Vehicle speed control method and device, storage medium and vehicle

Abstract

The application discloses a vehicle speed control method and device, a storage medium and a vehicle, wherein the method comprises the following steps: acquiring the current vehicle condition of the vehicle, and dynamically adjusting the safety distance between the vehicle and the front obstacle according to the current vehicle condition; acquiring the actual distance and the relative speed between the vehicle and the front obstacle, and acquiring the distance deviation between the vehicle and the front obstacle according to the actual distance and the safety distance; acquiring the vehicle speed adjustment instruction according to the relative speed and the distance deviation, and controlling the throttle or the brake of the vehicle according to the vehicle speed adjustment instruction. Therefore, by dynamically adjusting the safety distance between the vehicle and the front obstacle, and then combining the actual distance and the relative speed between the vehicle and the front obstacle, the vehicle speed adjustment control is performed on the vehicle, so as to avoid that the vehicle speed adjustment intervenes too early to affect the road passing efficiency, and avoid that the vehicle speed adjustment intervenes too late to cause the collision risk, thereby improving the stability and reliability of the vehicle speed control, and guaranteeing the driving safety of the user.

Description

Technical Field

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

[0002] In related technologies, vehicle obstacle avoidance systems often use sensors to detect distance and trigger braking based on fixed thresholds. For example, AEB (Automated Emergency Braking) systems trigger emergency braking when the vehicle is less than a preset distance (e.g., 2 meters) from an obstacle ahead, or Adaptive Cruise Control (ACC) adjusts the vehicle speed based on the distance to the vehicle in front. However, the problem with these technologies is that fixed distance thresholds cannot adapt to the safety requirements of different vehicle speeds or driving scenarios, leading to unstable speed control and potential risks to user safety. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to propose a vehicle speed control method that avoids premature speed adjustment affecting road traffic efficiency and avoids late speed adjustment causing collision risks, thereby improving the stability and reliability of vehicle speed control and ensuring user driving safety.

[0004] A second objective of this invention is to provide a computer-readable storage medium.

[0005] The third objective of this invention is to provide a vehicle speed control device.

[0006] The fourth objective of this invention is to provide a vehicle.

[0007] To achieve the above objectives, the vehicle speed control method proposed in the first aspect of the present invention includes: acquiring the current vehicle condition and dynamically adjusting the safe distance between the vehicle and an obstacle in front based on the current vehicle condition; acquiring the actual distance and relative speed between the vehicle and the obstacle in front, and acquiring the distance deviation between the vehicle and the obstacle in front based on the actual distance and the safe distance; acquiring a vehicle speed adjustment command based on the relative speed and the distance deviation, and performing throttle control or braking control on the vehicle based on the vehicle speed adjustment command.

[0008] According to the vehicle speed control method of the present invention, the safe distance between the vehicle and the obstacle in front is dynamically adjusted, and then the actual distance and relative speed between the vehicle and the obstacle in front are combined to adjust the vehicle speed accordingly. This avoids premature speed adjustment affecting road traffic efficiency and late speed adjustment causing collision risk, thereby improving the stability and reliability of vehicle speed control and ensuring the safety of users.

[0009] In addition, the vehicle speed control method according to the above embodiments of the present invention may also have the following additional technical features:

[0010] According to one embodiment of the present invention, the step of dynamically adjusting the safe distance between the vehicle and the obstacle ahead based on the current vehicle conditions includes: obtaining the vehicle's reaction distance, braking distance, cornering compensation distance, and slope compensation distance based on the current vehicle conditions; and obtaining the safe distance based on the reaction distance, the braking distance, the cornering compensation distance, and the slope compensation distance.

[0011] According to an embodiment of the present invention, obtaining the vehicle speed adjustment command includes: if the distance deviation is greater than a first preset distance deviation threshold and the relative speed is less than a first preset relative speed threshold, then obtaining a first vehicle speed adjustment command, wherein the first vehicle speed adjustment command is used to control the vehicle to maintain throttle.

[0012] According to an embodiment of the present invention, the step of obtaining the vehicle speed adjustment command further includes: if the distance deviation is between the first preset distance deviation threshold and the second preset distance deviation threshold, and the relative speed is between the first preset relative speed threshold and the second preset relative speed threshold, then obtaining a second vehicle speed adjustment command, wherein the second vehicle speed adjustment command is used to control the vehicle to reduce the motor torque by a preset percentage, the second preset distance deviation threshold is less than the first preset distance deviation threshold, and the second preset relative speed threshold is greater than the first preset relative speed threshold.

[0013] According to an embodiment of the present invention, the step of obtaining the vehicle speed adjustment command further includes: if the distance deviation is between the second preset distance deviation threshold and the third preset distance deviation threshold, and the relative speed is greater than the second preset relative speed threshold, then obtaining the third vehicle speed adjustment command, wherein the third vehicle speed adjustment command is used to control the vehicle to perform active braking, and the third preset distance deviation threshold is less than the second preset distance deviation threshold.

[0014] According to one embodiment of the present invention, the step of obtaining the vehicle speed adjustment command further includes: if the distance deviation is less than the third preset distance deviation threshold, then obtaining a fourth vehicle speed adjustment command, wherein the fourth vehicle speed adjustment command is used to control the vehicle to perform emergency braking.

[0015] According to one embodiment of the present invention, the method further includes: executing the vehicle speed adjustment command after waiting for a preset response delay preset time threshold.

[0016] To achieve the above objectives, a computer-readable storage medium is provided in a second aspect embodiment of the present invention, on which a vehicle speed control program is stored, wherein the vehicle speed control program, when executed by a processor, implements the vehicle speed control method of the embodiments of the present invention described above.

[0017] According to embodiments of the present invention, a computer-readable storage medium, by executing a vehicle speed control program stored thereon, can avoid premature intervention of vehicle speed adjustment affecting road traffic efficiency and avoid late intervention of vehicle speed adjustment causing collision risks, thereby improving the stability and reliability of vehicle speed control and ensuring user driving safety.

[0018] To achieve the above objectives, a vehicle speed control device according to a third aspect embodiment of the present invention includes: a first acquisition module, configured to acquire the current vehicle condition and dynamically adjust the safe distance between the vehicle and an obstacle ahead based on the current vehicle condition; a second acquisition module, configured to acquire the actual distance and relative speed between the vehicle and the obstacle ahead, and acquire the distance deviation between the vehicle and the obstacle ahead based on the actual distance and the safe distance; and a control module, configured to acquire a vehicle speed adjustment command based on the relative speed and the distance deviation, and perform throttle control or braking control on the vehicle based on the vehicle speed adjustment command.

[0019] According to the vehicle speed control device of the present invention, the vehicle speed is adjusted by dynamically adjusting the safe distance between the vehicle and the obstacle in front, and then combined with the actual distance and relative speed between the vehicle and the obstacle in front, the vehicle speed is adjusted accordingly to avoid premature speed adjustment affecting road traffic efficiency and to avoid late speed adjustment causing collision risk, thereby improving the stability and reliability of vehicle speed control and ensuring the safety of users.

[0020] To achieve the above objectives, the vehicle proposed in the fourth aspect of the present invention includes the vehicle speed control device described in the embodiments of the present invention.

[0021] According to the embodiments of the present invention, by employing the aforementioned vehicle speed control device, the vehicle can avoid premature intervention of vehicle speed adjustment affecting road traffic efficiency and avoid late intervention of vehicle speed adjustment causing collision risk, thereby improving the stability and reliability of vehicle speed control and ensuring the safety of users.

[0022] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] Figure 1 This is a schematic flowchart of a vehicle speed control method according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic flowchart of a vehicle speed control method according to an embodiment of the present invention;

[0025] Figure 3 This is a block diagram of a vehicle speed control device according to an embodiment of the present invention;

[0026] Figure 4 This is a block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0028] The following description, with reference to the accompanying drawings, describes a vehicle speed control method, a computer-readable storage medium, a vehicle speed control device, and a vehicle according to embodiments of the present invention.

[0029] Figure 1 This is a schematic flowchart of a vehicle speed control method according to an embodiment of the present invention.

[0030] Specifically, in some embodiments of the present invention, such as Figure 1 As shown, the vehicle speed control method includes:

[0031] S101: Obtain the current vehicle status and dynamically adjust the safe distance between the vehicle and obstacles in front based on the current vehicle status.

[0032] It is understood that in this embodiment of the present invention, the current vehicle condition (e.g., vehicle parameters, obstacle parameters, road parameters, etc.) is obtained by means of LiDAR, millimeter-wave radar and vision sensors, and then the safe distance between the vehicle and the obstacle in front is dynamically adjusted based on the current vehicle condition.

[0033] Specifically, in the above embodiments of the present invention, three-dimensional point cloud data is provided by LiDAR for accurate distance measurement, 77GHz millimeter-wave radar penetrates rain and fog to supplement obstacle detection in rainy and foggy weather, and a high-definition forward-looking camera identifies obstacle types to assist in calculating collision risk levels. Simultaneously, an improved Kalman filter is used to achieve spatiotemporal synchronization, and obstacles are classified based on a YOLOv6 deep learning model. Therefore, by fusing multiple sensors to improve obstacle detection accuracy, it is beneficial to accurately adjust the safe distance between the vehicle and obstacles ahead, thereby achieving precise vehicle speed control.

[0034] Furthermore, in some embodiments of the present invention, such as Figure 2 As shown, the system dynamically adjusts the safe distance between the vehicle and obstacles ahead based on the current vehicle conditions, including:

[0035] S201 obtains the vehicle's reaction distance, braking distance, cornering compensation distance, and hill-start compensation distance based on the current vehicle condition.

[0036] It is understood that, in this embodiment of the present invention, the vehicle's reaction distance is obtained by the vehicle's current speed and preset reaction time; the vehicle's braking distance is obtained by the vehicle's current speed, road surface friction coefficient (0.8 for dry asphalt and 0.4 for wet and slippery roads), and slope angle (detected in real time by an IMU (Inertial Measurement Unit) sensor); the vehicle's curve compensation distance is obtained by the vehicle's current speed, curve radius (calculated based on steering angle δ, R = L / tanδ, where L is the wheelbase), and curve compensation coefficient (default value of 0.3, which increases linearly with increasing vehicle speed); and the vehicle's slope compensation distance is obtained by the slope of the slope where the vehicle is located.

[0037] S202, based on reaction distance, braking distance, cornering compensation distance and slope compensation distance, obtains the safe distance.

[0038] It is understood that in this embodiment of the invention, the reaction distance, braking distance, cornering compensation distance, and slope compensation distance are summed to obtain the safe distance between the vehicle and the obstacle in front, wherein the dynamic safe distance model is shown in the following formula:

[0039]

[0040] Among them, D safe The safe distance between the vehicle and the obstacle ahead, v is the vehicle's current speed, and t is the distance between the vehicle and the obstacle ahead. react The preset reaction time is given, μ is the road surface friction coefficient, θ is the slope angle, R is the curve radius, and k is the angle of inclination. curve The curve compensation coefficient is ΔD. slope The slope compensation distance for vehicles.

[0041] Specifically, in the above embodiments of the present invention, by combining the current vehicle condition with the aforementioned dynamic safety distance model, the safety distance between the vehicle and the obstacle in front can be corrected in real time according to different driving scenarios (e.g., flat road conditions, curved road conditions, sloping road conditions, etc.) to meet the speed control requirements under different driving scenarios. This avoids premature speed adjustment affecting road traffic efficiency and avoids late speed adjustment causing collision risks, thereby improving the stability and reliability of speed control and ensuring user driving safety.

[0042] S102, obtain the actual distance and relative speed between the vehicle and the obstacle in front, and obtain the distance deviation between the vehicle and the obstacle in front based on the actual distance and the safe distance.

[0043] It is understood that, in this embodiment of the invention, the relative speed between the vehicle and the obstacle ahead is Δν = νego - νobs, where ν ego For the vehicle's speed, ν obs Let D be the speed of the obstacle and the distance deviation between the vehicle and the obstacle in front, e = D. real -D safe , where D real D represents the actual distance between the vehicle and the obstacle in front. safe This refers to the safe distance between the vehicle and an obstacle in front.

[0044] S103 obtains vehicle speed adjustment commands based on relative speed and distance deviations, and performs throttle or braking control on the vehicle according to the vehicle speed adjustment commands.

[0045] It is understood that in this embodiment of the present invention, fuzzy hierarchical control is performed based on relative speed and distance deviation to obtain corresponding vehicle speed adjustment commands, and the throttle or braking of the vehicle is controlled by the corresponding vehicle speed adjustment commands to achieve a smooth response of vehicle speed control, thereby improving the stability and reliability of vehicle speed control and ensuring the safety of users.

[0046] The following describes the fuzzy hierarchical control of vehicle speed control according to some specific embodiments of the present invention. The fuzzy rule base corresponding to the fuzzy hierarchical control is shown in Table 1 below:

[0047] Table 1

[0048]

[0049] Furthermore, in some embodiments of the present invention, obtaining a vehicle speed adjustment command includes: if the distance deviation is greater than a first preset distance deviation threshold and the relative speed is less than a first preset relative speed threshold, then obtaining a first vehicle speed adjustment command, wherein the first vehicle speed adjustment command is used to control the vehicle to maintain throttle.

[0050] It is understood that, in this embodiment of the present invention, based on Table 1 above, when the distance deviation is greater than the first preset distance deviation threshold and the relative speed is less than the first preset relative speed threshold, it can be determined that the vehicle and the obstacle in front are in a safe distance maintenance state. At this time, the vehicle is controlled to maintain the throttle (0% torque decay) based on the first vehicle speed adjustment command, so that the vehicle maintains the current speed and ensures road traffic efficiency.

[0051] Optionally, in the above embodiments of the present invention, the first preset distance deviation threshold and the first preset relative speed threshold can be set according to the vehicle model. For example, the first preset distance deviation threshold can be set to 5m and the first preset relative speed threshold can be set to 2m / s.

[0052] Furthermore, in some embodiments of the present invention, obtaining the vehicle speed adjustment command further includes: if the distance deviation is between a first preset distance deviation threshold and a second preset distance deviation threshold, and the relative speed is between a first preset relative speed threshold and a second preset relative speed threshold, then obtaining a second vehicle speed adjustment command, wherein the second vehicle speed adjustment command is used to control the vehicle to reduce the motor torque by a preset percentage, the second preset distance deviation threshold is less than the first preset distance deviation threshold, and the second preset relative speed threshold is greater than the first preset relative speed threshold.

[0053] It is understood that, in this embodiment of the present invention, based on Table 1 above, when the distance deviation is between the first preset distance deviation threshold and the second preset distance deviation threshold, and the relative speed is between the first preset relative speed threshold and the second preset relative speed threshold, it can be determined that the vehicle and the obstacle in front are in a state of slowly decreasing safe distance. At this time, based on the second vehicle speed adjustment command, the vehicle is controlled to reduce the motor torque by a preset percentage (torque attenuation 30%), so that the motor torque is reduced and the vehicle speed is gradually reduced.

[0054] Optionally, in the above embodiments of the present invention, the second preset distance deviation threshold and the second preset relative speed threshold can be set according to the vehicle model. For example, the second preset distance deviation threshold can be set to 2m and the second preset relative speed threshold can be set to 5m / s.

[0055] Furthermore, in some embodiments of the present invention, obtaining the vehicle speed adjustment command further includes: if the distance deviation is between a second preset distance deviation threshold and a third preset distance deviation threshold, and the relative speed is greater than a second preset relative speed threshold, then obtaining a third vehicle speed adjustment command, wherein the third vehicle speed adjustment command is used to control the vehicle to perform active braking, and the third preset distance deviation threshold is less than the second preset distance deviation threshold.

[0056] It is understood that, in this embodiment of the present invention, based on Table 1 above, when the distance deviation is between the second preset distance deviation threshold and the third preset distance deviation threshold, and the relative speed is greater than the second preset relative speed threshold, it can be determined that the vehicle and the obstacle ahead are about to enter a safe distance state. At this time, the vehicle is controlled to perform active braking (deceleration ≤ -2m / s) based on the third vehicle speed adjustment command. 2 This helps the vehicle avoid collisions with obstacles in front of it.

[0057] Optionally, in the above embodiments of the present invention, the third preset distance deviation threshold can be set according to the vehicle model. For example, the third preset distance deviation threshold can be set to 0m.

[0058] Furthermore, in some embodiments of the present invention, obtaining the vehicle speed adjustment command further includes: if the distance deviation is less than a third preset distance deviation threshold, then obtaining a fourth vehicle speed adjustment command, wherein the fourth vehicle speed adjustment command is used to control the vehicle to perform emergency braking.

[0059] It is understood that, in this embodiment of the present invention, based on Table 1 above, when the distance deviation is less than the third preset distance deviation threshold, it can be determined that the vehicle and the obstacle ahead are in a safe distance state. At this time, the vehicle is controlled to perform emergency braking (deceleration ≥ -6m / s) based on the fourth vehicle speed adjustment command. 2 This allows vehicles to avoid emergency hazards.

[0060] Furthermore, in some embodiments of the present invention, the method further includes: executing a vehicle speed adjustment command after waiting for a preset response delay preset time threshold.

[0061] It is understood that in this embodiment of the present invention, by setting a preset response delay preset time threshold and waiting for the preset response delay preset time threshold before executing the vehicle speed adjustment command, the instantaneous false triggering of the vehicle speed adjustment command is avoided, thereby improving the stability and reliability of vehicle speed control and ensuring the safety of users driving.

[0062] Optionally, in the above embodiments of the present invention, the preset response delay preset time threshold can be set according to the vehicle model. For example, the preset response delay preset time threshold can be set to 0.3s.

[0063] Specifically, the vehicle speed control method based on the embodiments of the present invention achieves an obstacle detection miss rate of ≤3% and a detection distance error of ≤10% in rainy and foggy weather through multi-sensor fusion, so as to adapt to obstacle detection in various driving scenarios. Furthermore, it reduces the misjudgment rate in curve scenarios to 9.7% by using a dynamic safety distance model, thereby improving the safety performance of vehicle speed control. At the same time, it achieves an acceleration change rate of ≤0.5m / s through a fuzzy control strategy, thereby reducing the number of emergency braking triggers by 63% and optimizing the smoothness of vehicle speed control.

[0064] In summary, the vehicle speed control method according to the embodiments of the present invention dynamically adjusts the safe distance between the vehicle and the obstacle in front, and then combines the actual distance and relative speed between the vehicle and the obstacle in front to adjust the vehicle speed accordingly. This avoids premature speed adjustment affecting road traffic efficiency and avoids late speed adjustment causing collision risks, thereby improving the stability and reliability of vehicle speed control and ensuring user driving safety.

[0065] Based on the vehicle speed control method of the foregoing embodiments of the present invention, the present invention also proposes a computer-readable storage medium storing a vehicle speed control program thereon, which implements the vehicle speed control method of the foregoing embodiments of the present invention when executed by a processor.

[0066] It should be understood that specific implementations of the computer-readable storage medium in the embodiments of the present invention can be found in the vehicle speed control method described in the foregoing embodiments of the present invention, and will not be repeated here to reduce redundancy.

[0067] In summary, the computer-readable storage medium according to embodiments of the present invention, by executing the vehicle speed control program stored thereon, can avoid premature intervention of vehicle speed adjustment affecting road traffic efficiency and avoid late intervention of vehicle speed adjustment causing collision risks, thereby improving the stability and reliability of vehicle speed control and ensuring user driving safety.

[0068] Figure 3 This is a block diagram of a vehicle speed control device according to an embodiment of the present invention.

[0069] Specifically, in some embodiments of the present invention, such as Figure 3 As shown, the vehicle speed control device 100 includes: a first acquisition module 10, a second acquisition module 20, and a control module 30.

[0070] The first acquisition module 10 is used to acquire the current vehicle condition and dynamically adjust the safe distance between the vehicle and the obstacle in front based on the current vehicle condition; the second acquisition module 20 is used to acquire the actual distance and relative speed between the vehicle and the obstacle in front, and acquire the distance deviation between the vehicle and the obstacle in front based on the actual distance and the safe distance; the control module 30 is used to acquire the vehicle speed adjustment command based on the relative speed and distance deviation, and perform throttle control or braking control on the vehicle based on the vehicle speed adjustment command.

[0071] Furthermore, in some embodiments of the present invention, the first acquisition module 10 is also used to acquire the vehicle's reaction distance, braking distance, cornering compensation distance and slope compensation distance according to the current vehicle conditions; and to acquire a safe distance based on the reaction distance, braking distance, cornering compensation distance and slope compensation distance.

[0072] Furthermore, in some embodiments of the present invention, the control module 30 is also used to obtain a first vehicle speed adjustment command if the distance deviation is greater than a first preset distance deviation threshold and the relative speed is less than a first preset relative speed threshold, wherein the first vehicle speed adjustment command is used to control the vehicle to maintain throttle.

[0073] Furthermore, in some embodiments of the present invention, the control module 30 is further configured to, if the distance deviation is between a first preset distance deviation threshold and a second preset distance deviation threshold, and the relative speed is between a first preset relative speed threshold and a second preset relative speed threshold, obtain a second vehicle speed adjustment command, wherein the second vehicle speed adjustment command is used to control the vehicle to reduce the motor torque by a preset percentage, the second preset distance deviation threshold is less than the first preset distance deviation threshold, and the second preset relative speed threshold is greater than the first preset relative speed threshold.

[0074] Furthermore, in some embodiments of the present invention, the control module 30 is also configured to, if the distance deviation is between a second preset distance deviation threshold and a third preset distance deviation threshold, and the relative speed is greater than a second preset relative speed threshold, obtain a third vehicle speed adjustment command, wherein the third vehicle speed adjustment command is used to control the vehicle to perform active braking, and the third preset distance deviation threshold is less than the second preset distance deviation threshold.

[0075] Furthermore, in some embodiments of the present invention, the control module 30 is also used to obtain a fourth vehicle speed adjustment command if the distance deviation is less than a third preset distance deviation threshold, wherein the fourth vehicle speed adjustment command is used to control the vehicle to perform emergency braking.

[0076] Furthermore, in some embodiments of the present invention, the control module 30 is also configured to execute a vehicle speed adjustment command after waiting for a preset response delay preset time threshold.

[0077] It should be understood that the specific implementation of the vehicle speed control device in this embodiment corresponds one-to-one with the specific implementation of the vehicle speed control method in the foregoing embodiments of this invention. To reduce redundancy, it will not be described again here.

[0078] In summary, the vehicle speed control device according to the embodiments of the present invention dynamically adjusts the safe distance between the vehicle and the obstacle in front, and then combines the actual distance and relative speed between the vehicle and the obstacle in front to make corresponding speed adjustment control of the vehicle, so as to avoid the premature intervention of speed adjustment affecting road traffic efficiency and the late intervention of speed adjustment causing collision risk, thereby improving the stability and reliability of speed control and ensuring the safety of users.

[0079] Figure 4 This is a block diagram of a vehicle according to an embodiment of the present invention.

[0080] Specifically, in some embodiments of the present invention, such as Figure 4 As shown, the vehicle 1000 includes the vehicle speed control device 100 described in the above embodiment of the present invention.

[0081] It should be understood that the specific implementation method of the vehicle in the embodiments of the present invention can be referred to the speed control method of the foregoing embodiments of the present invention, and will not be repeated here to reduce redundancy.

[0082] In summary, the vehicle according to the embodiments of the present invention, by employing the aforementioned vehicle speed control device, can avoid premature intervention of vehicle speed adjustment affecting road traffic efficiency, and avoid late intervention of vehicle speed adjustment causing collision risks, thereby improving the stability and reliability of vehicle speed control and ensuring user driving safety.

[0083] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0084] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0085] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0086] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0087] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0088] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0089] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0090] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A vehicle speed control method characterized by comprising: The method includes: The vehicle's current condition is obtained, and the safe distance between the vehicle and obstacles ahead is dynamically adjusted based on the current condition. The actual distance and relative speed between the vehicle and the obstacle in front are obtained, and the distance deviation between the vehicle and the obstacle in front is obtained based on the actual distance and the safe distance. Based on the relative speed and the distance deviation, a vehicle speed adjustment command is obtained, and the vehicle is throttle-controlled or brake-controlled according to the vehicle speed adjustment command. The step of dynamically adjusting the safe distance between the vehicle and the obstacle ahead based on the current vehicle condition includes: Based on the current vehicle condition, obtain the vehicle's reaction distance, braking distance, cornering compensation distance, and hill compensation distance respectively; The safety distance is obtained based on the reaction distance, the braking distance, the curve compensation distance, and the slope compensation distance; The process of obtaining the vehicle speed adjustment command includes: If the distance deviation is greater than a first preset distance deviation threshold and the relative speed is less than a first preset relative speed threshold, then a first vehicle speed adjustment command is obtained, wherein the first vehicle speed adjustment command is used to control the vehicle to maintain the throttle. If the distance deviation is between the first preset distance deviation threshold and the second preset distance deviation threshold, and the relative speed is between the first preset relative speed threshold and the second preset relative speed threshold, then a second vehicle speed adjustment command is obtained. The second vehicle speed adjustment command is used to control the vehicle to reduce the motor torque by a preset percentage. The second preset distance deviation threshold is less than the first preset distance deviation threshold, and the second preset relative speed threshold is greater than the first preset relative speed threshold.

2. The vehicle speed control method according to claim 1, characterized by, The process of obtaining the vehicle speed adjustment command also includes: If the distance deviation is between the second preset distance deviation threshold and the third preset distance deviation threshold, and the relative speed is greater than the second preset relative speed threshold, then a third vehicle speed adjustment command is obtained, wherein the third vehicle speed adjustment command is used to control the vehicle to perform active braking, and the third preset distance deviation threshold is less than the second preset distance deviation threshold.

3. The vehicle speed control method according to claim 2, characterized by, The process of obtaining the vehicle speed adjustment command also includes: If the distance deviation is less than the third preset distance deviation threshold, a fourth vehicle speed adjustment command is obtained, wherein the fourth vehicle speed adjustment command is used to control the vehicle to perform emergency braking.

4. The vehicle speed control method according to claim 1, characterized by The method further includes: After waiting for a preset response delay time threshold, the vehicle speed adjustment command is executed.

5. A computer readable storage medium, characterized in that, It stores a vehicle speed control program, which, when executed by a processor, implements the vehicle speed control method as described in any one of claims 1-4.

6. A vehicle speed control device, characterized in that, The device includes: The first acquisition module is used to acquire the current vehicle condition and dynamically adjust the safe distance between the vehicle and the obstacle in front based on the current vehicle condition. The second acquisition module is used to acquire the actual distance and relative speed between the vehicle and the obstacle in front, and to acquire the distance deviation between the vehicle and the obstacle in front based on the actual distance and the safe distance. The control module is used to obtain a vehicle speed adjustment command based on the relative speed and the distance deviation, and to perform throttle control or braking control on the vehicle based on the vehicle speed adjustment command. The first acquisition module is further configured to acquire the vehicle's reaction distance, braking distance, cornering compensation distance, and slope compensation distance according to the current vehicle condition; and acquire the safety distance according to the reaction distance, braking distance, cornering compensation distance, and slope compensation distance. The control module is further configured to, if the distance deviation is greater than a first preset distance deviation threshold and the relative speed is less than a first preset relative speed threshold, obtain a first vehicle speed adjustment command, wherein the first vehicle speed adjustment command is used to control the vehicle to maintain throttle. If the distance deviation is between the first preset distance deviation threshold and the second preset distance deviation threshold, and the relative speed is between the first preset relative speed threshold and the second preset relative speed threshold, then a second vehicle speed adjustment command is obtained. The second vehicle speed adjustment command is used to control the vehicle to reduce the motor torque by a preset percentage. The second preset distance deviation threshold is less than the first preset distance deviation threshold, and the second preset relative speed threshold is greater than the first preset relative speed threshold.

7. A vehicle, characterized in that, The vehicle includes the speed control device as described in claim 6.

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