CN112356842A

CN112356842A - Gear adjusting method, gear adjusting device, gear adjusting equipment and storage medium of automatic driving vehicle

Info

Publication number: CN112356842A
Application number: CN202011309596.5A
Authority: CN
Inventors: 张欣石; 吴宗泽; 杨帆
Original assignee: Suzhou Zhijia Technology Co Ltd
Current assignee: Suzhou Zhijia Technology Co Ltd; PlusAI Corp
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2021-02-12
Anticipated expiration: 2040-11-20
Also published as: CN112356842B; WO2022105367A1

Abstract

The embodiment of the specification provides a gear adjusting method, a gear adjusting device, gear adjusting equipment and a storage medium for an automatic driving vehicle. The method comprises the following steps: acquiring a current gear and a current speed of a vehicle; calculating a target acceleration required for upshifting at the current speed when the current speed is higher than the lowest speed for upshifting at the current gear based on the upshift relation table of the vehicle, and generating an adjusting signal according to the target acceleration, wherein the adjusting signal is used for instructing a vehicle control module to adjust the acceleration of the vehicle to the target acceleration; and sending the adjusting signal to a vehicle control module, so that the vehicle control module performs an upshift operation after the vehicle reaches the target acceleration. The method enables the vehicle to run at a high gear with a low engine speed, thereby reducing the oil consumption of the vehicle, increasing the endurance mileage of the vehicle and improving the use experience of a user.

Description

Gear adjusting method, gear adjusting device, gear adjusting equipment and storage medium of automatic driving vehicle

Technical Field

The embodiment of the specification relates to the technical field of automatic driving, in particular to a gear adjusting method and device of an automatic driving vehicle and a storage medium.

Background

In recent years, the unmanned technology has been developed dramatically, and unmanned automobiles are becoming practical. In the driving process, a calculation module in the vehicle can determine the next state of the vehicle according to the driving path and the state of the vehicle, and sends a corresponding control signal to an operation unit to adjust the accelerator, the gear or the brake of the vehicle, so that the automatic driving of the vehicle is realized.

However, in the control of a vehicle, the fuel efficiency control of the vehicle is often ignored while paying attention to only the traveling route and the traveling state of the vehicle. For example, when the vehicle is traveling at a certain speed, the vehicle may be controlled to move at a high engine speed in a low gear at all times, and the level of the engine speed may directly affect the fuel consumption of the vehicle. Under the condition that the gear of the vehicle is not adjusted in time, the vehicle has higher oil consumption, so that unnecessary waste of resources is caused. Therefore, a technical solution capable of effectively reducing the fuel consumption of an autonomous vehicle is needed.

Disclosure of Invention

An object of the embodiments of the present specification is to provide a gear adjustment method, device, apparatus, and storage medium for an autonomous vehicle, so as to solve a problem of how to reduce oil consumption of the autonomous vehicle.

In order to solve the technical problem, an embodiment of the present specification provides a gear adjustment method for an autonomous vehicle, including: acquiring a current gear and a current speed of a vehicle; calculating a target acceleration required for upshifting at the current speed when the current speed is higher than the lowest speed at which upshifting is performed at the current gear, based on an upshift relation table of the vehicle, which is a predetermined correspondence relationship between the speed and the acceleration of the vehicle at least one upshift point; generating a regulating signal according to the target acceleration, wherein the regulating signal is used for instructing a vehicle control module to adjust the acceleration of the vehicle to the target acceleration; and sending the adjusting signal to a vehicle control module, so that the vehicle control module performs an upshift operation after the vehicle reaches the target acceleration.

An embodiment of this specification further provides a gear adjustment device for an automatic driving vehicle, including: the parameter acquisition module is used for acquiring a vehicle gear and a vehicle speed of a vehicle; a target acceleration calculation module, configured to calculate a target acceleration required for upshifting at the current speed when the current speed is higher than a lowest speed for upshifting at the current gear, based on an upshift relation table of the vehicle, where the upshift relation table is a predetermined correspondence relationship between a speed and an acceleration of the vehicle at least one upshift point; the adjusting signal generating module is used for generating an adjusting signal according to the target acceleration; the adjustment signal is used to instruct a vehicle control module to adjust the acceleration of the vehicle to the target acceleration; and the adjusting signal sending module is used for sending the adjusting signal to the vehicle control module so that the vehicle control module performs gear-up operation after the vehicle reaches the target acceleration.

The embodiment of the present specification further provides a gear adjustment device, which includes a memory and a processor; the memory to store computer program instructions; the processor to execute the computer program instructions to implement the steps of: acquiring a current gear and a current speed of a vehicle; calculating a target acceleration required for upshifting at the current speed when the current speed is higher than the lowest speed at which upshifting is performed at the current gear, based on an upshift relation table of the vehicle, which is a predetermined correspondence relationship between the speed and the acceleration of the vehicle at least one upshift point; generating a regulating signal according to the target acceleration, wherein the regulating signal is used for instructing a vehicle control module to adjust the acceleration of the vehicle to the target acceleration; and sending the adjusting signal to a vehicle control module, so that the vehicle control module performs an upshift operation after the vehicle reaches the target acceleration.

Embodiments of the present specification also provide a computer storage medium having a computer program stored thereon, where the computer program, when executed, implements the above-mentioned gear adjustment method for an autonomous vehicle.

The embodiment of the specification also provides an automatic driving vehicle which is provided with the gear adjusting device.

As can be seen from the technical solutions provided by the embodiments of the present specification, after the vehicle gear and the vehicle speed of the autonomous vehicle are obtained, according to the upshift relation table of the upshift point corresponding to the vehicle gear, the embodiments of the present specification may determine the target acceleration that the current vehicle speed needs to be subjected to upshift, and then generate a corresponding instruction to cause the operation module to adjust the acceleration of the autonomous vehicle, so that the autonomous vehicle can be upshifted after reaching the target acceleration, thereby enabling the autonomous vehicle to travel in a high gear as much as possible. Because when the vehicle travels based on high gear and low gear respectively with the same speed, the engine of vehicle has lower rotational speed under high gear to can directly reduce the oil consumption of vehicle, avoid the waste of fuel, improve the continuation of the journey mileage of vehicle, promote user's use and experience.

Drawings

In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the specification, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flow chart illustrating a method for adjusting a gear of an autonomous vehicle according to an embodiment of the present disclosure;

FIG. 2 is a block diagram of a shift position adjustment device for an autonomous vehicle in accordance with an embodiment of the present disclosure;

fig. 3 is a block diagram of a shift position adjusting apparatus of an autonomous vehicle according to an embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort shall fall within the protection scope of the present specification.

In order to solve the technical problem, an embodiment of the present specification provides a gear adjustment method for an automatic driving vehicle. Specifically, the gear adjusting method may be implemented by a gear adjusting apparatus. As shown in fig. 1, the gear adjustment method of the autonomous vehicle includes the following detailed implementation steps.

S110: and acquiring the current gear and the current speed of the vehicle.

The gear of the vehicle corresponds to a transmission inside the vehicle. The transmission is made up of a plurality of gear pairs having different gear ratios. A gear pair with a larger gear ratio corresponds to a larger engine output torque and a smaller speed variation range, and correspondingly, a gear pair with a smaller gear ratio corresponds to a smaller engine output torque and a larger speed variation range. When the vehicle is in a starting stage, the vehicle has larger starting resistance, and the vehicle can be operated by switching the gear pair with larger transmission ratio, so that the vehicle starts to move from a static state with higher power. When the vehicle is started and the speed of the vehicle needs to be further increased, the gear pair with a smaller transmission ratio can be switched to work, so that the vehicle can reach a higher running speed.

Different vehicle gears correspond to different gear pairs in the transmission, when the vehicle reaches a certain speed under a certain vehicle gear, the vehicle can be subjected to upshifting operation, and because the gear pair corresponding to a high gear has a smaller transmission ratio, the engine speed corresponding to the high gear is lower than the engine speed corresponding to a low gear at the same speed; accordingly, when the vehicle decelerates, the engine speed corresponding to the high gear has a larger descending amplitude, and in order to avoid the vehicle stalling caused by the engine speed being less than the speed of the engine when the transmitter is idling, a downshift operation should be adopted so that the engine can work normally.

The current gear may be obtained by providing a corresponding sensor on the gearbox of the autonomous vehicle.

The speed of the vehicle may be a speed of the autonomous vehicle relative to a driving surface. In some embodiments, a corresponding sensor may be provided on the engine of the autonomous vehicle to obtain the engine speed and determine the current speed in conjunction with the gear pair corresponding to the current gear.

In practical application, the current gear and the current speed may also be obtained in other manners, which are not limited to the above examples and are not described herein again.

In some embodiments, the current gear and the current speed may be obtained only when the autonomous vehicle is started and running, so as to avoid additional consumption of the battery power of the autonomous vehicle.

S120: and calculating a target acceleration required for upshifting at the current speed when the current speed is higher than the lowest speed for upshifting at the current gear based on an upshift relation table of the vehicle, wherein the upshift relation table is a predetermined correspondence between the speed and the acceleration of the vehicle at least one upshift point.

The upshift table is a predetermined correspondence relationship for representing the speed and acceleration of the autonomous vehicle at different upshift points. That is, when the automatic driving vehicle needs to be shifted up at the current gear, the speed and the acceleration of the automatic driving vehicle need to satisfy the corresponding relationship between any one set of speed and acceleration, so that the automatic driving vehicle can smoothly complete the shift-up.

The upshift point corresponding to the vehicle gear is an upshift point that is one step larger than the current gear, for example, when the current gear is a seventh gear, the upshift point corresponding to the current gear is an eighth gear, and the upshift relation table corresponding to the eighth gear is obtained.

An autonomous vehicle may have multiple sets of speed and acceleration correspondences corresponding to the same upshift point. Correspondingly, for the same upshift point, the acceleration is smaller when the speed at the upshift is larger, and vice versa.

As shown in table 1 below, a specific example of an upshift relationship table is shown. For example, when upshifting from 6th gear to 7th gear, the speed and acceleration of the vehicle itself need to satisfy any one of the sets of upshift relationship tables corresponding to the gear positions "6 th- >7 th" in table 1 below.

TABLE 1

In some embodiments, the upshift relation table may be obtained by: acquiring upshift data of the autonomous vehicle corresponding to at least one upshift point; calculating an upshift speed and a vehicle acceleration corresponding to the upshift point from the upshift data; an upshift relational table corresponding to at least one upshift point is constructed using the upshift speed and vehicle acceleration corresponding to the upshift point.

When the vehicle is at an upshift point, the vehicle may take a corresponding upshift. The upshift point may be determined based on a preset vehicle speed and an engine output torque. When the vehicle is in the running process, if the current vehicle speed and the current engine output torque of the vehicle are determined to be greater than or equal to the preset vehicle speed and the preset engine output torque, the current state can be determined to be an upshift point. Accordingly, a corresponding sensor may be provided on the engine of the vehicle to acquire data corresponding to the engine speed, the percentage of friction torque, and the throttle opening of the engine. Specifically, the upshift data may be set to gear data, throttle opening, friction torque ratio, engine speed, and the like, and may be directly measured in a corresponding manner.

Table 2 below is an example of engine speeds collected for different upshift points. Wherein the opening degree of the throttle valve is the opening angle of the throttle valve of the engine. The throttle valve of an automobile engine is operated by a driver via an accelerator pedal to change the intake air amount of the engine, thereby controlling the operation of the engine. When different throttle openings are set, the engine may have different rotational speeds when an upshift operation is taken, i.e., the vehicle may have different speeds and engine output torques. The speed and the acceleration corresponding to the gear-up point can be determined according to the speed and the output torque of the engine, and then the corresponding target acceleration can be obtained according to the gear-up relation table in the subsequent steps.

TABLE 2

Table 2 is only an exemplary description of obtaining the engine speed, and other parameters such as the percentage of friction torque may also be obtained in practical application, which are not limited to the above examples and are not described herein again.

After different upshift data corresponding to each upshift point are acquired, an upshift speed and an upshift acceleration corresponding to each upshift point can be calculated according to the upshift data.

Where the upshift speed is calculated, the upshift speed may be determined based on the gear data and the engine speed.

Specifically, it can be a formula for utilization

Determining an upshift speed, wherein v is an upshift speed (velocity), er is an engine speed (engine rpm), rtr is a speed to radians per second (rpm) ratio, wr is a tire radius (wheel radius), and or ═ fdr × gr, where or is a vehicle gear ratio (over ratio), fdr is a final drive ratio (final drive ratio), and gr is a transmission gear ratio (gear ratio).

In calculating the vehicle acceleration, the effective output torque of the engine may be determined by using the friction torque ratio and the throttle opening, and then the vehicle resistance may be calculated, wherein the vehicle resistance includes an air resistance and a rolling resistance. And then calculating the effective output force of the engine according to the effective output torque and the vehicle resistance, and finally determining the vehicle acceleration by using the effective output force and the vehicle mass.

Specifically, the engine effective output torque may be determined by the equation t ═ tp × (mrt), where t is the engine effective output torque (torque), tp is the throttle opening (throttle percentage), ftp is the friction torque ratio (friction torque percentage), and mrt is the engine maximum output torque (max reference torque).

Meanwhile, after the upshift speed is obtained, the vehicle resistance may be calculated using the formula rf ═ arf + rrf, where rf is the vehicle resistance (resistance force), and arf ═ 0.5 × dc × dsa × ad × v²Wherein arf is air resistance (air resistance force), dc is air resistance coefficient (drag coefficient), dsa is drag section area (drag section area), ad is air density (air density), v is upshift speed (velocity), rrf is rfc × m × ga, rrf is rolling resistance (rolling resistance force), rfc is rolling friction coefficient (rolling resistance coefficient), m is vehicle mass (mass), and ga is gravity acceleration (gravity acceleration).

After the effective output torque and the vehicle resistance are obtained, the effective output force of the engine can be obtained, and specifically, a formula can be used

And calculating the effective output force, wherein f is the effective output force (force), t is torque (torque), or is the vehicle transmission ratio (over ratio), te is the transmission efficiency (transmission efficiency), wr is the tire radius (wheel radius), and rf is the vehicle resistance (resistance force).

After the effective output force of the engine is obtained, the acceleration of the vehicle can be determined according to the effective output force and the mass of the vehicle. However, in practical applications, since the modules such as tires and an engine in the vehicle are in motion during the running of the vehicle and have a certain inertial mass, in some embodiments, the inertial mass of the vehicle may be obtained and the acceleration of the vehicle may be determined using the inertial mass.

Specifically, the inertial mass may be represented by the formula me ═ m + it/wr²Calculating the inertia mass of the vehicle, wherein me is the inertia mass (mass _ eq), m is the mass of the whole vehicle (mass), wr is the radius of the tire (wheel radius), and it is iw + iexte × or²Wherein it is an inertia term (inertia term), iw is inertia wheels (inertia wheels), ie is an inertia engine (inertia engine), te is transmission efficiency, or is a vehicle transmission ratio (over ratio).

Accordingly, the vehicle acceleration may be determined by using the equation a ═ f/me in calculating the vehicle acceleration, where a is the vehicle acceleration (acceleration), f is the effective output force (force), and me is the vehicle inertial mass (mass _ eq).

Since only a limited set of speeds and accelerations can be recorded for an upshift point in the upshift relation table, in practical applications, the acquired current speed may not be perfectly matched with the speed in the upshift relation table. Therefore, in some embodiments, when the current speed cannot obtain a fully corresponding speed in the upshift relation table, a first speed value and a second speed value closest to the current speed may be obtained in the upshift relation table, wherein the first speed value is smaller than the vehicle speed, and the second speed value is larger than the vehicle speed. The first speed value and the second speed value are respectively corresponding to a first acceleration value and a second acceleration value based on the upshift relation table. After the first speed value, the second speed value, the first acceleration value and the second acceleration value are obtained, a target acceleration corresponding to the vehicle speed can be obtained by using an interpolation method.

Specifically, the formula acc ═ a can be used₂-(v₂-v_current)/(v₂-v₁)×(a₂-a₁) Calculating a target acceleration, wherein acc is the target acceleration, a₂Is a second acceleration value, v₂Is a second speed value, v_currentIs the current speed, v₁Is a first speed value，a₁Is a first acceleration value.

In practical applications, the target acceleration may also be calculated in other manners, for example, a corresponding function is obtained according to the speed and acceleration fitting in the upshift relation table, and the acceleration corresponding to the vehicle speed in the function is used as the target acceleration, and other manners for obtaining the target acceleration are not described herein again.

In some embodiments, before calculating the target acceleration using the upshift relational table, it may be determined whether the vehicle gear reaches an upshift minimum gear. Since the resistance to be overcome for the running of the vehicle is large when the vehicle is in a low gear at the starting stage, the priority of the vehicle on the power demand is higher than the fuel saving demand. If the vehicle is forced to be accelerated, more fuel oil may be additionally consumed, and the technical purpose of oil saving is further violated. Therefore, an upshift minimum gear, that is, a minimum gear for defining a fuel saving effect that can be achieved by upshifting, can be set.

After the vehicle gear is obtained, comparing the vehicle gear with the minimum upshift gear, and calculating a target acceleration by using the vehicle speed based on an upshift relation table of an upshift point corresponding to the vehicle gear under the condition that the vehicle gear is not less than the minimum upshift gear; and when the vehicle gear is smaller than the minimum gear for upshifting, controlling the vehicle according to the original plan, thereby avoiding the additional consumption of fuel.

The specific setting process for the minimum upshift gear may be set based on actual application conditions, for example, according to characteristics of different vehicles and an actual test process, and details are not described herein.

In some embodiments, before calculating the target acceleration using the upshift map, an engine speed of the autonomous vehicle may be obtained and it may be determined whether the engine speed is greater than a rotational speed economy value. The rotational speed economy value may be a maximum value of rotational speed for defining an oil consumption level of the engine. When the engine speed is not greater than the rotational speed economic value, if the upshift operation is forced, the speed and the acceleration may need to be greatly improved, so that the fuel consumption of the vehicle is greatly increased in the upshift process, and the technical purpose of reducing the fuel consumption is further violated.

Therefore, after the engine speed is judged to be greater than the rotational speed economic value, the target acceleration can be calculated by using the vehicle speed based on the upshift relation table of the upshift point corresponding to the vehicle gear, and the subsequent steps can be further implemented. If the rotating speed of the engine is less than the economic value of the rotating speed, the vehicle does not need to be subjected to upshifting operation, so that additional oil consumption is avoided, and the running safety of the vehicle is ensured.

S130: and generating a regulating signal according to the target acceleration, wherein the regulating signal is used for instructing a vehicle control module to adjust the acceleration of the vehicle to the target acceleration.

After the target acceleration is determined, a corresponding adjustment signal can be generated according to the target acceleration. The adjustment signal is used to instruct a vehicle control module to adjust the acceleration of the autonomous vehicle to the target acceleration. The adjustment signal may be an electrical signal that is read by the vehicle control module such that the vehicle control module can adjust the acceleration of the vehicle upon receiving the adjustment signal.

The specific adjustment manner may be, for example, adjustment of the opening degree of a throttle valve to thereby change the output torque of the engine to achieve adjustment of the acceleration. When the target acceleration is less than the current acceleration, the current acceleration may also be reduced by providing additional resistance through braking. In practical applications, the acceleration of the autonomous vehicle may be adjusted to the target acceleration in other ways according to requirements.

In some embodiments, the autonomous vehicle corresponds to a speed plan. The speed plan may be a speed plan made by a planning module in the autonomous vehicle according to the external environment, the current road condition, the user demand, and the like, and specifically may be an acceleration plan for increasing the current speed, a deceleration plan for reducing the current speed, a constant speed plan for maintaining the current speed, and the like.

Since the vehicle is generally in an accelerated state when an upshift is performed, it is also possible to determine whether the current speed profile is an acceleration profile before generating the adjustment signal based on the target acceleration. And generating a regulating signal according to the target acceleration under the condition that the speed plan is an acceleration plan.

When the speed plan is a deceleration plan or a uniform speed plan, the speed of the vehicle does not increase, and forced upshifting may violate the corresponding speed plan, thereby avoiding the step of generating the adjustment signal.

Based on the above embodiment, preferably, the speed plan may further include acceleration plan data, i.e. the planned acceleration of the vehicle. When the acceleration plan data is acquired, the acceleration plan data and the target acceleration may be compared, and when the speed plan is an acceleration plan and a difference between the acceleration plan data and the target acceleration is less than an acceleration difference threshold, an adjustment signal may be generated according to the target acceleration.

The acceleration difference threshold may be a preset fixed value, and when the difference between the acceleration planning data and the target acceleration is smaller than the acceleration difference threshold, the acceleration of the vehicle is regulated without greatly affecting the fuel consumption of the vehicle. And when the difference between the acceleration planning data and the target acceleration is not less than the acceleration difference threshold, the situation that the planned acceleration possibly has larger deviation with the original target is changed, so that the fuel consumption is increased, and the potential safety hazard is also increased. Thus, the adjustment signal may be generated in dependence of the target acceleration only if the difference between the acceleration plan data and the target acceleration is less than an acceleration difference threshold.

In some embodiments, there may be situations where the target acceleration is a small negative value, such as when the current vehicle speed is too great, and a slight reduction in speed is required to fully comply with the upshift map. In this case, the inertial acceleration of the autonomous vehicle may be obtained, which may be the acceleration of the vehicle with the engine idling, and accordingly, a negative value. Under the condition that the target acceleration is smaller than the inertial acceleration, a neutral position adjusting signal can be generated, so that the engine does not work outwards, namely, the output torque is not provided, and the speed and the acceleration of the vehicle are regulated and controlled by the inertial acceleration of the vehicle, so that the oil consumption is reduced, and the use of fuel is further saved.

S140: and sending the adjusting signal to a vehicle control module, so that the vehicle control module performs an upshift operation after the vehicle reaches the target acceleration.

After the adjustment signal is generated, the adjustment signal can be sent to a corresponding vehicle control module. After the vehicle control module controls the vehicle to reach the target acceleration, the vehicle control module can adopt the gear-up operation to improve the current gear, so that the current vehicle runs at a high gear with a low engine speed, and the oil consumption of the vehicle is reduced.

In actual operation, there is a process that the vehicle increases or decreases the acceleration of the vehicle to the target acceleration, and the acceleration of the vehicle is a positive value in general, and when the acceleration of the vehicle reaches the target acceleration, the speed of the vehicle is generally greater than the original vehicle speed value and correspondingly greater than the speed value corresponding to the target acceleration in the upshift relation table under the action of the positive acceleration, so that the vehicle meets the requirements of the speed and the acceleration of the upshift operation, and the corresponding upshift operation can be smoothly completed.

Based on the introduction of the embodiment of the gear adjustment method for the automatically-driven vehicle, it can be seen that, after the vehicle gear and the vehicle speed of the automatically-driven vehicle are obtained, the gear adjustment method can determine the acceleration required to be achieved by the current vehicle speed for upshifting according to the upshift relation table corresponding to the upshift point of the vehicle gear, and further generate a corresponding instruction to enable the operation module to adjust the acceleration of the automatically-driven vehicle, so that the automatically-driven vehicle can be upshifted after reaching the acceleration, and thus the automatically-driven vehicle can be driven in a high gear as much as possible. Because when the vehicle travels based on high gear and low gear respectively with the same speed, the engine of vehicle has lower rotational speed under high gear to can directly reduce the oil consumption of vehicle, avoid the waste of fuel, improve the continuation of the journey mileage of vehicle, promote user's use and experience.

Based on the gear adjusting method of the automatic driving vehicle, the embodiment of the specification further provides a gear adjusting device of the automatic driving vehicle. The gear adjusting apparatus of the autonomous vehicle may be provided to the gear adjusting device. As shown in fig. 2, the gear adjusting apparatus of the autonomous vehicle may include the following specific modules.

And the parameter acquisition module 210 is used for acquiring the current gear and the current speed of the vehicle.

A target acceleration calculation module 220, configured to calculate a target acceleration required for upshifting at the current speed when the current speed is higher than a lowest speed for upshifting at the current gear based on an upshift relation table of the vehicle, where the upshift relation table is a predetermined correspondence relationship between a speed and an acceleration of the vehicle at least one upshift point.

A regulation signal generation module 230, configured to generate a regulation signal according to the target acceleration, where the regulation signal is used to instruct a vehicle control module to adjust the acceleration of the vehicle to the target acceleration.

And the adjusting signal sending module 240 is used for sending the adjusting signal to a vehicle control module, so that the vehicle control module performs an upshift operation after the vehicle reaches the target acceleration.

In some embodiments, the parameter acquisition module is further configured to acquire a current acceleration of the vehicle; the target acceleration calculation module is further configured to determine that a difference between the current acceleration and the target acceleration is less than a predetermined acceleration difference threshold.

In some embodiments, the apparatus is for acceleration planning of an autonomous vehicle.

In some embodiments, the target acceleration calculation module, when calculating the target acceleration required for an upshift at the current speed, performs the steps of: judging whether the current gear reaches a minimum gear for upshifting; and under the condition that the current gear reaches the minimum gear of the upshifting, calculating the target acceleration by using the current speed based on the upshifting relation table of the upshifting point corresponding to the current gear.

In some embodiments, the parameter acquisition module is further configured to acquire a current acceleration of the autonomous vehicle; the adjusting signal generating module is further used for generating a neutral adjusting signal under the condition that the target acceleration is smaller than the current acceleration; the neutral adjustment signal is used to instruct a vehicle control module to shift gears to neutral such that the engine does not provide output torque.

In some embodiments, the target acceleration calculation module, before calculating the target acceleration required to upshift at the current speed, is further configured to perform the steps of: obtaining an engine speed of the autonomous vehicle; under the condition that the rotating speed of the engine is greater than the rotating speed economic value, calculating a target acceleration by using the current speed based on an upshift relation table of an upshift point corresponding to the current gear; the rotational speed economy value is used for limiting the maximum value of the rotational speed corresponding to the oil consumption level of the engine.

In some embodiments, the upshift relation table is obtained according to the following manner: acquiring upshift data of the autonomous vehicle corresponding to the at least one upshift point; calculating an upshift speed and an upshift acceleration corresponding to each of the upshift points based on the upshift data; associating the upshift points with corresponding combinations of the upshift speeds, the upshift accelerations.

Based on the above embodiment, it is preferable that the upshift data includes gear position data, throttle opening degree, friction torque ratio, and engine speed; the calculating of the upshift speed and the upshift acceleration corresponding to the upshift point from the upshift data includes: determining the vehicle speed from the gear data and the engine speed; determining effective output torque of the engine by using the friction torque proportion and the opening degree of the throttle valve; calculating the vehicle resistance according to the vehicle resistance model; determining an engine effective output force from the effective output torque and the vehicle resistance; determining the vehicle acceleration using the effective output force and a vehicle inertial mass.

Based on the above embodiment, it is preferable that the determining the vehicle speed from the gear data and the engine speed includes: using formulas

Where v is the vehicle speed, er is the engine speed, rtr is the rotational speed to arc rotation conversion ratio, wr is the tire radius, or is fdr × gr, where or is the vehicle gear ratio, fdr is the final reduction axle percentage, and gr is the transmission gear ratio.

Based on the above embodiment, it is preferable that the determining an engine effective output torque using the friction torque ratio and a throttle opening degree includes: determining the effective output torque of the engine by using a formula t ═ (tp-ftp) x mrt, wherein t is the effective output torque of the engine, tp is the opening degree of a throttle valve, ftp is a friction torque proportion, and mrt is the maximum output torque of the engine; accordingly, the calculating vehicle resistance comprises: the vehicle resistance is calculated using the formula rf ═ arf + rrf, where rf is the vehicle resistance and arf is 0.5 × dc × dsa × ad × v²Wherein arf is air resistance, dc is air resistance coefficient, dsa is resistance cross-sectional area, ad is air density, v is vehicle speed, rrf ═ rfc × m × ga, wherein rrf is rolling resistance, rfc is rolling friction coefficient, m is vehicle mass, ga is gravitational acceleration; correspondingly, the obtaining the effective output force of the engine through the effective output torque and the vehicle resistance comprises the following steps: using formulas

And (3) calculating effective output force, wherein f is the effective output force, t is torque, or is the vehicle transmission ratio, te is the transmission efficiency, wr is the tire radius, and rf is the vehicle resistance.

Based on the above embodiment, preferably, the vehicle acceleration is calculated by: using the formula me m + it/wr²The inertial mass of the vehicle is obtained, in the formula,me is the inertia mass of the vehicle, m is the mass of the vehicle, wr is the natural warp of the tire, and it is iw + ie × te × or²Wherein it is an inertia term, iw is an inertia wheel, ie is an inertia engine, te is transmission efficiency, or is a vehicle transmission ratio; and determining the vehicle acceleration by using the formula a-f/me, wherein a is the vehicle acceleration and f is the effective output force.

In some embodiments, the target acceleration calculation module, when calculating the target acceleration required for an upshift at the current speed, performs the steps of: determining a first speed value and a second speed value which are closest to the vehicle speed in the upshift relation table; the first speed value is less than the vehicle speed, the second speed value is greater than the vehicle speed; the first speed value and the second speed value respectively correspond to a first acceleration value and a second acceleration value; using the formula acc ═ a₂-(v₂-v_current)/(v₂-v₁)×(a₂-a₁) Calculating a target acceleration, wherein acc is the target acceleration, a₂Is a second acceleration value, v₂Is a second speed value, v_currentAs the vehicle speed, v₁Is a first speed value, a₁Is a first acceleration value.

Based on the gear adjusting method of the automatic driving vehicle, the embodiment of the specification further provides gear adjusting equipment of the automatic driving vehicle. As shown in fig. 3, the gear adjusting apparatus may include a memory and a processor.

In this embodiment, the memory may be implemented in any suitable manner. For example, the memory may be a read-only memory, a mechanical hard disk, a solid state disk, a U disk, or the like. The memory may be used to store computer program instructions.

In this embodiment, the processor may be implemented in any suitable manner. For example, the processor may take the form of, for example, a microprocessor or processor and a computer-readable medium that stores computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, an embedded microcontroller, and so forth. The processor may execute the computer program instructions to perform the steps of: acquiring a current gear and a current speed of a vehicle; calculating a target acceleration required for upshifting at the current speed when the current speed is higher than the lowest speed at which upshifting is performed at the current gear, based on an upshift relation table of the vehicle, which is a predetermined correspondence relationship between the speed and the acceleration of the vehicle at least one upshift point; generating a regulating signal according to the target acceleration, wherein the regulating signal is used for instructing a vehicle control module to adjust the acceleration of the vehicle to the target acceleration; and sending the adjusting signal to a vehicle control module, so that the vehicle control module performs an upshift operation after the vehicle reaches the target acceleration.

This specification also provides one embodiment of a computer storage medium. The computer storage medium includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), a Cache (Cache), a Hard Disk (HDD), a Memory Card (Memory Card), and the like. The computer storage medium stores a computer program. When executed, the computer program implements the program instructions in the embodiment corresponding to fig. 1 of the present specification.

The embodiment of the specification further provides an automatic driving vehicle, and the automatic driving vehicle can be provided with the gear adjusting device corresponding to the gear adjusting device shown in fig. 3.

While the process flows described above include operations that occur in a particular order, it should be appreciated that the processes may include more or less operations that are performed sequentially or in parallel (e.g., using parallel processors or a multi-threaded environment).

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The embodiments of this specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The described embodiments may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the specification. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A gear adjustment method for an autonomous vehicle, comprising:

acquiring a current gear and a current speed of a vehicle;

calculating a target acceleration required for upshifting at the current speed when the current speed is higher than the lowest speed at which upshifting is performed at the current gear, based on an upshift relation table of the vehicle, which is a predetermined correspondence relationship between the speed and the acceleration of the vehicle at least one upshift point;

generating a regulating signal according to the target acceleration, wherein the regulating signal is used for instructing a vehicle control module to adjust the acceleration of the vehicle to the target acceleration;

and sending the adjusting signal to a vehicle control module, so that the vehicle control module performs an upshift operation after the vehicle reaches the target acceleration.

2. The method of claim 1, wherein prior to generating an adjustment signal based on the target acceleration, further comprising:

acquiring the current acceleration of the vehicle;

determining that a difference between the current acceleration and the target acceleration is less than a predetermined acceleration difference threshold.

3. The method of claim 1, wherein the method is used for acceleration planning of an autonomous vehicle.

4. The method of claim 1, wherein the calculating a target acceleration required for an upshift at the current speed when the current speed is higher than a lowest speed for an upshift at the current gear based on an upshift map of the vehicle further comprises:

judging whether the current gear reaches a minimum gear for upshifting;

correspondingly, the calculating the target acceleration required for upshifting at the current speed when the current speed is higher than the lowest speed for upshifting at the current gear based on the upshift relation table of the vehicle includes:

and under the condition that the current gear reaches the minimum gear of the upshifting, calculating the target acceleration by using the current speed based on the upshifting relation table of the upshifting point corresponding to the current gear.

5. The method of claim 1, wherein said generating an adjustment signal based on said target acceleration comprises:

obtaining a current acceleration of the autonomous vehicle;

generating a neutral adjustment signal if the target acceleration is less than the current acceleration; the neutral adjustment signal is used to instruct a vehicle control module to shift gears to neutral such that the engine does not provide output torque.

6. The method of claim 1, wherein the calculating a target acceleration required for an upshift at the current speed when the current speed is higher than a lowest speed for an upshift at the current gear based on an upshift map of the vehicle further comprises:

obtaining an engine speed of the autonomous vehicle;

under the condition that the rotating speed of the engine is greater than the rotating speed economic value, calculating a target acceleration by using the current speed based on an upshift relation table of an upshift point corresponding to the current gear; the rotational speed economy value is used for limiting the maximum value of the rotational speed corresponding to the oil consumption level of the engine.

7. The method of claim 1, wherein the upshift relational table is obtained according to the following:

acquiring upshift data of the autonomous vehicle corresponding to the at least one upshift point;

calculating an upshift speed and an upshift acceleration corresponding to each of the upshift points based on the upshift data;

associating the upshift points with corresponding combinations of the upshift speeds, the upshift accelerations.

8. The method of claim 7, wherein the upshift data includes gear data, throttle opening, friction torque ratio, and engine speed; the calculating of the upshift speed and the vehicle acceleration corresponding to the upshift point from the upshift data includes:

determining the upshift speed according to the gear data and the engine speed;

determining effective output torque of the engine by using the friction torque proportion and the opening degree of the throttle valve;

calculating the vehicle resistance according to the vehicle resistance model;

determining an engine effective output force from the effective output torque and the vehicle resistance;

determining the vehicle acceleration using the effective output force and a vehicle inertial mass.

9. The method of claim 8, wherein said determining said upshift speed based on gear data and engine speed comprises:

using formulas

And determining the upshift speed, wherein v is the upshift speed, er is the engine speed, rtr is the rotation speed-radian rotation conversion ratio, wr is the tire radius, or is fdr multiplied by gr, wherein or is the vehicle transmission ratio, fdr is the main speed reduction bridge percentage, and gr is the transmission ratio.

10. The method of claim 8, wherein said determining an engine available output torque using said friction torque ratio and a throttle opening comprises:

determining the effective output torque of the engine by using a formula t ═ (tp-ftp) x mrt, wherein t is the effective output torque of the engine, tp is the opening degree of a throttle valve, ftp is a friction torque proportion, and mrt is the maximum output torque of the engine;

accordingly, the calculating vehicle resistance comprises:

the vehicle resistance is calculated using the formula rf ═ arf + rrf, where rf is the vehicle resistance and arf is 0.5 × dc × dsa × ad × v²Wherein arf is air resistance, dc is air resistance coefficient, dsa is resistance cross-sectional area, ad is air density, v is upshift speed,rrf ═ rfc × m × ga, where rrf is rolling resistance, rfc is rolling friction coefficient, m is vehicle mass, and ga is gravitational acceleration;

correspondingly, the obtaining the effective output force of the engine through the effective output torque and the vehicle resistance comprises the following steps:

using formulas

11. The method of claim 8, wherein the vehicle acceleration is calculated by:

using the formula me m + it/wr²And calculating the inertia mass of the vehicle, wherein me is the inertia mass of the vehicle, m is the mass of the vehicle, wr is the radius of the tire, and it is ═ iw + ie × te × or²Wherein it is an inertia term, iw is an inertia wheel, ie is an inertia engine, te is transmission efficiency, or is a vehicle transmission ratio;

and determining the vehicle acceleration by using the formula a-f/me, wherein a is the vehicle acceleration and f is the effective output force.

12. The method of claim 1, wherein said calculating a target acceleration required for an upshift at said current speed when said current speed is higher than a lowest speed for an upshift at said current gear based on an upshift map of said vehicle comprises:

determining a first speed value and a second speed value which are closest to the vehicle speed in the upshift relation table; the first speed value is less than the vehicle speed, the second speed value is greater than the vehicle speed; the first speed value and the second speed value respectively correspond to a first acceleration value and a second acceleration value on the basis of the upshift relation table;

using the formula acc ═ a₂-(v₂-v_current)/(v₂-v₁)×(a₂-a₁) Calculating a target acceleration, wherein acc is the target acceleration, a₂Is a second acceleration value, v₂Is a second speed value, v_currentIs the current speed, v₁Is a first speed value, a₁Is a first acceleration value.

13. A gear adjustment device for an autonomous vehicle, comprising:

the parameter acquisition module is used for acquiring the current gear and the current speed of the vehicle;

a target acceleration calculation module, configured to calculate a target acceleration required for upshifting at the current speed when the current speed is higher than a lowest speed for upshifting at the current gear, based on an upshift relation table of the vehicle, where the upshift relation table is a predetermined correspondence relationship between a speed and an acceleration of the vehicle at least one upshift point;

the adjusting signal generating module is used for generating an adjusting signal according to the target acceleration; the adjustment signal is used to instruct a vehicle control module to adjust the acceleration of the vehicle to the target acceleration;

and the adjusting signal sending module is used for sending the adjusting signal to the vehicle control module so that the vehicle control module performs gear-up operation after the vehicle reaches the target acceleration.

14. The apparatus of claim 13, wherein the parameter acquisition module is further configured to acquire a current acceleration of the vehicle;

the target acceleration calculation module is further configured to determine that a difference between the current acceleration and the target acceleration is less than a predetermined acceleration difference threshold.

15. The apparatus of claim 13, wherein the apparatus is used for acceleration planning of an autonomous vehicle.

16. The apparatus of claim 13, wherein the target acceleration calculation module, in calculating the target acceleration required for an upshift at the current speed, performs the steps of:

judging whether the current gear reaches a minimum gear for upshifting; and under the condition that the current gear reaches the minimum gear of the upshifting, calculating the target acceleration by using the current speed based on the upshifting relation table of the upshifting point corresponding to the current gear.

17. The apparatus of claim 13, wherein the parameter acquisition module is further configured to acquire a current acceleration of the autonomous vehicle;

the adjusting signal generating module is further used for generating a neutral adjusting signal under the condition that the target acceleration is smaller than the current acceleration; the neutral adjustment signal is used to instruct a vehicle control module to shift gears to neutral such that the engine does not provide output torque.

18. The apparatus of claim 13, wherein the target acceleration calculation module, prior to calculating the target acceleration required to upshift at the current speed, is further configured to perform the steps of:

obtaining an engine speed of the autonomous vehicle; under the condition that the rotating speed of the engine is greater than the rotating speed economic value, calculating a target acceleration by using the current speed based on an upshift relation table of an upshift point corresponding to the current gear; the rotational speed economy value is used for limiting the maximum value of the rotational speed corresponding to the oil consumption level of the engine.

19. The apparatus of claim 13, wherein the upshift relational table is obtained according to the following:

20. The apparatus of claim 19, wherein the upshift data includes gear data, throttle opening, friction torque ratio, and engine speed; the calculating of the upshift speed and the vehicle acceleration corresponding to the upshift point from the upshift data includes:

determining the vehicle speed from the gear data and the engine speed;

calculating the vehicle resistance according to the vehicle resistance model;

21. The apparatus of claim 20, wherein said determining a vehicle speed based on gear data and engine speed comprises:

using formulas

22. The apparatus of claim 20, wherein said determining an engine available output torque using said friction torque ratio and a throttle opening comprises:

accordingly, the calculating vehicle resistance comprises:

the vehicle resistance is calculated using the formula rf ═ arf + rrf, where rf is the vehicle resistance and arf is 0.5 × dc × dsa × ad × v²Wherein arf is air resistance, dc is air resistance coefficient, dsa is resistance cross-sectional area, ad is air density, v is vehicle speed, rrf ═ rfc × m × ga, wherein rrf is rolling resistance, rfc is rolling friction coefficient, m is vehicle mass, ga is gravitational acceleration;

using formulas

23. The apparatus of claim 20, wherein the vehicle acceleration is calculated by:

using the formula me m + it/wr²And calculating the inertia mass of the vehicle, wherein me is the inertia mass of the vehicle, m is the mass of the vehicle, wr is the natural meridian of the tire, and it is not iw + ie × te × or²Wherein it is an inertia term, iw is an inertia wheel, ie is an inertia engine, te is transmission efficiency, or is a vehicle transmission ratio;

24. The apparatus of claim 13, wherein the target acceleration calculation module, in calculating the target acceleration required for an upshift at the current speed, performs the steps of:

using the formula acc ═ a₂-(v₂-v_current)/(v₂-v₁)×(a₂-a₁) Calculating a target acceleration, wherein acc is the target acceleration, a₂Is a second acceleration value, v₂Is a second speed value, v_currentAs the vehicle speed, v₁Is a first speed value, a₁Is a first acceleration value.

25. A gear adjustment device comprising a memory and a processor;

the memory to store computer program instructions;

the processor to execute the computer program instructions to implement the steps of: acquiring a current gear and a current speed of a vehicle; calculating a target acceleration required for upshifting at the current speed when the current speed is higher than the lowest speed at which upshifting is performed at the current gear, based on an upshift relation table of the vehicle, which is a predetermined correspondence relationship between the speed and the acceleration of the vehicle at least one upshift point; generating a regulating signal according to the target acceleration, wherein the regulating signal is used for instructing a vehicle control module to adjust the acceleration of the vehicle to the target acceleration; and sending the adjusting signal to a vehicle control module, so that the vehicle control module performs an upshift operation after the vehicle reaches the target acceleration.

26. A computer storage medium on which a computer program is stored, the computer program, when executed, implementing the method of any one of claims 1-12.

27. Autonomous vehicle, characterized in that the autonomous vehicle is provided with a device according to claim 25.