Vehicle speed control methods, devices, storage media and products

Abstract

This application provides a vehicle speed control method, device, storage medium, and product. The method generates multiple speed change curves based on multiple future road segments and their corresponding selectable speeds. It then evaluates the changes in the selectable speeds within these curves to obtain speed change parameters. Based on these parameters, a target speed change curve is selected, and the first selectable speed on this curve is used as the target speed for the first future road segment. The vehicle is then controlled to achieve the target speed. This application combines the speed change parameters of the entire future road segment with vehicle control, considering the vehicle's speed changes within a road segment. This allows for better prediction of future road segment conditions and improves vehicle speed control effectiveness.

Description

Technical Field

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

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

[0003] Current predictive cruise control technology typically adjusts vehicle gear and speed based solely on current road gradient information. Therefore, existing predictive cruise control technology suffers from poor speed control performance. Summary of the Invention

[0004] This application provides a vehicle speed control method, device, storage medium, and product to address the shortcomings of existing technologies that rely solely on current road slope information to adjust and control vehicle gear and speed, resulting in poor vehicle speed control performance.

[0005] In a first aspect, embodiments of this application provide a vehicle speed control method, including:

[0006] Obtain N selectable vehicle speeds for M future road segments, where each future road segment corresponds to multiple selectable vehicle speeds, and M and N are both integers greater than 1;

[0007] Multiple speed change curves are generated based on the N selectable vehicle speeds, and the speed change curves include one selectable vehicle speed corresponding to each of the M future road segments;

[0008] The changes in the M selectable vehicle speeds in the speed change curve are evaluated to obtain the speed change parameters of the speed change curve.

[0009] Based on 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 selectable vehicle speed in the target speed change curve is taken as the target speed of the first future road segment to control the vehicle.

[0010] In one possible implementation, for M future road segments, the maximum selectable speed, the minimum selectable speed, and the road condition complexity of each future road segment are obtained.

[0011] For each future road segment, the number of selectable speeds for the future road segment is determined based on the road condition complexity of the future road segment. Then, multiple selectable speeds for the future road segment are generated based on the maximum selectable speed, the minimum selectable speed, and the number of selectable speeds for the future road segment. The multiple selectable speeds for the future road segment are evenly distributed within a closed interval formed by the maximum selectable speed and the minimum selectable speed of the future road segment. The number of selectable speeds for the future road segment is positively correlated with the road condition complexity of the future road segment.

[0012] In one possible implementation, the cruising speed of the future road segment, the maximum speed of the gear in the future road segment, the maximum speed limit of the future road segment, and the maximum achievable speed of the future road segment 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 selectable speed. The maximum speed of the gear is the speed corresponding to the maximum speed of the gear planned for the future road segment, and the maximum achievable speed is the maximum speed that the vehicle's engine can reach when accelerating based on the current speed or the target speed of the current road segment.

[0013] The maximum speed among the minimum speed of the gear in the future road segment and the minimum achievable speed of the future road segment is determined as the minimum selectable speed. The minimum speed of the gear is the speed corresponding to the minimum speed of the gear planned for the future road segment. The minimum achievable speed is the minimum speed that the vehicle's engine can reach when decelerating, based on the current speed or the target speed of the current road segment.

[0014] In one possible implementation, the number of speed changes and the total magnitude of speed changes for the M future road segments included in the speed change curve are determined.

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

[0016] In one possible implementation, a comfort parameter is determined based on the speed change parameter, the comfort parameter being negatively correlated with the speed change parameter;

[0017] The corresponding fuel consumption parameters are determined based on the speed change curve, and the comfort parameters and fuel consumption parameters are weighted to obtain the evaluation result parameters.

[0018] The target velocity change curve is selected from multiple velocity change curves based on the evaluation result parameters.

[0019] In one possible implementation, the target vehicle speed is determined as the engine speed corresponding to the current gear.

[0020] When the target speed is less than the minimum speed of the current gear, the current gear is downshifted based on the first speed difference between the minimum speed of the current gear and the target speed. The downshifting magnitude 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 based on the second speed difference between the target speed and the minimum speed of the current gear. The upshifting magnitude of the upshifting process is positively correlated with the second speed difference.

[0022] Secondly, embodiments of this application provide a vehicle speed control device, comprising:

[0023] The acquisition module is used to acquire N selectable vehicle speeds for M future road segments, wherein each future road segment corresponds to multiple selectable vehicle speeds, and M and N are both integers greater than 1;

[0024] The first processing module is used to generate multiple speed change curves based on the N selectable vehicle speeds, wherein the speed change curves include one selectable vehicle speed corresponding to each of the M future road segments;

[0025] The second processing module is used to evaluate the changes in the M selectable vehicle speeds in the speed change curve and obtain the speed change parameters of the speed change curve.

[0026] The control module is used to select a target speed change curve from the multiple speed change curves according to the speed change parameters corresponding to the multiple speed change curves respectively, and to control the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road segment.

[0027] In one possible implementation, the acquisition module is specifically used to acquire, for each of the M future road segments, the maximum selectable speed, the minimum selectable speed, and the road condition complexity of the future road segment.

[0028] For each future road segment, the number of selectable speeds for the future road segment is determined based on the road condition complexity of the future road segment. Then, multiple selectable speeds for the future road segment are generated based on the maximum selectable speed, the minimum selectable speed, and the number of selectable speeds for the future road segment. The multiple selectable speeds for the future road segment are evenly distributed within a closed interval formed by the maximum selectable speed and the minimum selectable speed of the future road segment. The number of selectable speeds for the future road segment is positively correlated with the road condition complexity of the future road segment.

[0029] In one possible implementation, the acquisition module is specifically used to acquire the cruising speed of the future road segment, the maximum speed of the gear in the future road segment, the maximum speed limit of the future road segment, and the maximum achievable speed of the future road segment, and to 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 selectable speed. The maximum speed of the gear is the speed corresponding to the maximum speed of the gear planned for the future road segment, and the maximum achievable speed is the maximum speed that the vehicle's engine can reach when accelerating based on the current speed or the target speed of the current road segment.

[0030] The maximum speed among the minimum speed of the gear in the future road segment and the minimum achievable speed of the future road segment is determined as the minimum selectable speed. The minimum speed of the gear is the speed corresponding to the minimum speed of the gear planned for the future road segment. The minimum achievable speed is the minimum speed that the vehicle's engine can reach when decelerating, based on the current speed or the target speed of the current road segment.

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

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

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

[0034] The corresponding fuel consumption parameters are determined based on the speed change curve, and the comfort parameters and fuel consumption parameters are weighted to obtain the evaluation result parameters.

[0035] The target velocity change curve is selected from multiple velocity change curves based on the evaluation result parameters.

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

[0037] When the target speed is less than the minimum speed of the current gear, the current gear is downshifted based on the first speed difference between the minimum speed of the current gear and the target speed. The downshifting magnitude 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 based on the second speed difference between the target speed and the minimum speed of the current gear. The upshifting magnitude of the upshifting process is positively correlated with the second speed difference.

[0039] Thirdly, embodiments of this application provide an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0040] The memory stores computer-executed instructions;

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

[0042] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described above.

[0043] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0044] The vehicle speed control method, device, storage medium, and product provided in this application obtain multiple preset numbers of future road segments and corresponding selectable vehicle speeds for each future road segment. After generating multiple different speed change curves, the changes in the selectable vehicle speeds within these curves are evaluated to obtain speed change parameters. Based on the speed change parameters corresponding to each of 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 is used as the target speed for the first future road segment, and the vehicle is controlled to achieve the target speed. This application combines the speed change parameters of the entire future road segment to control the vehicle, considering the vehicle's speed changes within a road segment. This allows for better prediction of the vehicle's operation in future road segments, thus improving the vehicle speed control effect. Attached Figure Description

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

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

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

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

[0049] Figure 4 A schematic diagram 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 accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0052] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this 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, data stored, data displayed, 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. Furthermore, the collection, use and processing of related data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0054] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

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

[0056] Existing predictive cruise control technology acquires road information such as slope, curvature, and speed limit through high-precision maps and vehicle sensors, and determines the current road condition (uphill or downhill) based on this information. After determining whether the vehicle is going uphill or downhill, existing predictive cruise control technology uses the slope information obtained from the high-precision map to adjust the vehicle's output of preset torque and gear when the slope is greater than zero; when the slope is less than zero, it enables coasting in neutral; and when the speed exceeds a threshold, it brakes to reduce speed, thereby adjusting engine speed and transmission gear.

[0057] Research on the existing predictive cruise control technology revealed that, when controlling a vehicle uphill or downhill, these technologies typically adjust the engine speed and transmission gear based solely on the current slope of the road segment the vehicle is on, without considering future road slope and displacement information. Since the slopes vary across different road segments, multiple adjustments to vehicle speed and gear are required when facing continuously changing steep slopes, resulting in poor speed control performance.

[0058] In view of this, this application provides a vehicle speed control method. By acquiring a multiple preset number of future road segments and the corresponding selectable speeds for each future road segment, multiple different speed change curves are generated. The changes in the selectable speeds within these speed change curves are evaluated to obtain speed change parameters for each speed change curve. Based on the speed change parameters corresponding to each of the multiple speed change curves, a target speed change curve is selected from the multiple speed change curves. The first selectable speed in the target speed change curve is used as the target speed for the first future road segment, and the vehicle is controlled to achieve the target speed. This embodiment of the application combines the speed change parameters of the entire future road segment to control the vehicle, considering the vehicle's speed changes within a road segment. This allows for better prediction of the vehicle's operation in future road segments, thus improving the vehicle speed control effect.

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

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

[0061] S101. Obtain N selectable vehicle speeds for M future road segments, where each future road segment corresponds to multiple selectable vehicle speeds, and M and N are both integers greater than 1.

[0062] Specifically, the vehicle's current location information is determined by the vehicle positioning unit. Based on the current location information, the road segment information of the road ahead at a preset distance is obtained through a high-precision map such as an ADAS map. The road segment information includes the road's speed limit information and gradient information.

[0063] Furthermore, the vehicle obtains the slope information corresponding to the current road segment. When the slope information determines that the current road segment is the bottom of a downhill slope and the vehicle is preparing to go uphill, the vehicle calculates the neutral coasting speed based on 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 the vehicle can coast through the slope ahead in neutral at the current speed. If the neutral coasting speed is less than the vehicle speed threshold, the vehicle calculates the target control gear based on the current vehicle speed and the slope information, and controls the vehicle to drive through the slope ahead based on the target control gear.

[0064] Furthermore, as the vehicle passes the crest of the hill and prepares to descend, the road ahead, at a predetermined distance, is divided into a predetermined number of segments, i.e., M future road segments are obtained. Based on the road segment information of each future road segment, multiple selectable speeds are determined to obtain N selectable speeds corresponding to the M future road segments.

[0065] S102. Generate multiple speed change curves based on the N selectable vehicle speeds, wherein each speed change curve includes one selectable vehicle speed corresponding to one of the M future road segments.

[0066] Specifically, after obtaining a preset number of future road segments and multiple selectable speeds corresponding to each future road segment, an selectable speed is obtained from the multiple selectable speeds corresponding to each future road segment. This selectable speed is combined with the corresponding selectable speeds obtained from other future road segments to form a selectable speed combination. This selectable speed combination is recorded. The selectable speed combination includes multiple selectable speeds corresponding to multiple consecutive different future road segments. A corresponding speed change curve is generated based on the selectable speed combination.

[0067] Furthermore, after obtaining and recording an optional speed combination, new optional speed combinations are generated based on the multiple optional speeds corresponding to each future road segment. These new optional speed combinations are ensured to differ from at least one of the recorded optional speed combinations, until all multiple optional speeds corresponding to each future road segment have been used to generate corresponding optional speed combinations. Multiple optional speed combinations are obtained in this way, and multiple speed change curves are generated based on these combinations.

[0068] S103. Evaluate the changes in the M selectable vehicle speeds in the speed change curve to obtain the speed change parameters of the speed change curve.

[0069] Specifically, after obtaining the generated multiple speed change curves, the speed change parameters of the vehicle when it reaches each speed indicated by each speed change curve are obtained, and the vehicle fuel consumption and driving comfort are obtained based on the speed change parameters.

[0070] Among them, vehicle fuel consumption indicates the fuel consumption required when the vehicle is traveling at various speeds indicated by the speed change curve, while driving comfort indicates the driving comfort of the driver when the vehicle is traveling at various speeds indicated by the speed change curve.

[0071] S104. Based on the speed change parameters corresponding to the multiple speed change curves, select a target speed change curve from the multiple speed change curves, and take the first selectable vehicle speed in the target speed change curve as the target speed of the first future road segment, and 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 the evaluation result parameters corresponding to each speed change parameter, that is, the cost value corresponding to each speed change curve, are calculated based on the vehicle fuel consumption and driving comfort in each speed change parameter.

[0073] Furthermore, among multiple speed change curves, the one with the lowest cost is selected as the target speed change curve. The selectable speed corresponding to the future road segment closest to the current vehicle position on the target speed change curve is then used as the target speed to control the vehicle to achieve the target speed.

[0074] The vehicle speed control method provided in this application obtains a multiple preset number of future road segments and the corresponding selectable speeds for each future road segment. After generating multiple different speed change curves, the method evaluates the changes in the selectable speeds within these curves to obtain speed change parameters. Based on the speed change parameters corresponding to each of the multiple speed change curves, a target speed change curve is selected from the multiple curves. The first selectable speed in the target speed change curve is used as the target speed for the first future road segment, and the vehicle is controlled to achieve the target speed. This application embodiment combines the speed change parameters of the entire future road segment to control the vehicle, considering the vehicle's speed changes within a road segment. This allows for better prediction of the vehicle's operation in future road segments, thus improving the vehicle speed control effect.

[0075] Figure 2 This is a basic framework diagram provided for this application. Figure 3 Flowchart of the vehicle speed control method provided in this application Figure 2 , combined Figure 2 and Figure 3 As shown, in this embodiment... Figure 1 Based on the embodiments, the vehicle speed control method is described in detail, which includes:

[0076] S201. For M future road segments, obtain the cruising speed of the future road segment, the maximum speed of the future road segment in the specified gear, the maximum speed limit of the future road segment, and the maximum achievable speed of the future road segment.

[0077] Specifically, refer to Figure 2 As shown, when the vehicle is going downhill, the road ahead of 2 kilometers is divided into multiple preset number of segments, such as obtaining 20 future segments, where each future segment is 100 meters long, and M is 20.

[0078] Furthermore, by using a high-precision map, road segment information at a preset distance ahead of the current vehicle is obtained. This road segment information includes speed limit information and gradient information. The maximum speed limit for the future road segment is obtained based on the speed limit information. Based on the gradient information, the current vehicle's cruise speed is obtained from the vehicle cruise database. This vehicle cruise database pre-associates and stores multiple different sets of cruise speeds and corresponding gradient information.

[0079] Among them, the maximum speed of the gear is the speed corresponding to the maximum RPM of the gear in the future road segment planned on the future road segment, 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 or the target speed of the current road segment.

[0080] S202, the minimum speed among the cruise speed of the future road segment, the maximum speed of the gear, the maximum speed limit, and the maximum achievable speed is determined as the maximum selectable speed.

[0081] Specifically, after obtaining the cruising speed, maximum speed in gear, maximum speed limit, maximum achievable speed, and maximum reachable speed for each future road segment, the common upper limit of speed for all future road segments, that is, the maximum selectable speed for all future road segments, is determined by taking the minimum value among the cruising speed, maximum speed in gear, maximum speed limit, and maximum achievable speed for all future road segments as the upper limit of speed for the vehicle when going downhill, that is, the maximum selectable speed.

[0082] S203. The maximum speed among the minimum speed of the gear in the future road segment and the minimum achievable speed of the future road segment is determined as the minimum selectable speed.

[0083] Specifically, for the minimum speed limit of all future road segments, that is, the minimum selectable speed of all future road segments, the maximum value among the minimum speed of gear and the minimum achievable speed of all future road segments is taken as the minimum speed limit of all future road segments when the vehicle is going downhill, that is, the minimum selectable speed.

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

[0085] S204. For each future road segment, determine the number of selectable speeds for the future road segment based on the road condition complexity of the future road segment.

[0086] Specifically, after obtaining the upper and lower speed limits for all future road segments—that is, the minimum and maximum selectable speeds—the system determines whether each future road segment is uphill, downhill, or flat based on the gradient information. When a future road segment is uphill or downhill, its road condition complexity is determined to be high; when a future road segment is flat, its road condition complexity is determined to be low. The number of selectable speeds for a future road segment is directly proportional to its road condition complexity.

[0087] S205. Generate multiple selectable speeds for the future road segment based on the maximum selectable speed of the future road segment, the minimum selectable speed of the future road segment, and the number of selectable speeds for the future road segment.

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

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

[0090] Furthermore, for the lower limit of multiple selectable speeds for each future road segment, based on the current speed or the target speed of the current road segment, the minimum speed value that can be allowed by the preset calibration deceleration is compared with the minimum selectable speed. The larger value between the minimum speed value and the minimum selectable speed is taken as the lower limit of the selectable speed for the corresponding future road segment.

[0091] S206. Generate multiple speed change curves based on the N selectable vehicle speeds.

[0092] Specifically, after obtaining multiple, such as ten, selectable speeds for each future road segment, the total number of selectable speeds for all twenty future road segments is two hundred, that is, N is two hundred at this point.

[0093] Furthermore, one selectable speed is obtained from the ten selectable speeds corresponding to each future road segment, and combined with another selectable speed obtained from other future road segments to form a selectable speed combination, which is then recorded. This selectable speed combination includes multiple selectable speeds corresponding to multiple consecutive different future road segments, and a corresponding speed change curve is generated based on the selectable speed combination.

[0094] Furthermore, after obtaining and recording an optional speed combination, a new optional speed combination is generated based on the multiple optional speeds corresponding to each future road segment, such that the new optional speed combination is different from at least one of the optional speeds in the recorded optional speed combination, until multiple optional speed combinations are obtained after generating corresponding optional speed combinations for each future road segment.

[0095] Furthermore, multiple speed change curves are generated based on multiple selectable speed combinations, and each speed change curve indicates the selectable speed change trend for twenty consecutive future road segments.

[0096] S207. Determine the number of speed changes and the total magnitude of speed changes for the M future road segments 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 using the Dynamic Programming (DP) algorithm. Then, the target speed change curve is determined from all the speed change curves based on the comfort parameters and fuel consumption parameters.

[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 selectable vehicle speed changes. The vehicle speed inflection point is used to indicate the location and speed of the road segment where the vehicle speed change occurs. The total change amplitude is obtained based on the vehicle speed inflection point. The total change amplitude is used to indicate the maximum difference in vehicle speed between adjacent future road segments within all future road segments.

[0099] S208. Determine the speed change parameter based on the number of changes and the total magnitude of changes, wherein the speed change parameter is positively correlated with the number of changes and the total magnitude of changes.

[0100] Specifically, after obtaining the number of changes and the total magnitude of each speed change curve, the product of the number of changes and the total magnitude of changes 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. Determine the comfort parameter based on the speed change parameter, determine the corresponding fuel consumption parameter based on the speed change curve, and weight the comfort parameter and the fuel consumption parameter to obtain the evaluation result parameter.

[0102] Specifically, after obtaining the speed change parameters for each speed change curve, the quotient between the speed change parameter and the preset comfort conversion value is obtained, and this quotient is used as the comfort parameter for the corresponding speed change curve. The comfort parameter is negatively correlated with the speed change parameter. The comfort parameter indicates the comfort level of the occupants when the vehicle achieves 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 segment indicated by the speed change curve, the fuel consumption required for the vehicle to achieve the speed of each future road segment in the corresponding speed change curve is calculated, and this is used as the fuel consumption parameter corresponding to that speed change curve. Based on the comfort parameter and the fuel consumption parameter, the evaluation result parameters corresponding to each speed change curve are calculated using the cost objective function.

[0104] Furthermore, for the evaluation result parameters corresponding to each speed change curve obtained by calculating the cost function, after obtaining the comfort parameter and fuel consumption parameter 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 results of comfort and fuel consumption parameters, a comprehensive assessment of the comfort and fuel consumption of each speed variation curve can be performed.

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

[0107] Specifically, after obtaining the corresponding evaluation result parameters for each velocity change curve, the velocity change curve corresponding to the smallest evaluation result parameter is taken as the target velocity 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. Among the multiple candidate speed change curves, the candidate speed change curve corresponding to the maximum comfort parameter is taken as the target speed change curve.

[0109] Therefore, by combining a target speed variation curve that considers both comfort and fuel consumption parameters, the shortcomings of existing technologies—such as increased fuel consumption and jerky driving conditions caused by the need for frequent adjustments to vehicle speed and gear—can be avoided. By achieving the target speed variation curve, the vehicle improves comfort while reducing fuel consumption, thus balancing fuel efficiency and comfort.

[0110] S211. The first selectable vehicle speed in the target speed change curve is used as the target speed for the first future road segment, and the vehicle is controlled accordingly.

[0111] Specifically, after obtaining the target speed change curve, the selectable speed of the first future road segment is taken as the target speed from the curve. The first future road segment is the road segment the vehicle will enter next. After the vehicle enters the first future road segment, the vehicle is controlled to achieve the target speed, and the engine speed corresponding to the target speed in the current gear is determined as the target engine speed.

[0112] Furthermore, when the target speed is less than the minimum speed of the current gear, the current gear is downshifted based on the first speed difference between the minimum speed of the current gear and the target speed. The downshifting range is positively correlated with the first speed difference. That is, if the actual speed is lower than the downshifting speed of the current gear, the gear is 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 the preset speed threshold, the current gear is shifted up based on the second speed difference between the target speed and the minimum speed of the current gear. The shifting range 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 continues for a preset time, such as four to five seconds, then the gear is shifted up by a preset number of gears.

[0114] Furthermore, after the vehicle enters the first future road segment, the road ahead of the vehicle is continuously divided into twenty future road segments. Based on the road segment information corresponding to the new future road segment and the current vehicle speed, the corresponding speed change curve is updated. The new speed change curve is calculated using a dynamic programming algorithm to obtain a new target speed change curve. A new target speed is determined based on the new target speed change curve. After the vehicle leaves the first future road segment and enters the second future road segment, the vehicle is controlled to achieve the new target speed, thereby updating the vehicle speed.

[0115] The vehicle speed control method provided in this application obtains a multiple preset number of future road segments and the corresponding selectable speeds for each future road segment. After generating multiple different speed change curves, the method evaluates the changes in the selectable speeds within these curves to obtain speed change parameters. Based on the speed change parameters corresponding to each of the multiple speed change curves, a target speed change curve is selected from the multiple curves. The first selectable speed in the target speed change curve is used as the target speed for the first future road segment, and the vehicle is controlled to achieve the target speed. This application embodiment combines the speed change parameters of the entire future road segment to control the vehicle, considering the vehicle's speed changes within a road segment. This allows for better prediction of the vehicle's operation in future road segments, thus improving the vehicle speed control effect.

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

[0117] The acquisition module 401 is used to acquire N selectable vehicle speeds for M future road segments, wherein the future road segments correspond to multiple selectable vehicle speeds, and M and N are both integers greater than 1.

[0118] The first processing module 402 is used to generate multiple speed change curves based on the N selectable vehicle speeds, wherein the speed change curves include one selectable vehicle speed corresponding to each of the M future road segments.

[0119] The second processing module 403 is used to evaluate the changes in the M selectable vehicle speeds in the speed change curve and obtain the speed change parameters 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 corresponding to the multiple speed change curves respectively, and to use the first selectable vehicle speed in the target speed change curve as the target speed of the first future road segment to control the vehicle.

[0121] In one possible implementation, the acquisition module 401 is used to acquire, for M future road segments, the maximum selectable speed of the future road segment, the minimum selectable speed of the future road segment, and the road condition complexity, respectively.

[0122] For each future road segment, the number of selectable speeds for the future road segment is determined based on the road condition complexity of the future road segment. Then, multiple selectable speeds for the future road segment are generated based on the maximum selectable speed, the minimum selectable speed, and the number of selectable speeds for the future road segment. The multiple selectable speeds for the future road segment are evenly distributed within a closed interval formed by the maximum selectable speed and the minimum selectable speed of the future road segment. The number of selectable speeds for the future road segment is positively correlated with the road condition complexity of the future road segment.

[0123] In one possible implementation, the acquisition module 401 is used to acquire the cruising speed of the future road segment, the maximum speed of the gear in the future road segment, the maximum speed limit of the future road segment, and the maximum achievable speed of the future road segment, and to 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 selectable speed. The maximum speed of the gear is the speed corresponding to the maximum speed of the gear planned for the future road segment, and the maximum achievable speed is the maximum speed that the vehicle's engine can reach when accelerating based on the current speed or the target speed of the current road segment.

[0124] The maximum speed among the minimum speed of the gear in the future road segment and the minimum achievable speed of the future road segment is determined as the minimum selectable speed. The minimum speed of the gear is the speed corresponding to the minimum speed of the gear planned for the future road segment. The minimum achievable speed is the minimum speed that the vehicle's engine can reach when decelerating, based on the current speed or the target speed of the current road segment.

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

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

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

[0128] The corresponding fuel consumption parameters are determined based on the speed change curve, and the comfort parameters and fuel consumption parameters are weighted to obtain the evaluation result parameters.

[0129] The target velocity change curve is selected from multiple velocity change curves based on the evaluation result parameters.

[0130] In one possible implementation, the control module 404 is used to determine the 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, the current gear is downshifted based on the first speed difference between the minimum speed of the current gear and the target speed. The downshifting magnitude 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 shifted up based on the second speed difference between the target speed and the minimum speed of the current gear. The shifting magnitude of the shifting process 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. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0134] Figure 5 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 further includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus 504.

[0135] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.

[0136] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It 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 (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0138] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[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. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0140] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0141] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0142] The aforementioned 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0143] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from 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 reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0144] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

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

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

[0147] If a function is implemented as 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 this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0148] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0149] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A vehicle speed control method, characterized in that, include: Obtain N selectable vehicle speeds for M future road segments, where each future road segment corresponds to multiple selectable vehicle speeds, and M and N are both integers greater than 1; Multiple speed change curves are generated based on the N selectable vehicle speeds, and the speed change curves include one selectable vehicle speed corresponding to each of the M future road segments; Determine the number of speed changes and the total magnitude of speed changes for the M future road segments included in the speed change curve; The speed change parameter is determined based on the number of changes and the total magnitude of the changes, and the speed change parameter is positively correlated with the number of changes and the total magnitude of the changes; A comfort parameter is determined based on the speed change parameter, and the comfort parameter is negatively correlated with the speed change parameter; The corresponding fuel consumption parameters are determined based on the speed change curve, and the comfort parameters and fuel consumption parameters are weighted to obtain the evaluation result parameters. Based on the evaluation result parameters, a target speed change curve is selected from multiple speed change curves, and the first selectable vehicle speed in the target speed change curve is used as the target speed for the first future road segment to control the vehicle.

2. The method according to claim 1, characterized in that, The process of obtaining N selectable vehicle speeds for M future road segments includes: For each of the M future road segments, obtain the maximum selectable speed, the minimum selectable speed, and the road condition complexity of each future road segment. For each future road segment, the number of selectable speeds for the future road segment is determined based on the road condition complexity of the future road segment. Then, multiple selectable speeds for the future road segment are generated based on the maximum selectable speed, the minimum selectable speed, and the number of selectable speeds for the future road segment. The multiple selectable speeds for the future road segment are evenly distributed within a closed interval formed by the maximum selectable speed and the minimum selectable speed of the future road segment. The number of selectable speeds for the future road segment is positively correlated with the road condition complexity of the future road segment.

3. The method according to claim 2, characterized in that, The process of obtaining the maximum selectable speed and the minimum selectable speed of the future road segment includes: The system obtains the cruising speed of the future road segment, the maximum speed of the gear in the future road segment, the maximum speed limit of the future road segment, and the maximum achievable speed of the future road segment. 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 selectable speed. The maximum speed of the gear is the speed corresponding to the maximum RPM of the gear in the planned future road segment. The maximum achievable speed is the maximum speed that the vehicle's engine can reach when accelerating, based on the current speed or the target speed of the current road segment. The maximum speed among the minimum speed of the gear in the future road segment and the minimum achievable speed of the future road segment is determined as the minimum selectable speed. The minimum speed of the gear is the speed corresponding to the minimum speed of the gear planned for the future road segment. The minimum achievable speed is the minimum speed that the vehicle's engine can reach when decelerating, based on the current speed or the target speed of the current road segment.

4. The method according to any one of claims 1 to 3, characterized in that, The control of the vehicle includes: The target speed is determined as the engine speed corresponding to the target vehicle speed in the current gear. When the target speed is less than the minimum speed of the current gear, the current gear is downshifted based on the first speed difference between the minimum speed of the current gear and the target speed. The downshifting magnitude 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 based on the second speed difference between the target speed and the minimum speed of the current gear. The upshifting magnitude of the upshifting process is positively correlated with the second speed difference.

5. A vehicle speed control device, characterized in that, include: The acquisition module is used to acquire N selectable vehicle speeds for M future road segments, wherein each future road segment corresponds to multiple selectable vehicle speeds, and M and N are both integers greater than 1; The first processing module is used to generate multiple speed change curves based on the N selectable vehicle speeds, wherein the speed change curves include one selectable vehicle speed corresponding to each of the M future road segments; The second processing module is used to determine the number of changes and the total magnitude of changes in the selectable vehicle speeds of the M future road segments included in the speed change curve; and to determine speed change parameters based on the number of changes and the total magnitude of changes, wherein the speed change parameters are positively correlated with the number of changes and the total magnitude of changes. The control module is used to determine a comfort parameter based on the speed change parameter, wherein the comfort parameter is negatively correlated with the speed change parameter; determine a corresponding fuel consumption parameter based on the speed change curve, and weight the comfort parameter and the fuel consumption parameter to obtain an evaluation result parameter; select a target speed change curve from multiple speed change curves based on the evaluation result parameter, and use the first selectable speed in the target speed change curve as the target speed of the first future road segment to control the vehicle.

6. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 4.

8. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 4.

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