CN111409642B - Vehicle speed control method and device and vehicle electric control equipment - Google Patents
Vehicle speed control method and device and vehicle electric control equipment Download PDFInfo
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- CN111409642B CN111409642B CN202010247581.4A CN202010247581A CN111409642B CN 111409642 B CN111409642 B CN 111409642B CN 202010247581 A CN202010247581 A CN 202010247581A CN 111409642 B CN111409642 B CN 111409642B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Abstract
The invention discloses a vehicle speed control method and device and vehicle electric control equipment. Wherein, the method comprises the following steps: when a deceleration instruction is received, detecting the current speed value of a target vehicle; determining a vehicle speed prediction model and a target deceleration parameter, wherein the vehicle speed prediction model is used for predicting vehicle speed control parameters of a target vehicle in a future preset time period, and the target deceleration parameter at least comprises: a deceleration duration, a deceleration control time domain, a deceleration prediction time domain and a deceleration difference; determining a deceleration reference amount of the target vehicle during deceleration, wherein the deceleration reference amount is used for indicating the target vehicle to calculate a deceleration distribution value during deceleration of the vehicle according to the deceleration duration; and controlling the target vehicle to decelerate from the current vehicle speed value to the vehicle speed set value based on the target deceleration parameter, the vehicle speed control parameter and the deceleration reference quantity. The invention solves the technical problems that the vehicle speed is suddenly increased and the emergency braking effect is reduced by fixing and decelerating the vehicle to decelerate when the vehicle is braked emergently.
Description
Technical Field
The invention relates to the technical field of vehicle speed control, in particular to a vehicle speed control method and device and vehicle electric control equipment.
Background
In the related technology, an automatic emergency braking system of a vehicle can decelerate in an early warning stage, but the regulation requires that the deceleration amount should not exceed 15km/h, most of the current deceleration strategies are to decelerate with a fixed deceleration value when early warning is triggered, if the deceleration amount exceeds 15km/h, the brake is completely released, if the emergency braking triggering threshold value is not reached, a controlled vacuum zone can appear in the transition working conditions of the two stages, the vehicle speed can be suddenly increased in some cases, and the braking effect in the emergency braking stage is reduced.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a vehicle speed control method and device and vehicle electric control equipment, and aims to at least solve the technical problems that the vehicle speed is suddenly increased and the emergency braking effect is reduced due to the fact that the vehicle is decelerated through fixing during emergency braking.
According to an aspect of an embodiment of the present invention, there is provided a vehicle speed control method including: when a deceleration instruction is received, detecting the current speed value of a target vehicle; determining a vehicle speed prediction model and a target deceleration parameter, wherein the vehicle speed prediction model is used for predicting a vehicle speed control parameter of the target vehicle in a future preset time period, and the target deceleration parameter at least comprises: a deceleration duration, a deceleration control time domain, a deceleration prediction time domain and a deceleration difference; determining a deceleration reference amount of the target vehicle during deceleration, wherein the deceleration reference amount is used for indicating the target vehicle to calculate a deceleration distribution value during vehicle deceleration according to the deceleration duration; and controlling the target vehicle to decelerate from the current vehicle speed value to a vehicle speed set value based on the target deceleration parameter, the vehicle speed control parameter and the deceleration reference quantity.
Optionally, before detecting the current vehicle speed value of the target vehicle, the vehicle speed control method further includes: and obtaining the vehicle speed prediction model based on the vehicle state space expression and the vehicle dynamics model.
Optionally, after obtaining the vehicle speed prediction model, the vehicle speed control method further includes: determining a deceleration control time domain and a deceleration prediction time domain of the vehicle, wherein the deceleration control time domain is used for indicating an actual deceleration control period of the target vehicle during deceleration, and the deceleration prediction time domain is used for indicating a target deceleration control period of the target vehicle during deceleration.
Optionally, after determining the reference amount of deceleration of the target vehicle at the time of deceleration, the vehicle speed control method further includes: inquiring a vehicle speed control sequence, wherein the vehicle speed control sequence is used for indicating a parameter control range of the target vehicle during deceleration; determining a target deceleration value of a target function under control constraint conditions and state constraint conditions through the vehicle speed control sequence, wherein the target function is used for calculating a function when the deviation value between the actual vehicle speed value and the set vehicle speed value of the target vehicle is minimum, the control constraint conditions are used for indicating the deceleration range of the target vehicle, and the state constraint conditions are used for indicating the set range of a vehicle speed set value; and determining an optimized control index when the vehicle decelerates based on the target deceleration value.
Optionally, the step of controlling the target vehicle to decelerate from the current vehicle speed value to a vehicle speed set value comprises: acquiring the actual vehicle speed after each deceleration step length in the target vehicle deceleration process is finished, and determining the preset vehicle speed corresponding to the deceleration step length; judging whether the actual vehicle speed is consistent with the preset vehicle speed or not; if the actual vehicle speed is consistent with the preset vehicle speed, adjusting a deceleration reference quantity in the next deceleration step; and controlling the target vehicle to run at a reduced speed according to the adjusted reference quantity of the reduced speed.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle speed control apparatus including: the detecting unit is used for detecting the current speed value of the target vehicle when the deceleration instruction is received; a first determination unit, configured to determine a vehicle speed prediction model and a target deceleration parameter, where the vehicle speed prediction model is used to predict a vehicle speed control parameter of the target vehicle in a future preset time period, and the target deceleration parameter at least includes: a deceleration duration, a deceleration control time domain, a deceleration prediction time domain and a deceleration difference; the second determination unit is used for determining a deceleration reference quantity of the target vehicle during deceleration, wherein the deceleration reference quantity is used for indicating the target vehicle to calculate a deceleration distribution value during vehicle deceleration according to the deceleration duration; and the control unit is used for controlling the target vehicle to decelerate from the current vehicle speed value to a vehicle speed set value based on the target deceleration parameter, the vehicle speed control parameter and the deceleration reference quantity.
Optionally, the vehicle speed control device further includes: and the third determining unit is used for obtaining the vehicle speed prediction model based on the vehicle state space expression and the vehicle dynamics model before detecting the current vehicle speed value of the target vehicle.
Optionally, the vehicle speed control device further includes: the vehicle speed prediction model is used for predicting the vehicle speed of the target vehicle, and the deceleration control time domain and the deceleration prediction time domain of the vehicle are determined after the vehicle speed prediction model is obtained, wherein the deceleration control time domain is used for indicating an actual deceleration control period of the target vehicle during deceleration, and the deceleration prediction time domain is used for indicating a target deceleration control period of the target vehicle during deceleration.
Optionally, the vehicle speed control device further includes: the system comprises a query module, a speed control module and a control module, wherein the query module is used for querying a speed control sequence after determining a deceleration reference amount of the target vehicle during deceleration, and the speed control sequence is used for indicating a parameter control range of the target vehicle during deceleration; the second determination module is used for determining a target deceleration value of a target function under control constraint conditions and state constraint conditions through the vehicle speed control sequence, wherein the target function is used for calculating a function when the actual vehicle speed value and the set vehicle speed value of the target vehicle reach the minimum deviation value, the control constraint conditions are used for indicating the deceleration range of the target vehicle, and the state constraint conditions are used for indicating the set range of a set vehicle speed value; and the third determination module is used for determining the optimized control index when the vehicle decelerates based on the target deceleration value.
Optionally, the control unit comprises: the acquisition module is used for acquiring the actual vehicle speed after each deceleration step length in the deceleration process of the target vehicle and determining the preset vehicle speed corresponding to the deceleration step length; the judging module is used for judging whether the actual vehicle speed is consistent with the preset vehicle speed or not; the adjusting submodule is used for adjusting the deceleration reference quantity in the next deceleration step length if the actual vehicle speed is larger than the preset vehicle speed; and the control submodule is used for controlling the target vehicle to run at a reduced speed according to the adjusted reference quantity of the reduced speed.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle electric control apparatus including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform any of the vehicle speed control methods described above via execution of the executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer storage medium including a stored program, wherein when the program runs, an apparatus in which the computer storage medium is located is controlled to execute any one of the above-described vehicle speed control methods.
In the embodiment of the present invention, when controlling an emergency automatic deceleration of a vehicle, if a deceleration command is received, a current vehicle speed value of a target vehicle is detected, and a vehicle speed prediction model and a target deceleration parameter are determined, where the vehicle speed prediction model is used to predict a vehicle speed control parameter of the target vehicle in a future preset time period, and the target deceleration parameter at least includes: the method comprises the steps of determining a deceleration reference quantity of a target vehicle during deceleration, wherein the deceleration reference quantity is used for indicating the target vehicle to calculate a deceleration distribution value during vehicle deceleration according to the deceleration duration, and controlling the target vehicle to decelerate from a current vehicle speed value to a vehicle speed set value based on a target deceleration parameter, a vehicle speed control parameter and the deceleration reference quantity. In the embodiment, the vehicle speed in the future time period is predicted through the vehicle speed prediction model, the target deceleration parameter is determined, the vehicle deceleration parameter is adjusted in real time, the deceleration requirement in the whole early warning stage is predicted, controlled and smoothed according to the current time control input of the vehicle and the future value input in the historical information prediction process, the emergency braking stage is smoothly transited, the life and property safety of a driver is practically guaranteed, the emergency braking effect of the vehicle is improved, and therefore the technical problems that the vehicle speed is suddenly increased and the emergency braking effect is reduced due to the fact that the vehicle is decelerated to be decelerated through fixing during emergency braking of the vehicle are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an alternative vehicle speed control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative vehicle speed control arrangement according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
To facilitate understanding of the invention by those skilled in the art, some terms or nouns referred to in the embodiments of the invention are explained below:
an Automatic Emergency Braking System (AEBS) monitors the driving environment in front of the vehicle in real time and automatically starts the vehicle braking system to decelerate the vehicle when a collision danger possibly occurs so as to avoid or reduce the collision consequence.
Model Predictive Control (MPC), a model-based closed-loop control algorithm, predicts future outputs from historical information and future inputs of objects, determines future control actions by optimization of a certain performance index, and in order to prevent control deviation from an ideal state caused by model mismatch or environmental disturbance, predictive control usually does not implement all the control actions one by one, but only implements the control action at the current moment, detects the actual outputs of the objects at the next sampling moment, corrects the model-based predictions by using the real-time information, then performs new optimization, and so on, and repeatedly rolls.
The present application addresses the deficiencies of the prior art: the existing strategy for realizing the early warning deceleration requirement is generally to set a fixed deceleration value, the deceleration is implemented by the fixed deceleration requirement at the beginning of early warning triggering, once the deceleration reaches 15km/h, the brake is released completely, the deceleration strategy is simple and rough, and the reasonable distribution of the deceleration requirement in the whole early warning stage cannot be realized. According to the method, the model is used for predicting and controlling the future deceleration requirement, the tracking track can be set, the deceleration requirement can be reasonably distributed in the whole early warning stage, the deceleration requirement value is strictly controlled, and the preset vehicle speed set value is tracked to realize reasonable control of the deceleration requirement in the whole early warning stage. The invention is illustrated below with reference to various examples.
Example one
In accordance with an embodiment of the present invention, there is provided a vehicle speed control method embodiment, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
According to the embodiment of the invention, through a model prediction control algorithm, according to the current time control input of the system and the future value input in the historical information prediction process, the control input is fed back and corrected, the performance index is optimized in a rolling mode, the deceleration requirement in the whole early warning stage is smoothed, and the transition is stably carried out to the emergency braking stage.
The embodiment of the invention can be applied to an automatic emergency braking system of a vehicle, or a whole vehicle control device, or a vehicle electric control device. An automatic emergency braking system based on Model Predictive Control (MPC) realizes deceleration control in an early warning stage.
FIG. 1 is a flow chart of an alternative vehicle speed control method according to an embodiment of the present invention, as shown in FIG. 1, including the steps of:
step S102, when a deceleration instruction is received, detecting the current speed value of a target vehicle;
step S104, determining a vehicle speed prediction model and a target deceleration parameter, wherein the vehicle speed prediction model is used for predicting vehicle speed control parameters of a target vehicle in a future preset time period, and the target deceleration parameter at least comprises: a deceleration duration, a deceleration control time domain, a deceleration prediction time domain and a deceleration difference;
step S106, determining a deceleration reference quantity of the target vehicle during deceleration, wherein the deceleration reference quantity is used for indicating the target vehicle to calculate a deceleration distribution value during vehicle deceleration according to the deceleration duration;
and step S108, controlling the target vehicle to decelerate from the current vehicle speed value to a vehicle speed set value based on the target deceleration parameter, the vehicle speed control parameter and the deceleration reference quantity.
Through the steps, when the vehicle is controlled to decelerate emergently and automatically, if a deceleration instruction is received, the current vehicle speed value of the target vehicle is detected, and a vehicle speed prediction model and a target deceleration parameter are determined, wherein the vehicle speed prediction model is used for predicting the vehicle speed control parameter of the target vehicle in a future preset time period, and the target deceleration parameter at least comprises: the method comprises the steps of determining a deceleration reference quantity of a target vehicle during deceleration, wherein the deceleration reference quantity is used for indicating the target vehicle to calculate a deceleration distribution value during vehicle deceleration according to the deceleration duration, and controlling the target vehicle to decelerate from a current vehicle speed value to a vehicle speed set value based on a target deceleration parameter, a vehicle speed control parameter and the deceleration reference quantity. In the embodiment, the vehicle speed in the future time period is predicted through the vehicle speed prediction model, the target deceleration parameter is determined, the vehicle deceleration parameter is adjusted in real time, the deceleration requirement in the whole early warning stage is predicted, controlled and smoothed according to the current time control input of the vehicle and the future value input in the historical information prediction process, and the transition is made to the emergency braking stage smoothly, so that the safety of lives and properties of drivers is practically guaranteed, the emergency braking effect of the vehicle is improved, and the technical problems that the vehicle speed is suddenly increased and the emergency braking effect is reduced due to the fact that the vehicle is decelerated to be decelerated through fixing during emergency braking of the vehicle are solved.
The deceleration effect of the automatic emergency braking system in the pre-collision alarming stage directly influences the deceleration capacity of the emergency braking stage, the good control strategy can effectively relieve the deceleration pressure of the emergency braking stage, and the risk coefficient of traffic safety accidents such as rear-end collision and the like is reduced.
The present invention will be described in detail with reference to the above steps.
The embodiment of the invention relates to three aspects of model prediction, index optimization and feedback adjustment.
First, the present application requires the construction of a predictive model.
Optionally, before detecting the current vehicle speed value of the target vehicle, the vehicle speed control method further includes: and obtaining the vehicle speed prediction model based on the vehicle state space expression and the vehicle dynamics model.
The above-described vehicle state space expression is:
where k is the current time, y (k) is the current vehicle speed detection value detected by the sensor, x (k) is a vehicle speed estimation value, x (k +1) is a predicted vehicle speed estimation value at the next time, and u is a deceleration control amount.
The method comprises the following steps of detecting multiple groups of data of a target vehicle in the driving process, wherein each group of data at least comprises the following data: a set speed value, a deceleration distribution value and a step length number; and inputting the multiple groups of data into a vehicle speed prediction model to predict vehicle speed control parameters of the target vehicle in a future preset time period.
According to the regulation requirements of various regions, the vehicle has the deceleration requirement in the early warning stage, and the brake is immediately and completely released when the deceleration is set to reach 15 km/h. That is, if the vehicle speed value at the present time is 80km/h, the vehicle speed set value may be directly set to 65 km/h. The average deceleration value may be adjusted with the size of the step size and the step size, e.g., -1 km/h. The step length of the method can be reasonably divided into deceleration step lengths after the deceleration duration and the set value of the vehicle speed are determined, for example, the vehicle speed needs to be decelerated from 80km/h to 65km/h within 2 seconds in the early warning stage, and the step length can be divided into 5 step lengths, and each step length is decelerated by 3 km/h.
Through the vehicle speed state space expression and the vehicle dynamics model, a vehicle speed prediction model is obtained, the vehicle speed prediction model is used for predicting future output according to historical information and future input of a controlled object (vehicle), the controlled object of the automatic emergency braking system is a target vehicle, and the prediction model is a vehicle dynamics model, such as a bicycle dynamics model.
Alternatively, after obtaining the vehicle speed prediction model, the vehicle speed control method further includes: determining a deceleration control time domain and a deceleration prediction time domain of the vehicle, wherein the deceleration control time domain is used for indicating an actual deceleration control period of the target vehicle during deceleration, and the deceleration prediction time domain is used for indicating a target deceleration control period of the target vehicle during deceleration.
Selecting a deceleration control time domain and a deceleration prediction time domain, wherein the value of the deceleration control time domain can be set by self, for example, the selected deceleration control time domain is 100ms, the selected deceleration prediction time domain is the duration of an early warning stage of an emergency braking system, for example, the deceleration duration is 1000ms, the deceleration control time domain is 100ms (the detection time period of each deceleration is 100ms), after 100ms, the detected vehicle speed is decelerated from 80km/h to 77km/h, the deceleration prediction time domain is 900ms, and the vehicle speed is required to be decelerated from 77km/h to 65km/h within 900 ms.
And step S102, detecting the current vehicle speed value of the target vehicle when the deceleration instruction is received.
The deceleration command can be sent by an automatic emergency braking system of the vehicle and is used for reducing the speed of the vehicle and reducing the running danger of the vehicle. The current vehicle speed value may be detected in real time by an automatic control system of the vehicle.
Step S104, determining a vehicle speed prediction model and target deceleration parameters, wherein the target deceleration parameters at least comprise: deceleration duration, deceleration control time domain, deceleration prediction time domain and deceleration difference.
The deceleration time period described above may be given in advance, for example, 2 seconds, 1000ms, or the like; the number of the deceleration steps is calculated according to the deceleration duration and the set value of the vehicle speed; the deceleration difference may refer to a deceleration demand, such as 15km/h as specified by the country.
And step S106, determining a deceleration reference quantity of the target vehicle during deceleration, wherein the deceleration reference quantity is used for indicating the target vehicle to calculate a deceleration distribution value during vehicle deceleration according to the deceleration duration.
Second, optimizing the index
Optionally, after determining the reference amount of deceleration of the target vehicle during deceleration, the vehicle speed control method further includes: inquiring a vehicle speed control sequence, wherein the vehicle speed control sequence is used for indicating a parameter control range of the target vehicle during deceleration; determining a target deceleration value of a target function under control constraint conditions and state constraint conditions through a vehicle speed control sequence, wherein the target function is used for calculating a function when the deviation value between the actual vehicle speed value of a target vehicle and a set vehicle speed value is minimum, the control constraint conditions are used for indicating the deceleration range of the target vehicle, and the state constraint conditions are used for indicating the set range of a vehicle speed set value; and determining an optimized control index when the vehicle decelerates based on the target deceleration value.
The method and the device for optimizing the objective function of the vehicle in the early warning stage of the emergency braking system are disclosed. For example, the vehicle speed control sequence sets u ═ { u (k), u (k +1), …, u (k + N-1) so that the objective function J (y (k), u) is under the control constraint u (k) }min≤u(k+i)≤umaxAnd state constraint ymin≤y(k+i)≤ymaxAnd optimally, i is 0,1,2 and … N, the optimization index of the target function in the early warning stage of the emergency braking system is to minimize the deviation of the actual speed of the vehicle and the set speed, the set speed is the current speed minus 15km/h of the vehicle at the initial early warning, the control constraint u is a deceleration requirement value, and the deceleration requirement in the early warning stage cannot be too large, for example, u (k + i) is not more than-3 and not more than-2.
By optimizing index control, the parameter range of the vehicle during deceleration is limited, and the stability of the deceleration stage is ensured.
And step S108, controlling the target vehicle to decelerate from the current vehicle speed value to a vehicle speed set value based on the target deceleration parameter, the vehicle speed control parameter and the deceleration reference quantity.
In an embodiment of the present invention, the step of controlling the target vehicle to decelerate from the current vehicle speed value to the vehicle speed set value includes: acquiring the actual vehicle speed after each deceleration step in the target vehicle deceleration process is finished, and determining the preset vehicle speed corresponding to the deceleration step; judging whether the actual vehicle speed is consistent with the preset vehicle speed or not; if the actual vehicle speed is consistent with the preset vehicle speed, adjusting the deceleration reference quantity in the next deceleration step; and controlling the target vehicle to run in a decelerating manner according to the adjusted deceleration reference quantity.
Third stage feedback adjustment
The method comprises the steps of determining a reference track (determined by a vehicle speed set value) according to a set value and a measured value output in the current process, ensuring that the set vehicle speed in the early warning stage tracks the set value according to the reference track, optimally determining future control input u according to an optimization index, optimizing the performance index at the current moment only related to the future limited time, and simultaneously advancing the optimization time at the next moment, so as to repeatedly perform rolling optimization.
Through the embodiment, when early warning deceleration control is carried out on the vehicle, the deceleration requirement can be reasonably distributed to the whole early warning stage, the deceleration requirement value is strictly controlled, and the reasonable deceleration requirement control of the whole early warning stage is realized by tracking the preset vehicle speed set value.
Example two
Fig. 2 is a schematic diagram of an alternative vehicle speed control device according to an embodiment of the present invention, which may include, as shown in fig. 2: a detection unit 21, a first determination unit 23, a second determination unit 25, a control unit 27, wherein,
the detecting unit 21 is used for detecting the current speed value of the target vehicle when the deceleration instruction is received;
a first determining unit 23, configured to determine a vehicle speed prediction model and a target deceleration parameter, where the vehicle speed prediction model is used to predict a vehicle speed control parameter of the target vehicle in a future preset time period, and the target deceleration parameter at least includes: a deceleration duration, a deceleration control time domain, a deceleration prediction time domain and a deceleration difference;
a second determination unit 25 configured to determine a deceleration reference amount of the target vehicle at the time of deceleration, wherein the deceleration reference amount is used to instruct the target vehicle to calculate a deceleration distribution value at the time of deceleration of the vehicle according to the deceleration duration;
and a control unit 27 for controlling the target vehicle to decelerate from the current vehicle speed value to a vehicle speed set value based on the target deceleration parameter, the vehicle speed control parameter, and the deceleration reference amount.
The vehicle speed control device may detect, when the vehicle is controlled to decelerate suddenly and automatically, a current vehicle speed value of the target vehicle through the detecting unit 21 when a deceleration instruction is received, and determine, through the first determining unit 23, a vehicle speed prediction model and a target deceleration parameter, where the vehicle speed prediction model is used to predict a vehicle speed control parameter of the target vehicle in a preset time period in the future, and the target deceleration parameter at least includes: the deceleration duration, the deceleration control time domain, the deceleration prediction time domain and the deceleration difference are used for determining a deceleration reference quantity of the target vehicle during deceleration through the second determining unit 25, wherein the deceleration reference quantity is used for indicating the target vehicle to calculate a deceleration distribution value during vehicle deceleration according to the deceleration duration, and the target vehicle is controlled to decelerate from the current vehicle speed value to a vehicle speed set value through the control unit 27 based on the target deceleration parameter, the vehicle speed control parameter and the deceleration reference quantity. In the embodiment, the vehicle speed in the future time period is predicted through the vehicle speed prediction model, the target deceleration parameter is determined, the vehicle deceleration parameter is adjusted in real time, the deceleration requirement in the whole early warning stage is predicted, controlled and smoothed according to the current time control input of the vehicle and the future value input in the historical information prediction process, and the transition is made to the emergency braking stage smoothly, so that the safety of lives and properties of drivers is practically guaranteed, the emergency braking effect of the vehicle is improved, and the technical problems that the vehicle speed is suddenly increased and the emergency braking effect is reduced due to the fact that the vehicle is decelerated to be decelerated through fixing during emergency braking of the vehicle are solved.
Optionally, the vehicle speed control device further includes: and the third determining unit is used for obtaining the vehicle speed prediction model based on the vehicle state space expression and the vehicle dynamics model after obtaining the vehicle speed prediction model.
Optionally, the vehicle speed control device further includes: the vehicle speed prediction method comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining a deceleration control time domain and a deceleration prediction time domain of a vehicle after obtaining a vehicle speed prediction model, the deceleration control time domain is used for indicating an actual deceleration control period of a target vehicle during deceleration, and the deceleration prediction time domain is used for indicating a target deceleration control period of the target vehicle during deceleration.
Optionally, the vehicle speed control device further includes: the system comprises an inquiring module, a speed control module and a control module, wherein the inquiring module is used for inquiring a speed control sequence after determining a deceleration reference quantity of a target vehicle during deceleration, and the speed control sequence is used for indicating a parameter control range of the target vehicle during deceleration; the second determination module is used for determining a target deceleration value of a target function under control constraint conditions and state constraint conditions through a vehicle speed control sequence, wherein the target function is used for calculating a function when the actual vehicle speed value and the set vehicle speed value of the target vehicle reach the minimum deviation value, the control constraint conditions are used for indicating the deceleration range of the target vehicle, and the state constraint conditions are used for indicating the set range of the set vehicle speed value; and the third determination module is used for determining the optimized control index when the vehicle decelerates based on the target deceleration value.
Optionally, the control unit comprises: the acquisition module is used for acquiring the actual vehicle speed after each deceleration step length in the deceleration process of the target vehicle and determining the preset vehicle speed corresponding to the deceleration step length; the judging module is used for judging whether the actual vehicle speed is consistent with the preset vehicle speed or not; the adjusting submodule is used for adjusting the deceleration reference quantity in the next deceleration step length if the actual vehicle speed is larger than the preset vehicle speed; and the control submodule is used for controlling the target vehicle to run at a reduced speed according to the adjusted reference quantity of the reduced speed.
The vehicle speed control device may further include a processor and a memory, the detection unit 21, the first determination unit 23, the second determination unit 25, the control unit 27, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. The kernel can be set to be one or more, and the kernel parameters are adjusted to control the target vehicle to decelerate from the current vehicle speed value to the vehicle speed set value based on the target deceleration parameters, the vehicle speed control parameters and the deceleration reference quantity.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle electric control apparatus including: a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to perform any of the vehicle speed control methods described above via execution of executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer storage medium including a stored program, wherein the apparatus in which the computer storage medium is located is controlled to perform any one of the above-described vehicle speed control methods when the program is executed.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: when a deceleration instruction is received, detecting the current speed value of a target vehicle; determining a vehicle speed prediction model and a target deceleration parameter, wherein the vehicle speed prediction model is used for predicting a vehicle speed control parameter of the target vehicle in a future preset time period, and the target deceleration parameter at least comprises: a deceleration duration, a deceleration control time domain, a deceleration prediction time domain and a deceleration difference; determining a deceleration reference amount of the target vehicle during deceleration, wherein the deceleration reference amount is used for indicating the target vehicle to calculate a deceleration distribution value during deceleration of the vehicle according to the deceleration duration; and controlling the target vehicle to decelerate from the current vehicle speed value to the vehicle speed set value based on the target deceleration parameter, the vehicle speed control parameter and the deceleration reference quantity.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A vehicle speed control method characterized by comprising:
when a deceleration instruction is received, detecting the current speed value of a target vehicle;
determining a vehicle speed prediction model and a target deceleration parameter, wherein the vehicle speed prediction model is used for predicting a vehicle speed control parameter of the target vehicle in a future preset time period, and the target deceleration parameter at least comprises: a deceleration duration, a deceleration control time domain, a deceleration prediction time domain and a deceleration difference;
determining a deceleration reference amount of the target vehicle during deceleration, wherein the deceleration reference amount is used for indicating the target vehicle to calculate a deceleration distribution value during vehicle deceleration according to the deceleration duration;
controlling the target vehicle to decelerate from a current vehicle speed value to a vehicle speed set value based on the target deceleration parameter, the vehicle speed control parameter and the deceleration reference quantity,
after determining the reference amount of deceleration of the target vehicle at the time of deceleration, the vehicle speed control method further includes: inquiring a vehicle speed control sequence, wherein the vehicle speed control sequence is used for indicating a parameter control range of the target vehicle during deceleration; determining a target deceleration value of a target function under control constraint conditions and state constraint conditions through the vehicle speed control sequence, wherein the target function is used for calculating a function when the deviation value between the actual vehicle speed value and the set vehicle speed value of the target vehicle is minimum, the control constraint conditions are used for indicating the deceleration range of the target vehicle, and the state constraint conditions are used for indicating the set range of a vehicle speed set value; and determining an optimized control index when the vehicle decelerates based on the target deceleration value.
2. The vehicle speed control method according to claim 1, characterized in that, before detecting the current vehicle speed value of the target vehicle, the vehicle speed control method further comprises:
and obtaining the vehicle speed prediction model based on the vehicle state space expression and the vehicle dynamics model.
3. The vehicle speed control method according to claim 2, characterized by, after obtaining the vehicle speed prediction model, further comprising:
determining a deceleration control time domain and a deceleration prediction time domain of the vehicle, wherein the deceleration control time domain is used for indicating an actual deceleration control period of the target vehicle during deceleration, and the deceleration prediction time domain is used for indicating a target deceleration control period of the target vehicle during deceleration.
4. The vehicle speed control method according to claim 1, characterized in that the step of controlling the target vehicle to decelerate from the current vehicle speed value to the vehicle speed set value includes:
acquiring the actual vehicle speed after each deceleration step length in the target vehicle deceleration process is finished, and determining the preset vehicle speed corresponding to the deceleration step length;
judging whether the actual vehicle speed is consistent with the preset vehicle speed or not;
if the actual vehicle speed is consistent with the preset vehicle speed, adjusting a deceleration reference quantity in the next deceleration step;
and controlling the target vehicle to run at a reduced speed according to the adjusted reference quantity of the reduced speed.
5. A vehicle speed control device characterized by comprising:
the detecting unit is used for detecting the current speed value of the target vehicle when the deceleration instruction is received;
a first determination unit, configured to determine a vehicle speed prediction model and a target deceleration parameter, where the vehicle speed prediction model is used to predict a vehicle speed control parameter of the target vehicle in a future preset time period, and the target deceleration parameter at least includes: a deceleration duration, a deceleration control time domain, a deceleration prediction time domain and a deceleration difference;
the second determination unit is used for determining a deceleration reference quantity of the target vehicle during deceleration, wherein the deceleration reference quantity is used for indicating the target vehicle to calculate a deceleration distribution value during vehicle deceleration according to the deceleration duration;
a control unit for controlling the target vehicle to decelerate from a current vehicle speed value to a vehicle speed set value based on the target deceleration parameter, the vehicle speed control parameter, and the deceleration reference amount,
the vehicle speed control device further includes: the system comprises a query module, a speed control module and a control module, wherein the query module is used for querying a speed control sequence after determining a deceleration reference amount of the target vehicle during deceleration, and the speed control sequence is used for indicating a parameter control range of the target vehicle during deceleration; the second determination module is used for determining a target deceleration value of a target function under control constraint conditions and state constraint conditions through the vehicle speed control sequence, wherein the target function is used for calculating a function when the actual vehicle speed value and the set vehicle speed value of the target vehicle reach the minimum deviation value, the control constraint conditions are used for indicating the deceleration range of the target vehicle, and the state constraint conditions are used for indicating the set range of a set vehicle speed value; and the third determination module is used for determining the optimized control index when the vehicle decelerates based on the target deceleration value.
6. The vehicle speed control device according to claim 5, characterized by further comprising:
and the third determining unit is used for obtaining the vehicle speed prediction model based on the vehicle state space expression and the vehicle dynamics model before detecting the current vehicle speed value of the target vehicle.
7. The vehicle speed control device according to claim 6, characterized by further comprising:
the vehicle speed prediction model is used for predicting the vehicle speed of the target vehicle, and the deceleration control time domain and the deceleration prediction time domain of the vehicle are determined after the vehicle speed prediction model is obtained, wherein the deceleration control time domain is used for indicating an actual deceleration control period of the target vehicle during deceleration, and the deceleration prediction time domain is used for indicating a target deceleration control period of the target vehicle during deceleration.
8. An electric control apparatus for a vehicle, characterized by comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the vehicle speed control method of any one of claims 1 to 4 via execution of the executable instructions.
9. A computer storage medium characterized by comprising a stored program, wherein an apparatus in which the computer storage medium is located is controlled to execute the vehicle speed control method according to any one of claims 1 to 4 when the program is executed.
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| CN113771830B (en) * | 2020-12-18 | 2024-02-06 | 北京京东乾石科技有限公司 | Vehicle control method and device |
| CN115493857B (en) * | 2022-11-16 | 2023-03-21 | 苏州挚途科技有限公司 | Method and device for determining automatic emergency braking parameters and processor |
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