WO2020237517A1

WO2020237517A1 - Speed control method and system for autonomous vehicle, and autonomous vehicle

Info

Publication number: WO2020237517A1
Application number: PCT/CN2019/088932
Authority: WO
Inventors: 商志猛; 应佳行; 马建云
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-05-29
Filing date: 2019-05-29
Publication date: 2020-12-03
Also published as: CN111712418A

Abstract

A speed control method and system for an autonomous vehicle, and an autonomous vehicle. The method is applied to an autonomous vehicle (100, 800). The autonomous vehicle (100, 800) comprises a speed planning device (501, 803). The method comprises: during autonomous-driving of the autonomous vehicle (100, 800), controlling the speed planning device (501, 803) to acquire a current depth by which an accelerator pedal (801) of the autonomous vehicle (100, 800) is pressed, and causing the speed planning device (501, 803) to generate a desired speed of the autonomous vehicle (100, 800) according to the current depth by which the accelerator pedal (801) is pressed (S201); acquiring the desired speed of the autonomous vehicle generated by the speed planning device (501, 803) (S202); and adjusting a travelling speed of the autonomous vehicle (100, 800) according to the desired speed of the autonomous vehicle (100, 800) (S203). Also disclosed are a speed control system (500) for an autonomous vehicle, and an autonomous vehicle (100, 800). The desired speed is configured by means of the accelerator pedal (801) so as to adjust the travelling speed of the autonomous vehicle. The accelerator pedal (801) is operated by a foot of a driver so as not to distract the driver, thereby facilitating configuration of a desired speed, and improving the autonomous-driving safety of an autonomous vehicle.

Description

Speed control method and system of automatic driving vehicle and automatic driving vehicle

Technical field

The embodiments of the present application relate to the field of automatic driving technology, and in particular, to a speed control method and system of an automatic driving vehicle, and an automatic driving vehicle.

Background technique

In recent years, with the development of artificial intelligence technology, autonomous driving technology has also developed rapidly. In the field of autonomous driving, there is no need for the driver to operate the vehicle. Instead, the vehicle automatically collects environmental information and automatically drives based on the environmental information. During the automatic driving of the vehicle, the driving speed of the vehicle can be adjusted. For example, the driving speed of the vehicle can be adjusted according to changes in the collected environmental information, or the driving speed of the vehicle can be adjusted according to the desired speed set manually. If the vehicle adjusts the driving speed of the vehicle according to the desired speed set artificially, the driver generally operates the buttons on the vehicle to set the desired speed, which will distract the driver and is not conducive to the setting of the desired speed.

Summary of the invention

The embodiments of the present application provide a speed control method and system for an autonomous driving vehicle, and an autonomous driving vehicle, which are used to improve the convenience of setting a desired speed and improve the safety of automatic driving of the autonomous vehicle.

In a first aspect, an embodiment of the present application provides a speed control method for an automatic driving vehicle, which is applied to an automatic driving vehicle, the automatic driving vehicle includes a speed planning device, and the method includes:

During the automatic driving process of the self-driving vehicle, the speed planning device is controlled to obtain the current depth of the accelerator pedal of the self-driving vehicle, so that the speed planning device generates according to the current depth of the accelerator pedal The expected speed of the autonomous vehicle;

Acquire the expected speed of the autonomous vehicle generated by the speed planning device, and adjust the traveling speed of the autonomous vehicle according to the expected speed of the autonomous vehicle.

In the second aspect, an embodiment of the present application provides a speed control system for an autonomous vehicle, including: a speed planning device and a processor;

The processor is configured to control the speed planning device to obtain the current depth of depression of the accelerator pedal of the automatic driving vehicle during the automatic driving process of the automatic driving vehicle;

The speed planning device is configured to obtain the current depth of depression of the accelerator pedal, and generate the expected speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal;

The processor is further configured to obtain the expected speed of the self-driving vehicle generated by the speed planning device, and adjust the driving speed of the self-driving vehicle according to the expected speed of the self-driving vehicle.

In a third aspect, an embodiment of the present application provides an autonomous driving vehicle, including: an accelerator pedal, a processor, and a speed planning device;

The processor is configured to: during the automatic driving process of the self-driving vehicle, control the speed planning device to obtain the current depth of depression of the accelerator pedal of the self-driving vehicle;

In a fourth aspect, an embodiment of the present application provides a readable storage medium with a computer program stored on the readable storage medium; when the computer program is executed, the automatic Speed control method for driving a vehicle.

In a fifth aspect, an embodiment of the present application provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of an autonomous vehicle can download it from the readable storage medium The computer program is read, and the at least one processor executes the computer program to make the autonomous vehicle implement the speed control method of the autonomous vehicle according to the embodiment of the present application in the first aspect.

The speed control method and system for an autonomous vehicle and an autonomous vehicle provided by the embodiments of the present application. The autonomous vehicle includes a speed planning device. During the automatic driving process of the autonomous vehicle, the speed planning device is controlled to obtain the information of the autonomous vehicle The current depth of the accelerator pedal depression, so that the speed planning device generates the expected speed of the autonomous vehicle according to the current depth depression of the accelerator pedal, and obtains the expectation of the autonomous vehicle generated by the speed planning device And adjust the driving speed of the autonomous vehicle according to the expected speed of the autonomous vehicle. Therefore, in this embodiment, the desired speed can be set through the accelerator pedal to adjust the driving speed of the autonomous vehicle during the automatic driving process. The accelerator pedal can be operated by the driver through the foot without distracting the driver's attention, so that the desired speed The setting is more convenient, and the safety of automatic driving of the autonomous vehicle is improved.

Description of the drawings

In order to explain the embodiments of this application more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the application, which are common in the art. As far as technical personnel are concerned, they can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic architecture diagram of an autonomous vehicle 100 according to an embodiment of the present application;

2 is a flowchart of a speed control method for an autonomous vehicle provided by an embodiment of the application;

3 is a flowchart of a speed control method for an autonomous vehicle provided by another embodiment of the application;

4 is a flowchart of a speed control method for an autonomous vehicle provided by another embodiment of the application;

5 is a schematic structural diagram of a speed control system for an autonomous vehicle provided by an embodiment of the application;

6 is a schematic structural diagram of a speed control system for an autonomous vehicle provided by another embodiment of the application;

FIG. 7 is a schematic structural diagram of a speed control system for an autonomous vehicle provided by another embodiment of the application;

Fig. 8 is a schematic structural diagram of an autonomous vehicle provided by an embodiment of the application;

FIG. 9 is a schematic structural diagram of an autonomous vehicle provided by another embodiment of the application;

Fig. 10 is a schematic structural diagram of an autonomous vehicle provided by another embodiment of the application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of this application.

It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or there can be a centered component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the description of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiments of the present application provide a speed control method and device for an automatic driving vehicle, and an automatic driving vehicle. FIG. 1 is a schematic architecture diagram of an autonomous driving vehicle 100 according to an embodiment of the present application.

The autonomous vehicle 100 may include a sensing system 110, a control system 120, and a mechanical system 130.

Among them, the sensing system 110 is used to measure the state information of the autonomous vehicle, that is, the perception data of the autonomous vehicle 100. The perception data may represent the position information and/or state information of the autonomous vehicle 100, for example, position, angle, speed, acceleration And angular velocity etc. The sensing system 110 may include, for example, a visual sensor (for example, including multiple monocular or binocular vision devices), lidar, millimeter wave radar, inertial measurement unit (IMU), global navigation satellite system, gyroscope, ultrasonic sensor At least one of sensors such as, electronic compass, and barometer. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS).

After the sensing system 110 obtains the sensing data, it can transmit the sensing data to the control system 120. Among them, the control system 120 is used to make decisions on how to control the autonomous driving vehicle 100 based on the sensing data, for example: how much speed to travel, or how much braking acceleration to brake, or whether to change lanes, or, Turn left/right, etc. The control system 120 may include, for example, a computing platform, such as a vehicle-mounted supercomputing platform, or at least one device having processing functions such as a central processing unit and a distributed processing unit. The control system 120 may also include a communication link for various data transmission on the vehicle.

The control system 120 may output one or more control commands to the mechanical system 130 according to the determined decision. Among them, the mechanical system 130 is used to control the autonomous vehicle 100 in response to one or more control instructions from the control system 120 to complete the above-mentioned decision. For example, the mechanical system 130 can drive the wheels of the autonomous vehicle 100 to rotate so as to be automatic. The driving vehicle 100 provides power for driving, wherein the rotation speed of the wheels can affect the speed of the self-driving vehicle. Among them, the mechanical system 130 may include, for example, at least one of a mechanical body engine/motor, a controlled wire control system, and the like.

It should be understood that the aforementioned naming of the components of the autonomous vehicle is only for identification purposes, and should not be understood as a limitation to the embodiments of the present application.

Fig. 2 is a flowchart of a speed control method for an autonomous vehicle provided by an embodiment of the application. As shown in Fig. 2, the method of this embodiment can be applied to an autonomous vehicle, and the method of this embodiment may include:

S201. During the automatic driving process of the self-driving vehicle, control the speed planning device to obtain the current depth of the accelerator pedal of the self-driving vehicle, so that the speed planning device generates the expected speed of the self-driving vehicle according to the current depth of the accelerator pedal.

The self-driving vehicle in this embodiment includes a speed planning device. During the automatic driving of the self-driving vehicle, if the user wants to adjust the desired speed of the self-driving vehicle, the user (for example, the driver) can step on the automatic driving The accelerator pedal of the vehicle, where the user can adjust the desired speed of the self-driving vehicle according to his needs, and the depth of stepping on the accelerator pedal is different. If the accelerator pedal is depressed, the accelerator pedal can sense the current depth of the accelerator pedal, and then the autonomous vehicle of this embodiment can control the speed planning device to obtain the current depth of the accelerator pedal. After acquiring the current depth of depression of the accelerator pedal, the speed planning device generates the expected speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal.

S202: Obtain an expected speed of the autonomous vehicle generated by the speed planning device.

S203: Adjust the driving speed of the autonomous vehicle according to the expected speed of the autonomous vehicle.

The automatic driving vehicle of this embodiment obtains the expected speed of the automatic driving vehicle generated by the speed planning device, and adjusts the driving speed of the automatic driving vehicle according to the expected speed, for example, the adjusted driving speed of the automatic driving vehicle is equal to the expected speed.

Optionally, the desired speed may be less than or equal to the maximum safe driving speed of the automatic driving vehicle, so as to avoid the driving safety problem of the automatic driving vehicle caused by the excessively fast desired speed.

In this embodiment, during the automatic driving of an autonomous vehicle, the speed planning device is controlled to obtain the current depth of the accelerator pedal of the autonomous vehicle, so that the speed planning device is based on the current depth of the accelerator pedal , Generating the expected speed of the self-driving vehicle, obtaining the expected speed of the self-driving vehicle generated by the speed planning device, and adjusting the traveling speed of the self-driving vehicle according to the expected speed of the self-driving vehicle. Therefore, in this embodiment, the desired speed can be set through the accelerator pedal to adjust the driving speed of the autonomous vehicle during the automatic driving process. The accelerator pedal can be operated by the driver through the foot without distracting the driver's attention, so that the desired speed The setting is more convenient, and the safety of automatic driving of the autonomous vehicle is improved.

On the basis of the embodiment provided in FIG. 2, FIG. 3 is a flowchart of a speed control method of an autonomous vehicle provided by another embodiment of the application. As shown in FIG. 3, the method of this embodiment can be applied to an autonomous vehicle In this embodiment, the method may include:

S301. During the automatic driving process of the self-driving vehicle, control the desired speed generating device to acquire the current depth of the accelerator pedal of the self-driving vehicle, so that the desired speed generating device generates according to the current depth of the accelerator pedal The desired speed of the autonomous vehicle.

The self-driving vehicle in this embodiment includes a speed planning device including a desired speed generating device. Among them, during the automatic driving process of an autonomous vehicle, if the user wants to adjust the desired speed of the autonomous vehicle, the user (for example, the driver) can step on the accelerator pedal of the autonomous vehicle, and the user can according to his needs The desired speed of the adjusted autonomous vehicle is different, and the depth of the accelerator pedal is different. If the accelerator pedal is stepped on, the accelerator pedal can sense the current depth of the accelerator pedal, and then the autonomous vehicle of this embodiment can control the desired speed generating device to obtain the current depth of the accelerator pedal. After obtaining the current depth of depression of the accelerator pedal, the desired speed generating device directly generates the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal.

In some embodiments, the depth of depression of the accelerator pedal corresponds to the desired speed of the autonomous vehicle. Correspondingly, a possible implementation manner for the desired speed generating device to generate the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal is: The current depth and the corresponding relationship between the depth of depression of the accelerator pedal and the desired speed generate the desired speed of the autonomous vehicle. Since there is a pre-existing relationship between the depth of depression of the accelerator pedal and the desired speed, the desired speed of the autonomous vehicle can be quickly generated according to the current depth of depression of the accelerator pedal.

In some embodiments, the autonomous driving vehicle further includes a speed sensing device, which can sense the current driving speed of the autonomous driving vehicle. The automatic driving vehicle also controls the speed sensing device to sense the current driving speed of the automatic driving vehicle, and also controls the desired speed generating device to obtain the current driving speed of the automatic driving vehicle sensed by the speed sensing device. Correspondingly, one possible implementation manner for the desired speed generating device to generate the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal is: the desired speed generating device is based on the depression of the accelerator pedal. Under the current depth and the current driving speed, the expected speed of the autonomous vehicle is generated. That is, the expected speed of an autonomous vehicle is not only related to the current depth of the accelerator pedal, but also related to the current speed of the autonomous vehicle. For example, if the current speed of the autonomous vehicle is faster, the current depth is deeper, then The expected speed of the self-driving vehicle is slower than the current driving speed; if the current driving speed of the self-driving vehicle is slower and the current depth is deeper, the expected speed of the self-driving vehicle will increase relative to the current driving speed. , In order to avoid the expected speed of the autonomous vehicle to be too fast and affect the driving safety.

Optionally, there is a corresponding relationship among the depth of depression of the accelerator pedal, the driving speed of the autonomous vehicle, and the expected speed of the autonomous vehicle. Correspondingly, a possible implementation manner for the desired speed generating device to generate the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal and the current driving speed is: the desired speed generating device According to the current depth of depression of the accelerator pedal and the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed and the desired speed, the automatic driving corresponding to the current depth and the current driving speed is generated The desired speed of the vehicle. Since there is a pre-existing relationship between the depth of the accelerator pedal depression, the driving speed of the autonomous vehicle, and the desired speed, the automatic driving vehicle can be quickly generated according to the current depth of depression of the accelerator pedal and the driving speed of the autonomous vehicle The desired speed.

S302. Acquire the expected speed of the autonomous vehicle generated by the expected speed generating device.

S303. Adjust the driving speed of the autonomous vehicle according to the expected speed of the autonomous vehicle.

The automated driving vehicle of this embodiment obtains the desired speed of the automated driving vehicle generated by the desired speed generating device, and adjusts the driving speed of the automated driving vehicle according to the desired speed, for example, the driving speed of the adjusted automated driving vehicle is equal to the desired speed .

In the speed control method for an autonomous vehicle provided in this embodiment, during the automatic driving process of the autonomous vehicle, the desired speed generating device is controlled to obtain the current depth of the accelerator pedal of the autonomous vehicle to generate the desired speed The device generates the expected speed of the self-driving vehicle according to the current depth of the accelerator pedal depression, obtains the expected speed of the self-driving vehicle generated by the expected speed generating device, and according to the expected speed of the self-driving vehicle To adjust the driving speed of the autonomous vehicle. Therefore, in this embodiment, the desired speed can be set through the accelerator pedal to adjust the driving speed of the autonomous vehicle during the automatic driving process. The accelerator pedal can be operated by the driver through the foot without distracting the driver's attention, so that the desired speed The setting is more convenient, and the safety of automatic driving of the autonomous vehicle is improved.

On the basis of the embodiment provided in FIG. 2, FIG. 4 is a flowchart of a speed control method for an autonomous vehicle provided by another embodiment of the application. As shown in FIG. 4, the method of this embodiment can be applied to an autonomous vehicle In this embodiment, the method may include:

S401. In the process of automatic driving of the self-driving vehicle, control the desired acceleration generating device to obtain the current depth of the accelerator pedal of the self-driving vehicle, so that the desired acceleration generating device generates according to the current depth of the accelerator pedal The desired acceleration of the autonomous vehicle.

The autonomous driving vehicle in this embodiment includes a speed planning device, which includes a desired acceleration generating device and a desired speed generating device. Among them, during the automatic driving process of an autonomous vehicle, if the user wants to adjust the desired speed of the autonomous vehicle, the user (for example, the driver) can step on the accelerator pedal of the autonomous vehicle, and the user can according to his needs The desired speed of the adjusted autonomous vehicle is different, and the depth of the accelerator pedal is different. If the accelerator pedal is depressed, the accelerator pedal can sense the current depth of the accelerator pedal, and then the autonomous vehicle of this embodiment can control the desired acceleration generating device to obtain the current depth of the accelerator pedal. After obtaining the current depth of depression of the accelerator pedal, the desired acceleration generating device generates the desired acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal.

In some embodiments, the depth of depression of the accelerator pedal corresponds to the desired acceleration of the autonomous vehicle. Correspondingly, a possible implementation manner for the expected acceleration generating device to generate the expected acceleration of the self-driving vehicle according to the current depth of depression of the accelerator pedal is: the expected acceleration generating device can generate the expected acceleration according to the depression of the accelerator pedal. The current depth and the corresponding relationship between the depth of depression of the accelerator pedal and the expected acceleration generate the expected acceleration of the autonomous vehicle. Since there is a pre-existing relationship between the depth of depression of the accelerator pedal and the desired acceleration, the desired acceleration of the autonomous vehicle can be quickly generated according to the current depth of depression of the accelerator pedal.

In some embodiments, the autonomous driving vehicle further includes a speed sensing device, which can sense the current driving speed of the autonomous driving vehicle. The automatic driving vehicle also controls the speed sensing device to sense the current driving speed of the automatic driving vehicle, and also controls the desired acceleration generating device to obtain the current driving speed of the automatic driving vehicle sensed by the speed sensing device. Correspondingly, one possible implementation manner for the expected acceleration generating device to generate the expected acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal is: the expected acceleration generating device according to the accelerator pedal depression Under the current depth and the current driving speed, the expected speed of the autonomous driving vehicle is generated. That is, the expected acceleration of an autonomous vehicle is not only related to the current depth of depression of the accelerator pedal, but also related to the current driving speed of the autonomous vehicle. For example: the same depth of depression of the accelerator pedal, if the current driving speed of the autonomous vehicle is higher Faster, the smaller the expected acceleration of the autonomous vehicle is to avoid speeding of the autonomous vehicle, which may affect driving safety.

Optionally, there is a corresponding relationship among the depth of depression of the accelerator pedal, the driving speed of the autonomous vehicle, and the expected acceleration of the autonomous vehicle. Correspondingly, a possible implementation manner for the expected acceleration generating device to generate the expected acceleration of the self-driving vehicle according to the current depth of depression of the accelerator pedal and the current driving speed is: the expected acceleration generating device According to the current depth of depression of the accelerator pedal and the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed and the desired speed, the automatic driving corresponding to the current depth and the current driving speed is generated The expected acceleration of the vehicle. Since there is a pre-existing relationship between the depth of the accelerator pedal depression, the driving speed of the autonomous vehicle, and the expected acceleration, the automatic driving vehicle can be quickly generated according to the current depth of depression of the accelerator pedal and the driving speed of the autonomous vehicle The desired acceleration.

S402. Control the expected speed generating device to obtain the expected acceleration of the autonomous driving vehicle, so that the expected speed generating device generates the expected speed of the autonomous driving vehicle according to the expected acceleration of the autonomous vehicle.

In this embodiment, after the expected acceleration generating device generates the expected acceleration of the autonomous driving vehicle, the expected speed generating device is controlled to obtain the expected acceleration generated by the expected acceleration, and then the expected speed generating device generates the automatic The desired speed of driving the vehicle.

In some embodiments, the autonomous driving vehicle further includes a speed sensing device, which can sense the current driving speed of the autonomous driving vehicle. The automatic driving vehicle also controls the speed sensing device to sense the current driving speed of the automatic driving vehicle, and also controls the desired speed generating device to obtain the current driving speed of the automatic driving vehicle sensed by the speed sensing device. Correspondingly, a possible implementation manner for the expected speed generating device to generate the expected speed of the automatic driving vehicle according to the expected acceleration of the automatic driving vehicle is: the expected speed generating device according to the expected acceleration and the expected acceleration of the automatic driving vehicle The current driving speed of the autonomous driving vehicle generates the expected speed of the autonomous driving vehicle. For example, the desired speed may be the speed obtained by taking the current driving speed of the autonomous vehicle as the initial speed and the desired acceleration as the acceleration. Therefore, in this embodiment, the automatic driving vehicle can continue to accelerate based on the current driving speed, so as to solve the problem that the user does not meet the current driving speed.

In some embodiments, the self-driving vehicle further controls the desired speed generating device to obtain the traveling speed set by the user of the self-driving vehicle. The traveling speed set by the user may be, for example, the traveling speed set by the accelerator (specific implementation process You can refer to the solution of how to determine the desired speed according to the throttle in the foregoing embodiments, which will not be repeated here), or it may be the driving speed set by the interactive device of the autonomous vehicle. Correspondingly, a possible implementation manner for the expected speed generating device to generate the expected speed of the autonomous vehicle according to the expected acceleration of the automatic driving vehicle is: the expected speed generating device according to the expected acceleration of the automatic driving vehicle And the driving speed set by the user to generate the desired speed of the autonomous vehicle. For example, the desired speed may be the speed obtained by using the driving speed set by the user of the self-driving vehicle as the initial speed and the desired acceleration as the acceleration. Therefore, in this embodiment, the automatic driving vehicle can continue to accelerate based on the traveling speed set by the user, so as to solve the problem that the user does not meet the previously set traveling speed.

Optionally, the self-driving vehicle further includes an interaction device, and the interaction device may be set at the central control of the self-driving vehicle, for example. Among them, the interactive device may be an important part of the autonomous vehicle and an interface for interacting with the user. In this embodiment, when the user wants to control the driving speed of the autonomous vehicle, the user can perform a speed setting operation on the interactive device, and the interactive device will detect the speed setting operation, and the speed setting operation is used for setting The driving speed, therefore, the self-driving vehicle can detect the speed setting operation of the user through the interactive device, and then determine the driving speed set by the user according to the speed setting operation. The interactive device may be, for example, one or more of the touch screen and buttons of the autonomous vehicle; at the same time, the touch screen may also display all the driving parameters of the autonomous vehicle, and may display pictures taken by the autonomous vehicle.

S403: Acquire the expected speed of the autonomous vehicle generated by the expected speed generating device.

S404: Adjust the driving speed of the autonomous vehicle according to the expected speed of the autonomous vehicle.

In this embodiment, the specific implementation process of S403 and S404 can refer to the related description in the embodiment shown in FIG. 3, which will not be repeated here.

Optionally, if the desired speed generating device generates the desired speed of the automatic driving vehicle according to the desired acceleration of the automatic driving vehicle and the traveling speed set by the user, a possible implementation of S404 may be: If the current driving speed of the automatic driving vehicle is not equal to the driving speed set by the user, the driving speed of the automatic driving vehicle is controlled to be equal to the driving speed set by the user; according to the expected speed of the automatic driving vehicle, The driving speed set by the user starts to adjust the driving speed of the autonomous vehicle.

In this embodiment, the self-driving vehicle further includes a speed sensing device, which can sense the current driving speed of the self-driving vehicle. The automatic driving vehicle also controls the speed sensing device to sense the current driving speed of the automatic driving vehicle, and also obtains the current driving speed of the automatic driving vehicle sensed by the speed sensing device. Determine whether the current driving speed is equal to the driving speed set by the user. If the current driving speed is not equal to the driving speed set by the user, first control the driving speed of the autonomous vehicle to be equal to the driving speed set by the user; then according to the automatic driving The desired speed of the vehicle is adjusted from the driving speed set by the user to the driving speed of the autonomous vehicle. If the current driving speed is equal to the driving speed set by the user, the driving speed of the automatic driving vehicle is adjusted from the current driving speed according to the expected speed of the automatic driving vehicle. Therefore, even when the current driving speed when the accelerator pedal is depressed is not equal to the driving speed set by the user, the driving speed can be adjusted from the driving speed set by the user according to the desired speed of the autonomous vehicle.

The speed control method for an autonomous vehicle provided by this embodiment controls the expected acceleration generating device to obtain the current depth of the accelerator pedal of the autonomous vehicle during the automatic driving process of the autonomous vehicle, so that the expected acceleration is generated The device generates the expected acceleration of the self-driving vehicle according to the current depth of depression of the accelerator pedal, and then controls the expected speed generating device to obtain the expected acceleration, so that the expected speed generating device generates the automatic according to the expected acceleration The desired acceleration of the driving vehicle; then the desired speed of the self-driving vehicle generated by the desired speed generating device is obtained, and the driving speed of the self-driving vehicle is adjusted according to the desired speed of the self-driving vehicle. Therefore, in this embodiment, the desired speed can be set through the accelerator pedal to adjust the driving speed of the autonomous vehicle during the automatic driving process. The accelerator pedal can be operated by the driver through the foot without distracting the driver's attention, so that the desired speed The setting is more convenient, and the safety of automatic driving of the autonomous vehicle is improved.

In each of the foregoing embodiments, any of the aforementioned corresponding relationships may be set by the user. Therefore, the user can set the above-mentioned corresponding relationship according to his own habits or preferences, so that the user can improve the accuracy of setting the desired speed or the desired acceleration when operating the accelerator.

Optionally, the self-driving vehicle further includes an interaction device, and the interaction device may be set at the central control of the self-driving vehicle, for example. In this embodiment, when the user wants to set any of the above-mentioned correspondences for controlling the autonomous vehicle, the user can perform a correspondence setting operation on the interactive device, and the interactive device will detect the correspondence setting operation. The relationship setting operation is used to set the corresponding relationship. Therefore, the autonomous vehicle can detect the user's corresponding relationship setting operation through the interactive device, and then determine the corresponding relationship according to the corresponding relationship setting operation. The interaction device may be, for example, one or more of a touch display screen and a button of an autonomous vehicle. Optionally, the self-driving vehicle controls the desired speed generating device to obtain the foregoing corresponding relationship related to the desired speed, or controls the desired acceleration generating device to obtain the foregoing corresponding relationship related to the desired acceleration. Therefore, the user can set the above-mentioned corresponding relationship at any time by operating the interactive device of the automatic driving vehicle, which improves the convenience of the user in operating the automatic driving vehicle.

Optionally, the self-driving vehicle further includes a display device. After the self-driving vehicle determines the corresponding relationship, it can also control the display device to display the above-mentioned corresponding relationship, so that the user can learn the corresponding relationship set by it in time, and make a report based on the corresponding relationship. Operate the throttle to set the desired speed or desired acceleration. The display device may be, for example, a touch display screen of an autonomous vehicle.

On the basis of the foregoing embodiments, the self-driving vehicle will also output at least one of the following information to the user: the expected speed of the self-driving vehicle and the reason for the change in the expected speed; wherein the reason includes the accelerator pedal depression. In order for the user to know the above information, to determine whether the expected speed of the autonomous vehicle is the desired speed set by the user, so as to know that the expected speed of the autonomous vehicle changes due to the accelerator pedal depression, so as to avoid accidental depression of the accelerator pedal As a result, the expected speed of the autonomous vehicle changes.

Optionally, the self-driving vehicle further includes a display device, and the self-driving vehicle can control the display device to obtain the at least one piece of information, so that the display device displays at least one piece of information: the desired speed of the self-driving vehicle, the desired speed has changed s reason. Therefore, the user can learn at least one item of information in time by watching the display device.

Optionally, the human-driven vehicle further includes a speaker, and the autonomous vehicle can control the speaker to obtain the at least one piece of information, and make the speaker broadcast at least one piece of information: the expected speed of the autonomous vehicle and the reason for the expected speed change . Therefore, the user can learn at least one item of information in time by listening to the sound played by the speaker.

It should be noted that, in some embodiments, if the user operates the accelerator pedal of an autonomous vehicle to depress the deeper the current depth, the corresponding desired speed becomes larger, that is, the autonomous vehicle is accelerated. If the user operates the accelerator pedal of the self-driving vehicle to depress the current depth shallower, the corresponding desired speed becomes smaller, that is, the self-driving vehicle is decelerated. In some embodiments, the user may perform a corresponding relationship setting operation on the interaction device, for example, setting the corresponding relationship between the accelerator pedal depression depth and acceleration/deceleration, or the corresponding relationship between the brake pedal depression depth and deceleration.

An embodiment of the present application also provides a computer storage medium. The computer storage medium stores program instructions. The program execution may include the speed control of the autonomous vehicle as shown in Figures 2 to 4 and its corresponding embodiments. Part or all of the steps of the method.

FIG. 5 is a schematic structural diagram of a speed control system for an autonomous vehicle according to an embodiment of the application. As shown in FIG. 5, the speed control system 500 for an autonomous vehicle in this embodiment may include: a speed planning device 501 and a processor 502 . Wherein, the speed planning device 501 and the processor 502 may be connected through a bus.

The processor 502 is configured to control the speed planning device 501 to obtain the current depth of depression of the accelerator pedal of the self-driving vehicle during the automatic driving of the self-driving vehicle.

The speed planning device 501 is configured to obtain the current depth of depression of the accelerator pedal, and generate the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal.

The processor 502 is further configured to obtain the expected speed of the autonomous vehicle generated by the speed planning device 501, and adjust the driving speed of the autonomous vehicle according to the expected speed of the autonomous vehicle.

Optionally, the processor 502 is further configured to output at least one of the following information: the expected speed of the self-driving vehicle and the reason for the change of the expected speed; wherein, the reason includes the accelerator pedal depression.

Optionally, the processor 502 is specifically configured to:

Control the display device of the autonomous vehicle to acquire the at least one item of information, and cause the display device to display the at least one item of information, and/or,

The speaker of the autonomous vehicle is controlled to acquire the at least one item of information, and the speaker is made to voice the at least one item of information.

In some implementations, the above-mentioned display device may be included in the speed control system 500 of an autonomous vehicle, which is not shown in the figure; the display device is used to display the at least one piece of information. The aforementioned speaker may be included in the speed control system 500 of an autonomous vehicle, which is not shown in the figure; the speaker is used for voice playback of the at least one piece of information.

Optionally, the speed control system 500 of the self-driving vehicle in this embodiment may further include a memory, which is not shown in the figure. The memory is used to store program codes. The processor 502 calls the program code, and when the program code is executed, it is used to execute the foregoing solutions.

The speed control system for an autonomous vehicle in this embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present application, and the implementation principles and technical effects are similar, and will not be repeated here.

6 is a schematic structural diagram of a speed control system for an autonomous vehicle provided by another embodiment of the application. As shown in FIG. 6, the speed control system 500 for an autonomous vehicle in this embodiment is based on the embodiment shown in FIG. , The speed planning device 501 includes: a desired speed generating device 5011.

The processor 502 is specifically configured to: control the desired speed generating device 5011 to obtain the current depth of depression of the accelerator pedal.

The desired speed generating device 5011 is configured to obtain the current depth of depression of the accelerator pedal, and generate the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal.

Optionally, the processor 502 is further configured to: control the speed sensing device of the self-driving vehicle to sense the current driving speed of the self-driving vehicle; and control the desired speed generating device 5011 to obtain the automatic The current speed of the driving vehicle;

The desired speed generating device 5011 is specifically configured to generate the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal and the current driving speed.

In some implementations, the aforementioned speed sensing device may be included in the speed control system 500 of an autonomous vehicle, which is not shown in the figure. Wherein, the speed sensing device is used to sense the current driving speed of the autonomous vehicle.

Optionally, the desired speed generating device 5011 is specifically configured to generate a corresponding relationship between the depth of the accelerator pedal and the desired speed according to the current depth of the accelerator pedal depression The desired speed of the autonomous vehicle.

Optionally, the desired speed generating device 5011 is specifically configured to:

According to the current depth of depression of the accelerator pedal and the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed and the desired speed, the automatic driving corresponding to the current depth and the current driving speed is generated The desired speed of the vehicle.

Optionally, the corresponding relationship is set by the user.

Optionally, the processor 502 is further configured to:

The interaction device controlling the automatic driving vehicle detects a user's corresponding relationship setting operation, and the corresponding relationship setting operation is used to set the corresponding relationship;

The corresponding relationship is determined according to the corresponding relationship setting operation.

In some implementations, the aforementioned interaction device may be included in the speed control system 500 of an autonomous vehicle, which is not shown in the figure. The interaction device is used to detect the user's corresponding relationship setting operation.

In some implementation manners, the processor 502 is further configured to control the display device of the autonomous vehicle to display the corresponding relationship. In some implementations, the above-mentioned display device may be included in the speed control system 500 of an autonomous vehicle, which is not shown in the figure. The display device is used to display the corresponding relationship.

The speed control system of the autonomous vehicle of this embodiment can be used to implement the technical solutions of the embodiment of FIG. 3 and the corresponding method of this application, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 7 is a schematic structural diagram of a speed control system for an autonomous vehicle according to another embodiment of the application. As shown in FIG. 7, the speed control system 500 for an autonomous vehicle in this embodiment is based on the embodiment shown in FIG. 5 The speed planning device 501 includes: a desired acceleration generating device 5012 and a desired speed generating device 5013.

The processor 502 is specifically configured to:

Controlling the expected acceleration generating device 5012 to obtain the current depth of depression of the accelerator pedal, and controlling the expected speed generating device 5013 to obtain the expected acceleration of the self-driving vehicle;

The expected acceleration generating device 5012 is configured to obtain the current depth of depression of the accelerator pedal, and generate the expected acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal;

The expected speed generating device 5013 is used to obtain the expected acceleration of the automatic driving vehicle, and generate the expected speed of the automatic driving vehicle according to the expected acceleration of the automatic driving vehicle.

Optionally, the processor 502 is further configured to: control the speed sensing device of the self-driving vehicle to sense the current driving speed of the self-driving vehicle; control the expected acceleration generating device 5012 to obtain the automatic driving The current speed of the vehicle;

The expected acceleration generating device 5012 is specifically configured to generate the expected acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal and the current traveling speed.

Optionally, the expected acceleration generating device 5012 is specifically used for:

According to the current depth of depression of the accelerator pedal and the corresponding relationship between the depth of depression of the accelerator pedal and the desired acceleration, the desired acceleration of the autonomous driving vehicle corresponding to the current depth is generated.

According to the current depth of depression of the accelerator pedal, the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed, and the desired acceleration, the automatic driving corresponding to the current depth and the current driving speed is generated The expected acceleration of the vehicle.

Optionally, the processor 502 is further configured to: control the desired speed generating device 5013 to obtain the current driving speed of the autonomous vehicle;

The expected speed generating device 5013 is specifically configured to generate the expected speed of the automatic driving vehicle according to the expected acceleration of the automatic driving vehicle and the current driving speed of the automatic driving vehicle.

Optionally, the processor 502 is further configured to: control the desired speed generating device 5013 to obtain the driving speed set by the user of the self-driving vehicle;

The desired speed generating device 5013 is specifically configured to generate the desired speed of the automatic driving vehicle according to the desired acceleration of the automatic driving vehicle and the driving speed set by the user.

Optionally, the processor 502 is further configured to:

The interaction device that controls the autonomous vehicle detects a user's speed setting operation, and the speed setting operation is used to set the driving speed;

According to the speed setting operation, the driving speed set by the user is determined.

Optionally, the processor 502 is specifically configured to:

If the current driving speed of the self-driving vehicle is not equal to the driving speed set by the user, controlling the driving speed of the self-driving vehicle to be equal to the driving speed set by the user;

According to the desired speed of the self-driving vehicle, the driving speed of the self-driving vehicle is adjusted starting from the driving speed set by the user.

Optionally, the corresponding relationship is set by the user.

Optionally, the processor 502 is further configured to:

The interaction device controlling the automatic driving vehicle detects the user's corresponding relationship setting operation, and the corresponding relationship setting operation is used to set the corresponding relationship;

Optionally, the processor 502 is further configured to control the display device of the autonomous vehicle to display the corresponding relationship.

In some implementations, the speed control system 500 of the self-driving vehicle may further include a speed sensing device, which is not shown in the figure. Wherein, the speed sensing device is used to sense the current driving speed of the autonomous vehicle.

In some implementations, the speed control system 500 of the autonomous vehicle may further include an interactive device, which is not shown in the figure. Wherein, the interactive device is used to detect the above-mentioned correspondence setting operation and/or the above-mentioned speed setting operation of the user.

In some implementations, the speed control system 500 of the self-driving vehicle may further include a display device, which is not shown in the figure. Wherein, the display device is used to display the corresponding relationship.

The speed control system of the autonomous vehicle of this embodiment can be used to implement the technical solutions of the embodiment of FIG. 4 and the corresponding method of this application, and the implementation principles and technical effects are similar, and will not be repeated here.

FIG. 8 is a schematic structural diagram of an autonomous driving vehicle provided by an embodiment of the application. As shown in FIG. 8, the autonomous driving vehicle 800 of this embodiment may include: an accelerator pedal 801, a processor 802, and a speed planning device 803; among them, the accelerator The pedal 801, the processor 802 and the speed planning device 803 may be connected via a bus. Optionally, the self-driving vehicle 800 of this embodiment may further include: a display device 804. Optionally, the self-driving vehicle 800 in this embodiment may further include a speaker 805.

The processor 802 is configured to control the speed planning device 803 to obtain the current depth of depression of the accelerator pedal 801 of the automatic driving vehicle 800 during the automatic driving process of the automatic driving vehicle 800.

The speed planning device 803 is configured to obtain the current depth of depression of the accelerator pedal 801, and generate the desired speed of the autonomous vehicle 800 according to the current depth of depression of the accelerator pedal 801.

The processor 802 is further configured to obtain the expected speed of the autonomous vehicle 800 generated by the speed planning device 803, and adjust the driving speed of the autonomous vehicle 800 according to the expected speed of the autonomous vehicle 800 .

Optionally, the processor 802 is further configured to output at least one of the following information: the expected speed of the autonomous vehicle 800 and the reason for the change in the expected speed; wherein, the reason includes the accelerator pedal depression.

Optionally, the processor 802 is further configured to: control the display device 804 of the autonomous vehicle 800 to obtain the at least one item of information, so that the display device 804 displays the at least one item of information; The device 804 is configured to display the at least one item of information. and / or,

The speaker 805 of the autonomous vehicle 800 is controlled to acquire the at least one piece of information, and the speaker 805 is used to voice the at least one piece of information; wherein the speaker 805 is used to voice the at least one piece of information.

Optionally, the self-driving vehicle 800 of this embodiment may further include a memory, which is not shown in the figure. The memory is used to store program codes. The processor 802 calls the program code, and when the program code is executed, it is used to execute the foregoing solutions.

The self-driving vehicle in this embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present application, and the implementation principles and technical effects are similar, and will not be repeated here.

9 is a schematic structural diagram of an autonomous vehicle provided by another embodiment of the application. As shown in FIG. 9, the autonomous vehicle 800 of this embodiment is based on the embodiment shown in FIG. 8, and the speed planning device 803 includes : Desired speed generating device 8031. Optionally, the self-driving vehicle further includes a speed sensing device 806. Optionally, the autonomous driving vehicle further includes an interaction device 807.

The processor 802 is specifically configured to: control the desired speed generating device 8031 to obtain the current depth of depression of the accelerator pedal 801.

The desired speed generating device 8031 is configured to obtain the current depth of depression of the accelerator pedal 801, and generate the desired speed of the autonomous vehicle 800 according to the current depth of depression of the accelerator pedal 801.

Optionally, the speed sensing device 806 is used to sense the current driving speed of the autonomous vehicle.

The processor 802 is further configured to: control the speed sensing device 806 to sense the current driving speed of the self-driving vehicle 800; control the desired speed generating device 8031 to obtain the current driving speed of the self-driving vehicle 800 .

The desired speed generating device 8031 is specifically configured to generate the desired speed of the autonomous vehicle 800 according to the current depth of depression of the accelerator pedal 801 and the current driving speed.

Optionally, the desired speed generating device 8031 is specifically configured to generate the current depth according to the current depth of the accelerator pedal 801 and the corresponding relationship between the accelerator pedal 801 and the desired speed. The corresponding expected speed of the autonomous vehicle 800.

Optionally, the desired speed generating device 8031 is specifically configured to generate according to the current depth of depression of the accelerator pedal 801 and the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed and the desired speed The expected speed of the autonomous vehicle 800 corresponding to the current depth and the current driving speed.

Optionally, the corresponding relationship is set by the user.

Optionally, the interaction device 807 is used to detect the user's corresponding relationship setting operation.

The processor 802 is further configured to: control the interaction device 807 to detect a user's corresponding relationship setting operation, the corresponding relationship setting operation is used to set the corresponding relationship; according to the corresponding relationship setting operation, determine the Correspondence.

Optionally, the processor 802 is further configured to control the display device 804 to display the corresponding relationship.

The self-driving vehicle of this embodiment can be used to implement the technical solutions of the embodiment of FIG. 3 and the corresponding method of this application, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 10 is a schematic structural diagram of an autonomous driving vehicle provided by another embodiment of the application. As shown in FIG. 10, the autonomous driving vehicle 800 of this embodiment is based on the embodiment shown in FIG. 8, and the speed planning device 803 includes : Expected acceleration generating device 8032 and expected speed generating device 8033. Optionally, the self-driving vehicle further includes a speed sensing device 808. Optionally, the autonomous driving vehicle further includes an interactive device 809.

The processor 802 is specifically configured to: control the expected acceleration generating device 8032 to obtain the current depth of depression of the accelerator pedal 801, and control the expected speed generating device 8033 to obtain the expected acceleration of the autonomous vehicle.

The expected acceleration generating device 8032 is configured to obtain the current depth of depression of the accelerator pedal 801, and generate the expected acceleration of the autonomous vehicle 800 according to the current depth of depression of the accelerator pedal 801.

The expected speed generating device 8033 is configured to obtain the expected acceleration of the autonomous vehicle 800, and generate the expected speed of the autonomous vehicle 800 according to the expected acceleration of the autonomous vehicle 800.

Optionally, the speed sensing device 808 is used to sense the current driving speed of the autonomous vehicle 800.

The processor 802 is further configured to: control the speed sensing device 808 to sense the current driving speed of the automatic driving vehicle 800; control the desired acceleration generating device 8032 to obtain the current driving speed of the automatic driving vehicle;

The expected acceleration generating device 8032 is specifically configured to generate the expected acceleration of the self-driving vehicle 800 according to the current depth of depression of the accelerator pedal 801 and the current driving speed.

Optionally, the expected acceleration generating device 8032 is specifically used for:

According to the current depth of depression of the accelerator pedal 801 and the corresponding relationship between the depth of depression of the accelerator pedal and the desired acceleration, the desired acceleration of the autonomous vehicle 800 corresponding to the current depth is generated.

According to the current depth of depression of the accelerator pedal 801, and the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed and the desired acceleration, the automatic corresponding to the current depth and the current driving speed is generated. The desired acceleration of the driving vehicle 800.

The processor 802 is further configured to: control the desired speed generating device 8033 to obtain the current driving speed of the autonomous vehicle 800.

The expected speed generating device 8033 is specifically configured to generate the expected speed of the automatic driving vehicle 800 according to the expected acceleration of the automatic driving vehicle 800 and the current driving speed of the automatic driving vehicle 800.

Optionally, the processor 802 is further configured to: control the desired speed generating device 8033 to obtain the driving speed set by the user of the autonomous vehicle 800;

The expected speed generating device 8033 is specifically configured to generate the expected speed of the automatically driven vehicle 800 according to the expected acceleration of the automatically driven vehicle 800 and the driving speed set by the user.

Optionally, the interaction device 809 is used to detect the speed setting operation of the user.

The processor 802 is further configured to: control the interaction device 809 to detect a user's speed setting operation, the speed setting operation is used to set the driving speed; according to the speed setting operation, determine the driving speed set by the user .

Optionally, the processor 802 is specifically configured to: if the current driving speed of the automatic driving vehicle 800 is not equal to the driving speed set by the user, control the driving speed of the automatic driving vehicle 800 to be equal to the user Set travel speed;

According to the desired speed of the autonomous driving vehicle 800, the driving speed of the autonomous driving vehicle 800 is adjusted from the driving speed set by the user.

Optionally, the corresponding relationship is set by the user.

Optionally, the interaction device 809 is configured to detect the user's corresponding relationship setting operation.

The processor 802 is further configured to: control the interaction device 809 to detect a user's corresponding relationship setting operation, the corresponding relationship setting operation is used to set the corresponding relationship; according to the corresponding relationship setting operation, determine the Correspondence.

The self-driving vehicle of this embodiment can be used to implement the technical solutions of FIG. 4 and the corresponding method embodiments of the present application. The implementation principles and technical effects are similar, and will not be repeated here.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the application range.

Claims

A speed control method for an automatic driving vehicle, characterized in that it is applied to an automatic driving vehicle, the automatic driving vehicle includes a speed planning device, and the method includes:

During the automatic driving process of the self-driving vehicle, the speed planning device is controlled to obtain the current depth of the accelerator pedal of the self-driving vehicle, so that the speed planning device generates according to the current depth of the accelerator pedal The expected speed of the autonomous vehicle;

Acquire the expected speed of the autonomous vehicle generated by the speed planning device, and adjust the traveling speed of the autonomous vehicle according to the expected speed of the autonomous vehicle.
The method according to claim 1, wherein the speed planning device comprises: a desired speed generating device;

The controlling the speed planning device to obtain the current depth of depression of the accelerator pedal, so that the speed planning device generates the expected speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal, including:

The desired speed generating device is controlled to obtain the current depth of depression of the accelerator pedal, so that the desired speed generating device generates the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal.
The method according to claim 2, wherein the self-driving vehicle further comprises a speed sensing device, and the method further comprises:

Controlling the speed sensing device to sense the current driving speed of the autonomous vehicle;

The desired speed generating device is controlled to obtain the current driving speed of the self-driving vehicle, so that the desired speed generating device generates the desired speed of the self-driving vehicle according to the current depth of depression of the accelerator pedal and the current driving speed speed.
The method according to claim 2, wherein the desired speed generating device generates the desired speed of the self-driving vehicle according to the current depth of depression of the accelerator pedal, comprising:

The desired speed generating device generates the desired speed of the autonomous vehicle corresponding to the current depth according to the current depth of depression of the accelerator pedal and the corresponding relationship between the depth of depression of the accelerator pedal and the desired speed.
The method according to claim 3, wherein the desired speed generating device generates the desired speed of the self-driving vehicle according to the current depth of depression of the accelerator pedal and the current driving speed, comprising:

The desired speed generating device generates a relationship between the current depth and the current driving speed according to the current depth of the accelerator pedal depression and the corresponding relationship among the depth of the accelerator pedal depression, the driving speed, and the desired speed. The corresponding expected speed of the autonomous vehicle.
The method of claim 1, wherein the speed planning device comprises: a desired acceleration generating device and a desired speed generating device;

The controlling the speed planning device to obtain the current depth of depression of the accelerator pedal, so that the speed planning device generates the expected speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal, including:

Controlling the expected acceleration generating device to obtain the current depth of depression of the accelerator pedal, so that the expected acceleration generating device generates the expected acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal;

The desired speed generating device is controlled to obtain the desired acceleration of the autonomous driving vehicle, so that the desired speed generating device generates the desired speed of the autonomous driving vehicle according to the desired acceleration of the autonomous driving vehicle.
The method according to claim 6, wherein the self-driving vehicle further comprises a speed sensing device, and the method further comprises:

Controlling the speed sensing device to sense the current driving speed of the autonomous vehicle;

Control the expected acceleration generating device to obtain the current driving speed of the autonomous vehicle, so that the expected acceleration generating device generates the expected acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal and the current driving speed Acceleration.
The method according to claim 6, wherein the expected acceleration generating device generates the expected acceleration of the self-driving vehicle according to the current depth of depression of the accelerator pedal, comprising:

The desired speed generating device generates the desired acceleration of the autonomous vehicle corresponding to the current depth according to the current depth of depression of the accelerator pedal and the correspondence between the depth of depression of the accelerator pedal and the desired acceleration.
8. The method according to claim 7, wherein the expected acceleration generating device generates the expected acceleration of the self-driving vehicle according to the current depth of depression of the accelerator pedal and the current driving speed, comprising:

The desired acceleration generating device generates a correlation between the current depth and the current driving speed according to the current depth of the accelerator pedal depression and the corresponding relationship among the depth of the accelerator pedal depression, the traveling speed, and the expected acceleration. The corresponding expected acceleration of the autonomous vehicle.
The method according to any one of claims 6-9, further comprising:

Control the desired speed generating device to acquire the current driving speed of the autonomous vehicle, so that the desired speed generating device generates the automatic driving based on the desired acceleration of the autonomous vehicle and the current driving speed of the autonomous vehicle The desired speed of the vehicle.
The method according to any one of claims 6-9, further comprising:

The desired speed generating device is controlled to obtain the driving speed set by the user of the self-driving vehicle, so that the desired speed generating device generates the automatic driving according to the desired acceleration of the self-driving vehicle and the driving speed set by the user The desired speed of the vehicle.
The method according to claim 11, further comprising:

The interaction device that controls the autonomous vehicle detects a user's speed setting operation, and the speed setting operation is used to set the driving speed;

According to the speed setting operation, the driving speed set by the user is determined.
The method according to claim 11 or 12, wherein the adjusting the driving speed of the automatic driving vehicle according to the expected speed of the automatic driving vehicle comprises:

If the current driving speed of the self-driving vehicle is not equal to the driving speed set by the user, controlling the driving speed of the self-driving vehicle to be equal to the driving speed set by the user;

According to the desired speed of the self-driving vehicle, the driving speed of the self-driving vehicle is adjusted starting from the driving speed set by the user.
The method according to claim 4, 5, 8 or 9, wherein the corresponding relationship is set by the user.
The method according to claim 14, further comprising:

The interaction device controlling the automatic driving vehicle detects a user's corresponding relationship setting operation, and the corresponding relationship setting operation is used to set the corresponding relationship;

The corresponding relationship is determined according to the corresponding relationship setting operation.
The method according to claim 4, 5, 8, 9 or 15, characterized in that it further comprises:

The corresponding relationship is displayed.
The method according to any one of claims 1-16, further comprising:

Output at least one of the following information: the expected speed of the autonomous vehicle and the reason for the expected speed change;

Among them, the reasons include depression of the accelerator pedal.
The method according to claim 17, wherein said outputting at least one of the following information includes:

Control the display device of the autonomous vehicle to acquire the at least one item of information, and cause the display device to display the at least one item of information, and/or,

The speaker of the autonomous vehicle is controlled to acquire the at least one piece of information, so that the speaker plays the at least one piece of information by voice.
A speed control system for an automatic driving vehicle, which is characterized by comprising: a speed planning device and a processor;

The processor is configured to control the speed planning device to obtain the current depth of depression of the accelerator pedal of the automatic driving vehicle during the automatic driving process of the automatic driving vehicle;

The speed planning device is configured to obtain the current depth of depression of the accelerator pedal, and generate the expected speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal;

The processor is further configured to obtain the expected speed of the self-driving vehicle generated by the speed planning device, and adjust the driving speed of the self-driving vehicle according to the expected speed of the self-driving vehicle.
The system according to claim 19, wherein the speed planning device comprises: a desired speed generating device;

The processor is specifically used for:

Controlling the desired speed generating device to obtain the current depth of depression of the accelerator pedal;

The desired speed generating device is used to obtain the current depth of depression of the accelerator pedal, and generate the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal.
The system according to claim 20, wherein the processor is further configured to: control the speed sensing device of the self-driving vehicle to sense the current driving speed of the self-driving vehicle; and control the desired The speed generating device acquires the current driving speed of the autonomous vehicle;

The desired speed generating device is specifically configured to generate the desired speed of the self-driving vehicle according to the current depth of depression of the accelerator pedal and the current driving speed.
The system according to claim 20, wherein the desired speed generating device is specifically configured to: according to the current depth of depression of the accelerator pedal and the corresponding relationship between the depth of depression of the accelerator pedal and the desired speed To generate a desired speed of the autonomous vehicle corresponding to the current depth.
The system according to claim 21, wherein the desired speed generating device is specifically used for:

According to the current depth of depression of the accelerator pedal and the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed and the desired speed, the automatic driving corresponding to the current depth and the current driving speed is generated The desired speed of the vehicle.
The system according to claim 19, wherein the speed planning device comprises: a desired acceleration generating device and a desired speed generating device;

The processor is specifically used for:

Controlling the expected acceleration generating device to obtain the current depth of depression of the accelerator pedal, and controlling the expected speed generating device to obtain the expected acceleration of the autonomous vehicle;

The expected acceleration generating device is configured to obtain the current depth of depression of the accelerator pedal, and generate the expected acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal;

The desired speed generating device is useful for obtaining the desired acceleration of the automatic driving vehicle, and generating the desired speed of the automatic driving vehicle according to the desired acceleration of the automatic driving vehicle.
The system according to claim 24, wherein the processor is further configured to: control the speed sensing device of the automatic driving vehicle to sense the current driving speed of the automatic driving vehicle; and control the desired acceleration The generating device obtains the current driving speed of the autonomous vehicle;

The expected acceleration generating device is specifically configured to generate the expected acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal and the current driving speed.
The system according to claim 24, wherein the desired acceleration generating device is specifically used for:

According to the current depth of depression of the accelerator pedal and the corresponding relationship between the depth of depression of the accelerator pedal and the desired acceleration, the desired acceleration of the autonomous driving vehicle corresponding to the current depth is generated.
The system according to claim 25, wherein the desired acceleration generating device is specifically used for:

According to the current depth of depression of the accelerator pedal, the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed, and the desired acceleration, the automatic driving corresponding to the current depth and the current driving speed is generated The expected acceleration of the vehicle.
The system according to any one of claims 24-27, wherein the processor is further configured to: control the desired speed generating device to obtain the current driving speed of the autonomous vehicle;

The desired speed generating device is specifically configured to generate the desired speed of the automatic driving vehicle according to the desired acceleration of the automatic driving vehicle and the current driving speed of the automatic driving vehicle.
The system according to any one of claims 24-27, wherein the processor is further configured to: control the desired speed generating device to obtain the driving speed set by the user of the self-driving vehicle;

The desired speed generating device is specifically configured to generate the desired speed of the automatic driving vehicle according to the desired acceleration of the automatic driving vehicle and the driving speed set by the user.
The system according to claim 29, wherein the processor is further configured to:

The interaction device that controls the autonomous vehicle detects a user's speed setting operation, and the speed setting operation is used to set the driving speed;

According to the speed setting operation, the driving speed set by the user is determined.
The system according to claim 29 or 30, wherein the processor is specifically configured to:

If the current driving speed of the self-driving vehicle is not equal to the driving speed set by the user, controlling the driving speed of the self-driving vehicle to be equal to the driving speed set by the user;

According to the desired speed of the self-driving vehicle, the driving speed of the self-driving vehicle is adjusted starting from the driving speed set by the user.
The system according to claim 22, 23, 26 or 27, wherein the corresponding relationship is set by the user.
The system according to claim 32, wherein the processor is further configured to:

The interaction device controlling the automatic driving vehicle detects a user's corresponding relationship setting operation, and the corresponding relationship setting operation is used to set the corresponding relationship;

The corresponding relationship is determined according to the corresponding relationship setting operation.
The system according to claim 22, 23, 26, 27 or 33, wherein the processor is further configured to control a display device of the autonomous vehicle to display the corresponding relationship.
The system according to any one of claims 19-34, wherein the processor is further configured to output at least one of the following information: the expected speed of the autonomous vehicle and the reason for the expected speed change;

Among them, the reasons include depression of the accelerator pedal.
The system according to claim 35, wherein the processor is specifically configured to:

Control the display device of the autonomous vehicle to acquire the at least one item of information, and cause the display device to display the at least one item of information, and/or,

The speaker of the autonomous vehicle is controlled to acquire the at least one piece of information, so that the speaker plays the at least one piece of information by voice.
An automatic driving vehicle, characterized by comprising: an accelerator pedal, a processor and a speed planning device;

The processor is configured to: during the automatic driving process of the self-driving vehicle, control the speed planning device to obtain the current depth of depression of the accelerator pedal of the self-driving vehicle;

The speed planning device is configured to obtain the current depth of depression of the accelerator pedal, and generate the expected speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal;

The processor is further configured to obtain the expected speed of the self-driving vehicle generated by the speed planning device, and adjust the driving speed of the self-driving vehicle according to the expected speed of the self-driving vehicle.
The self-driving vehicle according to claim 37, wherein the speed planning device comprises: a desired speed generating device;

The processor is specifically configured to: control the desired speed generating device to obtain the current depth of depression of the accelerator pedal;

The desired speed generating device is used to obtain the current depth of depression of the accelerator pedal, and generate the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal.
The self-driving vehicle according to claim 38, wherein the self-driving vehicle further comprises a speed sensing device;

The processor is further configured to: control the speed sensing device to sense the current driving speed of the self-driving vehicle; control the desired speed generating device to obtain the current driving speed of the self-driving vehicle;

The desired speed generating device is specifically configured to generate the desired speed of the autonomous vehicle according to the current depth of depression of the accelerator pedal and the current driving speed.
The self-driving vehicle according to claim 38, wherein the desired speed generating device is specifically used for:

According to the current depth of depression of the accelerator pedal and the corresponding relationship between the depth of depression of the accelerator pedal and the desired speed, the desired speed of the autonomous vehicle corresponding to the current depth is generated.
The self-driving vehicle according to claim 39, wherein the desired speed generating device is specifically used for:

According to the current depth of depression of the accelerator pedal and the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed and the desired speed, the automatic driving corresponding to the current depth and the current driving speed is generated The desired speed of the vehicle.
The self-driving vehicle according to claim 37, wherein the speed planning device comprises: a desired acceleration generating device and a desired speed generating device;

The processor is specifically configured to: control the expected acceleration generating device to obtain the current depth of depression of the accelerator pedal, and control the expected speed generating device to obtain the expected acceleration of the autonomous vehicle;

The expected acceleration generating device is configured to obtain the current depth of depression of the accelerator pedal, and generate the expected acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal;

The desired speed generating device is configured to obtain the desired acceleration of the automatic driving vehicle, and generate the desired speed of the automatic driving vehicle according to the desired acceleration of the automatic driving vehicle.
The self-driving vehicle according to claim 42, wherein the self-driving vehicle further comprises a speed sensing device;

The processor is further configured to: control the speed sensing device to sense the current driving speed of the self-driving vehicle; control the desired acceleration generating device to obtain the current driving speed of the self-driving vehicle;

The expected acceleration generating device is specifically configured to generate the expected acceleration of the autonomous vehicle according to the current depth of depression of the accelerator pedal and the current driving speed.
The self-driving vehicle according to claim 42, wherein the desired acceleration generating device is specifically used for:

According to the current depth of depression of the accelerator pedal and the corresponding relationship between the depth of depression of the accelerator pedal and the desired acceleration, the desired acceleration of the autonomous vehicle corresponding to the current depth is generated.
The self-driving vehicle according to claim 43, wherein the desired acceleration generating device is specifically used for:

According to the current depth of depression of the accelerator pedal, the corresponding relationship among the depth of depression of the accelerator pedal, the driving speed, and the desired acceleration, the automatic driving corresponding to the current depth and the current driving speed is generated The expected acceleration of the vehicle.
The automatic driving vehicle according to any one of claims 42-45, wherein the processor is further configured to: control the desired speed generating device to obtain the current driving speed of the automatic driving vehicle;

The desired speed generating device is specifically configured to generate the desired speed of the automatic driving vehicle according to the desired acceleration of the automatic driving vehicle and the current driving speed of the automatic driving vehicle.
The self-driving vehicle according to any one of claims 42-45, wherein the processor is further configured to:

Controlling the desired speed generating device to obtain the driving speed set by the user of the self-driving vehicle;

The desired speed generating device is specifically configured to generate the desired speed of the automatic driving vehicle according to the desired acceleration of the automatic driving vehicle and the driving speed set by the user.
The self-driving vehicle according to claim 47, wherein the self-driving vehicle further comprises: an interactive device;

The processor is also used for:

The interaction device that controls the autonomous vehicle detects a user's speed setting operation, and the speed setting operation is used to set the driving speed;

According to the speed setting operation, the driving speed set by the user is determined.
The self-driving vehicle according to claim 47 or 48, wherein the processor is specifically configured to:

If the current driving speed of the self-driving vehicle is not equal to the driving speed set by the user, controlling the driving speed of the self-driving vehicle to be equal to the driving speed set by the user;

According to the desired speed of the self-driving vehicle, the driving speed of the self-driving vehicle is adjusted starting from the driving speed set by the user.
The self-driving vehicle according to claim 40, 41, 44 or 45, wherein the corresponding relationship is set by the user.
The self-driving vehicle according to claim 50, wherein the processor is further used for:

The interaction device controlling the automatic driving vehicle detects a user's corresponding relationship setting operation, and the corresponding relationship setting operation is used to set the corresponding relationship;

The corresponding relationship is determined according to the corresponding relationship setting operation.
The self-driving vehicle according to claim 40, 41, 44, 45, or 51, further comprising: a display device;

The processor is further configured to control the display device to display the corresponding relationship.
The self-driving vehicle according to any one of claims 37-52, wherein the processor is further configured to:

Output at least one of the following information: the expected speed of the autonomous vehicle and the reason for the expected speed change;

Among them, the reasons include depression of the accelerator pedal.
The self-driving vehicle according to claim 53, wherein the processor is further used for:

Control the display device of the autonomous vehicle to acquire the at least one item of information, and cause the display device to display the at least one item of information, and/or,

The speaker of the autonomous vehicle is controlled to acquire the at least one piece of information, so that the speaker plays the at least one piece of information by voice.
A readable storage medium, characterized in that a computer program is stored on the readable storage medium; when the computer program is executed, the speed of the autonomous vehicle according to any one of claims 1-18 is realized. Control Method.