Method, device and equipment for controlling speed, vehicle and medium

Abstract

The embodiment of the invention relates to a speed control method, device and equipment, a vehicle and a medium. The method includes obtaining a target cruise speed of the vehicle when an adaptive cruise function of the vehicle is activated. The method also includes determining a target speed deviation corresponding to the target cruise speed, wherein the target speed deviation indicates a compensated speed for the target cruise speed. The method further includes adjusting a speed of the vehicle to the target cruise speed based on the target speed deviation and the target cruise speed. According to the method disclosed by the embodiment of the invention, when the self-adaptive cruise function is executed, the automobile can accurately run at the set cruise speed, so that the running accuracy is improved, and the user experience is improved.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to the field of assisted driving, and more particularly to methods, devices, apparatuses, vehicles, and media for controlling speed. Background Art

[0002] As the number and functions of cars increase, researchers have begun to enhance the assisted driving function of vehicles. Now, in order to reduce the driver's operation, the adaptive cruise function has been rapidly developed. The adaptive cruise function assists the driver in driving the vehicle with the help of additional sensors such as radar, lidar or camera.

[0003] Adaptive cruise control can more accurately identify vehicles and obstacles ahead, and automatically adjust vehicle speed and following distance according to different road conditions and driving scenarios, thus improving driving safety and comfort. However, there are still many problems that need to be solved in the use of adaptive cruise control. Summary of the invention

[0004] Embodiments of the present disclosure provide a method, an apparatus, a device, a vehicle, and a medium for controlling speed.

[0005] According to a first aspect of the present disclosure, a method for controlling speed is provided. The method includes obtaining a target cruising speed of a vehicle when an adaptive cruise function of the vehicle is activated. The method also includes determining a target speed deviation corresponding to the target cruising speed, wherein the target speed deviation indicates a compensation speed for the target cruising speed. The method also includes adjusting the speed of the vehicle to the target cruising speed based on the target speed deviation and the target cruising speed.

[0006] According to a second aspect of the present disclosure, a method for controlling speed is provided. The method includes obtaining model parameters of a target model for determining the drag deceleration capability of the vehicle in response to a vehicle performing a deceleration operation through an adaptive cruise function, wherein the input of the target model includes a friction torque for the vehicle and a minimum indicated torque for the engine of the vehicle, and the model parameters include corresponding weights and offsets. The method also includes using the target model to determine the drag deceleration capability of the vehicle based on the model parameters, the friction torque, and the minimum indicated torque. The method also includes determining a requested torque required to perform the deceleration operation. The method also includes controlling the braking of the vehicle based on the requested torque and the drag deceleration capability.

[0007] According to a third aspect of the present disclosure, a device for controlling speed is provided. The device includes a target cruising speed obtaining unit configured to obtain a target cruising speed of a vehicle when an adaptive cruise function of the vehicle is activated; a target speed deviation determining unit configured to determine a target speed deviation corresponding to the target cruising speed, wherein the target speed deviation indicates a compensation speed for the target cruising speed; and a speed adjusting unit configured to adjust the speed of the vehicle to the target cruising speed based on the target speed deviation and the target cruising speed.

[0008] According to a fourth aspect of the present disclosure, a device for controlling speed is provided. The device includes a model parameter acquisition unit, configured to acquire model parameters of a target model for determining a drag deceleration capability of the vehicle in response to a vehicle performing a deceleration operation through an adaptive cruise function, wherein the input of the target model includes a friction torque for the vehicle and a minimum indicated torque for an engine of the vehicle, and the model parameters include corresponding weights and offsets; a drag deceleration capability determination unit, configured to determine the drag deceleration capability of the vehicle using the target model based on the model parameters, the friction torque and the minimum indicated torque; a request torque determination unit, configured to determine a request torque required for performing a deceleration operation; and a brake control unit, configured to control the braking of the vehicle based on the request torque and the drag deceleration capability.

[0009] According to a fifth aspect of the present disclosure, an electronic device is provided. The electronic device includes at least one processor; and a memory coupled to the at least one processor and having instructions stored thereon, which, when executed by the at least one processor, causes the device to perform the steps of the method in the first aspect or the second aspect of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0011] Figure 1 A schematic diagram illustrating an example environment in which devices and / or methods according to embodiments of the present disclosure may be implemented;

[0012] Figure 2 A schematic diagram illustrating an example of an adaptive function module according to an embodiment of the present disclosure is illustrated;

[0013] Figure 3 A flow chart of a method for controlling speed according to an embodiment of the present disclosure is illustrated;

[0014] Figure 4A schematic diagram illustrating an example process for obtaining a speed deviation according to an embodiment of the present disclosure is illustrated;

[0015] Figure 5 A schematic diagram illustrating another example of an adaptive function module according to an embodiment of the present disclosure is illustrated;

[0016] Figure 6 A flow chart of a method for controlling speed according to an embodiment of the present disclosure is illustrated;

[0017] Figure 7 A schematic diagram illustrating an example process for controlling speed according to an embodiment of the present disclosure is illustrated;

[0018] Figure 8 A schematic diagram illustrating an example working process of an adaptive cruise function according to an embodiment of the present disclosure is illustrated;

[0019] Fig. 9 A schematic diagram of a device for controlling speed according to an embodiment of the present disclosure is illustrated;

[0020] Fig.10 A schematic diagram of another device for controlling speed according to an embodiment of the present disclosure is illustrated;

[0021] Fig.11 A schematic block diagram of an example device suitable for implementing embodiments of the present disclosure is illustrated.

[0022] In the various drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0023] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0024] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0025] As mentioned above, there are still many problems to be solved in the development of vehicle adaptive cruise technology. For example, when a user uses the adaptive cruise function, the user will set the adaptive cruise speed in the hope that the vehicle can travel at the set adaptive cruise speed. However, in the actual driving process, due to various external conditions, the actual driving speed of the vehicle cannot well match the adaptive cruise speed set by the user, for example, the driving speed displayed on the display screen is lower or higher than the adaptive cruise speed.

[0026] For the above problem, the traditional solution is usually to continuously accelerate or decelerate during the adaptive cruise process when the driving speed displayed on the screen does not match the adaptive cruise speed set by the user to ensure that the driving speed is equal to the adaptive cruise speed. This process is relatively complicated and the user experience is not good because the vehicle is constantly adjusting.

[0027] At least to address the above and other potential problems, an embodiment of the present disclosure provides a method for controlling speed. In this method, when the adaptive cruise function of a vehicle is activated, a computing device first obtains a target cruising speed of the vehicle, and then determines a target speed deviation corresponding to the target cruising speed. Next, the computing device uses the obtained target speed deviation and the target cruising speed to adjust the speed of the vehicle to the target cruising speed. Through this method, the speed of the vehicle is adjusted by determining a speed deviation corresponding to the target cruising speed and combining the speed deviation with the target cruising speed, so that when the adaptive cruise function is executed, the car can accurately travel at the set cruising speed, thereby improving the accuracy of driving and the user experience.

[0028] The embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. Figure 1 An example environment in which the devices and / or methods of embodiments of the present disclosure may be implemented is shown. Figure 1 As shown, the example environment 100 includes a vehicle 102. The vehicle 102 may include a computing device 104. In one example, the computing device 104 may be a vehicle-wide computing device. In another example, the computing device 104 may be a domain computing device in the vehicle. In yet another example, the computing device 104 may be implemented by any suitable computing device, including but not limited to a personal computer, a mobile device, a multi-processor system, a consumer electronic product, a small computer, a distributed computing environment including any of the above systems or devices, and the like.

[0029] The computing device 104 includes an adaptive cruise function module 106. In order to implement the adaptive cruise function of the vehicle, the vehicle 102 may also be provided with sensors such as radar, laser radar or camera for obtaining adaptive cruise information. The adaptive cruise function module 106 enables the vehicle 102 to implement adaptive cruise, including accurately adjusting the vehicle speed to the adaptive cruise speed (such as Figure 2 as shown) and decelerating the vehicle (as shown Figure 5 The adaptive cruise function module 106 will be described in detail below.

[0030] Figure 2 A schematic diagram of an example of an adaptive function module according to an embodiment of the present disclosure is described. Figure 2 In example 200, the adaptive cruise function module 106 is used to accurately adjust the speed of the vehicle to the adaptive cruise speed set by the user.

[0031] like Figure 2 As shown, when the adaptive cruise function 106 of the vehicle is activated, the user inputs the target cruising speed 202 to the computing device 104. Then, the computing device 104 determines the target speed deviation 204 corresponding to the target cruising speed. Then, the target speed deviation 204 and the target cruising speed 202 are input into the speed adjustment module 206 to adjust the speed of the vehicle to the target cruising speed.

[0032] In some embodiments, the computing device 104 obtains a mapping relationship between a reference cruising speed and a reference speed deviation. Then, the target speed deviation corresponding to the target cruising speed is determined based on the mapping relationship. In some embodiments, the mapping relationship is a number of discrete reference cruising speeds and their corresponding reference speed deviations, as shown in Table 1.

[0033] Table 1 shows an example mapping relationship between the reference cruising speed and the corresponding reference speed deviation

[0034]

[0035] When determining the target speed deviation corresponding to the target cruising speed through the mapping relationship between the discrete reference cruising speed and its corresponding reference speed deviation, the computing device first determines whether there is a reference cruising speed corresponding to the target cruising speed in the mapping relationship. If there is a reference cruising speed corresponding to the target cruising speed in the mapping relationship, the reference speed deviation corresponding to the reference cruising speed is obtained as the target speed deviation. For example, if the user sets the target cruising speed to V4 in Table 1, then its corresponding speed deviation O4 can be found from Table 1 as the determined target speed deviation. If there is no reference cruising speed corresponding to the target cruising speed in the mapping relationship, the target speed deviation can be determined based on the reference speed deviations of the two reference cruising speeds adjacent to the target cruising speed. For example, if the user sets the target cruising speed to V9, such as V9 is between speeds V6 and V7, the target speed deviation O9 of V9 can be calculated based on the speed deviation O6 of V6 and the speed deviation O7 of V7. For example,

[0036] In some embodiments, the mapping relationship is a function of a reference cruising speed and a reference speed deviation corresponding thereto. By inputting the target cruising speed as the reference cruising speed into the function, a target speed deviation corresponding to the target cruising speed of the book can be obtained. The above examples are only used to describe the present disclosure, and are not specific limitations of the present disclosure.

[0037] Through the method of the embodiment of the present disclosure, when the adaptive cruise function is executed, the car can accurately travel at the set cruising speed, thereby improving the driving accuracy and the user experience.

[0038] Combined with the above Figure 2 A schematic diagram of an example of an adaptive function module according to an embodiment of the present disclosure is described below. Figure 3 A flow chart describing a method for controlling speed according to an embodiment of the present disclosure. The method 300 may be performed at Figure 1 The process is executed at computing device 104 or any suitable computing device or server.

[0039] At box 302, when the adaptive cruise function of the vehicle is activated, the target cruising speed of the vehicle is obtained. Figure 1 As shown, after the vehicle turns on the adaptive cruise function, the computing device 104 will obtain the desired target cruising speed set by the user. In one example, the default speed is used as the target cruising speed. In another example, the user inputs the target cruising speed. The above examples are only used to describe the present disclosure, but not to specifically limit the present disclosure. Those skilled in the art can set any appropriate method for obtaining the target cruising speed as needed.

[0040] At block 304, a target speed deviation corresponding to the target cruising speed is determined, wherein the target speed deviation indicates a compensation speed for the target cruising speed. For example, the computing device 104 determines the target speed deviation corresponding to the target cruising speed from obtaining a mapping relationship between a reference cruising speed and a reference speed deviation. The process of determining the reference speed deviation for the reference cruising speed will be described in detail later.

[0041] At block 306, the speed of the vehicle is adjusted to the target cruising speed based on the target speed deviation and the target cruising speed. For example, the computing device 104 uses the acquired target speed deviation and the target cruising speed to adjust the speed of the vehicle 102 to the target cruising speed. In one example, the computing device 104 adds the target speed deviation to the target cruising speed to adjust the vehicle speed as a set speed in the control software for adjusting the vehicle speed.

[0042] Through this method, the speed deviation corresponding to the target cruising speed is determined, and the speed deviation is combined with the target cruising speed to adjust the speed of the vehicle, so that when the adaptive cruise function is executed, the car can accurately travel at the set cruising speed, thereby improving the driving accuracy and the user experience.

[0043] The process of determining the reference speed deviation of the reference cruising speed of the vehicle will be described in detail below. For a vehicle, a predetermined operation may be performed on the vehicle to determine a mapping relationship between the reference cruising speed and the reference speed deviation for the vehicle.

[0044] First, when the adaptive cruise function of the vehicle is activated, the cruising speed of the vehicle is set as the reference cruising speed. Then the computing device starts to adjust the speed of the vehicle using the reference cruising speed as the set speed in the software. Next, the computing device needs to determine whether the vehicle is in a stable state for the reference cruising speed. For example, the speed of the vehicle remains unchanged for a period of time, such as the speed remains unchanged for 5 seconds. If the vehicle is not in a stable state for the reference cruising speed, continue to detect whether the vehicle is in a stable state. If the vehicle is in a stable state for the reference cruising speed, determine whether there is a difference between the actual speed of the vehicle and the reference cruising speed. If there is no difference, determine that the speed deviation is 0. If there is a difference between the actual speed of the vehicle and the reference cruising speed, the computing device determines the reference speed deviation for the reference cruising speed based on the difference. This process can be further combined with Figure 4 Give a description.

[0045] In some embodiments, when determining whether the vehicle is in a stable state for a reference cruising speed, the computing device first determines whether the duration for which the actual speed of the vehicle remains constant exceeds a threshold duration. If the duration for which the actual speed of the vehicle remains constant exceeds the threshold duration, it is determined that the vehicle is in a stable state for the reference cruising speed. If the duration for which the actual speed of the vehicle remains constant does not exceed the threshold duration, it is determined that the vehicle is not in a stable state for the reference cruising speed. Additionally, multiple reference speed deviations corresponding to multiple reference cruising speeds may be determined in the above manner to form a mapping relationship. In the above manner, the corresponding reference speed deviations of multiple reference cruising speeds may be determined quickly and accurately.

[0046] Combine the following Figure 4 A schematic diagram describing an example for obtaining a speed deviation according to an embodiment of the present disclosure. First, the operation starts in box 402. After the adaptive cruise function is turned on, the computing device obtains the adaptive cruise speed S set by the user. In box 404, the computing device uses the adaptive cruise speed S set by the user as the set speed NS in the software to control the speed of the vehicle, and then the computing device can obtain the human-machine interface speed A as the actual speed of the vehicle. After the vehicle speed is stable or the control is stable, the computing device compares the adaptive cruise speed S set by the user with the human-machine interface speed A, and calculates the difference D=AS. The computing device then calculates the speed deviation O=O+D, and O is initially set to 0. Next, in box 406, the computing device determines whether the difference D is 0. If it is 0, then at box 408, the speed calculation is terminated, and the speed deviation corresponding to the speed is determined to be 0. If it is not 0, then at box 410, the speed deviation is added to the adaptive cruise speed set by the user as the new set speed NS in the software: NS=S+O, and then NS is returned to box 404 to continue the operation until it is determined that D is 0, at which time the speed S set by the user is equal to the human-machine interface speed A, and the speed deviation O corresponding to the speed can be determined. In addition, different speeds always correspond to different differences, and therefore correspond to different speed deviations. Through this method, the reference speed deviations corresponding to multiple reference cruise speeds can be quickly and accurately determined.

[0047] The above describes the process for adjusting the speed of the vehicle to the target cruising speed in the adaptive cruise function. In some cases, during the adaptive cruise process, when the speed of the vehicle ahead decreases or an obstacle appears, there is also the problem of performing a deceleration operation. When the adaptive cruise function is used for deceleration operation, the vehicle's drag deceleration capability and braking function are usually used to achieve the vehicle's deceleration operation. However, due to inaccurate calculation of the vehicle's drag deceleration capability, the deceleration operation often switches between engine control and hydraulic control, resulting in irregular operation and uneven braking, and a poor user experience.

[0048] The embodiments of the present disclosure can also be further used to control the deceleration operation in the adaptive cruise function to solve the above-mentioned problems. In this process, the computing device obtains the model parameters of the target model for determining the drag deceleration capability of the vehicle, and then uses the target model in combination with the input model parameters, friction torque and minimum indicated torque to determine the drag deceleration capability of the vehicle. The computing device then determines the requested torque required to perform the deceleration operation. The vehicle's brakes are then controlled by comparing the requested torque and the drag deceleration capability. Through this method, accurate switching between engine control and hydraulic control can be achieved, the smoothness of the deceleration operation is improved, and the user experience is enhanced.

[0049] Now combine Figure 5-7 Describe in detail the functions and processes to implement the deceleration operation. Figure 5 A schematic diagram of another example of an adaptive function module according to an embodiment of the present disclosure is described. In this example 500, the adaptive function module 106 can also obtain a model parameter 502 of a target model for determining the drag deceleration capability of a vehicle, and can also obtain a friction torque 504 corresponding to the vehicle and a minimum indicated torque 506 for the engine of the vehicle. The model parameter 502 corresponds to the type of vehicle, and includes weights and offsets applied to the friction torque 504 and the minimum indicated torque 506.

[0050] Then, the adaptive function module 106 can input the model parameter 502, the friction torque 504 and the minimum indicated torque 506 into the target model 508 for determining the drag deceleration capability of the vehicle to determine the drag deceleration capability of the vehicle. Then, the adaptive function module 106 also obtains the request torque 512 required for the deceleration operation. Then, in the brake control module 510, it is determined whether a braking operation is required, for example, whether a brake system, such as a hydraulic brake system, is used to brake according to the request torque 512 and the drag deceleration capability.

[0051] Combined with the above Figure 5 A schematic diagram of another example of an adaptive function module according to an embodiment of the present disclosure is described below. Figure 6 A flow chart describing a method for controlling speed according to an embodiment of the present disclosure. The method 600 may be performed at Figure 1 The process is executed at computing device 104 or any suitable computing device or server.

[0052] At box 602, determine whether the vehicle is performing a deceleration operation through an adaptive cruise function. For example, the computing device 104 determines whether the vehicle needs to perform a deceleration operation during the adaptive cruise process. If the vehicle is performing a deceleration operation through the adaptive cruise function, at box 604, obtain model parameters of a target model for determining the drag deceleration capability of the vehicle. The input of the target model includes a friction torque for the vehicle and a minimum indicated torque for the engine of the vehicle, and the model parameters include corresponding weights and offsets. For example, when the computing device determines that a deceleration operation is required, it calls the target model of the drag deceleration capability of the vehicle. The computing device can also obtain model parameters corresponding to the type or model of the vehicle, as well as the friction torque of the vehicle and the minimum indicated torque for the engine of the vehicle.

[0053] At box 606, the target model is used to determine the drag deceleration capability of the vehicle based on the model parameters, the friction torque, and the minimum indicated torque. For example, the computing device obtains the drag deceleration capability of the vehicle from the target model based on the friction torque of the vehicle and the minimum indicated torque for the engine of the vehicle. In one example, the target model is a function of the friction torque and the minimum indicated torque for the vehicle, and the model parameters are weights and offsets for the functions of the friction torque and the minimum indicated torque. For example, drag deceleration capability = weight 1 * friction torque + weight 2 * minimum indicated torque + offset. The model parameters, friction torque, and minimum indicated torque for the vehicle type are predetermined.

[0054] At box 608, the requested torque required to perform the deceleration operation is determined. For example, the computing device 104 needs to determine the requested torque required for the vehicle to perform the deceleration operation. In some embodiments, when determining the requested torque required to perform the deceleration operation, the computing device needs to determine the deceleration required to perform the deceleration operation. For example, the computing device determines the deceleration based on the vehicle speed, the target speed to be decelerated, and the length of the deceleration section. Then, the computing device determines the requested torque based on the deceleration and the weight of the vehicle. For example, the requested torque for the deceleration operation is calculated based on the deceleration, weight, and wheel radius.

[0055] At block 610 , the braking of the vehicle is controlled based on the requested torque and the drag deceleration capability. For example, the computing device determines whether to perform a braking operation by comparing the requested torque and the drag deceleration capability.

[0056] When controlling the braking of the vehicle based on the requested torque and the drag deceleration capability, the computing device first compares the requested torque and the drag deceleration capability. If the requested torque is less than the drag deceleration capability, it indicates that the vehicle deceleration operation can be achieved by using the drag deceleration capability, and the use of the braking system is avoided at this time. If the requested torque is greater than or equal to the drag deceleration capability, it indicates that the deceleration operation cannot be completed by relying solely on the drag deceleration capability, and the braking system needs to be used at this time. Therefore, the computing device needs to send an indication signal to the braking system to perform the braking operation.

[0057] In some embodiments, after the brake system receives the indication signal, it needs to obtain the deceleration for the deceleration operation, and then detect the deceleration that has been achieved by the drag deceleration capability. The brake system then controls the brake system to complete the deceleration operation according to these two decelerations. For example, the deceleration that needs to be achieved by the brake system is obtained by subtracting the deceleration that has been achieved from the deceleration of the deceleration operation. Then, the brake system is controlled according to the calculated deceleration to complete the deceleration operation in combination with the drag deceleration capability.

[0058] Through this method, accurate switching between engine control and hydraulic control can be achieved, the smoothness of the deceleration operation is improved, and the user experience is enhanced.

[0059] Combined with the above Figure 6 A flow chart of a method for controlling speed according to an embodiment of the present disclosure is described. Figure 7 A schematic diagram of an example process for controlling speed according to an embodiment of the present disclosure.

[0060] The vehicle controlled by the adaptive cruise function module can use the vehicle's drag deceleration capacity to decelerate. However, the vehicle's drag deceleration capacity is limited, and hydraulic braking is necessary when high deceleration is required. In order to achieve overall comfortable braking, priority should be given to using the vehicle's drag deceleration capacity. However, the drag deceleration capacity of different models is different, and the switching threshold for using the brake system needs to be adjusted according to the actual vehicle performance. The switching threshold is usually defined by two indicators: minimum indicated torque and friction torque. Hydraulic braking does not need to be switched when the requested torque is less than the drag deceleration capacity: requested torque (R) < drag deceleration capacity. There are always differences in drag deceleration capacity for different types of vehicles. The most comfortable braking conditions can be achieved by adjusting the weights and offsets in the target model for calculating the drag deceleration capacity.

[0061] In example 700, at box 702, the operation starts. At box 704, the drag deceleration capacity = weight 1 * friction torque + weight 2 * minimum indicated torque + offset is calculated, and then at box 706, it is determined whether the request torque R < drag deceleration capacity is established. When the request torque R is less than the drag deceleration capacity, at box 708, the drag deceleration capacity of the vehicle is used to complete the deceleration operation. When the request torque R is not less than the drag deceleration capacity, at box 710, the hydraulic brake needs to be combined to complete the deceleration operation. Finally, the operation ends at box 712.

[0062] Combined with the above Figure 7 A schematic diagram of an example process for controlling speed according to an embodiment of the present disclosure is described below. Figure 8 A schematic diagram describing an example working process of an adaptive cruise function according to an embodiment of the present disclosure is an example of implementing speed adjustment and deceleration operations in different stages of the adaptive cruise function.

[0063] In example 800, at 802, when the adaptive cruise function of the vehicle is activated, the target cruising speed of the vehicle is obtained. For example, the target cruising speed input by the user is obtained. At box 804, the target speed deviation corresponding to the target cruising speed is determined. For example, the computing device finds the target speed deviation corresponding to the target cruising speed from the mapping relationship between the reference cruising speed and the reference speed deviation. At box 806, based on the target speed deviation and the target cruising speed, the speed of the vehicle is adjusted to the target cruising speed. After obtaining the target speed deviation, the computing device adds the target speed deviation to the target cruising speed as the set speed in the vehicle's software for adjusting the speed of the vehicle. Through this processing, the vehicle can be accurately adjusted to the target cruising speed.

[0064] In the following adaptive cruise process, it is determined whether there will be a deceleration operation. At box 808, if it is determined that a deceleration operation is received, the drag deceleration capacity is calculated. When calculating the drag deceleration capacity, a target model for calculating the drag deceleration capacity of the vehicle is obtained, and then the model parameters corresponding to the type of the vehicle are combined with the model input to calculate the drag deceleration capacity. At the same time, the computing device also obtains the requested torque required for the deceleration operation. Then at box 810, it is determined whether the requested torque R is less than the drag deceleration capacity. If the requested torque R is less than the drag deceleration capacity, the drag deceleration capacity is used to complete the deceleration operation at box 812. If the requested torque R is not less than the drag deceleration capacity, at box 814, the braking system needs to be combined to complete the deceleration operation. The process ends at box 816.

[0065] Fig. 9 Further illustrating a schematic diagram of a device for controlling speed according to an embodiment of the present disclosure, the device 900 can be applied to Figure 1The computing device 104 in the embodiment may include multiple modules for executing the following steps: Figure 3 The corresponding steps in the method 300 discussed in Fig. 9 As shown, the device 900 includes a target cruising speed obtaining unit 902, which is configured to obtain a target cruising speed of the vehicle when an adaptive cruise function of the vehicle is activated; a target speed deviation determining unit 904, which is configured to determine a target speed deviation corresponding to the target cruising speed, wherein the target speed deviation indicates a compensation speed for the target cruising speed; and a speed adjusting unit 906, which is configured to adjust the speed of the vehicle to the target cruising speed based on the target speed deviation and the target cruising speed.

[0066] In some embodiments, the target speed deviation determination unit 904 includes: a mapping relationship acquisition unit configured to acquire a mapping relationship between a reference cruising speed and a reference speed deviation; and a target speed deviation determination unit configured to determine a target speed deviation corresponding to the target cruising speed based on the mapping relationship.

[0067] In some embodiments, the target speed deviation determination unit includes: a reference cruising speed determination unit, configured to determine whether there is a reference cruising speed corresponding to the target cruising speed in the mapping relationship; and a first target speed deviation acquisition unit, configured to acquire a reference speed deviation corresponding to the reference cruising speed as the target speed deviation in response to the presence of a reference cruising speed corresponding to the target cruising speed in the mapping relationship.

[0068] In some embodiments, the target speed deviation determination unit further includes: a second target speed deviation acquisition unit, configured to determine the target speed deviation based on a reference speed deviation of two reference cruising speeds adjacent to the target cruising speed in response to the absence of a reference cruising speed corresponding to the target cruising speed in the mapping relationship.

[0069] In some embodiments, the device 900 further includes: a reference cruising speed obtaining unit configured to obtain a reference cruising speed of the vehicle when an adaptive cruise function of the vehicle is activated; a stable state determining unit configured to determine whether the vehicle is in a stable state for the reference cruising speed; a difference determining unit configured to determine whether there is a difference between the actual speed of the vehicle and the reference cruising speed in response to the vehicle being in a stable state for the reference cruising speed; and a reference speed deviation determining unit configured to determine a reference speed deviation for the reference cruising speed based on the difference in response to the difference between the actual speed of the vehicle and the reference cruising speed.

[0070] In some embodiments, the steady state determination unit includes: a duration determination unit configured to determine whether the duration for which the actual speed of the vehicle remains unchanged exceeds a threshold duration; and a steady state determination unit configured to determine that the vehicle is in a steady state with respect to a reference cruising speed in response to the duration for which the actual speed of the vehicle remains unchanged exceeding a threshold duration.

[0071] In some embodiments, the apparatus 900 further includes: a mapping relationship forming unit configured to determine a plurality of reference speed deviations corresponding to a plurality of reference cruising speeds to form a mapping relationship.

[0072] Fig.10 Further illustrating a schematic diagram of a device for controlling speed according to an embodiment of the present disclosure, the device 1000 can be applied to Figure 1 The computing device 104 in the embodiment may include multiple modules for executing the following steps: Figure 6 The corresponding steps in the method 600 discussed in Fig.10 As shown, the device 1000 includes a model parameter acquisition unit 1002, which is configured to acquire model parameters of a target model for determining the drag deceleration capability of the vehicle in response to the vehicle performing a deceleration operation through an adaptive cruise function, wherein the input of the target model includes a friction torque for the vehicle and a minimum indicated torque for the engine of the vehicle, and the model parameters include corresponding weights and offsets; a drag deceleration capability determination unit 1004, which is configured to use the target model to determine the drag deceleration capability of the vehicle based on the model parameters, the friction torque and the minimum indicated torque; a request torque determination unit 1006, which is configured to determine the request torque required for performing the deceleration operation; and a braking control unit 1008, which is configured to control the braking of the vehicle based on the request torque and the drag deceleration capability.

[0073] In some embodiments, the brake control unit 1008 includes: a comparison unit configured to compare the request torque and the drag deceleration capacity; and a brake system avoidance unit configured to avoid using the brake system in response to the request torque being less than the drag deceleration capacity.

[0074] In some embodiments, the brake control unit 1008 further includes: a brake system using unit configured to use the brake system in response to the request torque being greater than or equal to the drag deceleration capacity.

[0075] In some embodiments, the braking system using unit includes: a first deceleration acquisition unit, configured to acquire a first deceleration for a deceleration operation; a second deceleration determination unit, configured to determine a second deceleration achieved by the vehicle through drag deceleration capability; and a deceleration operation completion unit, configured to control the braking system based on the first deceleration and the second deceleration to complete the deceleration operation.

[0076] In some embodiments, the requested torque determination unit 1006 includes: the requested torque unit is configured to determine the requested torque based on the first deceleration and the weight of the vehicle.

[0077] Fig.11 A schematic block diagram of an example device 1100 that may be used to implement embodiments of the present disclosure is shown. Figure 1 The computing device 104 in the embodiment can be implemented using the device 1100. As shown in the figure, the device 1100 includes a processor 1101, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 1102 and loaded into a random access memory (RAM) 1103. In the RAM 1103, various programs and data required for the operation of the device 1100 can also be stored. The processor 1101, the ROM 1102, and the RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0078] The various processes and treatments described above, such as methods 300, 600 and processes 400, 700 and 800, may be performed by processor 1101. For example, in some embodiments, methods 300, 600 and processes 400, 700 and 800 may be implemented as computer software programs, which are tangibly contained in a machine-readable medium. In some embodiments, part or all of the computer program may be loaded and / or installed on device 1100 via ROM 1102. When the computer program is loaded into RAM 1103 and executed by processor 1101, one or more actions of methods 300, 600 and processes 400, 700 and 800 described above may be performed.

[0079] According to one aspect of the present disclosure, a vehicle is also provided, the vehicle comprising the electronic device described above in the present disclosure. According to another aspect of the present disclosure, a computer-readable storage medium is also provided. The computer-readable storage medium stores computer-executable instructions, wherein the computer-executable instructions are executed by a processor to implement the steps of the method of the present disclosure.

[0080] The present disclosure may be a method, an apparatus, a system and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing various aspects of the present disclosure.

[0081] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of computer-readable storage media include: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), and any suitable combination of the above. The computer-readable storage medium used here is not interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0082] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0083] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0084] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0085] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0086] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0087] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0088] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for controlling speed, comprising: When an adaptive cruise control function of the vehicle is activated, obtaining a target cruising speed of the vehicle; determining a target speed deviation corresponding to the target cruising speed, wherein the target speed deviation indicates a compensation speed for the target cruising speed; and Based on the target speed deviation and the target cruising speed, the speed of the vehicle is adjusted to the target cruising speed.

2. The method of claim 1 , wherein determining a target speed deviation corresponding to the target cruising speed comprises: Obtaining a mapping relationship between a reference cruising speed and a reference speed deviation; as well as A target speed deviation corresponding to the target cruising speed is determined based on the mapping relationship.

3. The method according to claim 2, wherein determining the speed deviation corresponding to the target cruising speed based on the mapping relationship comprises: determining whether there is a reference cruising speed corresponding to the target cruising speed in the mapping relationship; as well as In response to the presence of a reference cruising speed corresponding to the target cruising speed in the mapping relationship, a reference speed deviation corresponding to the reference cruising speed is acquired as the target speed deviation.

4. The method according to claim 3, wherein determining the target speed deviation corresponding to the target cruising speed based on the mapping relationship further comprises: In response to the absence of a reference cruising speed corresponding to the target cruising speed in the mapping relationship, the target speed deviation is determined based on reference speed deviations of two reference cruising speeds adjacent to the target cruising speed.

5. The method according to claim 2, further comprising: When an adaptive cruise function of the vehicle is activated, obtaining a reference cruising speed of the vehicle; determining whether the vehicle is in a stationary state for the reference cruising speed; In response to the vehicle being in a stationary state with respect to the reference cruising speed, determining whether there is a difference between an actual speed of the vehicle and the reference cruising speed; as well as In response to the difference between the actual speed of the vehicle and the reference cruising speed, a reference speed offset for the reference cruising speed is determined based on the difference.

6. The method of claim 5, wherein determining whether the vehicle is in a stable state for the reference cruising speed comprises: Determining whether the actual speed of the vehicle remains constant for a period exceeding a threshold period; as well as In response to a time period during which the actual speed of the vehicle remains constant exceeding a threshold time period, it is determined that the vehicle is in a stable state with respect to the reference cruising speed.

7. The method according to claim 6, further comprising: A plurality of reference speed deviations corresponding to a plurality of reference cruising speeds are determined to form the mapping relationship.

8. A method for controlling speed, comprising: In response to the vehicle performing a deceleration operation through an adaptive cruise function, obtaining model parameters of a target model for determining a drag deceleration capability of the vehicle, wherein inputs of the target model include a friction torque for the vehicle and a minimum indicated torque for an engine of the vehicle, and the model parameters include corresponding weights and offsets; determining a drag deceleration capability of the vehicle using the target model based on the model parameters, the friction torque, and the minimum indicated torque; determining a requested torque required to perform the deceleration operation; as well as Braking of the vehicle is controlled based on the requested torque and the drag deceleration capacity.

9. The method of claim 8, wherein controlling braking of the vehicle based on the requested torque and the drag deceleration capability comprises: comparing the requested torque to the drag deceleration capability; as well as In response to the requested torque being less than the drag deceleration capacity, application of a braking system is avoided.

10. The method of claim 9, wherein controlling braking of the vehicle based on the requested torque and the drag deceleration capability further comprises: In response to the requested torque being greater than or equal to the drag deceleration capacity, the braking system is applied.

11. The method of claim 10, wherein using the braking system comprises: acquiring a first deceleration rate for the deceleration operation; determining a second deceleration of the vehicle achieved by the drag deceleration capability; The deceleration operation is completed by controlling the brake system based on the first deceleration and the second deceleration.

12. The method of claim 11 , wherein determining a requested torque required to perform the deceleration operation comprises: The requested torque is determined based on the first deceleration and a weight of the vehicle.

13. A device for controlling speed, comprising: a target cruising speed obtaining unit, configured to obtain a target cruising speed of the vehicle when an adaptive cruise function of the vehicle is activated; a target speed deviation determining unit configured to determine a target speed deviation corresponding to the target cruising speed, wherein the target speed deviation indicates a compensation speed for the target cruising speed; and The speed adjustment unit is configured to adjust the speed of the vehicle to the target cruising speed based on the target speed deviation and the target cruising speed.

14. A device for controlling speed, comprising: a model parameter acquisition unit configured to acquire model parameters of a target model for determining a drag deceleration capability of the vehicle in response to the vehicle performing a deceleration operation through an adaptive cruise function, wherein an input of the target model includes a friction torque for the vehicle and a minimum indicated torque for an engine of the vehicle, and the model parameters include corresponding weights and offsets; a drag deceleration capability determination unit configured to determine the drag deceleration capability of the vehicle using the target model based on the model parameter, the friction torque, and the minimum indicated torque; a request torque determination unit configured to determine a request torque required for performing the deceleration operation; as well as A brake control unit is configured to control brakes of the vehicle based on the request torque and the drag deceleration capability.

15. An electronic device, comprising: at least one processor; as well as A memory coupled to the at least one processor and having instructions stored thereon, the instructions, when executed by the at least one processor, causing the apparatus to perform the method according to any one of claims 1-7 or 8-12.

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