CN109634099A - Method for controlling a vehicle and device - Google Patents
Method for controlling a vehicle and device Download PDFInfo
- Publication number
- CN109634099A CN109634099A CN201811639498.0A CN201811639498A CN109634099A CN 109634099 A CN109634099 A CN 109634099A CN 201811639498 A CN201811639498 A CN 201811639498A CN 109634099 A CN109634099 A CN 109634099A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- signal
- control
- derivative controller
- time point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 73
- 230000008569 process Effects 0.000 claims abstract description 23
- 230000004044 response Effects 0.000 claims abstract description 18
- 238000012512 characterization method Methods 0.000 claims abstract description 14
- 230000004069 differentiation Effects 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 230000006870 function Effects 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000006854 communication Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
Embodiment of the disclosure discloses method for controlling a vehicle and device.One specific embodiment of this method includes: to obtain target deviation signal, wherein the deviation between the target speed signal and actual speed signal of target deviation characterization vehicle；Differential process, signal after being handled are carried out to target deviation signal；For the time point at least one time point of signal designation after processing, the traveling of vehicle is controlled using predetermined proportional plus derivative controller greater than predetermined threshold in response to the instantaneous value of signal after the corresponding processing of the determining time point.This embodiment improves the flexibilities of vehicle control.
Description
Technical field
Embodiment of the disclosure is related to field of computer technology, and in particular to method for controlling a vehicle and device.
Background technique
Current closed-loop automatic control technology is often based on feedback to reduce uncertainty.Engineering in practice, usually
Using proportional plus integral plus derivative controller, to realize above-mentioned adjusting control.Using the feedforward control system of proportional plus integral plus derivative controller
System compensates, to reduce the deviation of system.
For example, when controlling vehicle, the prior art generallys use proportional plus integral plus derivative controller, to realize to vehicle
Control.
Summary of the invention
The present disclosure proposes method for controlling a vehicle and device.
In a first aspect, embodiment of the disclosure provides a kind of method for controlling a vehicle, this method comprises: obtaining mesh
Mark deviation signal, wherein the deviation between the target speed signal and actual speed signal of target deviation characterization vehicle；It is right
Target deviation signal carries out differential process, signal after being handled；For at least one time point of signal designation after processing
Time point, in response to determining that the instantaneous value of signal after the time point corresponding processing is greater than predetermined threshold, using predefining
Proportional plus derivative controller, control the traveling of vehicle.
In some embodiments, the above method further include: at least one time point of signal designation after processing
Time point is less than or equal to predetermined threshold in response to the instantaneous value of signal after the corresponding processing of the determining time point, using true in advance
Fixed proportional plus integral plus derivative controller controls the traveling of vehicle.
In some embodiments, proportional plus derivative controller include proportional unit identical with proportional plus integral plus derivative controller and
Differentiation element, proportional plus integral plus derivative controller further include integral unit.
In some embodiments, proportional plus integral plus derivative controller is for characterizing target deviation signal, with for vehicle into
Corresponding relationship between the control amount of row control；And predetermined proportional plus integral plus derivative controller is used, control vehicle
Traveling, comprising: target deviation signal is input to predetermined proportional plus integral plus derivative controller, obtains control amount as first
Control amount；Based on the first control amount, the travel speed of vehicle is controlled.
In some embodiments, differential process, signal after being handled, comprising: will be to mesh are carried out to target deviation signal
Mark deviation signal carry out first differential and first-order filtering processing as a result, be determined as processing after signal.
In some embodiments, predetermined proportional plus derivative controller is for characterizing target deviation signal, with for pair
The corresponding relationship between control amount that vehicle is controlled；And predetermined proportional plus derivative controller is used, control vehicle
Traveling, comprising: target deviation signal is input to predetermined proportional plus derivative controller, obtains control amount as the second control
Amount processed；Based on the second control amount, the travel speed of vehicle is controlled.
Second aspect, embodiment of the disclosure provide it is a kind of for controlling the device of vehicle, the device include: obtain it is single
Member is configured to obtain target deviation signal, wherein the target speed signal and actual speed of target deviation characterization vehicle
Deviation between signal；Processing unit is configured to carry out differential process, signal after being handled to target deviation signal；The
One control unit was configured to for the time point at least one time point of signal designation after processing, should in response to determining
The instantaneous value of signal is greater than predetermined threshold after time point corresponding processing, using predetermined proportional plus derivative controller, control
The traveling of vehicle.
In some embodiments, device further include: the second control unit is configured to for signal designation after processing
Time point at least one time point is less than or equal in advance in response to the instantaneous value of signal after the corresponding processing of the determining time point
Determine threshold value, using predetermined proportional plus integral plus derivative controller, controls the traveling of vehicle.
In some embodiments, proportional plus derivative controller include proportional unit identical with proportional plus integral plus derivative controller and
Differentiation element, proportional plus integral plus derivative controller further include integral unit.
In some embodiments, proportional plus integral plus derivative controller is for characterizing target deviation signal, with for vehicle into
Corresponding relationship between the control amount of row control；And second control unit include: the first input module, be configured to target
Deviation signal is input to predetermined proportional plus integral plus derivative controller, obtains control amount as the first control amount；First control
Module is configured to control the travel speed of vehicle based on the first control amount.
In some embodiments, processing unit comprises determining that module, is configured to that single order will be carried out to target deviation signal
Differential and first-order filtering processing as a result, be determined as processing after signal.
In some embodiments, predetermined proportional plus derivative controller is for characterizing target deviation signal, with for pair
The corresponding relationship between control amount that vehicle is controlled；And first control unit includes: the second input module, is configured to
Target deviation signal is input to predetermined proportional plus derivative controller, obtains control amount as the second control amount；Second control
Molding block is configured to control the travel speed of vehicle based on the second control amount.
The third aspect, embodiment of the disclosure provide a kind of for controlling the electronic equipment of vehicle, comprising: one or more
A processor；Storage device is stored thereon with one or more programs, when said one or multiple programs are by said one or more
A processor executes, so that the one or more processors are realized such as any embodiment in above-mentioned method for controlling a vehicle
Method.
Fourth aspect, embodiment of the disclosure provide a kind of for controlling the computer-readable medium of vehicle, deposit thereon
Computer program is contained, is realized when which is executed by processor such as any embodiment in above-mentioned method for controlling a vehicle
Method.
The method for controlling a vehicle and device that embodiment of the disclosure provides, by obtaining target deviation signal,
In, the deviation between the target speed signal and actual speed signal of target deviation characterization vehicle, then, to target deviation
Signal carry out differential process, signal after handle, finally, for handle after signal designation at least one time point in when
Between point, in response to determining that the instantaneous value of signal after the time point corresponding processing is greater than predetermined threshold, using predetermined ratio
Example derivative controller, controls the traveling of vehicle, thus by carrying out differential process to deviation signal, then signal after treatment
Instantaneous value be greater than predetermined threshold in the case where use proportional plus derivative controller, to control the traveling of vehicle, to enrich vehicle
Control mode, improve the flexibility of vehicle control, help to improve the accuracy of vehicle control.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the disclosure is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that one embodiment of the disclosure can be applied to exemplary system architecture figure therein；
Fig. 2 is the flow chart according to one embodiment of the method for controlling a vehicle of the disclosure；
Fig. 3 is the schematic diagram according to an application scenarios of the method for controlling a vehicle of the disclosure；
Fig. 4 is the flow chart according to another embodiment of the method for controlling a vehicle of the disclosure；
Fig. 5 is the structural schematic diagram according to one embodiment of the device for controlling vehicle of the disclosure；
Fig. 6 is adapted for the structural schematic diagram for the computer system for realizing the electronic equipment of embodiment of the disclosure.
Specific embodiment
The disclosure is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can phase
Mutually combination.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can be using the method for controlling a vehicle of embodiment of the disclosure or the dress for controlling vehicle
The exemplary system architecture 100 for the embodiment set.
As shown in Figure 1, system architecture 100 may include terminal device 101,102, server 103, network 104 and vehicle
105.Network 104 between terminal device 101,102, server 103 and vehicle 105 to provide the medium of communication link.Net
Network 104 may include various connection types, such as wired, wireless communication link or fiber optic cables etc..
Terminal device 101,102, server 103, vehicle 105 can be by the interactions of network 104, to receive or send data
(such as the signal for being used to indicate the movement of vehicle) etc..Various telecommunication customer ends can be installed on terminal device 101,102 to answer
With, for example, vehicle control application, image processing class application, web browser applications, shopping class application, searching class application, immediately
Means of communication, mailbox client, social platform software etc..
Terminal device 101,102 can be hardware, be also possible to software.It, can be with when terminal device 101,102 is hardware
It is various electronic equipments, including but not limited to smart phone, tablet computer, pocket computer on knee and desktop computer etc.
Deng.When terminal device 101,102 is software, may be mounted in above-mentioned cited electronic equipment.It may be implemented into more
A software or software module (such as providing the software of Distributed Services or software module), also may be implemented into single software
Or software module.It is not specifically limited herein.
Server 103 can be to provide the server of various services, such as to the backstage that the movement of vehicle 105 is controlled
Server.Background server can carry out the data (such as target deviation signal) received the processing such as calculating, and will processing
As a result (such as signal for controlling vehicle) feeds back to vehicle 105.
It should be noted that server can be hardware, it is also possible to software.When server is hardware, may be implemented
At the distributed server cluster that multiple servers form, individual server also may be implemented into.It, can when server is software
To be implemented as multiple softwares or software module (such as providing the software of Distributed Services or software module), also may be implemented
At single software or software module.It is not specifically limited herein.
Vehicle 105 can be the various vehicles that can be controlled.For example, vehicle 105 can by terminal device 101,102,
Alternatively, the instruction that server 103 is sent is controlled；The controller or software that vehicle 105 itself can also be installed in are controlled
System.As an example, vehicle 105 can include but is not limited to following any one: automobile, car, bus, automatic driving vehicle
Etc..Vehicle 105 can be travelled after getting instruction according to the instruction of instruction.
It should be noted that method for controlling a vehicle provided by embodiment of the disclosure can be by server 103
It executes, can also be executed, can also be executed by vehicle 105 by terminal device 101,102；Correspondingly, for controlling the dress of vehicle
Setting can be set in server 103, also can be set in terminal device 101,102, can also be set in vehicle 105.
It should be understood that the number of terminal device, network, server and vehicle in Fig. 1 is only schematical.According to reality
It now needs, can have any number of terminal device, network, server and vehicle.For example, working as method for controlling a vehicle
When the electronic equipment of operation thereon does not need to carry out data transmission with other electronic equipments, which can only include using
Electronic equipment thereon is run in the method for control vehicle.
With continued reference to Fig. 2, the process of one embodiment of the method for controlling a vehicle according to the disclosure is shown
200.The method for controlling a vehicle, comprising the following steps:
Step 201, target deviation signal is obtained.
In the present embodiment, (such as server shown in FIG. 1, terminal are set the executing subject of method for controlling a vehicle
Standby or vehicle) target can be obtained from other electronic equipments or locally by wired connection mode or radio connection
Deviation signal.
In the present embodiment, inclined between the target speed signal and actual speed signal of target deviation characterization vehicle
Difference.Target speed signal can characterize the corresponding relationship between time and the target velocity of vehicle.Actual speed signal can be with table
Levy the corresponding relationship between time and the actual speed of vehicle.
It is appreciated that above-mentioned target deviation signal can be used for characterizing the difference between the target velocity of vehicle and actual speed
Value.
Step 202, differential process, signal after being handled are carried out to target deviation signal.
In the present embodiment, above-mentioned executing subject can carry out at differential the target deviation signal that step 201 is got
Reason, signal after being handled.
Herein, signal can be used for characterizing the relationship between time and the instantaneous value of vehicle, instantaneous value after above-mentioned processing
It can be used for characterizing the speed of the difference of target velocity and actual speed converted at any time.
As an example, above-mentioned executing subject can by target deviation signal carry out differential process as a result, being determined as locating
Signal after reason.
In some optional implementations of the present embodiment, above-mentioned executing subject can also will to target deviation signal into
Row first differential and first-order filtering processing as a result, be determined as processing after signal.
It is appreciated that when above-mentioned executing subject is by using this optional implementation, come after being handled when signal, institute
Signal can characterize the relationship between time and the instantaneous value of vehicle after obtained processing, in addition, relative to not being filtered, it can
To improve the anti-interference ability for the equipment of signal after processing processing.
Step 203, for the time point at least one time point of signal designation after processing, in response to determining the time
The instantaneous value of signal is greater than predetermined threshold after the corresponding processing of point, using predetermined proportional plus derivative controller, controls vehicle
Traveling.
In the present embodiment, for the time point at least one time point of signal designation after processing, when determining this
Between put signal after corresponding processing instantaneous value be greater than predetermined threshold in the case where, above-mentioned executing subject can be using predefining
Proportional plus derivative controller, control the traveling of vehicle.Wherein, above-mentioned predetermined threshold can be predetermined numerical value.In practice,
The predetermined threshold is usually positive number.
Herein, aforementioned proportion derivative controller can be predetermined, to export vehicle control amount (such as plus
Speed, the control amount of accelerator and brake) various proportional plus derivative controllers.It does not include that integral is single that the proportional plus derivative controller, which can be,
Member controller, be also possible to signal after treatment instantaneous value be greater than this condition of predetermined threshold meet in the case where, integral
The inoperative proportional plus integral plus derivative controller of unit.It is appreciated that technical staff can determine the ratio according to actual needs
Proportional unit and differentiation element included by example derivative controller.
It is appreciated that above-mentioned executing subject can be micro- by using ratio in the case where instantaneous value is greater than predetermined threshold
Sub-controller controls the traveling of vehicle, and response speed not only can be improved, but also can avoid excessive overshoot.
In some optional implementations of the present embodiment, above-mentioned executing subject can also be for signal designation after processing
At least one time point in time point, in response to determining that the instantaneous value of signal after the time point corresponding processing is less than or equal to
Predetermined threshold controls the traveling of vehicle using predetermined proportional plus integral plus derivative controller.
Herein, aforementioned proportion integral-derivative controller can be predetermined, the control amount (example to export vehicle
Such as acceleration, the control amount of accelerator and brake) various proportional plus integral plus derivative controllers.The proportional plus integral plus derivative controller can wrap
Proportional unit, integral unit and the differentiation element for including technical staff according to actual needs to determine.
It should be noted that the proportional unit that aforementioned proportion derivative controller includes includes with proportional plus integral plus derivative controller
Proportional unit, can be the same or different；The differentiation element and proportional integral differential that aforementioned proportion derivative controller includes
The differentiation element that controller includes, can be the same or different.For example, working as the ratio list that aforementioned proportion derivative controller includes
When member and differentiation element, the proportional unit for including with proportional plus integral plus derivative controller and differentiation element difference, it can separately design
The proportional of proportional plus derivative controller and the algorithm of differential term, the calculation with the proportional and differential term of proportional plus integral plus derivative controller
Method.To respectively obtain proportional plus derivative controller and proportional plus integral plus derivative controller.By determining instantaneous value and above-mentioned predetermined threshold
The size relation of value, to determine using proportional plus derivative controller or proportional plus integral plus derivative controller, to control the traveling of vehicle.
It is appreciated that instantaneous value be less than or equal to predetermined threshold in the case where, above-mentioned executing subject can by using than
Example integral-derivative controller, controls the traveling of vehicle, and the stability for improving control can be improved.
In some optional implementations of the present embodiment, proportional plus derivative controller includes and PID control parameter
The identical proportional unit of device and differentiation element, proportional plus integral plus derivative controller further include integral unit.
Herein, can be by by following relational expression, algorithm as proportional plus integral plus derivative controller:
Wherein, k is the mark of time.The control amount that u (k) characterization proportional plus integral plus derivative controller is exported in time point k.e
(k) instantaneous value of the corresponding target deviation signal of characterization time point k (is characterized in time point k, the target velocity of vehicle and practical speed
The difference of degree).kpCharacterize the proportionality coefficient of proportional plus integral plus derivative controller.β characterizes the integral term of proportional plus integral plus derivative controller
Switching coefficient, when the instantaneous value of signal is less than or equal to predetermined threshold after processing, the value of β is 1, and signal is instantaneous after processing
When value is less than or equal to predetermined threshold, the value of β is 0.kiCharacterize the integral coefficient of proportional plus integral plus derivative controller.I is for identifying
Time point before time point k.E (i) characterizes the instantaneous value of the corresponding target deviation signal of time point i.T characterizes the sampling interval
Time.kdCharacterize the differential coefficient of proportional plus integral plus derivative controller.E (k-1) characterizes the corresponding target deviation signal of time point k-1
Instantaneous value.
In some optional implementations of the present embodiment, proportional plus integral plus derivative controller is for characterizing target deviation letter
Number, with the corresponding relationship between the control amount for being controlled vehicle.And it is above-mentioned using predetermined proportional integration
Derivative controller controls the traveling of vehicle, comprising: target deviation signal is input to predetermined PID control parameter
Device obtains control amount as the first control amount, and, it is based on the first control amount, controls the travel speed of vehicle.
Herein, the control amount in this optional implementation can be acceleration, be also possible to speed controller (example
As brake or throttle) control amount.Above-mentioned executing subject can be based on the first control amount, adopt and control vehicle in various manners
Travel speed.
As an example, above-mentioned executing subject directly can send the control instruction including the first control amount to vehicle, to refer to
Show vehicle according to the first control amount to be travelled.For example, above-mentioned executing subject can be straight when the first control amount is acceleration
It connects to vehicle and sends the control instruction including the acceleration, to indicate that vehicle is travelled according to the acceleration.
Optionally, above-mentioned executing subject can also be handled the first control amount, and processing result is sent to vehicle
, to control the travel speed of vehicle.For example, the first control amount can be inputted predetermined transmitting letter by above-mentioned executing subject
Number obtains control signal, then sends control signals to vehicle, to control the travel speed of vehicle.Wherein, above-mentioned transmission function
It can be used for characterizing the first control amount and control the corresponding relationship between signal.
In some optional implementations of the present embodiment, predetermined proportional plus derivative controller is for characterizing target
Corresponding relationship between deviation signal, with the control amount for being controlled vehicle；And it is micro- using predetermined ratio
Sub-controller controls the traveling of vehicle, comprising: target deviation signal is input to predetermined proportional plus derivative controller, is obtained
Control amount is obtained as the second control amount, and, it is based on the second control amount, controls the travel speed of vehicle.
Herein, the control amount in this optional implementation can be acceleration, be also possible to speed controller (example
As brake or throttle) control amount.Above-mentioned executing subject can be based on the second control amount, adopt and control vehicle in various manners
Travel speed.
As an example, above-mentioned executing subject directly can send the control instruction including the second control amount to vehicle, to refer to
Show vehicle according to the second control amount to be travelled.For example, above-mentioned executing subject can be straight when the second control amount is acceleration
It connects to vehicle and sends the control instruction including the acceleration, to indicate that vehicle is travelled according to the acceleration.
Optionally, above-mentioned executing subject can also be handled the second control amount, and processing result is sent to vehicle
, to control the travel speed of vehicle.For example, the second control amount can be inputted predetermined transmitting letter by above-mentioned executing subject
Number obtains control signal, then sends control signals to vehicle, to control the travel speed of vehicle.Wherein, above-mentioned transmission function
It can be used for characterizing the second control amount and control the corresponding relationship between signal.
In some optional implementations of the present embodiment, above-mentioned steps 202 and step 203 can be and determining vehicle
In the preset range at place there are deceleration strip in the case where execute.
It is various to be appreciated that above-mentioned executing subject or the electronic equipment communicated to connect with above-mentioned executing subject can use
Method, to determine in the preset range where vehicle with the presence or absence of deceleration strip.For example, can be adopted using installation with the image on vehicle
Acquisition means obtain the image in the preset range where vehicle, then to accessed carry out image recognition, are with determination
It is no that there are deceleration strips.Optionally, receive user's input for characterizing, there are deceleration strips in the preset range where vehicle
Information in the case where, can determine that there are deceleration strips in the preset range where vehicle；In the use for not receiving user's input
In characterizing in the preset range where vehicle there are in the case where the information of deceleration strip, the preset range where vehicle can be determined
It is interior that deceleration strip is not present.
The vehicle control in the case where vehicle crosses deceleration strip may be implemented in this optional implementation as a result, and existing
Control method for vehicle, do not consider the case where vehicle encounters deceleration strip usually.
With continued reference to the signal that Fig. 3, Fig. 3 are according to the application scenarios of the method for controlling a vehicle of the present embodiment
Figure.In the application scenarios of Fig. 3, the executing subject (such as the arithmetic element being installed on vehicle) of method for controlling a vehicle
Obtain target deviation signal 301.Wherein, target deviation signal 301 characterizes the target speed signal and actual speed signal of vehicle
Between deviation.Then, differential process, signal 302 after being handled are carried out to target deviation signal.Finally, after for processing
Time point at least one time point of signal designation, in response to the instantaneous value of signal after the corresponding processing of the determining time point
The traveling of vehicle is controlled using predetermined pi controller greater than predetermined threshold (such as 5).For example, in Fig. 3,
Above-mentioned executing subject determines that the instantaneous value of signal after time point (such as execution time point of the step) the corresponding processing is greater than
Predetermined threshold, therefore, above-mentioned executing subject use predetermined pi controller 303, control the traveling of vehicle 304.
The method provided by the above embodiment of the disclosure, by obtaining target deviation signal, wherein target deviation signal table
The deviation between the target speed signal and actual speed signal of vehicle is levied, then, differential process is carried out to target deviation signal,
Signal after being handled, finally, for the time point at least one time point of signal designation after processing, it should in response to determining
The instantaneous value of signal is greater than predetermined threshold after time point corresponding processing, using predetermined proportional plus derivative controller, control
The traveling of vehicle, thus by carrying out differential process to deviation signal, then after treatment the instantaneous value of signal be greater than it is predetermined
Proportional plus derivative controller is used in the case where threshold value, to control the traveling of vehicle, to enrich the control mode of vehicle, is improved
The flexibility of vehicle control, helps to improve the accuracy of vehicle control.
With further reference to Fig. 4, it illustrates the processes 400 of another embodiment of method for controlling a vehicle.The use
In the process 400 of the method for control vehicle, comprising the following steps:
Step 401, target deviation signal is obtained.Later, step 402 is executed.
In the present embodiment, step 401 and the step 201 in Fig. 2 corresponding embodiment are almost the same, and which is not described herein again.
Step 402, by target deviation signal carry out first differential and first-order filtering processing as a result, being determined as processing after
Signal.Later, step 403 is executed.
In the present embodiment, (such as server shown in FIG. 1, terminal are set the executing subject of method for controlling a vehicle
Standby or vehicle) can by target deviation signal carry out first differential and first-order filtering processing as a result, being determined as processing after
Signal.
It is appreciated that when above-mentioned executing subject is by using this optional implementation, come after being handled when signal, institute
Signal can characterize the relationship between time and the instantaneous value of vehicle after obtained processing, in addition, relative to not being filtered, it can
To improve the anti-interference ability for the equipment of signal after processing processing.
Step 403, for the time point at least one time point of signal designation after processing, determine that the time point corresponding
Processing after the instantaneous value of signal whether be greater than predetermined threshold.Later, if so, thening follow the steps 404；If it is not, thening follow the steps
405。
In the present embodiment, above-mentioned executing subject can for processing after signal designation at least one time point in when
Between point, determine whether the instantaneous value of signal after the time point corresponding processing is greater than predetermined threshold.In practice, the predetermined threshold is logical
It is often positive number.
Step 404, using predetermined proportional plus derivative controller, the traveling of vehicle is controlled.
In the present embodiment, above-mentioned executing subject can use predetermined proportional plus derivative controller, control vehicle
Traveling.
Step 405, using predetermined proportional plus integral plus derivative controller, the traveling of vehicle is controlled.
In the present embodiment, above-mentioned executing subject can use predetermined proportional plus integral plus derivative controller, control vehicle
Traveling.
Specifically, above-mentioned executing subject can by by following relational expression, as the algorithm of proportional plus integral plus derivative controller,
Thereby executing above-mentioned steps 404 and step 405:
Wherein, k is the mark of time.The control amount that u (k) characterization proportional plus integral plus derivative controller is exported in time point k.e
(k) instantaneous value of the corresponding target deviation signal of characterization time point k (is characterized in time point k, the target velocity of vehicle and practical speed
The difference of degree).kpCharacterize the proportionality coefficient of proportional plus integral plus derivative controller.β characterizes the integral term of proportional plus integral plus derivative controller
Switching coefficient, when the instantaneous value of signal is less than or equal to predetermined threshold after processing, the value of β is 1, and signal is instantaneous after processing
When value is less than or equal to predetermined threshold, the value of β is 0.kiCharacterize the integral coefficient of proportional plus integral plus derivative controller.I is for identifying
Time point before time point k.E (i) characterizes the instantaneous value of the corresponding target deviation signal of time point i.T characterizes the sampling interval
Time.kdCharacterize the differential coefficient of proportional plus integral plus derivative controller.E (k-1) characterizes the corresponding target deviation signal of time point k-1
Instantaneous value.
It is appreciated that above-mentioned executing subject can be micro- by using ratio in the case where instantaneous value is greater than predetermined threshold
Sub-controller controls the traveling of vehicle, and response speed not only can be improved, but also can avoid excessive overshoot；Be less than in instantaneous value etc.
In the case where predetermined threshold, above-mentioned executing subject can control the traveling of vehicle by using proportional plus integral plus derivative controller,
The stability for improving control can be improved.
Figure 4, it is seen that the method for controlling a vehicle compared with the corresponding embodiment of Fig. 2, in the present embodiment
Process 400 highlight instantaneous value be less than or equal to predetermined threshold in the case where, using proportional plus integral plus derivative controller, to control
The step of traveling of vehicle.The scheme of the present embodiment description improves the comprehensive of information processing as a result,.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, present disclose provides one kind for controlling vehicle
Device one embodiment, the Installation practice is corresponding with embodiment of the method shown in Fig. 2, except special documented by following
Sign is outer, which can also include feature identical or corresponding with embodiment of the method shown in Fig. 2.The device specifically may be used
To be applied in various electronic equipments.
As shown in figure 5, the present embodiment includes: acquiring unit 501, processing unit 502 for controlling the device 500 of vehicle
With first control unit 503.Wherein, acquiring unit 501 is configured to obtain target deviation signal, wherein target deviation signal
Characterize the deviation between the target speed signal and actual speed signal of vehicle；Processing unit 502 is configured to target deviation
Signal carries out differential process, signal after being handled；First control unit 503 is configured to for signal designation after processing extremely
Time point in a few time point is greater than predetermined threshold in response to the instantaneous value of signal after the corresponding processing of the determining time point
Value, using predetermined pi controller, controls the traveling of vehicle.
In the present embodiment, for control vehicle device 500 acquiring unit 501 can by wired connection mode or
Person's radio connection obtains target deviation signal from other electronic equipments or locally.
In the present embodiment, inclined between the target speed signal and actual speed signal of target deviation characterization vehicle
Difference.Target speed signal can characterize the corresponding relationship between time and the target velocity of vehicle.Actual speed signal can be with table
Levy the corresponding relationship between time and the actual speed of vehicle.
In the present embodiment, above-mentioned processing unit 502 can carry out the target deviation signal that acquiring unit 501 is got
Differential process, signal after being handled.
In the present embodiment, for the time point at least one time point of signal designation after processing, when determining this
Between put signal after corresponding processing instantaneous value be greater than predetermined threshold in the case where, above-mentioned first control unit 503 can use
Predetermined proportional plus derivative controller controls the traveling of vehicle.Wherein, above-mentioned predetermined threshold can be predetermined number
Value.In practice, which is usually positive number.
In some optional implementations of the present embodiment, the device 500 further include: the second control unit is (in figure not
Show) it is configured to for the time point at least one time point of signal designation after processing, in response to determining the time point
The instantaneous value of signal is less than or equal to predetermined threshold after corresponding processing, using predetermined proportional plus integral plus derivative controller, control
The traveling of vehicle processed.
In some optional implementations of the present embodiment, proportional plus derivative controller includes and PID control parameter
The identical proportional unit of device and differentiation element, proportional plus integral plus derivative controller further include integral unit.
In some optional implementations of the present embodiment, proportional integral derivative controller is for characterizing target deviation letter
Number, with the corresponding relationship between the control amount for being controlled vehicle；And second control unit include: the first input mould
Block (not shown) is configured to for target deviation signal to be input to predetermined proportional integral derivative controller, is controlled
Amount processed is as the first control amount；First control module (not shown) is configured to control vehicle based on the first control amount
Travel speed.
In some optional implementations of the present embodiment, processing unit comprises determining that module (not shown) quilt
Be configured to will to target deviation signal carry out first differential and first-order filtering processing as a result, be determined as processing after signal.
In some optional implementations of the present embodiment, predetermined pi controller is for characterizing target
Corresponding relationship between deviation signal, with the control amount for being controlled vehicle.And first control unit includes: second
Input module (not shown) is configured to target deviation signal being input to predetermined pi controller, obtains
Control amount is as the second control amount；Second control module (not shown) is configured to control vehicle based on the second control amount
Travel speed.
The device provided by the above embodiment of the disclosure obtains target deviation signal by acquiring unit 501, wherein mesh
The deviation between the target speed signal and actual speed signal of deviation signal characterization vehicle is marked, then processing unit 502 is to mesh
It marks deviation signal and carries out differential process, signal after being handled, finally, at least one time point of signal designation after processing
In time point, in response to determining that the instantaneous value of signal after the time point corresponding processing is greater than predetermined threshold, the first control is single
Member 503 uses predetermined proportional plus derivative controller, controls the traveling of vehicle, thus by carrying out at differential to deviation signal
Reason, then the instantaneous value of signal uses proportional plus derivative controller in the case where being greater than predetermined threshold after treatment, to control vehicle
Traveling improve the flexibility of vehicle control to enrich the control mode of vehicle, help to improve vehicle control
Accuracy.
Below with reference to Fig. 6, it illustrates the computer systems for the electronic equipment for being suitable for being used to realize embodiment of the disclosure
600 structural schematic diagram.Electronic equipment shown in Fig. 6 is only an example, should not function to embodiment of the disclosure and
Use scope brings any restrictions.
As shown in fig. 6, computer system 600 includes central processing unit (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into the program in random access storage device (RAM) 603 from storage section 608 and
Execute various movements appropriate and processing.In RAM 603, also it is stored with system 600 and operates required various programs and data.
CPU 601, ROM 602 and RAM 603 are connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to always
Line 604.
I/O interface 605 is connected to lower component: the importation 606 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 607 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 608 including hard disk etc.；
And the communications portion 609 of the network interface card including LAN card, modem etc..Communications portion 609 via such as because
The network of spy's net executes communication process.Driver 610 is also connected to I/O interface 605 as needed.Detachable media 611, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 610, in order to read from thereon
Computer program be mounted into storage section 608 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communications portion 609, and/or from detachable media
611 are mounted.When the computer program is executed by central processing unit (CPU) 601, limited in execution disclosed method
Above-mentioned function.
It should be noted that computer-readable medium described in the disclosure can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not
Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter
The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, just of one or more conducting wires
Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In the disclosure, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this
In open, computer-readable signal media may include in a base band or as the data-signal that carrier wave a part is propagated,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium
Program code can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. are above-mentioned
Any appropriate combination.
The calculating of the operation for executing the disclosure can be write with one or more programming languages or combinations thereof
Machine program code, described program design language include object-oriented programming language-such as Python, Java,
Smalltalk, C++ further include conventional procedural programming language-such as " C " language or similar program design language
Speech.Program code can be executed fully on the user computer, partly be executed on the user computer, as an independence
Software package execute, part on the user computer part execute on the remote computer or completely in remote computer or
It is executed on server.In situations involving remote computers, remote computer can pass through the network of any kind --- packet
It includes local area network (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as benefit
It is connected with ISP by internet).
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the disclosure, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in embodiment of the disclosure can be realized by way of software, can also be passed through
The mode of hardware is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor
Including acquiring unit, processing unit and first control unit.Wherein, the title of these units under certain conditions constitute pair
The restriction of the unit itself, for example, acquiring unit is also described as " obtaining the unit of target deviation signal ".
As on the other hand, the disclosure additionally provides a kind of computer-readable medium, which can be
Included in electronic equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying electronic equipment.
Above-mentioned computer-readable medium carries one or more program, when said one or multiple programs are held by the electronic equipment
When row, so that the electronic equipment: obtaining target deviation signal, wherein the target speed signal of target deviation characterization vehicle
Deviation between actual speed signal；Differential process, signal after being handled are carried out to target deviation signal；After processing
Time point at least one time point of signal designation, in response to the instantaneous value of signal after the corresponding processing of the determining time point
The traveling of vehicle is controlled using predetermined pi controller greater than predetermined threshold.
Above description is only the preferred embodiment of the disclosure and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the disclosure, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed in the disclosure
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (14)
1. a kind of method for controlling a vehicle, comprising:
Obtain target deviation signal, wherein the target speed signal and actual speed of the target deviation characterization vehicle are believed
Deviation between number；
Differential process, signal after being handled are carried out to the target deviation signal；
For the time point at least one time point of signal designation after the processing, in response to determining that the time point is corresponding
The instantaneous value of signal controls the vehicle using predetermined proportional plus derivative controller greater than predetermined threshold after the processing
Traveling.
2. according to the method described in claim 1, wherein, the method also includes:
For the time point at least one time point of signal designation after the processing, in response to determining that the time point is corresponding
The instantaneous value of signal is less than or equal to the predetermined threshold after the processing, using predetermined proportional plus integral plus derivative controller,
Control the traveling of the vehicle.
3. according to the method described in claim 2, wherein, the proportional plus derivative controller includes and the proportional integral differential control
The identical proportional unit of device processed and differentiation element, the proportional plus integral plus derivative controller further include integral unit.
4. according to the method described in claim 3, wherein, the proportional plus integral plus derivative controller is for characterizing target deviation letter
Number, with the corresponding relationship between the control amount for being controlled the vehicle；And
It is described to use predetermined proportional plus integral plus derivative controller, control the traveling of the vehicle, comprising:
The target deviation signal is input to predetermined proportional plus integral plus derivative controller, obtains control amount as the first control
Amount processed；
Based on first control amount, the travel speed of the vehicle is controlled.
5. method described in one of -4 according to claim 1, wherein it is described that differential process is carried out to the target deviation signal,
Signal after being handled, comprising:
By to the target deviation signal carry out first differential and first-order filtering processing as a result, be determined as processing after signal.
6. method described in one of -4 according to claim 1, wherein the predetermined proportional plus derivative controller is for characterizing
Corresponding relationship between target deviation signal, with the control amount for being controlled the vehicle；And
It is described to use predetermined proportional plus derivative controller, control the traveling of the vehicle, comprising:
The target deviation signal is input to predetermined proportional plus derivative controller, obtains control amount as the second control
Amount；
Based on second control amount, the travel speed of the vehicle is controlled.
7. a kind of for controlling the device of vehicle, comprising:
Acquiring unit is configured to obtain target deviation signal, wherein the target velocity of the target deviation characterization vehicle
Deviation between signal and actual speed signal；
Processing unit is configured to carry out differential process, signal after being handled to the target deviation signal；
First control unit at the time point being configured at least one time point for signal designation after the processing, is rung
Predetermined threshold should be greater than by the instantaneous value of signal after determining the time point corresponding processing, it is micro- using predetermined ratio
Sub-controller controls the traveling of the vehicle.
8. device according to claim 7, wherein described device further include:
Second control unit at the time point being configured at least one time point for signal designation after the processing, is rung
It should be less than or equal to the predetermined threshold by the instantaneous value of signal after determining the time point corresponding processing, using predetermined
Proportional plus integral plus derivative controller, control the traveling of the vehicle.
9. device according to claim 8, wherein the proportional plus derivative controller includes and the proportional integral differential control
The identical proportional unit of device processed and differentiation element, the proportional plus integral plus derivative controller further include integral unit.
10. device according to claim 9, wherein the proportional plus integral plus derivative controller is for characterizing target deviation letter
Number, with the corresponding relationship between the control amount for being controlled the vehicle；And
Second control unit includes:
First input module is configured to the target deviation signal being input to predetermined PID control parameter
Device obtains control amount as the first control amount；
First control module is configured to control the travel speed of the vehicle based on first control amount.
11. the device according to one of claim 7-10, wherein the processing unit includes:
Determining module, be configured to will to the target deviation signal carry out first differential and first-order filtering processing as a result, true
It is set to signal after handling.
12. the device according to one of claim 7-10, wherein the predetermined proportional plus derivative controller is used for table
Levy the corresponding relationship between target deviation signal, with the control amount for being controlled the vehicle；And
The first control unit includes:
Second input module is configured to the target deviation signal being input to predetermined proportional plus derivative controller, obtain
Control amount is obtained as the second control amount；
Second control module is configured to control the travel speed of the vehicle based on second control amount.
13. a kind of electronic equipment, comprising:
One or more processors；
Storage device is stored thereon with one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as method as claimed in any one of claims 1 to 6.
14. a kind of computer-readable medium, is stored thereon with computer program, wherein real when described program is executed by processor
Now such as method as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811639498.0A CN109634099A (en) | 2018-12-29 | 2018-12-29 | Method for controlling a vehicle and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811639498.0A CN109634099A (en) | 2018-12-29 | 2018-12-29 | Method for controlling a vehicle and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109634099A true CN109634099A (en) | 2019-04-16 |
Family
ID=66054748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811639498.0A Pending CN109634099A (en) | 2018-12-29 | 2018-12-29 | Method for controlling a vehicle and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109634099A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1322311A (en) * | 1998-09-28 | 2001-11-14 | 株式会社安川电机 | Position controller |
| CN101221451A (en) * | 2008-01-30 | 2008-07-16 | 北京英华达电力电子工程科技有限公司 | Temperature regulation method and device |
| CN101837758A (en) * | 2009-07-03 | 2010-09-22 | 湖南科技大学 | Road surface deceleration strip vehicle-mounted early warning device |
| CN103529696A (en) * | 2013-10-12 | 2014-01-22 | 上海信耀电子有限公司 | PID (proportion integration differentiation) filtering method and PID filtering circuit applied to judgment about vehicle body height |
| CN105857308A (en) * | 2016-05-13 | 2016-08-17 | 乐视控股（北京）有限公司 | Vehicle control method and device and vehicle control equipment |
| CN106444359A (en) * | 2016-12-21 | 2017-02-22 | 哈尔滨工程大学 | Human-simulated intelligent control method for autonomous region keeping of water-jet propulsion unmanned ship |
| CN106710213A (en) * | 2017-01-11 | 2017-05-24 | 奇瑞汽车股份有限公司 | Method and device for acquiring vehicle deceleration strategy |
| CN108153145A (en) * | 2017-12-22 | 2018-06-12 | 合肥工大高科信息科技股份有限公司 | A kind of train speed autocontrol method based on PID and filtering algorithm |
| CN108488572A (en) * | 2018-05-23 | 2018-09-04 | 高新兴科技集团股份有限公司 | A kind of active stabilization holder and its control method |
| CN108628159A (en) * | 2018-05-07 | 2018-10-09 | 广东工业大学 | A kind of PID control method, device, equipment and system |
| CN108860101A (en) * | 2018-04-20 | 2018-11-23 | 深圳市路畅智能科技有限公司 | For the safety assistant driving method of deceleration strip |
| CN109067284A (en) * | 2018-08-15 | 2018-12-21 | 江门市蒙德电气股份有限公司 | A kind of motor control method and device based on filtering error |
-
2018
- 2018-12-29 CN CN201811639498.0A patent/CN109634099A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1322311A (en) * | 1998-09-28 | 2001-11-14 | 株式会社安川电机 | Position controller |
| CN101221451A (en) * | 2008-01-30 | 2008-07-16 | 北京英华达电力电子工程科技有限公司 | Temperature regulation method and device |
| CN101837758A (en) * | 2009-07-03 | 2010-09-22 | 湖南科技大学 | Road surface deceleration strip vehicle-mounted early warning device |
| CN103529696A (en) * | 2013-10-12 | 2014-01-22 | 上海信耀电子有限公司 | PID (proportion integration differentiation) filtering method and PID filtering circuit applied to judgment about vehicle body height |
| CN105857308A (en) * | 2016-05-13 | 2016-08-17 | 乐视控股（北京）有限公司 | Vehicle control method and device and vehicle control equipment |
| CN106444359A (en) * | 2016-12-21 | 2017-02-22 | 哈尔滨工程大学 | Human-simulated intelligent control method for autonomous region keeping of water-jet propulsion unmanned ship |
| CN106710213A (en) * | 2017-01-11 | 2017-05-24 | 奇瑞汽车股份有限公司 | Method and device for acquiring vehicle deceleration strategy |
| CN108153145A (en) * | 2017-12-22 | 2018-06-12 | 合肥工大高科信息科技股份有限公司 | A kind of train speed autocontrol method based on PID and filtering algorithm |
| CN108860101A (en) * | 2018-04-20 | 2018-11-23 | 深圳市路畅智能科技有限公司 | For the safety assistant driving method of deceleration strip |
| CN108628159A (en) * | 2018-05-07 | 2018-10-09 | 广东工业大学 | A kind of PID control method, device, equipment and system |
| CN108488572A (en) * | 2018-05-23 | 2018-09-04 | 高新兴科技集团股份有限公司 | A kind of active stabilization holder and its control method |
| CN109067284A (en) * | 2018-08-15 | 2018-12-21 | 江门市蒙德电气股份有限公司 | A kind of motor control method and device based on filtering error |
Non-Patent Citations (1)
| Title |
|---|
| 张卫忠: "基于仿人智能控制的无人地面车辆自动驾驶系统研究", 《中国博士学位论文全文数据库 工程科技Ⅱ辑》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109606365A (en) | Method for controlling a vehicle and device | |
| CN109767130A (en) | Method for controlling a vehicle and device | |
| CN108280685B (en) | Information acquisition method and device | |
| AU2020259040A1 (en) | Systems and methods for determining estimated time of arrival | |
| CN108831505A (en) | The method and apparatus for the usage scenario applied for identification | |
| CN108446387A (en) | Method and apparatus for updating face registration library | |
| CN110388921A (en) | Picking air navigation aid and device | |
| CN109359170A (en) | Method and apparatus for generating information | |
| CN109448373A (en) | Method and apparatus for generating information | |
| CN110197615A (en) | For generating the method and device of map | |
| CN109447635A (en) | Information storage means and device for block chain | |
| CN108962244A (en) | Method and apparatus for sending information | |
| CN109492053A (en) | Method and apparatus for accessing data | |
| CN109515444A (en) | Method and apparatus for exporting the driving performance index of pilotless automobile | |
| CN109816283A (en) | Method and apparatus for determining the article outbound time | |
| CN108363999A (en) | Operation based on recognition of face executes method and apparatus | |
| CN109606383A (en) | Method and apparatus for generating model | |
| CN109785072A (en) | Method and apparatus for generating information | |
| CN109606366B (en) | Method and device for controlling a vehicle | |
| CN114834467A (en) | Control operation method and device for automatic driving vehicle and unmanned vehicle | |
| CN107798016B (en) | Data transmission method and device for robot operating system | |
| CN110400020A (en) | Method and apparatus for output information | |
| CN110009763A (en) | Method and apparatus for monitoring vehicle | |
| CN109885564A (en) | Method and apparatus for sending information | |
| CN109634099A (en) | Method for controlling a vehicle and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190416 |
|
| RJ01 | Rejection of invention patent application after publication |