CN114701506A - Method for controlling vehicle speed - Google Patents

Method for controlling vehicle speed Download PDF

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Publication number
CN114701506A
CN114701506A CN202210483016.7A CN202210483016A CN114701506A CN 114701506 A CN114701506 A CN 114701506A CN 202210483016 A CN202210483016 A CN 202210483016A CN 114701506 A CN114701506 A CN 114701506A
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speed
preset
distance
determining
current vehicle
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Inventor
李佳骏
杜建宇
王恒凯
吴岗岗
曹天书
李超
宋新丽
王皓南
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FAW Group Corp
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FAW Group Corp
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Priority to CN202210483016.7A priority Critical patent/CN114701506A/en
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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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a vehicle speed control method. Wherein, the method comprises the following steps: acquiring obstacle information sensed by a sensor installed on a current vehicle and path information of the current vehicle, wherein the obstacle information at least comprises a first distance between the current vehicle and an obstacle, and the path information comprises: a second distance between the current vehicle and the target position, a path curvature of a road on which the current vehicle travels, and a deviation error between the current vehicle and the target position; based on the obstacle information and the path information, a vehicle speed of the current vehicle is determined. The invention solves the technical problem of lower control accuracy of the vehicle speed in the related technology.

Description

Method for controlling vehicle speed
Technical Field
The invention relates to the field of intelligent automobiles, in particular to a vehicle speed control method.
Background
With the development of automobile intelligent technology, the automatic parking technology is mature day by day, one of the core algorithms of the automatic parking technology is speed control, and at present, in the vehicle speed calculation of the prior art, the distance and the angle between a vehicle body and the surrounding environment are mainly measured by sensors carried around the vehicle, and the vehicle speed is calculated by collecting sensor data.
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, which at least solves the technical problem of low vehicle speed control accuracy in the related art.
According to an aspect of an embodiment of the present invention, there is provided a control method of a vehicle speed, including: acquiring obstacle information sensed by a sensor installed on a current vehicle and path information of the current vehicle, wherein the obstacle information at least comprises a first distance between the current vehicle and an obstacle, and the path information comprises: a second distance between the current vehicle and the target position, a path curvature of a road on which the current vehicle runs and a deviation error between the current vehicle and the target position; based on the obstacle information and the path information, a vehicle speed of the current vehicle is determined.
Optionally, determining the vehicle speed of the current vehicle based on the obstacle information and the path information comprises: comparing the first distance with a first preset distance to obtain a comparison result; controlling the speed of the current vehicle to be reduced to a first preset speed in response to the first distance being smaller than a first preset distance; in response to the first distance being greater than or equal to a first preset distance, a vehicle speed is determined based on the path information.
Optionally, determining the vehicle speed based on the path information comprises: determining a first speed of the current vehicle according to the second distance; determining a second speed of the current vehicle according to the path curvature; determining a third speed of the current vehicle according to the deviation error; and acquiring the minimum speed of the first speed, the second speed and the third speed to obtain the vehicle speed.
Optionally, determining the first speed of the current vehicle according to the second distance comprises: in response to the second distance being greater than a second preset distance, determining the first speed as a second preset speed; and in response to the second distance being smaller than or equal to a second preset distance, determining the first speed based on the second distance, the second preset distance and a second preset speed, wherein the second preset distance is used for representing the initial distance between the current vehicle and the target position.
Optionally, determining the first speed based on the second distance, the second preset distance, and the second preset speed includes: determining a first coefficient based on the second distance and a second preset distance; and obtaining the product of the first coefficient and the second preset speed to obtain the first speed.
Optionally, the obtaining of the curvature of the path of the current road on which the vehicle is traveling includes: determining a plurality of preview points; determining a plurality of corresponding pre-aiming point curvatures based on the plurality of pre-aiming points; based on the plurality of preview points and the plurality of preview point curvatures, a path curvature is determined.
Optionally, determining the second speed of the current vehicle from the path curvature comprises: determining a second coefficient based on the path curvature; and obtaining the product of the second coefficient and the second preset speed to obtain the second speed.
Optionally, determining the second coefficient based on the path curvature comprises: obtaining a ratio of the path curvature to a first preset value to obtain a first ratio; obtaining a difference value between the second preset value and the first ratio to obtain a first difference value; and obtaining a square value of the first difference value to obtain a second coefficient.
Optionally, determining a third speed of the current vehicle from the deviation error comprises: in response to the deviation error being greater than the first preset deviation, determining a third speed as a product of the third preset speed and a third preset value; determining the third speed as a second preset speed in response to the deviation error being less than or equal to a second preset deviation; and obtaining a third speed based on the deviation error, the second preset speed and the third preset speed in response to the deviation error being larger than the second preset deviation and smaller than or equal to the first preset deviation.
Optionally, obtaining a third speed based on the deviation error, the second preset speed, and the third preset speed includes: obtaining a difference value between a third preset speed and a second preset speed to obtain a second difference value; obtaining a product of the second difference and the deviation error to obtain a first product; obtaining a product of the second preset speed and a fourth preset value to obtain a second product; obtaining a product of a third preset speed and a third preset value to obtain a third product; acquiring a sum of the first product and the second product to obtain a target sum; obtaining a difference value of the target sum value and the third product to obtain a third difference value; and obtaining the ratio of the third difference value to the fifth preset value to obtain a third speed.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus of a vehicle speed, including: the acquisition module is used for acquiring obstacle information sensed by a sensor mounted on a current vehicle and path information of the current vehicle, wherein the obstacle information at least comprises a first distance between the current vehicle and an obstacle, and the path information comprises: a second distance between the current vehicle and the target position, a path curvature of a road on which the current vehicle travels, and a deviation error between the current vehicle and the target position; a determination module to determine a vehicle speed of a current vehicle based on the obstacle information and the path information.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the apparatus in which the computer-readable storage medium is controlled when the program is executed performs the above-described control method of the vehicle speed.
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program is run to execute the vehicle control method described above.
In the embodiment of the present invention, acquiring obstacle information sensed by a sensor mounted on a current vehicle and path information of the current vehicle, wherein the obstacle information at least includes a first distance between the current vehicle and an obstacle, and the path information includes: a second distance between the current vehicle and the target position, a path curvature of a road on which the current vehicle travels, and a deviation error between the current vehicle and the target position; the manner of the vehicle speed of the current vehicle is determined based on the obstacle information and the route information. It is easy to notice that the purpose of improving the control accuracy of the vehicle speed is achieved by planning the real-time vehicle speed according to the remaining distance, the path curvature and the deviation error, so that the technical effect of accurately controlling the vehicle speed is realized, and the technical problem of lower control accuracy of the vehicle speed in the related technology is 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 schematic flow chart diagram of a method of controlling vehicle speed in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative home point setting in accordance with an embodiment of the invention;
FIG. 3 is a flow chart of method steps for an alternative method of controlling vehicle speed in accordance with an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle speed control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, 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.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for controlling vehicle speed, it being noted that the steps illustrated in the flowchart of the drawings may be carried out in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be carried out in an order different than that presented herein.
Fig. 1 is a flowchart illustrating a method for controlling a vehicle speed according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, obtaining obstacle information sensed by a sensor mounted on a current vehicle and path information of the current vehicle, wherein the obstacle information at least comprises a first distance between the current vehicle and an obstacle, and the path information comprises: a second distance of the current vehicle from the target position, a path curvature of a road on which the current vehicle travels, and a deviation error of the current vehicle from the target position.
The obstacle may be an obstacle affecting the current vehicle to travel to the target position on the travel road, and may be a stone, another undriven vehicle on the road, and the like, which is not specifically limited in this embodiment; the first distance may be a real-time distance between the current vehicle and the obstacle, and a specific distance is not limited, and in this embodiment, the first distance may be 20cm as an example for description; the target position may be a terminal position to which the current vehicle is to travel; the second distance may be a real-time distance between the current vehicle and the target location.
Alternatively, obstacle information sensed by sensors mounted on the vehicle, and path information of the current vehicle may be acquired by the parking Controller through a Controller Area Network (CAN) bus.
In an optional embodiment, in order to accurately control the vehicle speed during the vehicle driving process, first, obstacle information and path information of the current vehicle may be obtained, where the obstacle information at least includes a distance (i.e., a first distance) between an obstacle and the current vehicle, and the path information includes: the distance between the current vehicle and the end point position, the path information of the current vehicle running road, and the deviation error value between the current vehicle and the end point position.
Step S104, determining the vehicle speed of the current vehicle based on the obstacle information and the path information.
Optionally, determining the vehicle speed of the current vehicle based on the obstacle information and the path information comprises: comparing the first distance with a first preset distance to obtain a comparison result; controlling the speed of the current vehicle to be reduced to a first preset speed in response to the first distance being smaller than a first preset distance; in response to the first distance being greater than or equal to a first preset distance, a vehicle speed is determined based on the path information.
Optionally, determining the vehicle speed based on the path information comprises: determining a first speed of the current vehicle according to the second distance; determining a second speed of the current vehicle according to the path curvature; determining a third speed of the current vehicle according to the deviation error; and acquiring the minimum speed of the first speed, the second speed and the third speed to obtain the vehicle speed.
Optionally, in the parking process, the current vehicle may detect the obstacle through 12 ultrasonic radars, and when the distance between the obstacles does not satisfy the parking condition, the parking speed value is 0; when the parking condition is met, the vehicle speed can be planned according to the remaining distance, the path curvature and the deviation error.
The first preset distance may be a minimum distance between the obstacle and the current vehicle, and a specific numerical value is not limited, and may be 20cm in this embodiment as an example for description; the first preset speed may be a minimum distance when the first distance does not satisfy the first preset distance (20cm), and a specific numerical value is not limited, and may be 0Km/h in this embodiment as an example for description; the first speed may be calculated from a real-time distance of the current vehicle from the target position; the second speed may be calculated from a path curvature of the current vehicle; the third speed may be calculated from a deviation error value of the current vehicle from the target position.
In an alternative embodiment, after the obstacle information and the path information are acquired, the real-time distance (i.e., the first distance) between the vehicle and the obstacle may be compared with a first preset distance (20 cm): if the first distance is smaller than the first preset distance, controlling the speed of the current vehicle to be reduced to a first preset speed (namely 0 Km/h); if the first distance is larger than or equal to the first preset distance, calculating the first speed of the current vehicle according to the second distance of the current vehicle, calculating the second speed of the current vehicle according to the path curvature of the current vehicle, calculating the third speed of the current vehicle according to the deviation error between the current vehicle and the target position, and then taking the minimum value of the first speed, the second speed and the third speed to obtain the vehicle speed of the current vehicle.
Optionally, determining the first speed of the current vehicle according to the second distance comprises: in response to the second distance being greater than a second preset distance, determining that the first speed is a second preset speed; and in response to the second distance being smaller than or equal to a second preset distance, determining the first speed based on the second distance, the second preset distance and a second preset speed, wherein the second preset distance is used for representing the initial distance between the current vehicle and the target position.
Optionally, determining the first speed based on the second distance, the second preset distance, and the second preset speed includes: determining a first coefficient based on the second distance and a second preset distance; and obtaining the product of the first coefficient and the second preset speed to obtain the first speed.
The second preset distance may be a distance that the vehicle set by the user in advance can run at a certain speed, and a specific numerical value is not limited, and in this embodiment, the second preset distance may be described by taking 1Km as an example; the second preset speed may be a maximum speed, i.e., V, at which the vehicle can safely travel more than a second preset distancemax(ii) a The first coefficient may be obtained based on the second distance and a second preset distance.
The second speed is specifically calculated as follows:
Figure BDA0003628609870000051
wherein, e is a constant value,
Figure BDA0003628609870000061
is a first coefficient, d (k is a second distance, V)maxAnd d is the total length of the current parking progress path, namely the distance between the vehicle and the target position before the vehicle starts to run.
When the second distance is greater than the second preset distance, the first speed is the second preset speed (i.e. V)max) (ii) a When the second distance is greater than or equal to 0 and less than or equal to a second preset distance, the first speed is
Figure BDA0003628609870000062
The above formula may show that the first speed decreases with decreasing second distance, and when the second distance is 0, the first speed is also 0.
Optionally, the obtaining of the curvature of the path of the current road on which the vehicle is traveling includes: determining a plurality of preview points; determining a plurality of corresponding pre-aiming point curvatures based on the plurality of pre-aiming points; based on the plurality of preview points and the plurality of preview point curvatures, a path curvature is determined.
Optionally, determining the second speed of the current vehicle from the path curvature comprises: determining a second coefficient based on the path curvature; and obtaining the product of the second coefficient and the second preset speed to obtain the second speed.
Optionally, determining the second coefficient based on the path curvature comprises: obtaining a ratio of the path curvature to a first preset value to obtain a first ratio; obtaining a difference value between the second preset value and the first ratio to obtain a first difference value; and obtaining a square value of the first difference value to obtain a second coefficient.
The preview point is a point for tracking a flat road and a path with a curve, and can be used for obtaining the curvature of the path, when one preview point is used, the tracking effect is poor due to large change of the curvature of the path, and if the number of the preview points is too large, too much interference information is introduced in the process of tracking the flat road and the path with small curve, so that the stability of a vehicle body is influenced1、P2、P3Carrying out representation; the curvature of the preview point can be obtained from the preview point, and in this embodiment, three curvatures of the preview point can be used
Figure BDA0003628609870000063
Figure BDA0003628609870000064
Carrying out representation; the curvature of the path may be obtained based on the curvatures of the plurality of preview points and the plurality of preview points, and in this embodiment, the curvature of the path may be obtained based on the curvatures of the plurality of preview points and the plurality of preview points
Figure BDA0003628609870000065
To represent path curvature; the second coefficient is a constant value, and the second speed can be obtained based on the second coefficient and a second preset speed; the first preset value may be a constant value larger than the curvature of the path, and is not limited specifically, and in this embodiment, the first preset value may be a constant value larger than the curvature of the path
Figure BDA0003628609870000066
The description is given for the sake of example; the second preset value is a constant value set by the user, and can be described by taking 1 as an example in the present embodiment.
FIG. 2 is a schematic diagram of an alternative preview point setting in an embodiment in accordance with the invention, as shown in FIG. 2, P2Is the point of preview, P, of the current vehicle position1、P3Respectively are track points before and after the pre-aiming point, and the curvatures of the three pre-aiming points are respectively
Figure BDA0003628609870000067
In an alternative embodiment, the path curvature
Figure BDA0003628609870000068
Wherein k is1、k2、k3The value of the deviation point is selected according to the distance between the deviation point and the current position of the trolley by adopting the principle of large and small distances.
The specific calculation formula of the second speed is as follows:
Figure BDA0003628609870000071
wherein the content of the first and second substances,
Figure BDA0003628609870000072
the first ratio is a first ratio of the first ratio,
Figure BDA0003628609870000073
is a first difference value of the first difference value,
Figure BDA0003628609870000074
the equation may be a second coefficient which is the square of the first difference, and may reflect the second velocity as a function of the point of preview curvature
Figure BDA0003628609870000075
Is significantly reduced.
In another alternative embodiment, the second speed may be obtained by multiplying a second coefficient by a second preset speed, and the basic principle is that the larger the curvature of the path, the lower the vehicle running speed; the smaller the curvature of the path, the greater the vehicle speed, but not exceeding Vmax。
Optionally, determining a third speed of the current vehicle from the deviation error comprises: in response to the deviation error being greater than the first preset deviation, determining a third speed as a product of the third preset speed and a third preset value; determining the third speed as a second preset speed in response to the deviation error being less than or equal to a second preset deviation; and obtaining a third speed based on the deviation error, the second preset speed and the third preset speed in response to the deviation error being larger than the second preset deviation and smaller than or equal to the first preset deviation.
Optionally, obtaining a third speed based on the deviation error, the second preset speed, and the third preset speed includes: obtaining a difference value between a third preset speed and a second preset speed to obtain a second difference value; obtaining a product of the second difference and the deviation error to obtain a first product; obtaining a product of the second preset speed and a fourth preset value to obtain a second product; obtaining a product of a third preset speed and a third preset value to obtain a third product; acquiring a sum of the first product and the second product to obtain a target sum; obtaining a difference value of the target sum value and the third product to obtain a third difference value; and obtaining the ratio of the third difference value to the fifth preset value to obtain a third speed.
The deviation error may be a numerical value used to represent a deviation amount between the target vehicle and the target position, and is not particularly limited, and in this embodiment, e may be taken as an example for description; the first preset deviation may be a maximum deviation that a vehicle set by a user in advance can run at a certain speed, and a specific numerical value is not limited, and in this embodiment, the first preset deviation may be described by taking 10cm as an example; the third preset speed is a minimum speed at which the vehicle can run, and the third speed is not 0, and in the present embodiment, V may be setminThe description is given for the sake of example; the third preset value may be a constant, and a specific numerical value user may set the value according to the use condition, which is described in this embodiment by taking 3 as an example; the second preset deviation may be a minimum deviation that the vehicle set by the user in advance can run at a certain speed, and a specific numerical value is not limited, and in this embodiment, the example may be 5 cm; the fourth preset value is a constant set in advance by a user, and a specific numerical value is not limited, and in this embodiment, 10 can be taken as an example for explanation; the fifth preset value is a constant set by the user in advance, and the specific numerical value is not limited, and in this implementation, it can be described by taking 7 as an example, whereThe values of the constants are derived based on the derivation of a linear piecewise function.
The specific formula for the third speed is as follows:
Figure BDA0003628609870000081
wherein 10cm is a first predetermined deviation, 5cm is a second predetermined deviation, VminAt a third preset speed, 3 is a third preset value, 10 is a fourth preset value, 7 is a fifth preset value, Vmin-VmaxIs the second difference value, (V)min-Vmax) e is the first product, 10VmaxIs the second product, 3VminIs the third product, (V)min-Vmax)e+10VmaxTo target sum value, (V)min-Vmax)e+10Vmax-3VminIs the third difference.
In an alternative embodiment, the third speed is 3V when the deviation error e is greater than 10cmminWhen the deviation error is less than or equal to 5cm, the third speed is a second preset speed (i.e., V)max) When the deviation error is more than 5cm and less than or equal to 10cm, the third speed is
Figure BDA0003628609870000082
Wherein the third speed decreases with increasing deviation error.
This embodiment is further described below with reference to fig. 3.
FIG. 3 is a flow chart of method steps for an alternative method of controlling vehicle speed, according to an embodiment of the present invention, including the steps of:
step S301: acquiring sensor obstacle information and parking path information through a CAN bus;
step S302: judging whether a parking condition is met, namely whether the first distance is less than 20cm, if the first distance is less than 20cm, entering a step S303, and if the first distance is greater than or equal to 20cm, entering steps S304, S305 and S306;
step S303: the parking condition is not met, and the vehicle speed is 0;
step S304: obtaining a first speed according to the real-time remaining distance between the current vehicle and the target position, wherein the first speed is reduced along with the reduction of the real-time remaining distance, and when the real-time distance is equal to 0, the first speed is also 0;
step S305: obtaining a second speed according to the curvature of the path of the current vehicle driving road, wherein the second speed is reduced along with the increase of the curvature of the path;
step S306: obtaining a third speed according to the deviation error of the current vehicle and the target position, wherein the third speed is reduced along with the increase of the deviation error;
step S307: and acquiring the minimum speed of the first speed, the second speed and the third speed to obtain the final vehicle speed.
The invention provides an automatic parking speed control method, which plans the speed according to the remaining distance, the path curvature and the lateral error, improves the parking efficiency and saves the time on the premise of ensuring the safety and the stability of the parking process.
Example 2
According to another aspect of the embodiments of the present invention, a vehicle speed control device is further provided, where the device may execute the vehicle speed control method provided in embodiment 1, and a specific implementation manner and a preferred application scenario are the same as those in embodiment 1, and are not described herein again.
Fig. 4 is a schematic structural diagram of a vehicle speed control apparatus according to an embodiment of the present invention, as shown in fig. 4, the apparatus including: an obtaining module 40, configured to obtain obstacle information sensed by a sensor mounted on a current vehicle, and path information of the current vehicle, where the obstacle information at least includes a first distance between the current vehicle and an obstacle, and the path information includes: a second distance between the current vehicle and the target position, a path curvature of a road on which the current vehicle travels, and a deviation error between the current vehicle and the target position; a determination module 42 for determining a vehicle speed of the current vehicle based on the obstacle information and the path information.
Optionally, the determining module includes: the comparison unit is used for comparing the first distance with a first preset distance to obtain a comparison result; the control unit is used for responding to the fact that the first distance is smaller than a first preset distance and controlling the speed of the current vehicle to be reduced to a first preset speed; and a determination unit for determining the vehicle speed based on the path information in response to the first distance being greater than or equal to a first preset distance.
Optionally, the determining unit comprises: a first determining subunit, configured to determine a first speed of the current vehicle according to the second distance; a second determining subunit, configured to determine a second speed of the current vehicle according to the path curvature; a third determining subunit, configured to determine a third speed of the current vehicle according to the deviation error; and the judging subunit is used for acquiring the minimum speed of the first speed, the second speed and the third speed to obtain the vehicle speed.
Optionally, the first determining subunit is configured to: in response to the second distance being greater than a second preset distance, determining the first speed as a second preset speed; and in response to the second distance being smaller than or equal to a second preset distance, determining the first speed based on the second distance, the second preset distance and a second preset speed, wherein the second preset distance is used for representing the initial distance between the current vehicle and the target position.
Optionally, the first determining subunit is further configured to: determining a first coefficient based on the second distance and a second preset distance; and obtaining the product of the first coefficient and the second preset speed to obtain the first speed.
Optionally, the obtaining module includes: a first determination unit for determining a plurality of preview points; the second determining unit is used for determining the curvatures of the corresponding multiple preview points based on the multiple preview points; and the third determining unit is used for determining the curvature of the path based on the plurality of aiming points and the curvatures of the plurality of aiming points.
Optionally, the second determining subunit is configured to: determining a second coefficient based on the path curvature; and obtaining the product of the second coefficient and the second preset speed to obtain the second speed.
Optionally, the second determining subunit is further configured to: obtaining a ratio of the path curvature to a first preset value to obtain a first ratio; obtaining a difference value between the second preset value and the first ratio to obtain a first difference value; and obtaining a square value of the first difference value to obtain a second coefficient.
Optionally, the third determining subunit is configured to: in response to the offset error being greater than the first preset deviation, determining a third speed as a product of the third preset speed and a third preset value; in response to the offset error being less than or equal to a second preset deviation, determining a third speed as a product of the second preset speed and a fourth preset value; and obtaining a third speed based on the offset error, the second preset speed and the third preset speed in response to the offset error being larger than the second preset deviation and smaller than or equal to the first preset deviation.
Optionally, the third determining subunit is further configured to: obtaining a difference value between a third preset speed and a second preset speed to obtain a second difference value; obtaining a product of the second difference and the offset error to obtain a first product; obtaining a product of the second preset speed and a fourth preset value to obtain a second product; obtaining a product of a third preset speed and a third preset value to obtain a third product; acquiring a sum of the first product and the second product to obtain a target sum; obtaining a difference value of the target sum value and the third product to obtain a third difference value; and obtaining the ratio of the third difference value to the fifth preset value to obtain a third speed.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein when the program runs, an apparatus in which the computer-readable storage medium is controlled performs the control method of the vehicle speed described in the above embodiment 1.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program is run to execute the vehicle control method described in embodiment 1 above.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages 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 technical content can be implemented in other manners. 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 coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.
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 (10)

1. A method of controlling a speed of a vehicle, comprising:
acquiring obstacle information sensed by a sensor mounted on a current vehicle and path information of the current vehicle, wherein the obstacle information at least comprises a first distance between the current vehicle and an obstacle, and the path information comprises: a second distance of the current vehicle from a target position, a path curvature of a road on which the current vehicle is traveling, and a deviation error of the current vehicle from the target position;
determining a vehicle speed of the current vehicle based on the obstacle information and the path information.
2. The method of claim 1, wherein determining the vehicle speed of the current vehicle based on the obstacle information and the path information comprises:
comparing the first distance with a first preset distance to obtain a comparison result;
in response to the first distance being smaller than the first preset distance, controlling the speed of the current vehicle to be reduced to a first preset speed;
determining the vehicle speed based on the path information in response to the first distance being greater than or equal to the first preset distance.
3. The method of claim 2, wherein determining the vehicle speed based on the path information comprises:
determining a first speed of the current vehicle according to the second distance;
determining a second speed of the current vehicle according to the path curvature;
determining a third speed of the current vehicle from the deviation error;
and obtaining the minimum speed of the first speed, the second speed and the third speed to obtain the vehicle speed.
4. The method of claim 3, wherein determining the first speed of the current vehicle as a function of the second distance comprises:
in response to the second distance being greater than a second preset distance, determining that the first speed is a second preset speed;
and in response to the second distance being smaller than or equal to the second preset distance, determining the first speed based on the second distance, the second preset distance and the second preset speed, wherein the second preset distance is used for representing an initial distance between the current vehicle and the target position.
5. The method of claim 4, wherein determining the first speed based on the second distance, the second preset distance, and the second preset speed comprises:
determining a first coefficient based on the second distance and the second preset distance;
and obtaining the product of the first coefficient and the second preset speed to obtain the first speed.
6. The method of claim 1, wherein obtaining the path curvature of the current vehicle travel road comprises:
determining a plurality of preview points;
determining a corresponding plurality of pre-aiming point curvatures based on the plurality of pre-aiming points;
determining the path curvature based on the plurality of preview points and the plurality of preview point curvatures.
7. The method of claim 3, determining a second speed of the current vehicle from the path curvature, comprising:
determining a second coefficient based on the path curvature;
and obtaining the product of the second coefficient and a second preset speed to obtain the second speed.
8. The method of claim 7, determining a second coefficient based on the path curvature, comprising:
obtaining a ratio of the path curvature to a first preset value to obtain a first ratio;
obtaining a difference value between a second preset value and the first ratio to obtain a first difference value;
and obtaining a square value of the first difference value to obtain the second coefficient.
9. The method of claim 3, wherein determining the third speed of the current vehicle from the deviation error comprises:
in response to the deviation error being greater than a first preset deviation, determining the third speed as a product of a third preset speed and a third preset value;
determining the third speed to be a second preset speed in response to the deviation error being less than or equal to a second preset deviation;
and responding to the deviation error being larger than the second preset deviation and smaller than or equal to the first preset deviation, and obtaining the third speed based on the deviation error, the second preset speed and the third preset speed.
10. The method of claim 9, deriving the third speed based on the deviation error, the second preset speed, and the third preset speed, comprising:
obtaining a difference value between the third preset speed and the second preset speed to obtain a second difference value;
obtaining a product of the second difference and the deviation error to obtain a first product;
obtaining a product of the second preset speed and a fourth preset value to obtain a second product;
obtaining a product of the third preset speed and the third preset value to obtain a third product;
acquiring a sum of the first product and the second product to obtain a target sum;
obtaining a difference value of the target sum value and the third product to obtain a third difference value;
and acquiring the ratio of the third difference to a fifth preset value to obtain the third speed.
CN202210483016.7A 2022-05-05 2022-05-05 Method for controlling vehicle speed Pending CN114701506A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116653931A (en) * 2023-08-01 2023-08-29 禾昆科技(北京)有限公司 Vehicle parking control method, device, electronic equipment and computer readable medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116653931A (en) * 2023-08-01 2023-08-29 禾昆科技(北京)有限公司 Vehicle parking control method, device, electronic equipment and computer readable medium
CN116653931B (en) * 2023-08-01 2024-02-23 禾昆科技(北京)有限公司 Vehicle parking control method, device, electronic equipment and computer readable medium

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