1 Schematic diagram of the process of the vehicle speed control method provided in this application Figure 1 ;

[0047] Figure 2 A schematic diagram of the basic framework provided for this application;

[0048] Figure 3 Schematic diagram of the process of the vehicle speed control method provided in this application Figure 2 ;

[0049] Figure 4 A schematic diagram of the structure of the vehicle speed control device provided in this application;

[0050] Figure 5 A schematic diagram of the structure of the electronic device provided in this application.

[0051] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0053] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and corresponding operation entrances shall be provided for users to choose to authorize or refuse.

[0054] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0055] Predictive Cruise Control (PCC) is a vehicle cruise control solution based on autonomous driving technology. Predictive cruise control technology improves the vehicle's driving performance, such as fuel economy, based on the acquired road conditions ahead. Therefore, predictive cruise control technology is becoming increasingly important for commercial vehicles.

[0056] Existing predictive cruise technology obtains road information such as slope, curvature and speed limit through high-precision maps and vehicle sensors, and determines the road condition of the current vehicle, such as uphill or downhill, based on the acquired road information. After determining whether the vehicle is going uphill or downhill, the existing predictive cruise technology adjusts the preset torque and gear corresponding to the vehicle output based on the corresponding slope of each road section obtained from the high-precision map when the slope is greater than zero; when the slope is less than zero, it achieves neutral gliding, and when the speed threshold is exceeded, it brakes to slow down, thereby adjusting the engine speed and gear of the transmission.

[0057] A study of the above-mentioned existing predictive cruise control technology found that when controlling a vehicle to go uphill or downhill, the existing predictive cruise control technology usually only adjusts the vehicle engine speed and transmission gear based on the slope of the current road section where the vehicle is located, and does not combine future road slope and displacement information. Since the slopes of various sections are different, when facing continuously changing steep slope sections, the vehicle speed and gear need to be adjusted multiple times. Continuously adjusting the vehicle speed and gear multiple times results in poor speed control effect.

[0058] In view of this, the present application provides a vehicle speed control method, which obtains a plurality of preset numbers of future road sections and the optional vehicle speeds corresponding to each future road section, generates a plurality of different speed change curves, and then evaluates the changes in the plurality of optional vehicle speeds in the speed change curve to obtain the speed change parameters of the speed change curve. According to the speed change parameters corresponding to the plurality of speed change curves, a target speed change curve is selected from the plurality of speed change curves, and the first optional vehicle speed in the target speed change curve is used as the target speed of the first future road section, and the vehicle is controlled to achieve the target speed. The embodiment of the present application controls the vehicle in combination with the speed change parameters of the future overall road section, taking into account the speed change of the vehicle in a section, and can estimate the operation in the future section as much as possible, which helps to improve the vehicle speed control effect.

[0059] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0060] Figure 1 Schematic diagram of the process of the vehicle speed control method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0061] S101. Obtain N optional vehicle speeds for M future road sections, where the future road sections correspond to a plurality of the optional vehicle speeds, and both M and N are integers greater than 1.

[0062] Specifically, the vehicle's current position information is determined by the vehicle positioning unit, and based on the current position information, the road section information of the road at a preset distance in front of the current vehicle is obtained through a high-precision map such as an ADAS map, where the road section information includes the speed limit information and slope information of the road.

[0063] Furthermore, the slope information corresponding to the current road section of the vehicle is obtained, and when it is determined according to the slope information that the current road section is the bottom of a slope after a downhill slope and is preparing to go uphill, the neutral coasting speed is calculated according to the current vehicle speed and the slope information. If the neutral coasting speed is greater than or equal to the vehicle speed threshold, it is determined that at the current vehicle speed, the vehicle can coast over the ramp ahead in neutral; if the neutral coasting speed is less than the vehicle speed threshold, the target control gear is calculated according to the current vehicle speed and the slope information, and based on the target control gear, the vehicle is controlled to pass the ramp ahead.

[0064] Furthermore, when the vehicle passes the top of the slope and is about to go downhill, the road ahead of the vehicle at a preset distance is divided into a preset number of sections, that is, M future sections are obtained. Multiple corresponding optional vehicle speeds are determined according to the section information of each future section, so as to obtain N optional vehicle speeds corresponding to the M future sections.

[0065] S102 . Generate a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves include one optional vehicle speed corresponding to each of the M future road sections.

[0066] Specifically, after obtaining a preset number of future road sections and multiple optional vehicle speeds corresponding to each future road section, an optional vehicle speed is obtained from the multiple optional vehicle speeds corresponding to each future road section, and an optional vehicle speed combination is formed with the corresponding optional vehicle speeds obtained from other future road sections. The optional vehicle speed combination is recorded, wherein the optional vehicle speed combination includes multiple optional vehicle speeds corresponding to multiple consecutive different future road sections, and a corresponding speed change curve is generated according to the optional vehicle speed combination.

[0067] Further, after obtaining and recording an optional vehicle speed combination, a corresponding new optional vehicle speed combination is generated according to the multiple optional vehicle speeds corresponding to each future road section, so that the new optional vehicle speed combination is different from at least one of the optional vehicle speeds in the recorded optional vehicle speed combination, until the multiple optional vehicle speeds corresponding to each future road section are all generated into corresponding optional vehicle speed combinations. In this way, multiple optional vehicle speed combinations are obtained, and corresponding multiple speed change curves are generated according to the multiple optional vehicle speed combinations.

[0068] S103 . Evaluate changes in the M optional vehicle speeds in the speed change curve to obtain a speed change parameter of the speed change curve.

[0069] Specifically, after obtaining the generated multiple speed change curves, the speed change parameters when the vehicle achieves each vehicle speed indicated by each speed change curve are obtained, and the vehicle fuel consumption and driving comfort are obtained according to the speed change parameters.

[0070] Among them, the vehicle fuel consumption is used to indicate the vehicle fuel consumption required when the vehicle travels at each speed indicated by the speed change curve, and the driving comfort is used to indicate the driving comfort of the driver when the vehicle travels at each speed indicated by the speed change curve.

[0071] S104, selecting a target speed change curve from the multiple speed change curves according to the speed change parameters respectively corresponding to the multiple speed change curves, and taking the first optional vehicle speed in the target speed change curve as the target speed of the first future road section to control the vehicle.

[0072] Specifically, after obtaining the speed change parameters corresponding to each speed change curve, the speed change parameters corresponding to all speed change curves are traversed, and based on the vehicle fuel consumption and driving comfort in each speed change parameter, the evaluation result parameters corresponding to each speed change parameter are calculated, that is, the cost value corresponding to each speed change curve.

[0073] Furthermore, among the multiple speed change curves, the speed change curve with the minimum cost value is used as the target speed change curve. The optional vehicle speed corresponding to the future road section closest to the current vehicle position in the target speed change curve is used as the target speed to control the vehicle to achieve the target speed.

[0074] The vehicle speed control method provided in the embodiment of the present application obtains a plurality of preset numbers of future sections and the optional vehicle speeds corresponding to each future section, generates a plurality of different speed change curves, and then evaluates the changes in the plurality of optional vehicle speeds in the speed change curve to obtain the speed change parameters of the speed change curve. According to the speed change parameters corresponding to the plurality of speed change curves, a target speed change curve is selected from the plurality of speed change curves, and the first optional vehicle speed in the target speed change curve is used as the target speed of the first future section to control the vehicle to achieve the target speed. The embodiment of the present application controls the vehicle in combination with the speed change parameters of the future overall section, taking into account the speed change of the vehicle in a section, and can estimate the operation in the future section as much as possible, which helps to improve the vehicle speed control effect.

[0075] Figure 2 The basic framework diagram provided for this application is as follows: Figure 3 Schematic diagram of the process of the vehicle speed control method provided in this application Figure 2 , combined with Figure 2 and Figure 3 As shown, in this embodiment Figure 1 Based on the embodiment, the vehicle speed control method is described in detail, and the method includes:

[0076] S201. For M future road sections, obtain the cruising speed of the future road section, the maximum speed of the gear of the future road section, the maximum speed limit of the future road section, and the maximum achievable speed of the future road section.

[0077] Specifically, refer to Figure 2 As shown, when the vehicle is going downhill, the two kilometers of road ahead is divided into a plurality of preset number of sections, such as twenty future sections, each of which is one hundred meters, and M is twenty at this time.

[0078] Furthermore, through the high-precision map, the road section information of the road at a preset distance ahead of the current vehicle is obtained, wherein the road section information includes the speed limit information and slope information of the road, and the maximum speed limit of the future section is obtained according to the speed limit information; according to the slope information, the cruising speed of the current vehicle is obtained in the vehicle cruise database, wherein the vehicle cruise database has a plurality of different groups of cruising speeds and corresponding slope information pre-associated and stored.

[0079] Among them, the maximum gear speed is the speed corresponding to the maximum rotational speed of the future gear planned on the future road section, and the maximum achievable speed is the maximum speed that the vehicle's engine can reach when accelerating the vehicle based on the current speed on the current road section or the target speed of the current section.

[0080] S202: Determine the minimum speed among the cruising speed of the future road section, the maximum speed of the gear, the maximum speed limit, and the maximum achievable speed as the maximum optional speed.

[0081] Specifically, after obtaining the cruising speed, maximum gear speed, maximum speed limit, maximum achievable speed and maximum achievable speed of each future road section, the common upper limit of the speed for all future road sections, that is, the maximum optional speed for all future road sections, among the cruising speed, maximum gear speed, maximum speed limit and maximum achievable speed of all future road sections, the minimum value is used as the upper limit of the vehicle's speed when going downhill, that is, the maximum optional speed.

[0082] S203: Determine the maximum vehicle speed among the minimum vehicle speed of the gear position in the future road section and the minimum achievable vehicle speed in the future road section as the minimum optional vehicle speed.

[0083] Specifically, for the lower speed limit of all future road sections, that is, the minimum optional speed of all future road sections, the maximum value among the minimum gear speed and the minimum achievable speed of all future road sections will be used as the lower speed limit of all future road sections when the vehicle is going downhill, that is, the minimum optional speed.

[0084] Among them, the minimum gear speed is the speed corresponding to the minimum rotational speed of the gear planned for the future section on the future section, and the minimum achievable speed is the minimum speed that the vehicle's engine can reach when decelerating the vehicle based on the current speed on the current section or the target speed of the current section, wherein the target speed is the speed selected for the previous section.

[0085] S204: For each of the future road sections, determine the number of optional vehicle speeds for the future road section according to the complexity of the road condition of the future road section.

[0086] Specifically, after obtaining the upper and lower speed limits of all future road sections, that is, obtaining the minimum maximum optional speed and the minimum optional speed, the future road sections are determined to be uphill, downhill or flat according to the slope information. When the future road section is uphill or downhill, the corresponding road condition complexity is determined to be high, and when the future road section is flat, the corresponding road condition complexity is determined to be low. Among them, the number of optional speeds of the future road section is positively correlated with the road condition complexity of the future road section.

[0087] S205 . Generate a plurality of optional vehicle speeds for the future road section according to the maximum optional vehicle speed for the future road section, the minimum optional vehicle speed for the future road section, and the number of optional vehicle speeds for the future road section.

[0088] Specifically, refer to Figure 2 As shown, when the vehicle is on a downhill section with highly complex road conditions, the number of optional speeds for each future section is determined to be ten. At this time, multiple optional speeds for the future section, such as ten, are evenly distributed in a closed interval formed by the maximum optional speed of the future section and the minimum optional speed of the future section.

[0089] Furthermore, for the upper limits of multiple optional vehicle speeds for each future road section, based on the current vehicle speed or the target vehicle speed of the current road section, the maximum vehicle speed that the engine can reach is compared with the maximum optional vehicle speed, and the smaller value between the maximum vehicle speed that the engine can reach and the maximum optional vehicle speed is used as the upper limit of the optional vehicle speed for the corresponding future road section.

[0090] Furthermore, for the lower limits of multiple optional vehicle speeds for each future road section, based on the current vehicle speed or the target vehicle speed of the current road section, the minimum vehicle speed value allowable according to the preset calibrated deceleration is compared with the minimum optional vehicle speed, and the larger value between the minimum vehicle speed value and the minimum optional vehicle speed is used as the lower limit of the optional vehicle speed for the corresponding future road section.

[0091] S206 . Generate a plurality of speed change curves according to the N optional vehicle speeds.

[0092] Specifically, after obtaining a plurality of, for example, ten optional vehicle speeds for each future road section, the number of optional vehicle speeds for all twenty future road sections is now two hundred, that is, N is two hundred at this time.

[0093] Furthermore, an optional vehicle speed is obtained from the ten optional vehicle speeds corresponding to each future road section, and an optional vehicle speed obtained from other future road sections is combined to form an optional vehicle speed combination, which is recorded. The optional vehicle speed combination includes multiple optional vehicle speeds corresponding to multiple consecutive different future road sections, and a corresponding speed change curve is generated according to the optional vehicle speed combination.

[0094] Furthermore, after obtaining and recording an optional vehicle speed combination, a new optional vehicle speed combination is generated according to the multiple optional vehicle speeds corresponding to each future road section, so that the new optional vehicle speed combination is different from at least one of the recorded optional vehicle speed combinations, until the multiple optional vehicle speeds corresponding to each future road section are generated into corresponding optional vehicle speed combinations, and multiple optional vehicle speed combinations are obtained.

[0095] Furthermore, a corresponding plurality of speed change curves are generated according to the plurality of optional vehicle speed combinations, and each speed change curve indicates a change trend of the optional vehicle speeds of twenty consecutive future road sections.

[0096] S207: Determine the number of changes and the total magnitude of changes in the optional vehicle speeds of the M future road sections included in the speed change curve.

[0097] Specifically, after obtaining multiple speed change curves, the comfort parameters and fuel consumption parameters corresponding to each speed change curve are calculated through the dynamic programming (DP) algorithm, and the target speed change curve is determined according to the comfort parameters and fuel consumption parameters among all the speed change curves.

[0098] Furthermore, for the comfort parameters of each speed change curve, the vehicle speed inflection point is obtained in each speed change curve, and the number of vehicle speed inflection points is recorded as the number of optional speed changes. The vehicle speed inflection point is used to indicate the position and speed of the road section where the vehicle speed change occurs. The total amplitude of the change is obtained based on the vehicle speed inflection point. The total amplitude of the change is used to indicate the maximum difference in corresponding vehicle speeds of adjacent future sections in all future sections.

[0099] S208. Determine the speed change parameter according to the number of changes and the total change amplitude, wherein the speed change parameter is positively correlated with the number of changes and the total change amplitude.

[0100] Specifically, after obtaining the number of changes and the total change amplitude of each speed change curve, the product of the number of changes and the total change amplitude is obtained, and the obtained product is used as the speed change parameter to obtain the speed change parameter of each speed change curve.

[0101] S209, determining a comfort parameter according to the speed change parameter, determining a corresponding fuel consumption parameter according to the speed change curve, and weighting the comfort parameter and the fuel consumption parameter to obtain an evaluation result parameter.

[0102] Specifically, after obtaining the speed change parameters of each speed change curve, the quotient of the speed change parameter and the preset comfort conversion value is obtained, and the obtained quotient is used as the comfort parameter of the corresponding speed change curve, and the comfort parameter is negatively correlated with the speed change parameter. Among them, the comfort parameter is used to indicate the comfort of the occupants when the vehicle realizes the corresponding speed change curve.

[0103] Furthermore, for the fuel consumption parameters of each speed change curve, based on the speed change trend of each future road section indicated by the speed change curve, the fuel consumption required for the vehicle to achieve the speed of each future road section in the corresponding speed change curve is calculated as the fuel consumption parameter corresponding to the speed change curve. According to the comfort parameter and the fuel consumption parameter, the evaluation result parameter corresponding to each speed change curve is obtained through the cost objective function calculation.

[0104] Furthermore, for the evaluation result parameters corresponding to each speed change curve obtained by calculating the cost function, after obtaining the comfort parameters and fuel consumption parameters corresponding to the speed change curve, the product of the comfort parameter and the preset comfort weight is obtained as the comfort evaluation result; the product of the fuel consumption parameter and the preset fuel consumption weight is obtained as the fuel consumption evaluation result, and the sum of the comfort evaluation result and the fuel consumption evaluation result is used as the evaluation result parameter, wherein the preset comfort weight is less than the preset fuel consumption weight.

[0105] By combining the evaluation result parameters of the comfort parameters and the fuel consumption parameters, the comfort and fuel consumption of each speed change curve can be comprehensively evaluated.

[0106] S210: Select the target speed change curve from the plurality of speed change curves according to the evaluation result parameters.

[0107] Specifically, after the corresponding evaluation result parameters of each speed change curve are obtained, the speed change curve corresponding to the minimum evaluation result parameter is used as the target speed change curve.

[0108] Furthermore, if there are multiple identical minimum evaluation results, the speed change curves corresponding to the multiple minimum evaluation results are marked as candidate speed change curves, and among the multiple candidate speed change curves, the candidate speed change curve corresponding to the maximum comfort parameter is used as the target speed change curve.

[0109] Therefore, the target speed change curve that takes into account the comfort parameter and the fuel consumption parameter can avoid the defects of the prior art that the vehicle speed and gear need to be adjusted multiple times, resulting in increased fuel consumption, jerky driving conditions, and low riding comfort. By implementing the target speed change curve, the vehicle reduces fuel consumption while improving comfort, balancing the fuel consumption and comfort of the vehicle.

[0110] S211. Use a first optional vehicle speed in the target speed change curve as a target speed for the first future road section to control the vehicle.

[0111] Specifically, after obtaining the target speed change curve, the optional vehicle speed of the first future section in the target speed change curve is used as the target speed, wherein the first future section is the section that the vehicle is about to enter. After the vehicle enters the first future section, the vehicle is controlled to achieve the target speed, and the speed corresponding to the target speed at the current gear is determined as the target speed.

[0112] Furthermore, when the target speed is less than the minimum speed of the current gear, the current gear is downshifted according to a first speed difference between the minimum speed of the current gear and the target speed, and the downshift amplitude is positively correlated with the first speed difference, that is, if the actual speed is lower than the downshift speed of the current gear, the gear is controlled to be downshifted by a preset number of gears.

[0113] Furthermore, when the target speed is greater than or equal to the maximum speed of the current gear or a preset speed threshold, the current gear is upshifted according to the second speed difference between the target speed and the minimum speed of the current gear, and the upshift amplitude is positively correlated with the second speed difference, that is, if the actual speed is higher than the preset speed, such as 1,500 rpm, and lasts for a preset time, such as four to five seconds, then the control is to upshift to a preset number of gears.

[0114] Furthermore, after the vehicle enters the first future road section, the road ahead of the vehicle is continuously divided into twenty future road sections, and based on the road section information corresponding to the new future road section and the current vehicle speed, the corresponding speed change curve is updated, and the new speed change curve is calculated through a dynamic programming algorithm to obtain a new target speed change curve. A new target speed is determined according to the new target speed change curve, and after the vehicle exits the first future road section and enters the second future road section, the vehicle is controlled to achieve the new target speed to update the vehicle speed.

[0115] The vehicle speed control method provided in the embodiment of the present application obtains a plurality of preset numbers of future sections and the optional vehicle speeds corresponding to each future section, generates a plurality of different speed change curves, and then evaluates the changes in the plurality of optional vehicle speeds in the speed change curve to obtain the speed change parameters of the speed change curve. According to the speed change parameters corresponding to the plurality of speed change curves, a target speed change curve is selected from the plurality of speed change curves, and the first optional vehicle speed in the target speed change curve is used as the target speed of the first future section to control the vehicle to achieve the target speed. The embodiment of the present application controls the vehicle in combination with the speed change parameters of the future overall section, taking into account the speed change of the vehicle in a section, and can estimate the operation in the future section as much as possible, which helps to improve the vehicle speed control effect.

[0116] Figure 4 The schematic diagram of the vehicle speed control device provided in this application is as follows: Figure 4 As shown, the device 40 includes:

[0117] The acquisition module 401 is used to acquire N optional vehicle speeds of M future road sections, where the future road sections correspond to a plurality of the optional vehicle speeds, and both M and N are integers greater than 1.

[0118] The first processing module 402 is configured to generate a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves include one optional vehicle speed corresponding to each of the M future road sections.

[0119] The second processing module 403 is used to evaluate the change of the M optional vehicle speeds in the speed change curve to obtain the speed change parameter of the speed change curve.

[0120] The control module 404 is used to select a target speed change curve from the multiple speed change curves according to the speed change parameters respectively corresponding to the multiple speed change curves, and use the first optional vehicle speed in the target speed change curve as the target speed of the first future road section to control the vehicle.

[0121] In a possible implementation, the acquisition module 401 is used to respectively acquire, for each of the M future road sections, the maximum optional vehicle speed of the future road section, the minimum optional vehicle speed of the future road section, and the road condition complexity;

[0122] For each of the future road sections, the number of optional vehicle speeds for the future road section is determined according to the road condition complexity of the future road section, and multiple optional vehicle speeds for the future road section are generated according to the maximum optional vehicle speed of the future road section, the minimum optional vehicle speed of the future road section and the number of optional vehicle speeds for the future road section, wherein the multiple optional vehicle speeds for the future road section are evenly distributed in a closed interval formed by the maximum optional vehicle speed of the future road section and the minimum optional vehicle speed of the future road section, and the number of optional vehicle speeds for the future road section is positively correlated with the road condition complexity of the future road section.

[0123] In a possible implementation, the acquisition module 401 is used to acquire the cruising speed of the future road section, the maximum speed of the gear of the future road section, the maximum speed limit of the future road section, and the maximum achievable speed of the future road section, and determine the minimum speed among the cruising speed, the maximum speed of the gear, the maximum speed limit, and the maximum achievable speed as the maximum optional speed, the maximum speed of the gear is the speed corresponding to the maximum rotation speed of the gear of the future road section planned on the future road section, and the maximum achievable speed is the maximum speed that the engine of the vehicle can reach when accelerating the vehicle based on the current speed of the vehicle on the current road section or the target speed of the current road section;

[0124] The maximum speed among the minimum gear speed of the future road section and the minimum achievable speed of the future road section is determined as the minimum optional speed. The minimum gear speed is the speed corresponding to the minimum rotational speed of the gear of the future road section planned on the future road section. The minimum achievable speed is the minimum speed that can be reached when the vehicle is decelerated based on the current speed of the vehicle's engine on the current road section or the target speed of the current road section.

[0125] In a possible implementation, the second processing module 403 is used to determine the number of changes and the total magnitude of changes of the optional vehicle speeds of the M future road sections included in the speed change curve;

[0126] The speed change parameter is determined according to the number of changes and the total magnitude of changes, and the speed change parameter is positively correlated to the number of changes and the total magnitude of changes.

[0127] In a possible implementation, the second processing module 403 is used to determine a comfort parameter according to the speed change parameter, where the comfort parameter is negatively correlated with the speed change parameter;

[0128] Determining a corresponding fuel consumption parameter according to the speed change curve, and weighting the comfort parameter and the fuel consumption parameter to obtain an evaluation result parameter;

[0129] The target speed change curve is selected from the plurality of speed change curves according to the evaluation result parameter.

[0130] In a possible implementation, the control module 404 is used to determine a speed corresponding to the target vehicle speed in the current gear as the target speed;

[0131] When the target speed is less than the minimum speed of the current gear, downshifting the current gear according to a first speed difference between the minimum speed of the current gear and the target speed, and the downshift amplitude of the downshifting is positively correlated with the first speed difference;

[0132] When the target speed is greater than or equal to the maximum speed of the current gear or a preset speed threshold, the current gear is upshifted according to a second speed difference between the target speed and the minimum speed of the current gear, and the upshift amplitude of the upshift is positively correlated with the second speed difference.

[0133] The vehicle speed control device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0134] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 5 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0135] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0136] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0137] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0138] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0139] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0140] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0141] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0142] The above-mentioned readable storage medium 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 memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0143] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0144] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0145] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0146] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0147] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0148] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0149] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle speed control method, characterized in that: include: Obtaining N optional vehicle speeds for M future road sections, wherein the future road sections correspond to a plurality of the optional vehicle speeds, and both M and N are integers greater than 1; generating a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves include one optional vehicle speed corresponding to each of the M future road sections; Evaluate the change conditions of the M optional vehicle speeds in the speed change curve to obtain a speed change parameter of the speed change curve; According to the speed change parameters respectively corresponding to the multiple speed change curves, a target speed change curve is selected from the multiple speed change curves, and the first optional vehicle speed in the target speed change curve is used as the target speed of the first future road section to control the vehicle.

2. The method according to claim 1, characterized in that: The obtaining of N optional vehicle speeds for M future road sections includes: For the M future road sections, respectively obtain the maximum optional vehicle speed of the future road section, the minimum optional vehicle speed of the future road section, and the road condition complexity; For each of the future road sections, the number of optional vehicle speeds for the future road section is determined according to the road condition complexity of the future road section, and multiple optional vehicle speeds for the future road section are generated according to the maximum optional vehicle speed of the future road section, the minimum optional vehicle speed of the future road section and the number of optional vehicle speeds for the future road section, wherein the multiple optional vehicle speeds for the future road section are evenly distributed in a closed interval formed by the maximum optional vehicle speed of the future road section and the minimum optional vehicle speed of the future road section, and the number of optional vehicle speeds for the future road section is positively correlated with the road condition complexity of the future road section.

3. The method according to claim 2, characterized in that The obtaining of the maximum optional vehicle speed of the future road section and the minimum optional vehicle speed of the future road section includes: Obtaining the cruising speed of the future road section, the maximum speed of the gear of the future road section, the maximum speed limit of the future road section, and the maximum achievable speed of the future road section, and determining the minimum speed among the cruising speed, the maximum speed of the gear, the maximum speed limit, and the maximum achievable speed as the maximum optional speed, the maximum speed of the gear being the speed corresponding to the maximum rotation speed of the gear of the future road section planned on the future road section, and the maximum achievable speed being the maximum speed that the engine of the vehicle can reach when accelerating the vehicle based on the current speed of the vehicle on the current road section or the target speed of the current road section; The maximum speed among the minimum gear speed of the future road section and the minimum achievable speed of the future road section is determined as the minimum optional speed. The minimum gear speed is the speed corresponding to the minimum rotational speed of the gear of the future road section planned on the future road section. The minimum achievable speed is the minimum speed that can be reached when the vehicle is decelerated based on the current speed of the vehicle's engine on the current road section or the target speed of the current road section.

4. The method according to any one of claims 1 to 3, characterized in that The step of evaluating the change conditions of the M optional vehicle speeds in the speed change curve to obtain the speed change parameter of the speed change curve includes: Determining the number of changes and the total magnitude of changes in the optional vehicle speeds of the M future road sections included in the speed change curve; The speed change parameter is determined according to the number of changes and the total magnitude of changes, and the speed change parameter is positively correlated to the number of changes and the total magnitude of changes.

5. The method according to claim 4, characterized in that The step of selecting a target speed change curve from the plurality of speed change curves according to the speed change parameters respectively corresponding to the plurality of speed change curves comprises: Determine a comfort parameter according to the speed change parameter, wherein the comfort parameter is negatively correlated with the speed change parameter; Determining a corresponding fuel consumption parameter according to the speed change curve, and weighting the comfort parameter and the fuel consumption parameter to obtain an evaluation result parameter; The target speed change curve is selected from the plurality of speed change curves according to the evaluation result parameter.

6. The method according to any one of claims 1 to 3, characterized in that The controlling of the vehicle comprises: Determine a speed corresponding to the target vehicle speed in the current gear as a target speed; When the target speed is less than the minimum speed of the current gear, downshifting the current gear according to a first speed difference between the minimum speed of the current gear and the target speed, and the downshift amplitude of the downshifting is positively correlated with the first speed difference; When the target speed is greater than or equal to the maximum speed of the current gear or a preset speed threshold, the current gear is upshifted according to a second speed difference between the target speed and the minimum speed of the current gear, and the upshift amplitude of the upshift is positively correlated with the second speed difference.

7. A vehicle speed control device, characterized in that: include: An acquisition module, used for acquiring N optional vehicle speeds of M future road sections, wherein the future road sections correspond to a plurality of the optional vehicle speeds, and both M and N are integers greater than 1; A first processing module, configured to generate a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves include one optional vehicle speed corresponding to each of the M future road sections; A second processing module is used to evaluate the change of the M optional vehicle speeds in the speed change curve to obtain a speed change parameter of the speed change curve; A control module is used to select a target speed change curve from the multiple speed change curves according to the speed change parameters respectively corresponding to the multiple speed change curves, and use the first optional vehicle speed in the target speed change curve as the target speed of the first future road section to control the vehicle.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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