Speed planning method and device, electronic equipment and storage medium
By adjusting speed information in conjunction with the vehicle's own performance parameters, the problem of inaccurate speed planning in existing technologies has been solved, improving the accuracy of speed information and passenger experience.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-31
- Publication Date
- 2026-03-17
AI Technical Summary
In existing technologies, vehicle speed information planning only considers the surrounding environment and ignores the vehicle's own performance, resulting in inaccurate speed information planning and affecting passenger experience.
By acquiring the target vehicle's current speed information and preset performance parameter thresholds, the target performance parameter thresholds are determined, and the speed information is adjusted to match the vehicle's own performance, including the upper limit thresholds for acceleration, jerk, deceleration, and descent, thus optimizing speed planning.
It improves the accuracy of speed information planning and passenger experience, ensuring smooth vehicle operation within its performance range and reducing jerking and damage.
Smart Images
Figure CN121671602A_ABST
Abstract
Description
Technical Field
[0001] This disclosure belongs to the field of data processing technology, and specifically relates to a speed planning method, apparatus, electronic device and storage medium. Background Technology
[0002] Vehicle speed information planning generates ideal speed information within a preset time period based on the vehicle's current perception of the surrounding environment. Typically, the planning process for vehicle speed information only considers the surrounding environment and does not take into account the vehicle's own performance.
[0003] However, considering only the surrounding environment cannot achieve the ideal speed information for planning, which in turn makes the vehicle speed information planning inaccurate. Summary of the Invention
[0004] This disclosure presents a speed planning method, apparatus, electronic device, and storage medium.
[0005] A first aspect of this disclosure provides a speed planning method, the method comprising: Obtain the target vehicle's current speed information; Based on the speed information and the preset performance parameter threshold corresponding to the target vehicle, the target performance parameter threshold corresponding to the speed information is determined; the target performance parameter threshold represents the adjustable range of the target vehicle under the vehicle condition of the speed information. The speed information is adjusted according to the target performance parameter threshold to obtain the target speed information at the next moment.
[0006] In this embodiment of the disclosure, the performance parameter thresholds include an acceleration upper limit threshold and a jerk upper limit threshold; the speed information includes the speed to be adjusted; The step of determining the target performance parameter threshold corresponding to the speed information based on the speed information and the preset performance parameter threshold corresponding to the target vehicle includes: Based on the speed to be adjusted and the preset acceleration upper limit threshold, the target acceleration upper limit threshold corresponding to the speed to be adjusted is determined; wherein the preset acceleration upper limit threshold is the acceleration corresponding to the maximum throttle opening; The target acceleration upper limit threshold is determined based on the power supply type of the target vehicle and the preset acceleration upper limit threshold; wherein the preset acceleration upper limit threshold is the maximum acceleration corresponding to the target vehicle.
[0007] In this embodiment of the disclosure, determining the target acceleration upper limit threshold corresponding to the speed to be adjusted based on the speed to be adjusted and a preset acceleration upper limit threshold includes: Determine the initial acceleration upper limit threshold based on the maximum throttle opening and the speed to be adjusted; Based on the pitch angle of the target vehicle, the initial acceleration upper limit threshold is adjusted to obtain the target acceleration upper limit threshold.
[0008] In this embodiment of the disclosure, determining the initial acceleration upper limit threshold based on the maximum throttle opening and the speed to be adjusted includes: Obtain the correction coefficient corresponding to the target vehicle under the speed to be adjusted; The preset acceleration upper limit threshold is determined based on the maximum throttle opening; The initial acceleration upper limit threshold is determined using the correction coefficient, the speed to be adjusted, and the preset acceleration upper limit threshold.
[0009] In this embodiment of the disclosure, the correction coefficient includes a velocity correction coefficient and a drag correction coefficient; determining the initial acceleration upper limit threshold using the correction coefficient, the velocity to be adjusted, and the preset acceleration upper limit threshold includes: Obtain the target resistance correction coefficient corresponding to the target vehicle; Based on the mapping relationship between the speed to be adjusted and the speed correction coefficient, determine the target speed correction coefficient corresponding to the speed to be adjusted; The initial acceleration upper limit threshold is obtained by subtracting the target drag correction coefficient from the velocity correction acceleration; wherein, the velocity correction acceleration is the value of the preset acceleration upper limit threshold multiplied by the target velocity correction coefficient.
[0010] In this embodiment of the disclosure, determining the target acceleration upper limit threshold based on the energy supply type of the target vehicle and a preset acceleration upper limit threshold includes: If the energy supply type is electrical energy supply, obtain the torque corresponding to the speed to be adjusted; and detect the relationship between the torque and a preset torque threshold. If the torque is less than the preset torque threshold, then the target jerk upper limit threshold corresponding to the torque is determined according to the torque mapping relationship; the torque mapping relationship represents the correspondence between the torque and the jerk upper limit threshold, and the smaller the torque, the smaller the corresponding jerk upper limit threshold. If the torque is greater than or equal to the preset torque threshold, then the preset jerk upper limit threshold is used as the target jerk upper limit threshold. If the energy supply type is non-electrical energy supply, then the preset acceleration of the target vehicle is determined to be the target acceleration.
[0011] In this embodiment of the disclosure, the performance parameters further include a deceleration upper limit threshold and a deceleration upper limit threshold, and the method further includes: The current driving scenario of the target vehicle is obtained, as well as the preset deceleration upper limit threshold and the preset deceleration upper limit threshold corresponding to the target vehicle; wherein the preset deceleration upper limit threshold is the deceleration corresponding to the maximum braking opening. If the driving scenario belongs to a preset driving scenario, and / or if a target obstacle is detected and the obstacle type of the target obstacle belongs to a preset obstacle type, the preset deceleration upper limit threshold is adjusted according to a preset adjustment range to obtain a target deceleration upper limit threshold; and the preset deceleration upper limit threshold is adjusted according to a preset adjustment range to obtain a target deceleration upper limit threshold.
[0012] A second aspect of this disclosure provides a speed planning apparatus, the apparatus comprising: The acquisition module is used to acquire the speed information of the target vehicle; A target performance determination module is used to determine the target performance parameter threshold corresponding to the speed information based on the speed information and the preset performance parameter threshold corresponding to the target vehicle; the target performance parameter threshold represents the adjustable range of the target vehicle under the vehicle condition of the speed information; A target speed determination module is used to adjust the speed information according to the target performance parameter threshold to obtain the target speed information.
[0013] An embodiment of the third aspect of this disclosure provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect or any optional embodiment of the first aspect.
[0014] An embodiment of the fourth aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the method described in the first aspect or any optional embodiment of the first aspect.
[0015] The technical solutions provided in this disclosure have at least the following technical effects or advantages: This embodiment of the disclosure obtains the speed information of the target vehicle; based on the speed information and the preset performance parameter threshold corresponding to the target vehicle, it determines the target performance parameter threshold corresponding to the speed to be adjusted. The target performance parameter threshold represents the adjustable range of the target vehicle under the vehicle condition of the speed information. Based on this, the speed information is adjusted according to the target performance parameter threshold to obtain the target speed information, so that the change from the speed information to the target speed information meets the target performance parameter threshold and conforms to the performance of the target vehicle itself, thereby improving the accuracy of the target speed information to a certain extent.
[0016] Additional aspects and advantages of this disclosure 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 this disclosure. Attached Figure Description
[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart of a speed planning method provided in an embodiment of this disclosure is shown; Figure 2 A schematic diagram of a speed planning method provided in an embodiment of this disclosure is shown; Figure 3 A schematic diagram of a speed planning method provided in an embodiment of this disclosure is shown; Figure 4 A schematic diagram of the structure of a speed planning device provided in another embodiment of this disclosure is shown; Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure is shown; Figure 6 A schematic diagram of a storage medium provided according to an embodiment of the present disclosure is shown. Detailed Implementation
[0018] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
[0019] It should be noted that, unless otherwise stated, the technical or scientific terms used in this disclosure shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure pertains.
[0020] The following describes the implementation scenarios and related technologies involved in the embodiments of this disclosure.
[0021] Autonomous driving refers to the technology that enables vehicles to navigate and drive automatically without active human driver intervention. During vehicle operation, the autonomous driving system generates ideal speed information for a preset time period based on the perceived surrounding environment. Ideally, the vehicle travels at the ideal speed at the corresponding time, achieving autonomous driving. However, in related technologies, the planning of vehicle speed information only considers the surrounding environment and does not take into account the vehicle's own performance. It does not consider whether the real-time vehicle conditions can reach the planned ideal speed. Therefore, if the real-time vehicle conditions cannot reach the planned ideal speed, the speed information planning becomes inaccurate, or reaching the ideal speed may cause vehicle jerking or damage, resulting in a poor passenger experience.
[0022] In view of the above, this disclosure provides a speed planning method, apparatus, electronic device, and storage medium. The technical solutions of this disclosure are described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this disclosure will now be described with reference to the accompanying drawings.
[0023] like Figure 1 As shown, this disclosure provides a speed planning method that can be applied to the processor of a current vehicle or the cloud server corresponding to the current vehicle. The method includes: In step S11, the current speed information of the target vehicle is obtained.
[0024] In step S12, the target performance parameter threshold corresponding to the speed information is determined based on the speed information and the preset performance parameter threshold corresponding to the target vehicle.
[0025] Among them, the target performance parameter threshold represents the adjustable range of the target vehicle under the vehicle condition with speed information.
[0026] For example, the speed information can be the actual speed of the target vehicle, which can be obtained by reading the target vehicle's speedometer, speed sensor, etc. The preset performance parameter threshold can be the maximum performance parameter threshold corresponding to the target vehicle, where the performance parameter threshold can be the maximum motor torque, maximum battery output power, and maximum allowable acceleration, etc.
[0027] When determining target performance parameter thresholds, preset parameter thresholds for various performance types are typically set for each vehicle during the production process. These preset parameter thresholds can usually be obtained by querying information such as identification features of the target vehicle. These preset parameter thresholds are generally the maximum performance thresholds that the target vehicle can achieve.
[0028] In this embodiment of the disclosure, in order to improve the accuracy of speed information planning and enhance the passenger experience, a target performance parameter threshold can be further determined based on the aforementioned preset performance parameter threshold.
[0029] A mapping relationship between the target vehicle's speed and performance parameter thresholds can be pre-established. Based on the target vehicle's current speed information, the corresponding performance parameter thresholds can be determined according to this mapping relationship. Finally, to ensure the reasonableness of the performance parameter thresholds corresponding to the speed information, further verification can be performed using the corresponding preset performance parameter thresholds.
[0030] For example, this mapping relationship can be a mapping table, such as a mapping table between speed ranges and performance parameter thresholds, as shown in Table 1: Table 1
[0031] In some embodiments, the performance parameters affecting the speed planning of the target vehicle typically correspond to acceleration and jerk. Therefore, the performance parameter thresholds include an acceleration upper limit threshold and a jerk upper limit threshold. The speed information includes the speed to be adjusted. The determination of the target performance parameter threshold corresponding to the speed information in step S12 can also be achieved in the following ways: determining the target acceleration upper limit threshold corresponding to the speed to be adjusted based on the speed to be adjusted and the preset acceleration upper limit threshold; wherein the preset acceleration upper limit threshold is the acceleration corresponding to the maximum throttle opening; determining the target jerk upper limit threshold based on the energy supply type of the target vehicle and the preset jerk upper limit threshold; wherein the preset jerk upper limit threshold is the maximum jerk corresponding to the target vehicle.
[0032] For example, to determine the upper limit threshold of the target acceleration, a mapping relationship between the speed to be adjusted and the upper limit threshold of the target acceleration can be pre-constructed. Specifically, the mapping relationships used to determine the upper limit threshold of the target acceleration can be determined based on the types of known parameters that can be obtained for the current target vehicle. In this embodiment, a first mapping relationship corresponding to the three-table method and a second mapping relationship corresponding to the two-dimensional calibration can be constructed. In practical applications, the choice between the first and second mapping relationships is determined based on the parameters that can be obtained or are easily obtained. For example, if the speed to be adjusted and the relevant parameters of the target vehicle (various correction coefficients) can be directly obtained, the first mapping relationship is selected; if the speed to be adjusted and parameters such as maximum throttle can be directly obtained, the second mapping relationship is selected.
[0033] like Figure 2 As shown, the upper limit threshold of target acceleration is determined by the second mapping relationship, which can be achieved through... Figure 2The second mapping relationship is used to determine the z-value (target acceleration upper limit threshold) based on the known values of the horizontal axis velocity and the vertical axis pitch angle.
[0034] Taking the process of determining the target acceleration upper limit threshold using the first mapping relationship as an example, a preset acceleration upper limit threshold can be determined first. This preset acceleration upper limit threshold can be determined by the maximum torque that the target vehicle can achieve. The corresponding target acceleration upper limit threshold can be obtained by multiplying the ratio of the current torque to the maximum torque corresponding to the speed to be adjusted by the preset acceleration upper limit threshold.
[0035] In some embodiments, when the target acceleration upper limit threshold is reached, the initial acceleration upper limit threshold is determined based on the maximum throttle opening and the speed to be adjusted; the initial acceleration upper limit threshold is adjusted based on the pitch angle of the target vehicle to obtain the target acceleration upper limit threshold.
[0036] Among them, the maximum throttle opening is the maximum angle at which the throttle can be pressed by the target vehicle, which corresponds to the maximum torque of the target vehicle, and also corresponds to the maximum acceleration upper limit threshold. Based on the maximum acceleration upper limit threshold, the initial acceleration upper limit threshold corresponding to the speed to be adjusted is determined according to the mapping table and other methods in the above embodiment. Under normal circumstances, the initial acceleration upper limit threshold is less than or equal to the maximum acceleration upper limit threshold.
[0037] In some embodiments, the initial acceleration upper limit threshold can be determined by: obtaining the correction coefficient corresponding to the target vehicle at the speed to be adjusted; determining the preset acceleration upper limit threshold based on the maximum throttle opening; and determining the initial acceleration upper limit threshold using the correction coefficient, the speed to be adjusted, and the preset acceleration upper limit threshold.
[0038] For example, the correction coefficient can also be obtained through information such as the target vehicle's identification. Typically, the correction coefficient for the same vehicle is fixed, and it can be determined based on changes in variables such as the speed to be adjusted. Given the correction coefficient, the speed to be adjusted, and the preset upper limit threshold for acceleration, the initial upper limit threshold for acceleration can be determined.
[0039] For example, firstly, based on the maximum acceleration upper limit threshold corresponding to the target vehicle at maximum throttle opening: a_max,low; secondly, based on information such as the target vehicle's identification, determine the relationship between the target vehicle's speed and the correction coefficient, and determine the corresponding correction coefficient; finally, the target acceleration upper limit threshold is: a_max,speed(v)=a_max,low×g(v) Where a_max,speed(v) is the target acceleration upper limit threshold; g(v) is the correction coefficient; and a_max,low is the maximum acceleration upper limit threshold.
[0040] Furthermore, the correction coefficients include a speed correction coefficient and a drag correction coefficient. Using the correction coefficients, the speed to be adjusted, and a preset acceleration upper limit threshold, the initial acceleration upper limit threshold is determined, including: obtaining the target drag correction coefficient corresponding to the target vehicle; determining the target speed correction coefficient corresponding to the speed to be adjusted based on the mapping relationship between the speed to be adjusted and the speed correction coefficient; and subtracting the target drag correction coefficient from the speed correction acceleration to obtain the initial acceleration upper limit threshold. Here, the speed correction acceleration is the value of the preset acceleration upper limit threshold multiplied by the target speed correction coefficient.
[0041] For example, g1(v) can be matched as the target speed correction coefficient based on the mapping relationship between the speed to be adjusted and the speed correction coefficient corresponding to the target vehicle; g2(v) can be matched as the target drag correction coefficient based on the mapping relationship between the speed to be adjusted and the drag correction coefficient corresponding to the target vehicle.
[0042] Correspondingly, a_max,speed(v) = a_max,low×g1(v)-g2(v) Where a_max,speed(v) is the initial acceleration upper limit threshold; g1(v) is the target velocity correction coefficient; and g2(v) is the target drag correction coefficient.
[0043] When determining the upper limit threshold of the target acceleration, it is also necessary to determine the environment in which the target vehicle is located. This environment can be the slope of the location. The slope (pitch angle) will affect the actual acceleration of the target vehicle. Therefore, the influence of the pitch angle can be added to the initial acceleration upper threshold.
[0044] For example, if the target vehicle is on a downhill slope, the corresponding upper limit threshold for acceleration will increase; if the target vehicle is on an uphill slope, the corresponding upper limit threshold for acceleration will decrease.
[0045] Correspondingly, acc_upperbound = a_max,speed(v) + a_pitch, where a_pitch = g·sin(θ) Where acc_upperbound is the upper limit threshold of the target acceleration; a_max,speed(v) is the upper limit threshold of the initial acceleration; a_pitch is the slope effect; θ is the pitch angle; and g is the gravitational acceleration.
[0046] Regarding the target acceleration upper limit threshold, the acceleration method varies depending on the type of vehicle. Normally, vehicles accelerate by changing torque. However, electrically powered vehicles typically have energy recovery functions that rely on negative torque for energy recovery. Therefore, if the target vehicle rapidly transitions from negative torque to a large positive torque during acceleration, a noticeable jerkiness will occur, reducing the passenger experience to some extent.
[0047] Therefore, when determining the target acceleration upper limit threshold, the corresponding target acceleration upper limit threshold can be determined based on the functional type of the target vehicle. For example, if the target vehicle is a non-electric fuel vehicle, the preset acceleration upper limit threshold corresponding to the target vehicle can be directly used as the target acceleration upper limit threshold; if the target vehicle is an electric vehicle, a smaller target acceleration upper limit threshold can be determined in the zero torque range to improve the passenger riding experience.
[0048] In some embodiments, if the power supply type is electrical power, the torque corresponding to the speed to be adjusted is obtained; and the relationship between the torque and a preset torque threshold is detected. Here, the preset torque threshold can be the zero-crossing torque range mentioned in the above embodiments. If the torque is less than the preset torque threshold, the target jerk upper limit threshold corresponding to the torque is determined according to the torque mapping relationship; the torque mapping relationship characterizes the correspondence between the torque and the jerk upper limit threshold, and the smaller the torque, the smaller the corresponding jerk upper limit threshold; if the torque is greater than or equal to the preset torque threshold, the preset jerk upper limit threshold is used as the target jerk upper limit threshold; For example, such as Figure 3 As shown, the curves represent the relationship between the torque and the preset accelerometer upper limit. When the torque is less than the preset torque threshold, the preset accelerometer upper limit changes approximately exponentially with the torque. The smaller the torque, the smaller the change in the corresponding preset accelerometer upper limit, which improves the passenger's driving experience. When the torque is greater than the preset torque threshold, the corresponding preset accelerometer upper limit remains unchanged, ensuring the rapid acceleration of the target vehicle.
[0049] In this embodiment of the disclosure, the performance parameters further include a deceleration upper limit threshold and a deceleration upper limit threshold. The method further includes: obtaining the current driving scenario of the target vehicle, and obtaining the preset deceleration upper limit threshold and the preset deceleration upper limit threshold corresponding to the target vehicle; wherein the preset deceleration upper limit threshold is the deceleration corresponding to the maximum braking opening; if the driving scenario belongs to the preset driving scenario, and / or if a target obstacle is detected and the obstacle type of the target obstacle belongs to the preset obstacle type, adjusting the preset deceleration upper limit threshold according to the preset adjustment range to obtain the target deceleration upper limit threshold; and adjusting the preset deceleration upper limit threshold according to the preset adjustment range to obtain the target deceleration upper limit threshold.
[0050] For example, the deceleration upper limit threshold represents the maximum braking force of the target vehicle, affecting distance and safety during driving; the deceleration upper limit threshold determines the rate of increase of braking force, affecting passenger comfort and the lifespan of the target vehicle's actuators.
[0051] Therefore, the corresponding upper limit threshold can be adaptively adjusted according to the target vehicle's current actual usage environment (preset driving scenario). For example, if the target vehicle's current driving environment is a low-friction road surface (rain / snow / ice), high-speed tire blowout / low tire pressure, etc., the corresponding deceleration upper limit threshold needs to be lowered; if the target vehicle's current driving environment is insufficient emergency braking distance, the corresponding deceleration upper limit threshold needs to be appropriately increased; if there are scenarios such as occupant sensitivity (elderly / children / prone to motion sickness) or long-distance comfortable coasting (exiting ramps), the corresponding deceleration upper limit threshold should be lowered; if the target vehicle is in a situation where it is stopped following another vehicle and is being approached at high speed by a vehicle behind, the corresponding deceleration upper limit threshold should be increased.
[0052] In step S13, the speed information is adjusted according to the target performance parameter threshold to obtain the target speed information at the next moment.
[0053] For example, given the target performance parameter threshold corresponding to the current speed to be adjusted, the speed information corresponding to the next moment can be generated based on the current speed to be adjusted. When generating the speed information corresponding to the next moment, the change between the current speed information and the speed information corresponding to the next moment needs to meet the target performance parameter threshold. This makes the error between the actual speed information at the next moment and the speed information planned at the current moment smaller, improving the accuracy of the planned ideal speed information and the passenger's driving experience.
[0054] In summary, this embodiment of the present disclosure obtains the speed information of the target vehicle; based on the speed information and the preset performance parameter threshold corresponding to the target vehicle, it determines the target performance parameter threshold corresponding to the speed to be adjusted. The target performance parameter threshold represents the adjustable range of the target vehicle under the vehicle condition of the speed information. Based on this, the speed information is adjusted according to the target performance parameter threshold to obtain the target speed information, so that the change from the speed information to the target speed information meets the target performance parameter threshold, conforms to the performance of the target vehicle itself, and improves the accuracy of the target speed information to a certain extent.
[0055] correspond Figure 1 The illustrated speed planning method, in this disclosure embodiment also provides a speed planning device, such as... Figure 4 As shown, the device includes: The acquisition module 401 is used to acquire the current speed information of the target vehicle; The target performance determination module 402 is used to determine the target performance parameter threshold corresponding to the speed information based on the speed information and the preset performance parameter threshold corresponding to the target vehicle; the target performance parameter threshold represents the adjustable range of the target vehicle under the vehicle condition of the speed information. The target speed determination module 403 is used to adjust the speed information according to the target performance parameter threshold to obtain the target speed information at the next moment.
[0056] Optionally, the performance parameter thresholds include an acceleration upper limit threshold and a jerk upper limit threshold; the velocity information includes the velocity to be adjusted; the target performance determination module is further configured to: Based on the speed to be adjusted and the preset acceleration upper limit threshold, a target acceleration upper limit threshold corresponding to the speed to be adjusted is determined; wherein the preset acceleration upper limit threshold is the acceleration corresponding to the maximum throttle opening; based on the energy supply type of the target vehicle and the preset acceleration upper limit threshold, a target acceleration upper limit threshold is determined; wherein the preset acceleration upper limit threshold is the maximum acceleration corresponding to the target vehicle.
[0057] Optionally, the target performance determination module is further configured to: Determine the initial acceleration upper limit threshold based on the maximum throttle opening and the speed to be adjusted; Based on the pitch angle of the target vehicle, the initial acceleration upper limit threshold is adjusted to obtain the target acceleration upper limit threshold.
[0058] Optionally, the target performance determination module is further configured to: Obtain the correction coefficient corresponding to the target vehicle under the speed to be adjusted; The preset acceleration upper limit threshold is determined based on the maximum throttle opening; The initial acceleration upper limit threshold is determined using the correction coefficient, the speed to be adjusted, and the preset acceleration upper limit threshold.
[0059] Optionally, the correction coefficient includes a speed correction coefficient and a drag correction coefficient; the target performance determination module is further configured to: obtain a target drag correction coefficient corresponding to the target vehicle based on the mapping relationship between the speed to be adjusted and the drag correction coefficient; Based on the mapping relationship between the speed to be adjusted and the speed correction coefficient, determine the target speed correction coefficient corresponding to the speed to be adjusted; The initial acceleration upper limit threshold is obtained by subtracting the target drag correction coefficient from the velocity correction acceleration; wherein, the velocity correction acceleration is the value of the preset acceleration upper limit threshold multiplied by the target velocity correction coefficient.
[0060] Optionally, the target performance determination module is further configured to: if the energy supply type is electric energy supply, obtain the torque corresponding to the speed to be adjusted; and detect the relationship between the torque and a preset torque threshold. If the torque is less than the preset torque threshold, then the target jerk upper limit threshold corresponding to the torque is determined according to the torque mapping relationship; the torque mapping relationship represents the correspondence between the torque and the jerk upper limit threshold, and the smaller the torque, the smaller the corresponding jerk upper limit threshold. If the torque is greater than or equal to the preset torque threshold, then the preset jerk upper limit threshold is used as the target jerk upper limit threshold. If the energy supply type is non-electrical energy supply, then the preset acceleration of the target vehicle is determined to be the target acceleration.
[0061] Optionally, the performance parameters further include a deceleration upper limit threshold and a deceleration upper limit threshold, and the device is further used for: The current driving scenario of the target vehicle is obtained, as well as the preset deceleration upper limit threshold and the preset deceleration upper limit threshold corresponding to the target vehicle; wherein the preset deceleration upper limit threshold is the deceleration corresponding to the maximum braking opening. If the driving scenario belongs to a preset driving scenario, and / or if a target obstacle is detected and the obstacle type of the target obstacle belongs to a preset obstacle type, the preset deceleration upper limit threshold is adjusted according to a preset adjustment range to obtain a target deceleration upper limit threshold; and the preset deceleration upper limit threshold is adjusted according to a preset adjustment range to obtain a target deceleration upper limit threshold.
[0062] The speed planning device and the speed planning method provided in the above embodiments of this disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the applications stored therein.
[0063] This disclosure also provides an electronic device for executing the speed planning method described above. Please refer to... Figure 5 This illustrates a schematic diagram of an electronic device provided by some embodiments of the present disclosure. For example... Figure 5 As shown, the electronic device 5 includes: a processor 500, a memory 501, a bus 502, and a communication interface 503. The processor 500, the communication interface 503, and the memory 501 are connected via the bus 502. The memory 501 stores a computer program that can run on the processor 500. When the processor 500 runs the computer program, it executes the speed planning method provided in any of the foregoing embodiments of this disclosure.
[0064] The memory 501 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between the virtual devices in the system is achieved through at least one communication interface 503 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network.
[0065] Bus 502 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. Memory 501 is used to store programs. After receiving an execution instruction, the processor 500 executes the program. The speed planning method disclosed in any of the foregoing embodiments of this disclosure can be applied to the processor 500, or implemented by the processor 500.
[0066] The processor 500 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 500 or by instructions in software form. The processor 500 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 501. The processor 500 reads the contents of memory 501 and, in conjunction with its hardware, completes the steps of the above method.
[0067] The electronic device provided in this disclosure and the speed planning method provided in this disclosure are based on the same inventive concept and have the same beneficial effects as the methods they employ, operate, or implement.
[0068] This disclosure also provides a computer-readable storage medium corresponding to the speed planning method provided in the foregoing embodiments. Please refer to... Figure 6 The computer-readable storage medium shown is an optical disc 30, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it executes the speed planning method provided in any of the foregoing embodiments.
[0069] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be elaborated here.
[0070] The computer-readable storage medium provided in the above embodiments of this disclosure and the speed planning method provided in the embodiments of this disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the applications stored therein.
[0071] Although alternative embodiments of this disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make further changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this disclosure.
[0072] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this disclosure. It should be understood that the above description is only a specific embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of this disclosure should be included within the scope of protection of this invention.
Claims
1. A speed planning method, characterized in that, The method includes: Obtain the target vehicle's current speed information; Based on the speed information and the preset performance parameter threshold corresponding to the target vehicle, the target performance parameter threshold corresponding to the speed information is determined; the target performance parameter threshold represents the adjustable range of the target vehicle under the vehicle condition of the speed information. The speed information is adjusted according to the target performance parameter threshold to obtain the target speed information at the next moment.
2. The method according to claim 1, characterized in that, The performance parameter thresholds include an acceleration upper limit threshold and a jerk upper limit threshold; the speed information includes the speed to be adjusted. The step of determining the target performance parameter threshold corresponding to the speed information based on the speed information and the preset performance parameter threshold corresponding to the target vehicle includes: Based on the speed to be adjusted and the preset acceleration upper limit threshold, the target acceleration upper limit threshold corresponding to the speed to be adjusted is determined; wherein the preset acceleration upper limit threshold is the acceleration corresponding to the maximum throttle opening; The target acceleration upper limit threshold is determined based on the power supply type of the target vehicle and the preset acceleration upper limit threshold; wherein the preset acceleration upper limit threshold is the maximum acceleration corresponding to the target vehicle.
3. The method according to claim 2, characterized in that, The step of determining the target acceleration upper limit threshold corresponding to the speed to be adjusted based on the speed to be adjusted and the preset acceleration upper limit threshold includes: Determine the initial acceleration upper limit threshold based on the maximum throttle opening and the speed to be adjusted; Based on the pitch angle of the target vehicle, the initial acceleration upper limit threshold is adjusted to obtain the target acceleration upper limit threshold.
4. The method according to claim 3, characterized in that, The step of determining the initial acceleration upper limit threshold based on the maximum throttle opening and the speed to be adjusted includes: Obtain the correction coefficient corresponding to the target vehicle under the speed to be adjusted; The preset acceleration upper limit threshold is determined based on the maximum throttle opening; The initial acceleration upper limit threshold is determined using the correction coefficient, the speed to be adjusted, and the preset acceleration upper limit threshold.
5. The method according to claim 4, characterized in that, The correction factors include speed correction factors and drag correction factors; The step of determining the initial acceleration upper limit threshold using the correction coefficient, the speed to be adjusted, and the preset acceleration upper limit threshold includes: Based on the mapping relationship between the speed to be adjusted and the drag correction coefficient, the target drag correction coefficient corresponding to the target vehicle is obtained; Based on the mapping relationship between the speed to be adjusted and the speed correction coefficient, determine the target speed correction coefficient corresponding to the speed to be adjusted; The initial acceleration upper limit threshold is obtained by subtracting the target drag correction coefficient from the velocity correction acceleration; wherein, the velocity correction acceleration is the value of the preset acceleration upper limit threshold multiplied by the target velocity correction coefficient.
6. The method according to claim 2, characterized in that, The step of determining the target acceleration upper limit threshold based on the energy supply type of the target vehicle and the preset acceleration upper limit threshold includes: If the energy supply type is electrical energy supply, obtain the torque corresponding to the speed to be adjusted; and detect the relationship between the torque and a preset torque threshold. If the torque is less than the preset torque threshold, then the target jerk upper limit threshold corresponding to the torque is determined according to the torque mapping relationship; the torque mapping relationship represents the correspondence between the torque and the jerk upper limit threshold, and the smaller the torque, the smaller the corresponding jerk upper limit threshold. If the torque is greater than or equal to the preset torque threshold, then the preset jerk upper limit threshold is used as the target jerk upper limit threshold. If the energy supply type is non-electrical energy supply, then the preset acceleration of the target vehicle is determined to be the target acceleration.
7. The method according to any one of claims 1-6, characterized in that, The performance parameters also include a deceleration upper limit threshold and a deceleration upper limit threshold, and the method further includes: The current driving scenario of the target vehicle is obtained, as well as the preset deceleration upper limit threshold and the preset deceleration upper limit threshold corresponding to the target vehicle; wherein the preset deceleration upper limit threshold is the deceleration corresponding to the maximum braking opening. If the driving scenario belongs to a preset driving scenario, and / or if a target obstacle is detected and the obstacle type of the target obstacle belongs to a preset obstacle type, the preset deceleration upper limit threshold is adjusted according to a preset adjustment range to obtain a target deceleration upper limit threshold; and the preset deceleration upper limit threshold is adjusted according to a preset adjustment range to obtain a target deceleration upper limit threshold.
8. A speed planning device, characterized in that, The device includes: The acquisition module is used to acquire the current speed information of the target vehicle. A target performance determination module is used to determine the target performance parameter threshold corresponding to the speed information based on the speed information and the preset performance parameter threshold corresponding to the target vehicle; the target performance parameter threshold represents the adjustable range of the target vehicle under the vehicle condition of the speed information; A target speed determination module is used to adjust the speed information according to the target performance parameter threshold to obtain the target speed information.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory, wherein the processor, when executing the computer program, implements the method of any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the method of any one of claims 1 to 7.