CN115520188A - Energy-saving vehicle speed planning method, system, electronic device and storage medium - Google Patents
Energy-saving vehicle speed planning method, system, electronic device and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
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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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Abstract
An energy-efficient vehicle speed planning method, system, electronic device, storage medium, the method comprising: acquiring the current speed and the current acceleration of the vehicle; acquiring gradient information and distance information of a plurality of sub-road sections in a driving target road section in front of the vehicle, wherein each sub-road section has a unique gradient; calculating the predicted speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged on the basis of the current speed, the current acceleration, the gradient information and the distance information; calculating a predicted average speed of the driving target road section, and calculating a speed difference value between the predicted average speed and a target speed passing through the driving target road section; and generating a first planned speed of the vehicle on each sub-road section based on the speed difference value and the predicted speed of the vehicle. The speed planning calculation efficiency of the driving target road section is high.
Description
Technical Field
The invention relates to the technical field of vehicle speed planning, in particular to an energy-saving vehicle speed planning method, an energy-saving vehicle speed planning system, electronic equipment and a storage medium.
Background
The global shortage situation of fossil fuel is severe, and the proportion of the fuel cost of commercial vehicles to the operating cost is high. The traditional commercial vehicle cruise control only considers keeping the vehicle speed constant and ignores the influence of information such as roads, traffic and the like. This results in a non-energy efficient driving behavior of the vehicle in the event of road grade fluctuations in order to maintain a constant vehicle speed. Such as rapid acceleration on an uphill slope, rapid deceleration on a downhill slope, etc. The predictive cruise control method allows the vehicle speed to fluctuate within a certain range by considering the gradient information of the road ahead, and can effectively avoid uneconomical driving behaviors by fully utilizing the kinetic energy of the vehicle and the potential energy caused by the road.
However, most of the current prediction cruise control methods adopt Model Prediction Control (MPC) rolling time domain optimization solution, prediction and online optimization are generally required to be performed on the basis of the road gradient in a future period of time, an iterative solver is required to solve an optimization problem, required calculation time is generally long, algorithm calculation efficiency is low, calculation time is in an exponential growth trend along with the growth of a predicted road, instantaneity is difficult to guarantee, and the method is not beneficial to real-vehicle application of an oil-saving algorithm. In addition, the MPC is adopted for solving, and a relatively accurate longitudinal dynamic model of the commercial vehicle generally needs to be established so as to ensure the optimality of solving the fuel-saving driving strategy. However, the vehicle dynamics model requires many parameters, such as vehicle mass, transmission system efficiency, road running resistance coefficient, etc., and the model has a limited application range. The dynamic change of the actual driving environment often causes the accuracy of the established vehicle dynamic model to be poor, causes the problems of failure in solving the fuel-saving driving strategy or abnormal strategy and the like, cannot well adapt to the uncertainty of the driving environment, and is difficult to ensure the robustness in the actual application process.
Furthermore, for commercial vehicles, the onboard controllers have to handle many other tasks simultaneously, the computational resources for controlling the tasks are very limited and the desire for economy and energy saving is high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an energy-saving vehicle speed planning method, an energy-saving vehicle speed planning system, electronic equipment and a storage medium.
The invention provides an energy-saving vehicle speed planning method, which comprises the following steps:
acquiring the current speed and the current acceleration of the vehicle;
acquiring gradient information and distance information of a plurality of sub-road sections in a driving target road section in front of the vehicle, wherein each sub-road section has a unique gradient;
calculating the predicted speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged on the basis of the current speed, the current acceleration, the gradient information and the distance information;
calculating a predicted average speed of the driving target section based on the predicted speed of the vehicle, the predicted driving time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed passing through the driving target section;
and generating a first planned speed of the vehicle on each sub-road section based on the speed difference value and the predicted speed of the vehicle.
According to the energy-saving vehicle speed planning method provided by the invention, the method further comprises the following steps:
and based on the first planning speed and a preset upper and lower speed limit, carrying out shape modification on the first planning speed to obtain a second planning speed meeting the upper and lower speed limit.
According to the energy-saving vehicle speed planning method provided by the invention, the first planned speed is subjected to shape modification treatment to obtain a second planned speed meeting the upper and lower speed limits, and the method comprises the following steps:
subtracting the target speed from the first planning speed to generate a middle speed deviation;
performing weighted scaling on the intermediate speed deviation to generate a scaled speed deviation;
generating the second planned speed based on the target speed and the scaled speed deviation such that the second planned speed satisfies the upper and lower speed bounds.
According to the energy-saving vehicle speed planning method provided by the invention, the step of calculating the predicted vehicle speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged based on the current speed, the current acceleration, the gradient information and the distance information comprises the following steps:
calculating a predicted acceleration of each of the sub-road sections based on the current acceleration and the gradient information;
and calculating the predicted speed and the predicted running time of the vehicle in each sub-road section based on the current speed, the predicted acceleration of the sub-road section and the distance information.
According to the energy-saving vehicle speed planning method provided by the invention, the predicted speed and the predicted running time of the vehicle in each sub-road section are calculated, and the method comprises the following steps:
calculating an acceleration gain of each sub-section based on the speed difference and the predicted travel time;
obtaining a compensated acceleration within each of the sub-segments based on the acceleration gain and the predicted acceleration;
and calculating the predicted speed and the predicted running time of the vehicle in each sub-road section based on the current speed, the compensated acceleration of the sub-road section and the distance information.
The invention also provides a system for planning the speed of the vehicle on the driving target road section, which comprises:
the acquisition module is used for acquiring the current speed and the current acceleration of a vehicle, dividing a running target road section in front of the vehicle into a plurality of sub road sections, wherein the sub road sections have unique gradients, and acquiring gradient information and interval information of all the sub road sections;
the prediction module is used for calculating the predicted speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged on the basis of the current speed, the current acceleration, the gradient information and the distance information;
a difference calculation module for calculating a predicted average speed of the driving target section based on the predicted speed of the vehicle, the predicted driving time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed passing through the driving target section;
and the first planning module is used for generating a first planning speed after speed compensation based on the speed difference value and the vehicle predicted speed.
According to the present invention, there is provided a system for planning vehicle speed in a driving target road segment, the system further comprising:
and the second planning module is used for carrying out shape modification processing on the first planning speed based on the first planning speed and preset upper and lower speed limits to obtain a second planning speed meeting the upper and lower speed limits.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor, when executing the program, implements the steps of the energy-saving vehicle speed planning method according to any one of the above.
The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the energy-efficient vehicle speed planning method according to any one of the preceding claims.
The present invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the energy-saving vehicle speed planning method according to any of the above.
The energy-saving vehicle speed planning method, the energy-saving vehicle speed planning system, the electronic equipment and the storage medium have the advantages that the speed planning calculation efficiency of the driving target road section is high, the robustness is strong, the parameter adjustment verification can be rapidly carried out, and the influence of the vehicle load, the road surface rolling resistance coefficient and the wind resistance coefficient change is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for planning the speed of an energy-saving vehicle according to the present invention;
FIG. 2 is a schematic diagram of a programmed speed modification according to the present invention;
FIG. 3 is a schematic structural diagram of a vehicle speed planning system for a target road segment according to the present invention;
fig. 4 is a schematic physical structure diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
The energy-saving vehicle speed planning method provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
Fig. 1 is a schematic flow chart of an energy-saving vehicle speed planning method provided by the present invention, and as shown in fig. 1, the energy-saving vehicle speed planning method provided by the present invention may include the following steps.
And S100, acquiring the current speed and the current acceleration of the vehicle.
S200, obtaining gradient information and distance information of a plurality of sub road sections in a driving target road section in front of the vehicle, wherein each sub road section has a unique gradient.
Optionally, the current speed v0 and the acceleration a0 of the vehicle are obtained, and it should be noted that a0 is the sum of the dynamic acceleration and the gradient acceleration of the vehicle.
Optionally, the driving target road segment is a road segment located in front of the current position of the vehicle, and is represented by s [0, ds,2 x ds, \8230;, T x ds ], the sub-road segments are equally spaced, the spacing is represented by ds, and T represents the total number of the sub-road segments, wherein s [0] is the current position of the vehicle and is also the starting point of the driving target road segment. The gradient information of the road gradient is represented as theta [0,1,2, \8230;, T ].
And S300, calculating the predicted speed and the predicted running time of the vehicle in each sub road section under the condition that the power output of the vehicle is unchanged based on the current speed, the current acceleration, the gradient information and the distance information.
Optionally, S300 may include the steps of:
calculating the predicted acceleration of each sub-road section based on the current acceleration and gradient information;
and calculating the predicted speed and the predicted running time of the vehicle in each sub-road section based on the current speed, the predicted acceleration of the sub-road section and the distance information.
Optionally, the formula for calculating the predicted acceleration is as follows:
a[0，1，2，……，T]＝a0-sin(theta[0，1，2，……，T]-theta0)*g
wherein g is a gravitational acceleration value.
Alternatively, it is assumed that the vehicle makes a uniform speed change linear motion in each of the sub-sections according to the following formula:
v[i+1]*v[i+1]-v[i]*v[i]＝2*a[i]*ds
wherein i =0,1,2, \8230;, T-1,v, [ i ] refers to the initial value of the speed of the sub-section i, and v [ i +1] refers to the final value of the speed of the sub-section i.
Based on the above formula, the initial value and the final value of the speed in each sub-road section can be gradually deduced from sub-road section to sub-road section, and the speed of the sub-road section is represented as v [0,1,2, \8230;, T ], wherein the speed in each sub-road section is a diagonal line in combination with the time axis, and the slope of the diagonal line is the acceleration given to the sub-road section. Based on the initial speed value, the final speed value, and the acceleration of the sub-link, a predicted travel time is obtained, denoted as T [0,1,2, \8230; \8230, T ].
According to the manual driving experience on the rough road, reasonable slope flushing and sliding operation is carried out in the downhill stage, and the energy efficiency can be improved. The calculation method based on the vehicle predicted speed fully considers the gravity acceleration, so that the potential energy is fully utilized, the energy efficiency of the subsequent planned speed is remarkably improved, and the energy efficiency target of speed planning is completed.
S400, calculating the predicted average speed of the driving target road section based on the predicted speed of the vehicle, the predicted driving time and the distance information, and calculating the speed difference between the predicted average speed and the target speed passing through the driving target road section.
Alternatively, based on the aging requirement for the vehicle to travel through the travel target section, a target speed, denoted as v _ targ, can be generated, and the speed difference between the predicted average speed within the travel target section s and the target speed v _ targ is denoted as e _ vx.
And S500, generating a first planned speed of the vehicle in each sub-road section based on the speed difference and the predicted speed of the vehicle.
Optionally, S500 may include:
calculating the acceleration gain of each sub-road section based on the speed difference and the predicted driving time; and based on the acceleration gain, generating the first planned speed of each sub-road section after speed compensation in a recursion mode.
Alternatively, the acceleration gain is expressed as ag, and its calculation formula is as follows:
ag＝2*e_vx/t[0，1，2，……，T]
optionally, based on the acceleration gain, generating a first planned speed of each sub-segment after the speed compensation in a recursive manner, including:
acquiring a compensation acceleration in each sub-road section based on the acceleration gain and the predicted acceleration; and based on the compensated acceleration, generating a first planned speed of each sub-road section after speed compensation in a recursion mode.
Alternatively, the compensated acceleration is expressed as a _ guide [0,1,2, \8230; \8230, T ], and then the calculation formula is as follows:
a_guide[0，1，2，……，T]＝a[0，1，2，……，T]+ag
optionally, a first planning velocity for each sub-segment, denoted v _ guide [0,1,2, \8230;, T ], is obtained based on the compensated acceleration a _ guide [0,1,2, \8230; \, 8230;, T ] according to the same recursion velocity method in the aforementioned S300.
Specifically, when the first planned speed is calculated according to the method of S300, the step of calculating the predicted speed and the predicted travel time of the vehicle in each sub-road segment in S300 includes:
calculating the acceleration gain of each sub-road section based on the speed difference and the predicted driving time;
acquiring a compensation acceleration in each sub-road section based on the acceleration gain and the predicted acceleration;
and calculating the predicted speed and the predicted running time of the vehicle in each sub road section based on the current speed, the compensated acceleration of the sub road section and the distance information. Wherein the predicted speed of the vehicle is the first planned speed to be calculated.
The smooth first planned speed can be calculated through an acceleration gain recursion algorithm, and if a method of directly adding a speed difference value and the predicted speed of the vehicle is adopted, speed jump is easy to occur, so that the planned speed lacks practical usability.
Optionally, the method further comprises:
and carrying out shape modification processing on the first planning speed based on the first planning speed and a preset upper and lower speed limit to obtain a second planning speed meeting the upper and lower speed limit.
Optionally, the modifying the first planning speed to obtain a second planning speed meeting upper and lower speed limits includes:
subtracting the target speed from the first planning speed to generate a middle speed deviation;
performing weighted scaling on the intermediate speed deviation to generate a scaled speed deviation;
based on the target speed and the scaled speed deviation, a second planned speed is generated such that the second planned speed satisfies the upper and lower speed bounds.
The target speed is subtracted from the first planned speed to generate a zero-averaging process that is an intermediate speed deviation, where the generated intermediate speed deviation is expressed as f, and the formula for f is expressed as follows:
f＝v_guide[0，1，2，……，T]-v_targ
the second planning speed is generated by the weighted scaling of the intermediate speed deviation f and the addition of the target speed, so that the average speed of the whole second planning speed is kept unchanged, the aging requirement of a running target road section is met, and the maximum value and the minimum value of the second planning speed meet the upper and lower speed limits, so that the aging target can be guaranteed, and the condition that a vehicle does not exceed the speed limit can be guaranteed.
Fig. 2 is a schematic diagram of a shape modification of a planned speed provided by the present invention, as shown in fig. 2, an upper horizontal dashed line and a lower horizontal dashed line represent upper and lower limits of a speed, and a predicted vehicle speed is a first planned vehicle speed, it can be seen that a vehicle fully utilizes potential energy to rush a slope along with a change in road surface height, and after zero-equalization shape modification, the predicted vehicle speed generates a shape-modified planned vehicle speed that meets a limit requirement, i.e., a second planned speed, so that the vehicle speed limit requirement is met on the premise of meeting an aging requirement.
The method has high efficiency and strong robustness for calculating the speed planning of the driving target road section, ensures the target of time efficiency and energy efficiency, can quickly carry out parameter adjustment verification, realizes the stability and interpretability of the high-performance speed planning solving of the automatic driving automobile, and is not influenced by the change of vehicle load, road surface rolling resistance coefficient and wind resistance coefficient.
The following describes a vehicle speed planning system for a driving target road segment according to the present invention, and the vehicle speed planning system for a driving target road segment described below and the energy-saving vehicle speed planning method described above may be referred to in correspondence with each other.
Fig. 3 is a schematic structural diagram of a system for planning vehicle speed on a target road section according to the present invention, and as shown in fig. 3, the system for planning vehicle speed on a target road section according to the present invention further includes:
the acquisition module is used for acquiring the current speed and the current acceleration of the vehicle, dividing a running target road section in front of the vehicle into a plurality of sub road sections, wherein the sub road sections have unique gradients, and acquiring gradient information and interval information of all the sub road sections;
the prediction module is used for calculating the predicted speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged on the basis of the current speed, the current acceleration, the gradient information and the distance information;
a difference calculation module for calculating a predicted average speed of the driving target section based on the predicted speed of the vehicle, the predicted driving time and the distance information, and calculating a speed difference between the predicted average speed and a target speed passing through the driving target section;
and the first planning module is used for generating a first planning speed after speed compensation based on the speed difference value and the predicted speed of the vehicle.
Optionally, the system further comprises:
and the second planning module is used for modifying the first planning speed based on the first planning speed and preset upper and lower speed limits to obtain a second planning speed meeting the upper and lower speed limits.
The method has high efficiency and strong robustness in speed planning calculation of the driving target road section, guarantees the target of time efficiency and energy efficiency, can quickly carry out parameter adjustment verification, realizes the stability and interpretability of high-performance speed planning solving of the automatic driving automobile, and is not influenced by the change of vehicle load, road surface rolling resistance coefficient and wind resistance coefficient.
Fig. 4 is a schematic physical structure diagram of an electronic device provided in the present invention, and as shown in fig. 4, the electronic device may include: a processor (processor) 810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a method of energy efficient vehicle speed planning, the method comprising:
acquiring the current speed and the current acceleration of the vehicle;
acquiring gradient information and distance information of a plurality of sub-road sections in a driving target road section in front of the vehicle, wherein each sub-road section has a unique gradient;
calculating the predicted speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged on the basis of the current speed, the current acceleration, the gradient information and the distance information;
calculating a predicted average speed of the driving target section based on the predicted speed of the vehicle, the predicted driving time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed passing through the driving target section;
and generating a first planned speed of the vehicle in each sub-road section based on the speed difference value and the predicted speed of the vehicle.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. 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 removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the energy-efficient vehicle speed planning method provided by the above methods, the method comprising:
acquiring the current speed and the current acceleration of the vehicle;
acquiring gradient information and distance information of a plurality of sub-road sections in a driving target road section in front of the vehicle, wherein each sub-road section has a unique gradient;
calculating the predicted speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged on the basis of the current speed, the current acceleration, the gradient information and the distance information;
calculating a predicted average speed of the driving target section based on the predicted speed of the vehicle, the predicted driving time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed passing through the driving target section;
and generating a first planned speed of the vehicle on each sub-road section based on the speed difference value and the predicted speed of the vehicle.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the energy-efficient vehicle speed planning method provided above, the method comprising:
acquiring the current speed and the current acceleration of the vehicle;
acquiring gradient information and distance information of a plurality of sub-road sections in a driving target road section in front of the vehicle, wherein each sub-road section has a unique gradient;
calculating the predicted speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged on the basis of the current speed, the current acceleration, the gradient information and the distance information;
calculating a predicted average speed of the driving target section based on the predicted speed of the vehicle, the predicted driving time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed passing through the driving target section;
and generating a first planned speed of the vehicle on each sub-road section based on the speed difference value and the predicted speed of the vehicle.
The above-described embodiments of the apparatus are merely illustrative, and 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 network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An energy-saving vehicle speed planning method, characterized by comprising:
acquiring the current speed and the current acceleration of the vehicle;
obtaining gradient information and interval information of a plurality of sub-road sections in a driving target road section in front of the vehicle, wherein each sub-road section has a unique gradient;
calculating the predicted speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged on the basis of the current speed, the current acceleration, the gradient information and the distance information;
calculating a predicted average speed of the driving target section based on the predicted speed of the vehicle, the predicted driving time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed passing through the driving target section;
and generating a first planned speed of the vehicle on each sub-road section based on the speed difference value and the predicted speed of the vehicle.
2. The energy efficient vehicle speed planning method of claim 1, further comprising:
and carrying out shape modification on the first planning speed based on the first planning speed and a preset upper and lower speed limit to obtain a second planning speed meeting the upper and lower speed limit.
3. The energy-saving vehicle speed planning method according to claim 2, wherein the shaping the first planned speed to obtain a second planned speed that satisfies the upper and lower speed limits includes:
subtracting the target speed from the first planning speed to generate a middle speed deviation;
performing weighted scaling on the intermediate speed deviation to generate a scaled speed deviation;
generating the second planned speed based on the target speed and the scaled speed deviation such that the second planned speed satisfies the upper and lower speed bounds.
4. The energy-saving vehicle speed planning method according to claim 1, wherein the calculating of the predicted speed and the predicted travel time of the vehicle within each of the sub-segments with the power output of the vehicle unchanged based on the current speed, the current acceleration, the gradient information, and the distance information comprises:
calculating a predicted acceleration of each of the sub-road sections based on the current acceleration and the gradient information;
and calculating the predicted speed and the predicted running time of the vehicle in each sub-road section based on the current speed, the predicted acceleration of the sub-road section and the distance information.
5. The energy efficient vehicle speed planning method of claim 4 wherein calculating the predicted speed and predicted travel time of the vehicle within each of the sub-segments comprises:
calculating an acceleration gain of each sub-section based on the speed difference and the predicted travel time;
obtaining a compensated acceleration within each of the sub-segments based on the acceleration gain and the predicted acceleration;
and calculating the predicted speed and the predicted running time of the vehicle in each sub-road section based on the current speed, the compensated acceleration of the sub-road section and the distance information.
6. A vehicle speed planning system for a target segment of travel, the system comprising:
the acquisition module is used for acquiring the current speed and the current acceleration of a vehicle, dividing a driving target road section in front of the vehicle into a plurality of sub road sections, wherein the sub road sections have unique gradients, and acquiring gradient information and interval information of all the sub road sections;
the prediction module is used for calculating the predicted speed and the predicted running time of the vehicle in each sub-road section under the condition that the power output of the vehicle is unchanged on the basis of the current speed, the current acceleration, the gradient information and the distance information;
a difference calculation module for calculating a predicted average speed of the driving target section based on the predicted speed of the vehicle, the predicted driving time, and the distance information, and calculating a speed difference between the predicted average speed and a target speed passing through the driving target section;
and the first planning module is used for generating a first planning speed after speed compensation based on the speed difference value and the vehicle predicted speed.
7. The system for vehicle speed planning for a travel target segment of claim 6 further comprising:
and the second planning module is used for carrying out shape modification processing on the first planning speed based on the first planning speed and a preset upper and lower speed limit to obtain a second planning speed meeting the upper and lower speed limit.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program realizes the steps of the energy-saving vehicle speed planning method according to any of claims 1-5.
9. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the energy-efficient vehicle speed planning method according to any one of claims 1-5.
10. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, performs the steps of the energy efficient vehicle speed planning method according to any of claims 1-5.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115964905A (en) * | 2023-03-17 | 2023-04-14 | 中汽研汽车检验中心(昆明)有限公司 | Method and medium for constructing emission test working condition of plateau mountain road |
| CN116653962A (en) * | 2023-07-12 | 2023-08-29 | 南京项尚车联网技术有限公司 | Intelligent driving vehicle efficient energy-saving system and energy-saving method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115964905A (en) * | 2023-03-17 | 2023-04-14 | 中汽研汽车检验中心(昆明)有限公司 | Method and medium for constructing emission test working condition of plateau mountain road |
| CN115964905B (en) * | 2023-03-17 | 2023-05-30 | 中汽研汽车检验中心(昆明)有限公司 | Method and medium for constructing emission test working conditions of mountain roads in highland |
| CN116653962A (en) * | 2023-07-12 | 2023-08-29 | 南京项尚车联网技术有限公司 | Intelligent driving vehicle efficient energy-saving system and energy-saving method |
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