CN119705440A - Vehicle speed control method, device, storage medium and product - Google Patents
Vehicle speed control method, device, storage medium and product Download PDFInfo
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- CN119705440A CN119705440A CN202510079133.0A CN202510079133A CN119705440A CN 119705440 A CN119705440 A CN 119705440A CN 202510079133 A CN202510079133 A CN 202510079133A CN 119705440 A CN119705440 A CN 119705440A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/40—High definition maps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
本申请提供一种车速控制方法、装置、存储介质及产品。该方法根据获取的多个未来路段以及各未来路段对应的可选车速，生成多个不同的速度变化曲线后，对速度变化曲线中多个可选车速的变化情况进行评估，以获取速度变化曲线的速度变化参数。根据多个速度变化曲线分别对应的速度变化参数，从多个速度变化曲线中选取目标速度变化曲线，并将目标速度变化曲线中的第一个可选车速作为第一个未来路段的目标速度，对车辆进行控制，以实现目标速度。本申请结合未来整体路段的速度变化参数对车辆进行控制，考虑了车辆在一段路段中的速度变化情况，可以尽可能的预估未来路段中的运行情况，有助于提高车速控制效果。
The present application provides a vehicle speed control method, device, storage medium and product. The method generates a plurality of different speed change curves based on the obtained multiple future road sections and the optional vehicle speeds corresponding to each future road section, and then evaluates the changes in the multiple optional vehicle speeds in the speed change curve to obtain the speed change parameters of the speed change curve. According to the speed change parameters corresponding to the multiple speed change curves, a target speed change curve is selected from the multiple speed change curves, and the first optional vehicle speed in the target speed change curve is used as the target speed of the first future road section to control the vehicle to achieve the target speed. The present application controls the vehicle in combination with the speed change parameters of the future overall road section, taking into account the speed change of the vehicle in a section, and can estimate the operation in the future section as much as possible, which helps to improve the vehicle speed control effect.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a vehicle speed control method, device, storage medium, and product.
Background
With the continuous progress of the automatic driving technology, the predictive cruise technology is used as a further development direction of the automatic driving, and the predictive cruise technology is also applied to commercial vehicles.
Existing predictive cruise technology typically adjusts and controls vehicle gear and speed based solely on current road grade information. Therefore, the existing predictive cruise technology has the problem of poor vehicle speed control effect.
Disclosure of Invention
The application provides a vehicle speed control method, a vehicle speed control device, a storage medium and a product, which are used for solving the defect that the vehicle speed control effect is poor because the vehicle gear and the vehicle speed are adjusted and controlled only according to the current road gradient information in the prior art.
In a first aspect, an embodiment of the present application provides a vehicle speed control method, including:
acquiring N optional vehicle speeds of M future road sections, wherein the future road sections correspond to a plurality of optional vehicle speeds, and M and N are integers larger than 1;
Generating a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves comprise M optional vehicle speeds corresponding to the future road sections respectively;
Evaluating the change conditions of M optional vehicle speeds in the speed change curve to obtain speed change parameters of the speed change curve;
And selecting a target speed change curve from the speed change curves according to the speed change parameters corresponding to the speed change curves, and controlling the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road section.
In one possible implementation manner, for M future road segments, respectively acquiring a maximum selectable vehicle speed of the future road segment, a minimum selectable vehicle speed of the future road segment and road condition complexity;
For each future road segment, determining the number of optional vehicle speeds of the future road segment according to the road condition complexity of the future road segment, and generating a plurality of optional vehicle speeds of the future road segment according to the maximum optional vehicle speed of the future road segment, the minimum optional vehicle speed of the future road segment and the number of optional vehicle speeds of the future road segment, wherein the plurality of optional vehicle speeds of the future road segment are uniformly distributed in a closed interval formed by the maximum optional vehicle speed of the future road segment and the minimum optional vehicle speed of the future road segment, and the number of optional vehicle speeds of the future road segment is directly related to the road condition complexity of the future road segment.
In one possible implementation manner, a cruising speed of the future road section, a gear maximum speed of the future road section, a maximum limit speed of the future road section, and a maximum reachable speed of the future road section are obtained, and a minimum speed of the cruising speed, the gear maximum speed, the maximum limit speed, and the maximum reachable speed is determined as the maximum selectable speed, wherein the gear maximum speed is a speed corresponding to a maximum rotational speed of a planned gear of the future road section on the future road section, and the maximum reachable speed is a maximum speed that can be achieved when the vehicle is accelerated on the basis of a current speed of an engine of the vehicle on a current road section or a target speed of the current road section;
And determining the minimum gear speed of the future road section and the maximum vehicle speed of the minimum reachable vehicle speed of the future road section as the minimum optional vehicle speed, wherein the minimum gear speed is the vehicle speed corresponding to the planned minimum rotation speed of the gear of the future road section on the future road section, and the minimum reachable vehicle speed is the minimum vehicle speed which can be achieved when the engine of the vehicle decelerates on the basis of the current vehicle speed on the current road section or the target vehicle speed of the current road section.
In one possible embodiment, the number of changes and the total magnitude of the changes in the selectable vehicle speeds for the M future road segments included in the speed change curve are determined;
And determining the speed change parameter according to the change times and the change total amplitude, wherein the speed change parameter is positively related to the change times and the change total amplitude.
In one possible embodiment, a comfort parameter is determined from the speed variation parameter, the comfort parameter being negatively related to the speed variation parameter;
Determining a corresponding oil consumption parameter according to the speed change curve, and weighting the comfort degree parameter and the oil consumption parameter to obtain an evaluation result parameter;
and selecting the target speed change curve from a plurality of speed change curves according to the evaluation result parameters.
In one possible embodiment, a corresponding rotational speed of the target vehicle speed in the current gear is determined as a target rotational speed;
When the target rotating speed is smaller than the minimum rotating speed of the current gear, performing a downshift process on the current gear according to a first rotating speed difference between the minimum rotating speed of the current gear and the target rotating speed, wherein the downshift amplitude of the downshift process is positively correlated with the first rotating speed difference;
And when the target rotating speed is greater than or equal to the maximum rotating speed of the current gear or a preset rotating speed threshold value, carrying out upshift processing on the current gear according to a second rotating speed difference between the target rotating speed and the minimum rotating speed of the current gear, wherein the upshift amplitude of the upshift processing is positively correlated with the second rotating speed difference.
In a second aspect, an embodiment of the present application provides a vehicle speed control apparatus including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring N optional vehicle speeds of M future road sections, the future road sections correspond to a plurality of optional vehicle speeds, and M and N are integers larger than 1;
the first processing module is used for generating a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves comprise M optional vehicle speeds corresponding to the future road sections respectively;
the second processing module is used for evaluating the change conditions of M optional vehicle speeds in the speed change curve to obtain speed change parameters of the speed change curve;
And the control module is used for selecting a target speed change curve from the speed change curves according to the speed change parameters corresponding to the speed change curves, and controlling the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road section.
In one possible implementation manner, the acquiring module is specifically configured to acquire, for M future road segments, a maximum selectable vehicle speed of the future road segment, a minimum selectable vehicle speed of the future road segment, and a road condition complexity, respectively;
For each future road segment, determining the number of optional vehicle speeds of the future road segment according to the road condition complexity of the future road segment, and generating a plurality of optional vehicle speeds of the future road segment according to the maximum optional vehicle speed of the future road segment, the minimum optional vehicle speed of the future road segment and the number of optional vehicle speeds of the future road segment, wherein the plurality of optional vehicle speeds of the future road segment are uniformly distributed in a closed interval formed by the maximum optional vehicle speed of the future road segment and the minimum optional vehicle speed of the future road segment, and the number of optional vehicle speeds of the future road segment is directly related to the road condition complexity of the future road segment.
In one possible implementation manner, the obtaining module is specifically configured to obtain a cruising speed of the future road section, a gear maximum speed of the future road section, a maximum limit speed of the future road section, and a maximum reachable speed of the future road section, and determine a minimum speed of the cruising speed, the gear maximum speed, the maximum limit speed, and the maximum reachable speed as the maximum selectable speed, where the gear maximum speed is a speed corresponding to a maximum rotational speed of a gear of the future road section planned on the future road section, and the maximum reachable speed is a maximum speed that can be achieved when accelerating the vehicle on the basis of a current speed of an engine of the vehicle on a current road section or a target speed of the current road section;
And determining the minimum gear speed of the future road section and the maximum vehicle speed of the minimum reachable vehicle speed of the future road section as the minimum optional vehicle speed, wherein the minimum gear speed is the vehicle speed corresponding to the planned minimum rotation speed of the gear of the future road section on the future road section, and the minimum reachable vehicle speed is the minimum vehicle speed which can be achieved when the engine of the vehicle decelerates on the basis of the current vehicle speed on the current road section or the target vehicle speed of the current road section.
In a possible implementation manner, the second processing module is specifically configured to determine the number of times and the total amplitude of the change of the optional vehicle speeds of the M future road segments included in the speed change curve;
And determining the speed change parameter according to the change times and the change total amplitude, wherein the speed change parameter is positively related to the change times and the change total amplitude.
In a possible implementation manner, the second processing module is specifically configured to determine a comfort level parameter according to the speed variation parameter, where the comfort level parameter is negatively related to the speed variation parameter;
Determining a corresponding oil consumption parameter according to the speed change curve, and weighting the comfort degree parameter and the oil consumption parameter to obtain an evaluation result parameter;
and selecting the target speed change curve from a plurality of speed change curves according to the evaluation result parameters.
In one possible implementation manner, the control module is specifically configured to determine a rotation speed corresponding to the target vehicle speed in the current gear as a target rotation speed;
When the target rotating speed is smaller than the minimum rotating speed of the current gear, performing a downshift process on the current gear according to a first rotating speed difference between the minimum rotating speed of the current gear and the target rotating speed, wherein the downshift amplitude of the downshift process is positively correlated with the first rotating speed difference;
And when the target rotating speed is greater than or equal to the maximum rotating speed of the current gear or a preset rotating speed threshold value, carrying out upshift processing on the current gear according to a second rotating speed difference between the target rotating speed and the minimum rotating speed of the current gear, wherein the upshift amplitude of the upshift processing is positively correlated with the second rotating speed difference.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes the computer-executable instructions stored in the memory to implement the method as described above
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored therein computer-executable instructions for performing a method as described above when executed by a processor.
In a fifth aspect, embodiments of the present application provide a computer-readable storage medium having stored therein computer-executable instructions for implementing the various possible implementations of the above first aspect and/or the first aspect when executed by a processor.
According to the vehicle speed control method, the vehicle speed control device, the storage medium and the product, after a plurality of different speed change curves are generated by acquiring a plurality of preset number of future road sections and the optional vehicle speeds corresponding to the future road sections, the change conditions of the plurality of optional vehicle speeds in the speed change curves are evaluated, so that the speed change parameters of the speed change curves are acquired. And selecting a target speed change curve from the speed change curves according to the speed change parameters corresponding to the speed change curves, and controlling the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road section to realize the target speed. The embodiment of the application combines the speed change parameters of the whole road section in the future to control the vehicle, considers the speed change condition of the vehicle in one road section, can estimate the running condition in the road section in the future as much as possible, and is beneficial to improving the vehicle speed control effect.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic flow chart of a vehicle speed control method according to the present application;
FIG. 2 is a schematic view of a basic framework provided by the present application;
FIG. 3 is a second flow chart of the vehicle speed control method according to the present application;
FIG. 4 is a schematic diagram of a vehicle speed control device according to the present application;
fig. 5 is a schematic structural diagram of an electronic device provided by the present application.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) related to one or more embodiments of the present disclosure are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data is required to comply with related laws and regulations and standards, and is provided with a corresponding operation portal for the user to select authorization or rejection.
It should be noted that, in the embodiments of the present application, some existing solutions in the industry such as software, components, models, etc. may be mentioned, and they should be regarded as exemplary, only for illustrating the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or must not use the solution.
Predictive cruise control (PREDICTIVE CRUISE CONTROL, PCC) is also becoming increasingly important for commercial vehicles as a vehicle cruise control scheme based on automatic driving techniques, which improve vehicle driving performance, such as fuel economy, based on acquired forward road conditions.
Existing predictive cruise technologies acquire forward road information such as grade, curvature, and speed limit through high-precision maps and vehicle sensors, and determine the road conditions such as uphill or downhill on which the current vehicle is traveling based on the acquired forward road information. The existing predictive cruising technology is used for adjusting and controlling the vehicle to output corresponding preset torque and gear when the gradient is larger than zero after determining the corresponding gradient of each road section obtained based on a high-precision map after the vehicle ascends or descends, realizing neutral gear sliding when the gradient is smaller than zero, and performing braking and deceleration when the gradient exceeds a speed threshold value, so that the engine speed and the gear of a gearbox are adjusted.
The above-mentioned prior art of predictive cruising is studied to find that, in controlling a vehicle to ascend or descend, the prior art of predictive cruising generally adjusts the engine speed and the gear of the transmission based only on the gradient of the road section where the current vehicle is located, and does not combine the future road gradient and displacement information, but because the gradients of the road sections are different, when the vehicle is faced with a continuously changing steep road section, the vehicle speed and the gear need to be adjusted multiple times, and the vehicle speed and the gear need to be adjusted multiple times, so that the vehicle speed control effect is poor.
In view of the above, the present application provides a vehicle speed control method, which obtains a plurality of preset future road segments and optional vehicle speeds corresponding to the future road segments, generates a plurality of different speed change curves, and then evaluates the change conditions of the plurality of optional vehicle speeds in the speed change curves to obtain speed change parameters of the speed change curves. And selecting a target speed change curve from the speed change curves according to the speed change parameters corresponding to the speed change curves, and controlling the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road section to realize the target speed. The embodiment of the application combines the speed change parameters of the whole road section in the future to control the vehicle, considers the speed change condition of the vehicle in one road section, can estimate the running condition in the road section in the future as much as possible, and is beneficial to improving the vehicle speed control effect.
The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a vehicle speed control method according to the present application, as shown in fig. 1, the method includes:
S101, acquiring N optional vehicle speeds of M future road sections, wherein the future road sections correspond to a plurality of optional vehicle speeds, and M and N are integers larger than 1.
Specifically, the current position information of the vehicle is determined by the vehicle positioning unit, and road section information of a road at a preset distance in front of the current vehicle is obtained by a high-precision map such as an ADAS map according to the current position information, wherein the road section information includes speed limit information and gradient information of the road.
Further, gradient information corresponding to a current road section of the vehicle is obtained, when the current road section is determined to be the bottom of a slope after downhill according to the gradient information, a neutral gear sliding speed is calculated according to the current speed and the gradient information when the current road section is ready for uphill, the current speed is determined to be the neutral gear sliding speed when the neutral gear sliding speed is larger than or equal to a speed threshold value, the vehicle can slide through a front ramp in a neutral gear mode, a target control gear is calculated according to the current speed and the gradient information when the neutral gear sliding speed is smaller than the speed threshold value, and the vehicle is controlled to drive through the front ramp based on the target control gear.
Further, when the vehicle passes the roof of the slope and is ready to descend, the road with the preset distance in front of the vehicle is divided into a preset number of road segments, that is, M future road segments are acquired. And determining a plurality of corresponding optional vehicle speeds according to the road section information of each future road section so as to obtain N optional vehicle speeds corresponding to the M future road sections.
S102, generating a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves comprise M optional vehicle speeds corresponding to the future road sections respectively.
Specifically, after a preset number of future road segments and a plurality of optional vehicle speeds corresponding to each future road segment are obtained, one optional vehicle speed is obtained from a plurality of optional vehicle speeds corresponding to each future road segment, the corresponding optional vehicle speeds obtained from other future road segments form an optional vehicle speed combination, the optional vehicle speed combination is recorded, wherein the optional vehicle speed combination comprises a plurality of optional vehicle speeds corresponding to a plurality of continuous different future road segments, and a corresponding speed change curve is generated according to the optional vehicle speed combination.
Further, after obtaining and recording one optional vehicle speed combination, generating a corresponding new optional vehicle speed combination according to a plurality of optional vehicle speeds corresponding to each future road section, so that the new optional vehicle speed combination is different from at least one optional vehicle speed in the recorded optional vehicle speed combination until the plurality of optional vehicle speeds corresponding to each future road section generate the corresponding optional vehicle speed combination. And obtaining a plurality of optional vehicle speed combinations in this way, and generating a plurality of corresponding speed change curves according to the plurality of optional vehicle speed combinations.
S103, evaluating the change conditions of M optional vehicle speeds in the speed change curve to obtain the speed change parameters of the speed change curve.
Specifically, after the generated plurality of speed change curves are acquired, speed change parameters of the vehicle when the vehicle achieves the speeds indicated by the speed change curves are acquired, and fuel consumption and driving comfort of the vehicle are acquired according to the speed change parameters.
The vehicle fuel consumption is used for indicating the required vehicle fuel consumption when the vehicle runs at each vehicle speed indicated by the speed change curve, and the driving comfort is used for indicating the driving comfort of a driver when the vehicle runs at each vehicle speed indicated by the speed change curve.
S104, selecting a target speed change curve from the speed change curves according to the speed change parameters corresponding to the speed change curves, and controlling the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road section.
Specifically, after the speed change parameters corresponding to the speed change curves are obtained, the speed change parameters corresponding to all the speed change curves are traversed, and according to the vehicle oil consumption and the driving comfort in the speed change parameters, the evaluation result parameters corresponding to the speed change parameters, namely the cost values corresponding to the speed change curves, are calculated and obtained.
Further, among the plurality of speed change curves, the speed change curve having the smallest cost value is set as the target speed change curve. And taking the corresponding optional vehicle speed as the target speed in a future road section closest to the current vehicle position in the target speed change curve so as to control the vehicle to realize the target speed.
According to the vehicle speed control method provided by the embodiment of the application, after a plurality of different speed change curves are generated by acquiring a plurality of preset number of future road sections and the optional vehicle speeds corresponding to the future road sections, the change conditions of the plurality of optional vehicle speeds in the speed change curves are evaluated to acquire the speed change parameters of the speed change curves. And selecting a target speed change curve from the speed change curves according to the speed change parameters corresponding to the speed change curves, and controlling the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road section to realize the target speed. The embodiment of the application combines the speed change parameters of the whole road section in the future to control the vehicle, considers the speed change condition of the vehicle in one road section, can estimate the running condition in the road section in the future as much as possible, and is beneficial to improving the vehicle speed control effect.
Fig. 2 is a schematic diagram of a basic framework provided by the present application, fig. 3 is a second schematic flow chart of a vehicle speed control method provided by the present application, and, with reference to fig. 2 and 3, the present embodiment describes a vehicle speed control method in detail based on the embodiment of fig. 1, where the method includes:
S201, for M future road sections, acquiring the cruising speed of the future road section, the gear maximum speed of the future road section, the maximum limit speed of the future road section and the maximum reachable speed of the future road section.
Specifically, as shown in fig. 2, when the vehicle is descending a slope, the road two kilometers ahead is divided into a plurality of preset number of road segments, such as twenty future road segments each of which is one hundred meters, where M is twenty.
Further, road section information of a road with a preset distance in front of a current vehicle is obtained through a high-precision map, wherein the road section information comprises speed limit information and gradient information of the road, the maximum limit speed of a future road section is obtained according to the speed limit information, and the cruising speed of the current vehicle is obtained in a vehicle cruising database according to the gradient information, wherein a plurality of groups of different cruising speeds and corresponding gradient information are stored in the vehicle cruising database in a pre-associated mode.
The maximum speed of the gear is the speed corresponding to the maximum rotation speed of the gear of the future road section planned on the future road section, and the maximum reachable speed is the maximum speed which can be reached when the vehicle is accelerated on the basis of the current speed of the engine of the vehicle on the current road section or the target speed of the current road section.
S202, determining the minimum vehicle speed of the cruise vehicle speed, the gear maximum vehicle speed, the maximum limit vehicle speed and the maximum reachable vehicle speed of the future road section as the maximum selectable vehicle speed.
Specifically, after the cruising speed, the gear maximum speed, the maximum limiting speed, the maximum reachable speed and the maximum reachable speed of each future road section are obtained, the vehicle speeds of all the future road sections share the upper limit, that is, the maximum selectable vehicle speed of all the future road sections, and the minimum value is taken as the vehicle speed upper limit, that is, the maximum selectable vehicle speed when the vehicle descends, among the cruising speed, the gear maximum speed, the maximum limiting speed and the maximum reachable vehicle speed of all the future road sections.
S203, determining the minimum gear speed of the future road section and the maximum speed of the minimum reachable speed of the future road section as the minimum optional speed.
Specifically, the vehicle speed lower limit of all future road segments, that is, the minimum selectable vehicle speed of all future road segments, is the vehicle speed lower limit of all future road segments, that is, the minimum selectable vehicle speed when the maximum value is taken as the vehicle downhill in the gear minimum vehicle speed and the minimum reachable vehicle speed of all future road segments.
The minimum speed of the gear is the speed corresponding to the minimum rotation speed of the gear of the future road section planned on the future road section, the minimum reachable speed is the minimum speed which can be reached when the vehicle is decelerated on the basis of the current speed of the engine of the vehicle on the current road section or the target speed of the current road section, and the target speed is the speed selected by the previous road section.
S204, for each future road section, determining the number of optional vehicle speeds of the future road section according to the road condition complexity of the future road section.
Specifically, after the upper vehicle speed limit and the lower vehicle speed limit of all the future road sections, that is, the minimum large optional vehicle speed and the minimum optional vehicle speed are obtained, each future road section is determined to be an ascending road, a descending road or a flat road according to the gradient information, when the future road section is an ascending road or a descending road, the corresponding road condition complexity is determined to be high, and when the future road section is a flat road, the corresponding road condition complexity is determined to be low. Wherein the number of selectable vehicle speeds for the future road segment is being correlated to the road condition complexity of the future road segment.
S205, generating a plurality of optional vehicle speeds of the future road section according to the maximum optional vehicle speed of the future road section, the minimum optional vehicle speed of the future road section and the optional vehicle speed quantity of the future road section.
Specifically, referring to fig. 2, when the vehicle is in a downhill road section with high road condition complexity, the number of optional vehicle speeds of each future road section is determined as ten, and at this time, the plurality of optional vehicle speeds of the future road section as ten are uniformly distributed in a closed section formed by the maximum optional vehicle speed of the future road section and the minimum optional vehicle speed of the future road section.
Further, for the upper limit of a plurality of optional vehicle speeds of each future road section, the maximum vehicle speed value which can be reached by the engine is compared with the maximum optional vehicle speed on the basis of the current vehicle speed or the target vehicle speed of the current road section, and the small value between the maximum vehicle speed which can be reached by the engine and the maximum optional vehicle speed is used as the upper limit of the optional vehicle speed of the corresponding future road section.
Further, for the lower limit of a plurality of optional vehicle speeds of each future road section, on the basis of the current vehicle speed or the target vehicle speed of the current road section, comparing the minimum vehicle speed value allowable according to the preset calibration deceleration with the minimum optional vehicle speed, and taking the large value between the minimum vehicle speed value and the minimum optional vehicle speed as the lower limit of the optional vehicle speed of the corresponding future road section.
S206, generating a plurality of speed change curves according to the N optional vehicle speeds.
Specifically, after a plurality of, for example, ten, optional vehicle speeds for each future road section are acquired, the number of optional vehicle speeds for all twenty future road sections at this time is two hundred, that is, N is two hundred at this time.
Further, one optional vehicle speed is obtained from ten optional vehicle speeds corresponding to each future road section, one optional vehicle speed obtained from other future road sections is combined to form an optional vehicle speed combination, and the optional vehicle speed combination is recorded. The selectable vehicle speed combination comprises a plurality of selectable vehicle speeds corresponding to a plurality of continuous different future road sections, and a corresponding speed change curve is generated according to the selectable vehicle speed combination.
Further, after acquiring and recording one optional vehicle speed combination, generating a new optional vehicle speed combination according to a plurality of optional vehicle speeds corresponding to each future road section, so that the new optional vehicle speed combination is different from at least one optional vehicle speed in the recorded optional vehicle speed combination until the plurality of optional vehicle speeds corresponding to each future road section are all generated into the corresponding optional vehicle speed combination, and acquiring the plurality of optional vehicle speed combinations.
Further, a corresponding plurality of speed change curves are generated according to the plurality of optional vehicle speed combinations, and each speed change curve indicates the optional vehicle speed change trend of twenty continuous future road sections.
S207, the number of times and the total amplitude of the change of the optional vehicle speeds of M future road sections included in the speed change curve are determined.
Specifically, after a plurality of speed change curves are obtained, a comfort level parameter and an oil consumption parameter corresponding to each speed change curve are calculated through a dynamic programming (Dynamic Programming, DP) algorithm, and in all the speed change curves, a target speed change curve is determined according to the comfort level parameter and the oil consumption parameter.
Further, for the comfort level parameter of each speed change curve, a vehicle speed inflection point is obtained in each speed change curve, the number of the vehicle speed inflection points is recorded, the vehicle speed inflection point is used for indicating the position and the speed of a road section with the vehicle speed change as the change times of the optional vehicle speed, the total change amplitude is obtained according to the vehicle speed inflection point, and the total change amplitude is used for indicating the maximum difference value of the vehicle speed corresponding to the adjacent future road sections in all future road sections.
S208, determining the speed change parameter according to the change times and the change total amplitude, wherein the speed change parameter is positively related to the change times and the change total amplitude.
Specifically, after the number of changes and the total amplitude of the changes of each speed change curve are obtained, the product of the number of changes and the total amplitude of the changes is obtained, and the obtained product is used as a speed change parameter to obtain the speed change parameter of each speed change curve.
S209, determining a comfort level parameter according to the speed change parameter, determining a corresponding oil consumption parameter according to the speed change curve, and weighting the comfort level parameter and the oil consumption parameter to obtain an evaluation result parameter.
Specifically, after the speed variation parameters of each speed variation curve are obtained, the quotient of the speed variation parameters and the preset comfort conversion value is obtained, and the obtained quotient is used as the comfort level parameter of the corresponding speed variation curve, and the comfort level parameter is inversely related to the speed variation parameters. The comfort level parameter is used for indicating the comfort level of the passenger riding the vehicle when the vehicle realizes a corresponding speed change curve.
Further, for the fuel consumption parameter of each speed change curve, calculating fuel consumption required by the vehicle to realize the speed of each future road section in the corresponding speed change curve based on the speed change trend of each future road section indicated by the speed change curve, and taking the fuel consumption parameter as the fuel consumption parameter corresponding to the speed change curve. And according to the comfort level parameter and the oil consumption parameter, calculating and obtaining an evaluation result parameter corresponding to each speed change curve through a cost objective function.
Further, for the evaluation result parameters corresponding to the speed change curves obtained through the cost function calculation, after the comfort level parameters and the oil consumption parameters corresponding to the speed change curves are obtained, the product of the comfort level parameters and the preset comfort weight is obtained to serve as a comfort evaluation result, the product of the oil consumption parameters and the preset oil consumption weight is obtained to serve as an oil consumption evaluation result, and the sum of the comfort evaluation result and the oil consumption evaluation result is taken as an evaluation result parameter, wherein the preset comfort weight is smaller than the preset oil consumption weight.
By combining the evaluation result parameters of the comfort level parameter and the oil consumption parameter, the comfort level and the oil consumption condition of each speed change curve can be comprehensively evaluated.
S210, selecting the target speed change curve from a plurality of speed change curves according to the evaluation result parameters.
Specifically, after the corresponding evaluation result parameters of each speed change curve are obtained, the speed change curve corresponding to the smallest evaluation result parameter is used as the target speed change curve.
Further, if a plurality of same minimum evaluation results exist, marking a speed change curve corresponding to the plurality of minimum evaluation results as a speed change curve to be selected, and taking the speed change curve to be selected corresponding to the maximum comfort parameter as a target speed change curve in the plurality of speed change curves to be selected.
Therefore, the target speed change curve of the comfort level parameter and the oil consumption parameter is considered, and the defect that the riding comfort level is low due to the fact that the vehicle oil consumption is increased and the running condition of a setback is caused due to the fact that the vehicle speed and the gear are required to be adjusted for many times in the prior art can be avoided. By realizing the target speed change curve, the vehicle reduces the oil consumption and improves the comfort level at the same time, and balances the oil consumption and the comfort level of the vehicle.
S211, taking the first optional vehicle speed in the target speed change curve as the target speed of the first future road section, and controlling the vehicle.
Specifically, after the target speed change curve is acquired, the selectable vehicle speed of a first future road segment is taken as the target speed in the target speed change curve, wherein the first future road segment is the road segment that the vehicle is about to enter next. After the vehicle enters the first future road section, the vehicle is controlled to achieve the target speed, and the rotating speed corresponding to the target speed in the current gear at the moment is determined as the target rotating speed.
Further, when the target rotational speed is smaller than the minimum rotational speed of the current gear, the current gear is downshifted according to a first rotational speed difference between the minimum rotational speed of the current gear and the target rotational speed, and the downshift range of the downshift is positively correlated with the first rotational speed difference, that is, if the actual rotational speed is lower than the current gear downshift rotational speed, the downshift is controlled to a preset number of gears.
Further, when the target rotation speed is greater than or equal to the maximum rotation speed of the current gear or the preset rotation speed threshold, the current gear is upshifted according to a second rotation speed difference between the target rotation speed and the minimum rotation speed of the current gear, and the upshift amplitude of the upshift is positively correlated with the second rotation speed difference, that is, if the actual rotation speed is greater than the preset rotation speed, for example, one thousand-five hundred rotations, and lasts for a preset time, for example, four to five seconds, the preset number of gears are controlled to be upshifted.
Further, after the vehicle enters the first future road section, the road ahead of the vehicle is continuously divided into twenty future road sections, the corresponding speed change curve is updated based on the road section information corresponding to the new future road section and the current vehicle speed, the new speed change curve is calculated through a dynamic programming algorithm to obtain a new target speed change curve, the new target speed is determined according to the new target speed change curve, and after the vehicle exits the first future road section and enters the second future road section, the vehicle is controlled to achieve the new target speed so as to achieve the update of the vehicle speed.
According to the vehicle speed control method provided by the embodiment of the application, after a plurality of different speed change curves are generated by acquiring a plurality of preset number of future road sections and the optional vehicle speeds corresponding to the future road sections, the change conditions of the plurality of optional vehicle speeds in the speed change curves are evaluated to acquire the speed change parameters of the speed change curves. And selecting a target speed change curve from the speed change curves according to the speed change parameters corresponding to the speed change curves, and controlling the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road section to realize the target speed. The embodiment of the application combines the speed change parameters of the whole road section in the future to control the vehicle, considers the speed change condition of the vehicle in one road section, can estimate the running condition in the road section in the future as much as possible, and is beneficial to improving the vehicle speed control effect.
Fig. 4 is a schematic structural diagram of a vehicle speed control device according to the present application, and as shown in fig. 4, the device 40 includes:
The acquiring module 401 is configured to acquire N optional vehicle speeds of M future road segments, where the future road segments correspond to a plurality of the optional vehicle speeds, and M and N are integers greater than 1.
The first processing module 402 is configured to generate a plurality of speed change curves according to the N optional vehicle speeds, where the speed change curves include M optional vehicle speeds corresponding to the future road segments respectively.
And the second processing module 403 is configured to evaluate the change situations of the M selectable vehicle speeds in the speed change curve, so as to obtain a speed change parameter of the speed change curve.
And the control module 404 is configured to select a target speed change curve from the plurality of speed change curves according to the speed change parameters corresponding to the plurality of speed change curves, and control the vehicle with a first selectable vehicle speed in the target speed change curve as a target speed of the first future road section.
In a possible implementation manner, the obtaining module 401 is configured to obtain, for M future road segments, a maximum selectable vehicle speed of the future road segment, a minimum selectable vehicle speed of the future road segment, and a road condition complexity, respectively;
For each future road segment, determining the number of optional vehicle speeds of the future road segment according to the road condition complexity of the future road segment, and generating a plurality of optional vehicle speeds of the future road segment according to the maximum optional vehicle speed of the future road segment, the minimum optional vehicle speed of the future road segment and the number of optional vehicle speeds of the future road segment, wherein the plurality of optional vehicle speeds of the future road segment are uniformly distributed in a closed interval formed by the maximum optional vehicle speed of the future road segment and the minimum optional vehicle speed of the future road segment, and the number of optional vehicle speeds of the future road segment is directly related to the road condition complexity of the future road segment.
In one possible implementation manner, the obtaining module 401 is configured to obtain a cruising speed of the future road segment, a gear maximum speed of the future road segment, a maximum limit speed of the future road segment, and a maximum reachable speed of the future road segment, and determine, as the maximum selectable speed, a minimum speed of the cruising speed, the gear maximum speed, the maximum limit speed, and the maximum reachable speed, where the gear maximum speed is a speed corresponding to a maximum rotational speed of a gear of the future road segment planned on the future road segment, and the maximum reachable speed is a maximum speed that can be achieved when accelerating the vehicle on the basis of a current speed of an engine of the vehicle on a current road segment or a target speed of the current road segment;
And determining the minimum gear speed of the future road section and the maximum vehicle speed of the minimum reachable vehicle speed of the future road section as the minimum optional vehicle speed, wherein the minimum gear speed is the vehicle speed corresponding to the planned minimum rotation speed of the gear of the future road section on the future road section, and the minimum reachable vehicle speed is the minimum vehicle speed which can be achieved when the engine of the vehicle decelerates on the basis of the current vehicle speed on the current road section or the target vehicle speed of the current road section.
In a possible implementation manner, the second processing module 403 is configured to determine the number of times and the total magnitude of the change of the optional vehicle speeds of the M future road segments included in the speed change curve;
And determining the speed change parameter according to the change times and the change total amplitude, wherein the speed change parameter is positively related to the change times and the change total amplitude.
In a possible implementation, the second processing module 403 is configured to determine a comfort parameter according to the speed variation parameter, where the comfort parameter is negatively related to the speed variation parameter;
Determining a corresponding oil consumption parameter according to the speed change curve, and weighting the comfort degree parameter and the oil consumption parameter to obtain an evaluation result parameter;
and selecting the target speed change curve from a plurality of speed change curves according to the evaluation result parameters.
In one possible implementation, the control module 404 is configured to determine a rotation speed corresponding to the target vehicle speed in the current gear as a target rotation speed;
When the target rotating speed is smaller than the minimum rotating speed of the current gear, performing a downshift process on the current gear according to a first rotating speed difference between the minimum rotating speed of the current gear and the target rotating speed, wherein the downshift amplitude of the downshift process is positively correlated with the first rotating speed difference;
And when the target rotating speed is greater than or equal to the maximum rotating speed of the current gear or a preset rotating speed threshold value, carrying out upshift processing on the current gear according to a second rotating speed difference between the target rotating speed and the minimum rotating speed of the current gear, wherein the upshift amplitude of the upshift processing is positively correlated with the second rotating speed difference.
The vehicle speed control device provided in this embodiment may execute the method provided in the foregoing method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described in detail herein.
Fig. 5 is a schematic structural diagram of an electronic device provided by the present application. As shown in fig. 5, the electronic device 50 provided in this embodiment includes at least one processor 501 and a memory 502. Optionally, the device 50 further comprises a communication component 503. The processor 501, the memory 502, and the communication unit 503 are connected via a bus 504.
In a specific implementation, at least one processor 501 executes computer-executable instructions stored in a memory 502, such that the at least one processor 501 performs the method described above.
The specific implementation process of the processor 501 may refer to the above-mentioned method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described herein again.
In the above embodiment, it should be understood that the Processor may be a central processing unit (english: central Processing Unit, abbreviated as CPU), or may be other general purpose processors, digital signal processors (english: DIGITAL SIGNAL Processor, abbreviated as DSP), application specific integrated circuits (english: application SPECIFIC INTEGRATED Circuit, abbreviated as ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
The Memory may include high-speed Memory (Random Access Memory, RAM) or may further include Non-volatile Memory (NVM), such as at least one disk Memory.
The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (PERIPHERAL COMPONENT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or to one type of bus.
The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the method described above.
The application also provides a computer readable storage medium, wherein computer execution instructions are stored in the computer readable storage medium, and when a processor executes the computer execution instructions, the method is realized.
The above-described readable storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. In the alternative, the readable storage medium may be integral to the processor. The processor and the readable storage medium may reside in an Application SPECIFIC INTEGRATED Circuits (ASIC). The processor and the readable storage medium may reside as discrete components in a device.
The division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present invention. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of implementing the various method embodiments described above may be implemented by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs the steps comprising the method embodiments described above, and the storage medium described above includes various media capable of storing program code, such as ROM, RAM, magnetic or optical disk.
Finally, it should be noted that other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any adaptations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains and as may be applied to the precise construction hereinbefore set forth and shown in the drawings and as follows in the scope of the appended claims. The scope of the invention is limited only by the appended claims.
Claims (10)
1. A vehicle speed control method, characterized by comprising:
acquiring N optional vehicle speeds of M future road sections, wherein the future road sections correspond to a plurality of optional vehicle speeds, and M and N are integers larger than 1;
Generating a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves comprise M optional vehicle speeds corresponding to the future road sections respectively;
Evaluating the change conditions of M optional vehicle speeds in the speed change curve to obtain speed change parameters of the speed change curve;
And selecting a target speed change curve from the speed change curves according to the speed change parameters corresponding to the speed change curves, and controlling the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road section.
2. The method of claim 1, wherein the obtaining N selectable vehicle speeds for M future road segments comprises:
For M future road sections, respectively acquiring the maximum optional vehicle speed of the future road sections, the minimum optional vehicle speed of the future road sections and the road condition complexity;
For each future road segment, determining the number of optional vehicle speeds of the future road segment according to the road condition complexity of the future road segment, and generating a plurality of optional vehicle speeds of the future road segment according to the maximum optional vehicle speed of the future road segment, the minimum optional vehicle speed of the future road segment and the number of optional vehicle speeds of the future road segment, wherein the plurality of optional vehicle speeds of the future road segment are uniformly distributed in a closed interval formed by the maximum optional vehicle speed of the future road segment and the minimum optional vehicle speed of the future road segment, and the number of optional vehicle speeds of the future road segment is directly related to the road condition complexity of the future road segment.
3. The method of claim 2, wherein the obtaining the maximum selectable vehicle speed for the future road segment, the minimum selectable vehicle speed for the future road segment, comprises:
the method comprises the steps of obtaining a cruising speed of a future road section, a gear maximum speed of the future road section, a maximum limit speed of the future road section and a maximum reachable speed of the future road section, and determining the cruising speed, the gear maximum speed, the maximum limit speed and the minimum speed of the maximum reachable speed as the maximum optional speeds, wherein the gear maximum speed is a speed corresponding to the maximum rotating speed of a planned gear of the future road section on the future road section, and the maximum reachable speed is a maximum speed which can be achieved when an engine of the vehicle accelerates on the basis of the current speed of the engine of the vehicle on the current road section or the target speed of the current road section;
And determining the minimum gear speed of the future road section and the maximum vehicle speed of the minimum reachable vehicle speed of the future road section as the minimum optional vehicle speed, wherein the minimum gear speed is the vehicle speed corresponding to the planned minimum rotation speed of the gear of the future road section on the future road section, and the minimum reachable vehicle speed is the minimum vehicle speed which can be achieved when the engine of the vehicle decelerates on the basis of the current vehicle speed on the current road section or the target vehicle speed of the current road section.
4. A method according to any one of claims 1 to 3, wherein said evaluating the variation of M said selectable vehicle speeds in said speed variation profile to obtain a speed variation parameter of said speed variation profile comprises:
Determining the change times and the total change amplitude of the optional vehicle speeds of M future road sections included in the speed change curve;
And determining the speed change parameter according to the change times and the change total amplitude, wherein the speed change parameter is positively related to the change times and the change total amplitude.
5. The method of claim 4, wherein selecting a target speed profile from a plurality of speed profiles according to the speed variation parameters respectively corresponding to the plurality of speed profiles comprises:
determining a comfort level parameter according to the speed change parameter, wherein the comfort level parameter is negatively related to the speed change parameter;
Determining a corresponding oil consumption parameter according to the speed change curve, and weighting the comfort degree parameter and the oil consumption parameter to obtain an evaluation result parameter;
and selecting the target speed change curve from a plurality of speed change curves according to the evaluation result parameters.
6. A method according to any one of claims 1 to 3, wherein said controlling the vehicle comprises:
Determining the corresponding rotating speed of the target vehicle speed under the current gear as a target rotating speed;
When the target rotating speed is smaller than the minimum rotating speed of the current gear, performing a downshift process on the current gear according to a first rotating speed difference between the minimum rotating speed of the current gear and the target rotating speed, wherein the downshift amplitude of the downshift process is positively correlated with the first rotating speed difference;
And when the target rotating speed is greater than or equal to the maximum rotating speed of the current gear or a preset rotating speed threshold value, carrying out upshift processing on the current gear according to a second rotating speed difference between the target rotating speed and the minimum rotating speed of the current gear, wherein the upshift amplitude of the upshift processing is positively correlated with the second rotating speed difference.
7. A vehicle speed control device, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring N optional vehicle speeds of M future road sections, the future road sections correspond to a plurality of optional vehicle speeds, and M and N are integers larger than 1;
the first processing module is used for generating a plurality of speed change curves according to the N optional vehicle speeds, wherein the speed change curves comprise M optional vehicle speeds corresponding to the future road sections respectively;
the second processing module is used for evaluating the change conditions of M optional vehicle speeds in the speed change curve to obtain speed change parameters of the speed change curve;
And the control module is used for selecting a target speed change curve from the speed change curves according to the speed change parameters corresponding to the speed change curves, and controlling the vehicle by taking the first selectable vehicle speed in the target speed change curve as the target speed of the first future road section.
8. An electronic device comprising a processor and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1 to 6.
9. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1 to 6.
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