A vehicle lateral speed processing method, system, device and computer medium

Abstract

This application discloses a method, system, device, and computer medium for processing vehicle lateral speed, relating to the field of vehicle control technology. The method involves obtaining a sampling time interval for the vehicle lateral speed, generated based on computational and noise limitations for lateral control; obtaining an update time interval for the vehicle lateral speed, where the update time interval is less than the sampling time interval; determining the update moment for the vehicle lateral speed based on the update time interval; and generating the latest vehicle lateral speed according to the sampling time interval when the current moment matches the update moment, so as to perform lateral control based on the latest vehicle lateral speed. The lateral speeds generated in two consecutive iterations are independent, resulting in smooth and continuous lateral speeds. This allows for higher-frequency updates of the vehicle lateral speed, reducing computational consumption and noise impact, ensuring accurate lateral control of the vehicle even under computationally limited conditions.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a method, system, device, and computer medium for processing vehicle lateral speed. Background Technology

[0002] In the process of intelligent driving control of vehicles, lateral control of the vehicle can be performed based on the deviation between the vehicle's trajectory and the planned trajectory. For this purpose, it is necessary to collect the vehicle's lateral velocity. For example, the vehicle's sensors perform sampling measurements once per cycle (such as 10 milliseconds) to read the vehicle's lateral position information. Subtracting the vehicle's lateral position recorded in the previous cycle from the current cycle's vehicle position gives the lateral position deviation. Dividing the lateral position deviation by the operating cycle time gives the vehicle's lateral velocity, which can represent the vehicle's lateral movement speed.

[0003] However, on embedded or microcontroller chips with low computing power, performing floating-point division operations in each operating cycle of the sensor consumes a lot of computing power and amplifies noise, affecting the quality of vehicle operation.

[0004] In conclusion, how to accurately control vehicles laterally under limited computing power is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method for processing vehicle lateral velocity, which can, to some extent, solve the technical problem of accurately controlling a vehicle's lateral movement under conditions of limited computing power. This application also provides a vehicle lateral velocity processing system, an electronic device, and a computer-readable storage medium.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A method for processing the lateral velocity of a vehicle includes:

[0008] The sampling time interval for obtaining the vehicle's lateral velocity is generated based on the computing power limitation information and noise limitation information of the vehicle's lateral control.

[0009] The update time interval for obtaining the vehicle's lateral speed is less than the sampling time interval;

[0010] Based on the update time interval, determine the update time of the vehicle's lateral speed;

[0011] If the current time coincides with the update time, the latest vehicle lateral speed is generated according to the sampling time interval, so as to perform vehicle lateral control based on the latest vehicle lateral speed.

[0012] Preferably, determining the update time of the vehicle's lateral speed based on the update time interval includes:

[0013] Obtain the initial generation time of the vehicle's lateral velocity;

[0014] Using the update time interval as a tolerance, the initial generation time is updated arithmetically to generate the update time of the vehicle's lateral speed.

[0015] Preferably, determining the update time of the vehicle's lateral speed based on the update time interval includes:

[0016] Generate the ratio of the sampling time interval to the update time interval;

[0017] Based on the ratio, the number of speed processing paths is determined, and the speed processing paths are used to update the vehicle's lateral speed.

[0018] The update time for each speed processing path is generated, and the time difference between two adjacent speed processing paths is the update time interval.

[0019] Preferably, if the response is consistent with the update time, then the latest vehicle lateral speed is generated according to the sampling time interval, including:

[0020] For each speed processing path, in response to the current time being consistent with the update time of the speed processing path, a historical time is determined, and the time difference between the historical time and the current time is the sampling time interval.

[0021] Obtain the vehicle's current lateral position and the vehicle's historical lateral position at the historical moment.

[0022] Generate the deviation value between the historical horizontal position and the current horizontal position;

[0023] Based on the ratio of the deviation value to the sampling time interval, the current lateral speed of the vehicle under the speed processing path is generated;

[0024] The latest vehicle lateral speed is determined based on the current vehicle lateral speed.

[0025] Preferably, determining the latest vehicle lateral speed based on the current vehicle lateral speed includes:

[0026] The current lateral speed of the vehicle is filtered to obtain the filtered lateral speed of the vehicle;

[0027] The vehicle's lateral filtering speed is taken as the latest vehicle lateral speed.

[0028] Preferably, determining the latest vehicle lateral speed based on the current vehicle lateral speed includes:

[0029] Detect whether the current vehicle's lateral speed exceeds a set threshold;

[0030] If the current vehicle lateral speed is greater than the set threshold, the latest vehicle lateral speed is reset to zero.

[0031] If the current vehicle lateral speed is less than or equal to the set threshold, then the current vehicle lateral speed is taken as the latest vehicle lateral speed.

[0032] Preferably, the update time interval for obtaining the vehicle's lateral speed includes:

[0033] Obtain the precision limit information for vehicle lateral control;

[0034] Based on the aforementioned precision limit information, the update time interval for the vehicle's lateral speed is generated.

[0035] A vehicle lateral velocity processing system, comprising:

[0036] The sampling time interval acquisition module is used to acquire the sampling time interval of the vehicle's lateral speed. The sampling time interval is generated based on the computing power limitation information and noise limitation information of the vehicle's lateral control.

[0037] An update time interval acquisition module is used to acquire the update time interval of the vehicle's lateral speed, wherein the update time interval is less than the sampling time interval;

[0038] The update time determination module is used to determine the update time of the vehicle's lateral speed based on the update time interval;

[0039] The lateral speed update module is used to generate the latest vehicle lateral speed according to the sampling time interval when the current time is consistent with the update time, so as to perform vehicle lateral control based on the latest vehicle lateral speed.

[0040] An electronic device, comprising:

[0041] Memory, used to store computer programs;

[0042] A processor, configured to implement the steps of any of the vehicle lateral speed processing methods described above when executing the computer program.

[0043] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the vehicle lateral speed processing methods described above.

[0044] This application provides a method for processing vehicle lateral speed, which involves obtaining a sampling time interval for the vehicle lateral speed, the sampling time interval being generated based on computing power limitation information and noise limitation information for vehicle lateral control; obtaining an update time interval for the vehicle lateral speed, wherein the update time interval is less than the sampling time interval; determining the update time of the vehicle lateral speed based on the update time interval; and generating the latest vehicle lateral speed according to the sampling time interval in response to the current time being consistent with the update time, so as to perform vehicle lateral control based on the latest vehicle lateral speed. In this application, the sampling time interval is used to characterize the sampling interval required to generate one vehicle lateral velocity, and the update time interval is used to characterize the time interval between two adjacent generation of vehicle lateral velocities. Since the update time interval of the vehicle lateral velocity is less than the sampling time interval, the sampling data used each time the vehicle lateral velocity is updated is different from the sampling data used last time. In this way, the vehicle lateral velocities generated in two adjacent cycles are independent of each other, making the generated vehicle lateral velocities smooth and continuous. Compared with the scheme of updating the vehicle lateral velocity according to the sampling time interval, this application can update the vehicle lateral velocity at a higher frequency, thereby enabling more accurate lateral control of the vehicle. On this basis, since the computing power limitation information for vehicle lateral control represents the computing power limitation for processing the vehicle lateral velocity, and the noise limitation information represents the limitation of the vehicle lateral velocity on noise, generating the vehicle lateral velocity according to the sampling time interval each time can not only reduce computing power consumption, but also reduce the impact of noise, further ensuring accurate lateral control of the vehicle under computing power constraints. The vehicle lateral velocity processing system, electronic device, and computer-readable storage medium provided in this application also solve the corresponding technical problems. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0046] Figure 1 A flowchart illustrating a method for processing lateral vehicle speed according to an embodiment of this application;

[0047] Figure 2 The image shows a comparison of the sampling results of 100ms and 50ms in this application.

[0048] Figure 3 This is a schematic diagram of the structure of a vehicle lateral speed processing system provided in an embodiment of this application;

[0049] Figure 4This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0050] Figure 5 This is another structural schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] Please see Figure 1 , Figure 1 A flowchart illustrating a method for processing the lateral speed of a vehicle, as provided in an embodiment of this application.

[0053] This application provides a method for processing the lateral velocity of a vehicle, which may include the following steps:

[0054] Step S101: Obtain the sampling time interval of the vehicle's lateral speed. The sampling time interval is generated based on the computing power limitation information and noise limitation information of the vehicle's lateral control.

[0055] In practical applications, since the lateral velocity of a vehicle is obtained by processing the lateral change in the vehicle's position, it is necessary to sample the vehicle's lateral position. Therefore, to update the lateral velocity, it is necessary to obtain the sampling time interval of the lateral velocity. This sampling time interval refers to the interval at which the lateral position of the vehicle needs to be sampled when generating the lateral velocity, which is different from the sampling time interval of the vehicle sensor. For ease of understanding, let's assume that the sampling time of the vehicle sensor is 10ms. Then, a lateral position of the vehicle will be obtained every 10ms. If the lateral velocity of the vehicle needs to be generated every 20ms, the sampling time interval of the lateral velocity of the vehicle will be 20ms. At this time, the lateral position of the vehicle sensor with an interval of 1 data point between them will be used to generate the lateral velocity of the vehicle. Correspondingly, if the lateral velocity of the vehicle needs to be generated every 50ms, the sampling time interval of the lateral velocity of the vehicle will be 50ms. At this time, the lateral position of the vehicle sensor with an interval of 4 data points between them will be used to generate the lateral velocity of the vehicle.

[0056] It should be noted that the sampling time interval of the vehicle's lateral velocity affects computational power consumption and noise. For ease of understanding, assume that the sensor measurement noise has a standard deviation of 0.005m, the vehicle's true lateral velocity is 1m / s, the measurement period is Δt, the vehicle's lateral displacement is Δx_true, the vehicle's lateral velocity is v_true, the lateral position measurement value is Δx_meas, the measurement noise is noise, the random number is randn(), and the vehicle's lateral velocity update time interval is consistent with the sampling time interval. The comparison results of the vehicle's lateral velocity sampling time intervals of 10ms and 100ms are shown in Table 1.

[0057] Table 1. Comparison of vehicle lateral velocity sampling time intervals of 10ms and 100ms

[0058]

[0059] Analysis of Table 1 shows that compared to a 100ms sampling and update interval, a 10ms sampling and update interval amplifies random noise by a factor of 10. Furthermore, in embedded and microcontroller systems, a 10ms sampling and update interval implies more floating-point calculations, which can cause the module to time out due to the large computational load, leading to software crashes. To avoid this, the sampling interval for the vehicle's lateral speed needs to be generated based on the computational and noise limitations of the vehicle's lateral control. A larger sampling interval can be generated when the lateral speed requires less computational power or less noise impact; conversely, a smaller sampling interval can be generated when the lateral speed allows for greater computational power or noise impact is not a concern. The specific generation method can be flexibly determined based on the actual needs of the vehicle's lateral control.

[0060] Step S102: Obtain the update time interval of the vehicle's lateral speed, and the update time interval is less than the sampling time interval.

[0061] In practical applications, existing solutions often set the update interval of vehicle lateral speed to be consistent with the sampling interval of vehicle lateral speed, such as sampling and calculating vehicle lateral speed every 10ms, or every 50ms, or every 100ms. This method cannot guarantee the accuracy of the generated vehicle lateral speed. To solve this problem, this application distinguishes the update interval of vehicle lateral speed from the sampling interval. In order to avoid the update interval exceeding the sampling interval and thus reducing the effectiveness of the update interval, it is necessary to obtain the update interval of vehicle lateral speed, and the update interval is less than the sampling interval. The update interval refers to the time interval between two consecutive generation of vehicle lateral speed. Each time vehicle lateral speed is generated, it is sampled according to the sampling interval of vehicle lateral speed. Assuming the update interval is 50ms, vehicle lateral speed is generated every 50ms. Assuming the update interval is 100ms, vehicle lateral speed is generated every 100ms, and so on. It should be noted that the shorter the update interval, the higher the frequency of generating the vehicle's lateral speed, and the higher the precision of the vehicle's lateral control. Therefore, the precision limit information of the vehicle's lateral control can be obtained, and the update interval of the vehicle's lateral speed can be generated according to the precision limit information. Moreover, the higher the precision requirement reflected by the precision limit information, the shorter the update interval.

[0062] In an exemplary embodiment, the update time can be generated directly based on time. That is, in the process of determining the update time of the vehicle's lateral speed based on the update time interval, the initial generation time of the vehicle's lateral speed can be obtained. Using the update time interval as a tolerance, the initial generation time is updated arithmetically to generate the update time of the vehicle's lateral speed. For ease of understanding, assuming the initial time is 10:00 and the update time interval is 50ms, the update time is the time corresponding to every 50ms after 10:00.

[0063] Step S103: Determine the update time of the vehicle's lateral speed based on the update time interval.

[0064] Step S104: In response to the current time being consistent with the update time, the latest vehicle lateral speed is generated according to the sampling time interval, so as to perform vehicle lateral control based on the latest vehicle lateral speed.

[0065] In practical applications, after determining the sampling time interval and update time interval of the vehicle's lateral speed, the update time of the vehicle's lateral speed can be determined based on the update time interval. This update time can be determined based on the specific time or by using the number of sensor samplings, and no specific limitation is made here. Then, in response to the current time being consistent with the update time, the latest vehicle lateral speed is generated according to the sampling time interval, so as to perform vehicle lateral control based on the latest vehicle lateral speed. Conversely, if the current time is inconsistent with the update time, there is no need to generate the latest vehicle lateral speed.

[0066] In an exemplary embodiment, because the update interval is shorter than the sampling interval, the vehicle's lateral velocity is generated during the sampling period, resulting in a disconnect between sampling and generation. For ease of understanding, let's take a sampling interval of 100ms and an update interval of 50ms as an example. Due to the limitation of the sampling interval, the vehicle's lateral velocity is first generated at 100ms, using data sampled at 0ms and 100ms. Since the update interval is 50ms, the vehicle's lateral velocity needs to be generated again at 150ms, using data sampled at 50ms and 150ms. That is, the vehicle's lateral velocity is generated twice within a 100ms sampling interval. To facilitate management of each generation of the vehicle's lateral velocity, during the process of determining the update time of the vehicle's lateral velocity based on the update interval, a ratio of the sampling interval to the update interval can be generated. Again, using 100ms and 50ms as an example, the ratio is 2. Based on this ratio, the velocity is determined. The number of processing paths is determined by the speed processing paths used to update the vehicle's lateral speed. For example, if the number of speed processing paths is obtained by rounding up the comparison value, then the number of speed processing paths would be 2. The update time for each speed processing path is defined by the time difference between two adjacent speed processing paths. Assuming that the first speed processing path first generates the vehicle's lateral speed at 100ms, then the second speed processing path first generates the vehicle's lateral speed at 150ms. In this way, for the first speed processing path, the vehicle's lateral speed only needs to be generated once every 100ms starting from 100ms, and for the second speed processing path, it only needs to be generated once every 100ms starting from 150ms. In other words, after introducing speed processing paths, the sampling time interval and update time interval of the vehicle's lateral speed will tend to be consistent for each speed processing path, eliminating the disconnect and making it easier for users to control the generation process of the vehicle's lateral speed.

[0067] In specific application scenarios, when a speed processing path is introduced, in the process of generating the latest vehicle lateral speed according to the sampling time interval in response to the current time being consistent with the update time, for each speed processing path, in response to the current time being consistent with the update time of the speed processing path, the historical time is determined, and the time difference between the historical time and the current time is the sampling time interval; the current lateral position of the vehicle is obtained, and the historical lateral position of the vehicle at the historical time is obtained; the deviation value between the historical lateral position and the current lateral position is generated; based on the ratio between the deviation value and the sampling time interval, the current vehicle lateral speed under the speed processing path is generated; and the latest vehicle lateral speed is determined based on the current vehicle lateral speed.

[0068] It should be noted that since the lateral speed of the current vehicle is updated to the latest lateral speed each time it is generated, the latest lateral speed will alternately come from each speed processing path. To avoid the influence of the initial values ​​of the speed processing paths, the values ​​of all speed processing paths must be initialized simultaneously before running this scheme. This is to prevent the historical values ​​of each speed processing path from being outdated and causing abrupt changes in the generated lateral speed. In addition, to avoid data pollution caused by data coupling between speed processing paths, independent space can be allocated to each speed processing path to store related data.

[0069] In specific application scenarios, to make the generated vehicle lateral velocity smoother, the current vehicle lateral velocity can be filtered during the process of determining the latest vehicle lateral velocity, resulting in a filtered lateral velocity. This filtered lateral velocity is then used as the latest vehicle lateral velocity. During this process, based on real-world driving conditions, vehicles typically operate below a set threshold, such as a lateral velocity of 5 m / s. Therefore, to ensure the authenticity of the generated vehicle lateral velocity, during the process of determining the latest vehicle lateral velocity, it is also possible to detect whether the current vehicle lateral velocity exceeds a set threshold. If the current vehicle lateral velocity exceeds the set threshold, the latest vehicle lateral velocity is reset to zero; if the current vehicle lateral velocity is less than or equal to the set threshold, the current vehicle lateral velocity is used as the latest vehicle lateral velocity.

[0070] This application provides a method for processing vehicle lateral speed, which involves obtaining a sampling time interval for the vehicle lateral speed, the sampling time interval being generated based on computing power limitation information and noise limitation information for vehicle lateral control; obtaining an update time interval for the vehicle lateral speed, wherein the update time interval is less than the sampling time interval; determining the update time of the vehicle lateral speed based on the update time interval; and generating the latest vehicle lateral speed according to the sampling time interval in response to the current time being consistent with the update time, so as to perform vehicle lateral control based on the latest vehicle lateral speed. In this application, the sampling time interval is used to characterize the sampling interval required to generate a vehicle's lateral speed once, and the update time interval is used to characterize the time interval between two adjacent generation of vehicle lateral speeds. Since the update time interval of the vehicle lateral speed is less than the sampling time interval, the sampling data used each time the vehicle lateral speed is updated is different from the sampling data used last time. In this way, the vehicle lateral speeds generated in two adjacent generations are independent of each other, making the generated vehicle lateral speed smooth and continuous. Compared with the scheme of updating the vehicle lateral speed according to the sampling time interval, this application can update the vehicle lateral speed at a higher frequency, thereby enabling more accurate lateral control of the vehicle. On this basis, since the computing power limitation information of vehicle lateral control represents the computing power limitation for processing the vehicle lateral speed, and the noise limitation information represents the limitation of vehicle lateral speed on noise, generating the vehicle lateral speed according to the sampling time interval each time can not only reduce computing power consumption, but also reduce the impact of noise, further ensuring accurate lateral control of the vehicle under computing power constraints.

[0071] To facilitate understanding of the effect of the vehicle lateral speed processing scheme provided in this application, it is assumed that the sampling period of the vehicle sensor is 10ms; the sampling time interval of the vehicle lateral speed is 100ms; and the update time interval of the vehicle lateral speed is 50ms. At this point, there are two speed processing paths, denoted as speed processing path A and speed processing path B, respectively. The scheme of this application is as follows:

[0072] The vehicle sensor initially acquires the vehicle's lateral position. Since the vehicle's lateral position from 100ms ago is not available at this time, the vehicle's lateral velocity cannot be generated. The sensor needs to continue acquiring the vehicle's lateral position.

[0073] After 100ms, the sampling time interval for generating the vehicle's lateral velocity by speed processing path A is first met. Speed ​​processing path A uses the vehicle's current lateral position acquired by the sensor and the vehicle's lateral position acquired 100ms ago to generate the vehicle's lateral velocity and outputs the latest vehicle lateral velocity.

[0074] After 150ms, the sampling time interval for generating the vehicle's lateral velocity by speed processing path B is first met. Speed ​​processing path B uses the vehicle's lateral position currently acquired by the sensor and acquired 100ms ago to generate the vehicle's lateral velocity and outputs the latest vehicle lateral velocity. At this time, the new result of speed processing path B will overwrite the result of speed processing path A. If the result of speed processing path A is abnormal, speed processing path B will overwrite the error of speed processing path A. Compared with a single path, a single error may affect the time of a 100ms cycle. This application can correct and resolve the issue in 50ms.

[0075] After 200ms, the sampling time interval for generating the vehicle's lateral velocity is satisfied again by speed processing path A. Speed ​​processing path A uses the vehicle's current lateral position acquired by the sensor and the vehicle's lateral position acquired 100ms ago to generate the vehicle's lateral velocity and outputs the latest vehicle lateral velocity.

[0076] After 250ms, the sampling time interval for generating the vehicle's lateral velocity by speed processing path B is met again. Speed ​​processing path B uses the vehicle's current lateral position acquired by the sensor and the vehicle's lateral position acquired 100ms ago to generate the vehicle's lateral velocity and outputs the latest vehicle lateral velocity.

[0077] Subsequently, speed processing path A and speed processing path B are each sampled and calculated alternately at a sampling time interval of 100ms to generate the latest vehicle lateral speed.

[0078] The proposed scheme was compared with the scheme that samples and generates vehicle lateral velocity every 100ms and every 50ms. The comparison results are shown in Table 2. Figure 2 As shown, in Figure 2 In the diagram, the horizontal axis represents time, the vertical axis represents lateral velocity, the first rising curve represents the scheme where the sampling time interval and update time interval are consistent, and the other curve represents the scheme of this application.

[0079] Table 2 Comparison of 100ms and 50ms sampling results for the proposed scheme

[0080]

[0081] Analysis of Table 2 shows that, compared to 100ms and 50ms sampling updates, the proposed solution not only maintains the noise suppression and smoothness provided by the long window, but also achieves an equivalent 50ms high temporal resolution output through A / B window interleaving, balancing fast response, continuity, and smoothness, making it particularly suitable for conditions with strong lateral vehicle dynamics. Figure 2 Analysis shows that although the proposed solution has a brief phase delay, the waveform is completely consistent with the original, which can reflect the lateral speed of the vehicle, and is smoother, noise-resistant, and saves computing power.

[0082] It should be noted that this application only uses a sampling interval of 100ms and an update interval of 50ms as an example to illustrate the principle of this application. The actual sampling interval and update interval of the vehicle's lateral speed can be flexibly determined as needed. For example, the sampling interval of the vehicle's lateral speed can be 100ms and the update interval can be 20ms or 25ms. Or, the sampling interval of the vehicle's lateral speed can be 50ms and the update interval can be 10ms or 25ms, etc. This application does not make any specific limitations here.

[0083] Please see Figure 3 , Figure 3 This is a schematic diagram of a vehicle lateral speed processing system provided in an embodiment of this application.

[0084] This application provides a vehicle lateral speed processing system, which may include:

[0085] The sampling time interval acquisition module 101 is used to acquire the sampling time interval of the vehicle's lateral speed. The sampling time interval is generated based on the computing power limitation information and noise limitation information of the vehicle's lateral control.

[0086] The update time interval acquisition module 102 is used to acquire the update time interval of the vehicle's lateral speed, and the update time interval is less than the sampling time interval;

[0087] The update time determination module 103 is used to determine the update time of the vehicle's lateral speed based on the update time interval;

[0088] The lateral speed update module 104 is used to generate the latest vehicle lateral speed according to the sampling time interval in response to the current time being consistent with the update time, so as to perform vehicle lateral control based on the latest vehicle lateral speed.

[0089] This application provides a vehicle lateral speed processing system, wherein the update time determination module may include:

[0090] The initial time acquisition unit is used to acquire the initial generation time of the vehicle's lateral velocity;

[0091] The update time generation unit is used to update the initial generated time by using the update time interval as a tolerance, and to generate the update time of the vehicle's lateral speed.

[0092] This application provides a vehicle lateral speed processing system, wherein the update time determination module may include:

[0093] The ratio generation unit is used to generate the ratio of the sampling time interval to the update time interval;

[0094] The quantity determination unit is used to determine the number of speed processing paths based on the ratio, and the speed processing paths are used to update the lateral speed of the vehicle.

[0095] The update time determination unit is used to generate the update time of each speed processing path, and the time difference between two adjacent speed processing paths is the update time interval.

[0096] This application provides a vehicle lateral speed processing system, wherein the lateral speed update module may include:

[0097] The historical moment determination unit is used to determine the historical moment for each speed processing path if the current moment is consistent with the update moment of the speed processing path. The time difference between the historical moment and the current moment is the sampling time interval.

[0098] The lateral position acquisition unit is used to acquire the current lateral position of the vehicle and the historical lateral position of the vehicle at a historical moment.

[0099] The deviation value generation unit is used to generate the deviation value between the historical lateral position and the current lateral position;

[0100] The lateral velocity generation unit is used to generate the current lateral velocity of the vehicle under the velocity processing path based on the ratio of the deviation value to the sampling time interval;

[0101] The lateral speed update unit is used to determine the latest lateral speed of the vehicle based on the current lateral speed.

[0102] This application provides a vehicle lateral speed processing system, wherein the lateral speed update unit is used to: filter the current vehicle lateral speed to obtain the vehicle lateral filtered speed; and use the vehicle lateral filtered speed as the latest vehicle lateral speed.

[0103] This application provides a vehicle lateral speed processing system, wherein the lateral speed update unit is used to: detect whether the current vehicle lateral speed is greater than a set threshold; in response to the current vehicle lateral speed being greater than the set threshold, reset the latest vehicle lateral speed to zero; and in response to the current vehicle lateral speed being less than or equal to the set threshold, use the current vehicle lateral speed as the latest vehicle lateral speed.

[0104] This application provides a vehicle lateral speed processing system, wherein the update time interval acquisition module may include:

[0105] The precision limitation information acquisition unit is used to acquire precision limitation information for vehicle lateral control.

[0106] The update time interval generation unit is used to generate the update time interval for the vehicle's lateral speed according to the precision limit information.

[0107] This application also provides an electronic device and a computer-readable storage medium, both of which have the corresponding effects of the vehicle lateral speed processing method provided in the embodiments of this application. Please refer to... Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0108] An electronic device provided in this application includes a memory 201 and a processor 202. The memory 201 stores a computer program, and when the processor 202 executes the computer program, it implements the steps of the vehicle lateral speed processing method described in any of the above embodiments.

[0109] Please see Figure 5 Another electronic device provided in this application embodiment may further include: an input port 203 connected to the processor 202 for transmitting commands input from the outside to the processor 202; a display unit 204 connected to the processor 202 for displaying the processing results of the processor 202 to the outside; and a communication module 205 connected to the processor 202 for enabling communication between the electronic device and the outside. The display unit 204 may be a display panel, a laser scanning display, etc.; the communication method adopted by the communication module 205 includes, but is not limited to, Mobile High-Definition Link (MHL), Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI), wireless connection: Wireless Fidelity (WiFi), Bluetooth communication technology, Bluetooth Low Energy communication technology, and communication technology based on IEEE 802.11s.

[0110] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of the vehicle lateral speed processing method described in any of the above embodiments.

[0111] The computer-readable storage media involved in this application include random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs (compact disc read-only memory), or any other form of storage media known in the art.

[0112] This application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the vehicle lateral speed processing method described in any of the above embodiments.

[0113] For descriptions of relevant parts of the vehicle lateral speed processing system, electronic device, and computer-readable storage medium provided in the embodiments of this application, please refer to the detailed descriptions of the corresponding parts in the vehicle lateral speed processing method provided in the embodiments of this application, which will not be repeated here. Furthermore, parts of the technical solutions provided in the embodiments of this application that are consistent with the implementation principles of corresponding technical solutions in the prior art have not been described in detail to avoid excessive elaboration.

[0114] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0115] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for processing the lateral speed of a vehicle, characterized in that, include: The sampling time interval for obtaining the vehicle's lateral velocity is generated based on the computing power limitation information and noise limitation information of the vehicle's lateral control. The update time interval for obtaining the lateral speed of the vehicle is less than the sampling time interval; Based on the update time interval, determine the update time of the vehicle's lateral speed; If the current time coincides with the update time, the latest vehicle lateral speed is generated according to the sampling time interval, and vehicle lateral control is performed based on the latest vehicle lateral speed. The step of determining the update time of the vehicle's lateral speed based on the update time interval includes: Generate the ratio of the sampling time interval to the update time interval; Based on the ratio, the number of speed processing paths is determined, and the speed processing paths are used to update the vehicle's lateral speed. The update time for each speed processing path is generated, and the time difference between two adjacent speed processing paths is the update time interval. Wherein, if the response is consistent with the update time, then the latest vehicle lateral speed is generated according to the sampling time interval, including: For each speed processing path, in response to the current time being consistent with the update time of the speed processing path, a historical time is determined, and the time difference between the historical time and the current time is the sampling time interval. Obtain the vehicle's current lateral position and the vehicle's historical lateral position at the historical moment. Generate the deviation value between the historical horizontal position and the current horizontal position; Based on the ratio of the deviation value to the sampling time interval, the current lateral speed of the vehicle under the speed processing path is generated; The latest vehicle lateral speed is determined based on the current vehicle lateral speed.

2. The method according to claim 1, characterized in that, Determining the update time of the vehicle's lateral speed based on the update time interval includes: Obtain the initial generation time of the vehicle's lateral velocity; Using the update time interval as a tolerance, the initial generation time is updated arithmetically to generate the update time for the vehicle's lateral speed.

3. The method according to claim 1, characterized in that, The process of determining the latest vehicle lateral speed based on the current vehicle lateral speed includes: The current lateral speed of the vehicle is filtered to obtain the filtered lateral speed of the vehicle; The vehicle's lateral filtering speed is taken as the latest vehicle lateral speed.

4. The method according to claim 1, characterized in that, The process of determining the latest vehicle lateral speed based on the current vehicle lateral speed includes: Detect whether the current vehicle's lateral speed exceeds a set threshold; If the current vehicle lateral speed is greater than the set threshold, the latest vehicle lateral speed is reset to zero. If the current vehicle lateral speed is less than or equal to the set threshold, then the current vehicle lateral speed is taken as the latest vehicle lateral speed.

5. The method according to claim 1, characterized in that, The update time interval for obtaining the vehicle's lateral speed includes: Obtain the precision limit information for vehicle lateral control; Based on the aforementioned precision limit information, the update time interval for the vehicle's lateral speed is generated.

6. A vehicle lateral speed processing system, characterized in that, include: The sampling time interval acquisition module is used to acquire the sampling time interval of the vehicle's lateral speed. The sampling time interval is generated based on the computing power limitation information and noise limitation information of the vehicle's lateral control. An update time interval acquisition module is used to acquire the update time interval of the vehicle's lateral speed, wherein the update time interval is less than the sampling time interval; The update time determination module is used to determine the update time of the vehicle's lateral speed based on the update time interval; The lateral speed update module is used to generate the latest vehicle lateral speed according to the sampling time interval when the current time is consistent with the update time, so as to perform vehicle lateral control based on the latest vehicle lateral speed. The update time determination module includes: A ratio generation unit is used to generate the ratio of the sampling time interval to the update time interval; A quantity determination unit is used to determine the number of speed processing paths based on the ratio, wherein the speed processing paths are used to update the lateral speed of the vehicle. The update time determination unit is used to generate the update time of each speed processing path, and the time difference between two adjacent speed processing paths is the update time interval. The lateral velocity update module includes: The historical moment determination unit is used to determine the historical moment for each speed processing path in response to the current moment being consistent with the update moment of the speed processing path. The time difference between the historical moment and the current moment is the sampling time interval. The lateral position acquisition unit is used to acquire the current lateral position of the vehicle and the historical lateral position of the vehicle at the historical moment. The deviation value generation unit is used to generate the deviation value between the historical lateral position and the current lateral position; The lateral velocity generation unit is used to generate the current lateral velocity of the vehicle under the speed processing path based on the ratio between the deviation value and the sampling time interval. The lateral speed update unit is used to determine the latest lateral speed of the vehicle based on the current lateral speed.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the vehicle lateral speed processing method as described in any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the vehicle lateral speed processing method as described in any one of claims 1 to 5.

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