CN110733491A - vehicle speed control method and device and vehicle - Google Patents

vehicle speed control method and device and vehicle Download PDF

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Publication number
CN110733491A
CN110733491A CN201911048036.6A CN201911048036A CN110733491A CN 110733491 A CN110733491 A CN 110733491A CN 201911048036 A CN201911048036 A CN 201911048036A CN 110733491 A CN110733491 A CN 110733491A
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China
Prior art keywords
target
vehicle
opening
acceleration
brake
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Pending
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CN201911048036.6A
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Chinese (zh)
Inventor
张瀚中
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Dongsoft Ruichi Automotive Technology (shenyang) Co Ltd
Neusoft Reach Automotive Technology Shenyang Co Ltd
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Dongsoft Ruichi Automotive Technology (shenyang) Co Ltd
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Priority to CN201911048036.6A priority Critical patent/CN110733491A/en
Publication of CN110733491A publication Critical patent/CN110733491A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0605—Throttle position
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)

Abstract

The embodiment of the application discloses vehicle speed control methods, devices and vehicles, wherein the method can be executed by an unmanned vehicle or a vehicle with an unmanned function, and the method specifically comprises the steps of obtaining a target acceleration of the vehicle, determining a target brake opening and a target oil opening corresponding to the target acceleration based on a pre-stored corresponding relation of the acceleration, the brake opening and the oil opening, generating a control command according to the target brake opening and the target oil opening, wherein the control command is used for controlling the vehicle to adjust the brake and the oil opening according to the target brake opening and the target oil opening respectively.

Description

vehicle speed control method and device and vehicle
Technical Field
The application relates to the technical field of vehicles, in particular to a method and a device for controlling vehicle speed of types and a vehicle.
Background
However, the drivers are not absolutely reliable, and after being neglected by , traffic accidents are likely to happen, and therefore, the unmanned vehicles, which are vehicles controlled by computer systems, meet the requirements of the public on vehicle safety and are widely concerned by of the public, are kinds of intelligent automobiles, which are also called wheel-type mobile robots, and mainly rely on intelligent drivers in the automobiles and mainly use the computer systems to achieve the purpose of unmanned driving.
At present, a controller in an unmanned vehicle is expected to control the vehicle to run at a certain target speed in a certain control period, but when the vehicle is adjusted from the current actual speed to the target speed in the control period, the controller has a speed error of , that is, the adjusted actual speed and the target speed are not completely , so that the vehicle speed control is realized by continuously testing and repeatedly adjusting the actual speed to approach the target speed as much as possible.
Disclosure of Invention
The embodiment of the application provides speed control methods and devices and vehicles, which can quickly and accurately control the speed of an unmanned vehicle to quickly reach a target speed, and improve the control precision, response speed and other performances of the unmanned vehicle on the basis of ensuring the safety of the unmanned vehicle.
, there are kinds of vehicle speed controlling methods, including:
acquiring a target acceleration of a vehicle;
determining a target brake opening degree and a target oil opening degree corresponding to the target acceleration based on a prestored corresponding relation among the acceleration, the brake opening degree and the oil opening degree;
and generating a control command according to the target brake opening degree and the target oil opening degree, wherein the control command is used for controlling the vehicle to adjust the brake and oil opening degrees according to the target brake opening degree and the target oil opening degree respectively.
Optionally, the acquiring the target acceleration of the vehicle includes:
acquiring an actual speed and a target speed of the vehicle;
calculating a speed error according to the actual speed and the target speed;
based on the velocity error, the target acceleration is determined.
Alternatively, the correspondence relationship of the acceleration, the brake opening degree, and the oil opening degree that is held in advance is a static correspondence relationship.
Optionally, the method further comprises:
controlling the vehicle according to the th control command to obtain an actual acceleration;
if the actual acceleration and the target acceleration are not , performing Proportional Integral Derivative (PID) adjustment on the target brake opening and the target oil opening according to the actual acceleration and the target acceleration to obtain an adjusted brake opening and an adjusted oil opening;
and generating a second control command according to the adjusted brake opening degree and the adjusted oil opening degree, wherein the second control command is used for controlling the vehicle to adjust the brake and the oil opening degrees according to the adjusted brake opening degree and the adjusted oil opening degree respectively.
Optionally, the method further comprises:
and updating the static corresponding relation according to the opening degree of the brake and the opening degree of the regulating oil .
Optionally, the method further comprises:
applying different test brake opening degrees and test oil opening degrees to the vehicle to obtain corresponding test acceleration;
and updating the corresponding relation among the acceleration, the brake opening and the oil opening which is stored in advance by using the corresponding relation among the test acceleration, the test brake opening and the test oil opening.
In a second aspect, there is provided an kinds of vehicle speed control device, including:
an th acquisition unit configured to acquire a target acceleration of the vehicle;
a determining unit, configured to determine a target brake opening and a target oil opening corresponding to the target acceleration, based on a correspondence relationship among an acceleration, a brake opening, and an oil opening, which is stored in advance;
an generation unit, configured to generate a control command according to the target braking opening and the target oil opening, where the control command is used to control the vehicle to adjust the openings of brakes and oil according to the target braking opening and the target oil opening, respectively.
Optionally, the th obtaining unit includes:
an acquisition subunit configured to acquire an actual speed and a target speed of the vehicle;
the calculating subunit is used for calculating a speed error according to the actual speed and the target speed;
a determining subunit, configured to determine the target acceleration based on the speed error.
Alternatively, the correspondence relationship of the acceleration, the brake opening degree, and the oil opening degree that is held in advance is a static correspondence relationship.
Optionally, the apparatus further comprises:
a second acquisition unit, configured to control the vehicle according to the th control instruction, so as to obtain an actual acceleration;
an adjusting unit, configured to, if the actual acceleration and the target acceleration are not degrees, perform proportional-integral-derivative PID adjustment on the target brake opening degree and the target oil opening degree according to the actual acceleration and the target acceleration to obtain an adjusted brake opening degree and an adjusted oil opening degree;
and the second generation unit is used for generating a second control command according to the adjusted brake opening degree and the adjusted oil opening degree, and the second control command is used for controlling the vehicle to adjust the brake and the oil opening degrees according to the adjusted brake opening degree and the adjusted oil opening degree respectively.
Optionally, the apparatus further comprises:
and the updating unit is used for updating the static corresponding relation according to the adjusting brake opening and the adjusting oil opening.
Optionally, the apparatus further comprises:
the third acquisition unit is used for applying different test brake opening degrees and test oil opening degrees to the vehicle to obtain corresponding test acceleration;
and the second updating unit is used for updating the corresponding relation among the acceleration, the brake opening and the oil opening which are stored in advance by using the corresponding relation among the test acceleration, the test brake opening and the test oil opening.
In a third aspect, the embodiment of the present application further provides kinds of vehicles, and the vehicle includes the vehicle speed control device provided in the second aspect.
In a fourth aspect, an embodiment of the present application further provides apparatuses, where the apparatus includes a processor and a memory:
the memory is used for storing a computer program;
the processor is configured to perform the method according to the computer program as provided in the aspect above.
In a fifth aspect, this embodiment of the present application further provides computer-readable storage media, where the computer-readable storage media are used to store a computer program, and the computer program is used to execute the method provided in the above-mentioned aspect.
It can be seen that in the embodiment of the present application, control methods of vehicle speed are provided, which may be specifically implemented by an unmanned vehicle or a vehicle with an unmanned function, and in the specific implementation, the method includes obtaining a target acceleration of the vehicle, determining a target brake opening and a target oil opening corresponding to the target acceleration based on a pre-stored correspondence relationship between an acceleration, a brake opening and an oil opening, and then generating a control command according to the target brake opening and the target oil opening, wherein the control command is used for controlling the vehicle to adjust the brake and the oil openings according to the target brake opening and the target oil opening, respectively.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments described in the present application, and it is obvious for those skilled in the art to obtain other drawings according to these drawings.
FIG. 1 is a flow chart illustrating a control method for vehicle speeds according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating an example of the vehicle speed control method in the embodiment of the present application;
FIG. 3 is a schematic structural diagram of a control device for vehicle speeds in the embodiment of the present application;
fig. 4 is a schematic structural diagram of kinds of devices in the embodiment of the present application.
Detailed Description
With the development of science and technology in the field of vehicles, unmanned vehicles are more and more concerned by the public due to the characteristics of safety and reliability. The existing unmanned vehicle has a safety core requirement, but on the premise of ensuring safety, the control precision and the response speed of the existing unmanned vehicle are all required to be improved, for example: if the vehicle is required to be adjusted from the current 30m/s to 50m/s within 2 seconds, the actual speed is required to be adjusted to 50m/s through continuous experiment and repeated adjustment, but the process may take a long time and the actual speed cannot be adjusted to 50m/s accurately.
Based on this, in the embodiment of the present application, vehicle speed control methods are provided, which may be specifically implemented by an unmanned vehicle or a vehicle with an unmanned function, in which a corresponding relationship between an acceleration, a brake opening, and an oil opening is preserved in advance, and when the vehicle needs to travel at a target acceleration, a target brake opening and a target oil opening corresponding to the target acceleration can be directly searched from the corresponding relationship, so as to directly control the brake and the oil of the vehicle, achieve fast and accurate vehicle speed control, avoid the problem that the vehicle speed cannot be controlled fast and accurately by controlling the vehicle speed in a manner of repeatedly adjusting for many times, enable the vehicle to reach the required vehicle speed quickly, and improve the performance such as control accuracy and response speed on the basis of ensuring the safety of the unmanned vehicle.
In the embodiment of the present application, the vehicle speed control method may be performed by, for example, the vehicle speed control device 300 shown in fig. 3, the device 300 may be another controller independent of the vehicle speed controller of the unmanned vehicle or the vehicle with the unmanned function, or function modules in the vehicle speed controller of the unmanned vehicle or the vehicle with the unmanned function, and the method is not particularly limited in the embodiment of the present application.
Specific implementation manners of methods in the embodiments of the present application are described in detail below by way of examples with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a control method for vehicle speeds according to an embodiment of the present disclosure, referring to fig. 1, the method may include, for example, the following steps 101 to 103:
step 101, acquiring a target acceleration of a vehicle.
It is understood that when the vehicle needs to run at a certain target speed (for example, 50m/s), a control command is generated and issued by the controller, and the control command carries the target speed and is used for instructing the vehicle to control the speed of the vehicle to the target speed.
When the vehicle actually runs, the actual speed is provided, the speed error of is possibly provided with the target speed carried in the control command, and the control on the speed of the vehicle to reach the target speed is often required to be completed within a control period (for example, 2 seconds).
In the embodiment of the present application, the process of obtaining the target acceleration may specifically include: s11, acquiring the actual speed and the target speed of the vehicle; s12, calculating a speed error according to the actual speed and the target speed; s13, a target acceleration is determined based on the velocity error. For example: assuming that the actual speed of the vehicle currently running is 30m/s, the target speed is 50m/s, and the control period is 2s, the speed error can be calculated to be 20m/s from 50m/s to 30 m/s; then, based on the speed error 20m/s and the control period 2s, the target acceleration is calculated to be 20 m/s/2 s-10 m/s2。
Therefore, by acquiring the target acceleration, a data basis is provided for the subsequent vehicle control so that the vehicle can reach the target speed in the control period, and the vehicle speed can be controlled quickly and accurately.
And 102, determining a target brake opening degree and a target oil opening degree corresponding to the target acceleration based on a prestored corresponding relation among the acceleration, the brake opening degree and the oil opening degree.
103, generating a control command according to the target brake opening and the target oil opening, wherein the control command is used for controlling the vehicle to adjust the brake and oil openings according to the target brake opening and the target oil opening respectively.
For example, the corresponding relation comprises the corresponding relation of the brake opening 1, the oil opening 2 and the acceleration 3, so that the vehicle is controlled to run according to the brake opening 1 and the oil opening 2, and the actual acceleration of the vehicle can reach the acceleration 3.
The pre-stored correspondence relationship may be data obtained through experiments when the vehicle is shipped from a factory, for example, the acceleration of the vehicle is obtained by testing at different brake opening degrees and different oil opening degrees, and the acceleration, the brake opening degree, and the oil opening degree are stored in correspondence, wherein the correspondence relationship may be embodied in the form of a table in cases, or in the form of a curve in cases, and is not particularly limited in the embodiment of the present application.
The corresponding relation can be stored on the vehicle or in the cloud. When the corresponding relationship is stored in the vehicle, the vehicle can directly obtain the corresponding relationship and execute the step 102 when the vehicle speed needs to be controlled. When the corresponding relationship is stored in the cloud, and the vehicle needs to control the vehicle speed, the vehicle may obtain the corresponding relationship corresponding to the vehicle from the cloud, so as to execute the step 102 based on the corresponding relationship received from the cloud.
In , the corresponding relationship may be a static corresponding relationship, that is, the corresponding relationship is generated and stored when the vehicle leaves the factory, then, when the vehicle needs to reach the target acceleration, the corresponding relationship may be obtained, and a data item corresponding to the target acceleration is searched from the corresponding relationship, the brake opening and the oil opening in the data item are used as the target brake opening and the target oil opening, and a -th control instruction carrying the target brake opening and the target oil opening is generated, so that the vehicle executes the -th control instruction, and the brake and the oil of the vehicle are adjusted according to the target brake opening and the target oil opening, respectively.
As examples, the target brake opening and target oil opening may be the opening at which the brake and oil 0 should be maintained when the vehicle reaches the target acceleration, then the vehicle executes the control command, which may mean that the vehicle adjusts its brake and oil 1 to the target brake opening and target oil 2 opening such that the vehicle travels at the target acceleration as another examples, the target brake opening and target oil opening may be the opening at which the brake and oil needs to be increased or decreased when the vehicle reaches the target acceleration, then the vehicle executes the control command, which may mean that the vehicle increases or decreases its brake and oil by the target brake opening and target oil opening to obtain a new brake and oil opening such that the vehicle travels at the target acceleration.
It can be understood that the control of the acceleration of the vehicle by the brake and oil may vary with the use of the vehicle and the influence of factors such as the temperature of the brake pad and the friction coefficient of the road surface, that is, the vehicle is controlled to run based on the target brake opening and the target oil according to the pre-stored corresponding relationship, and the actually achieved acceleration may not be the target acceleration.
In specific implementation, as shown in fig. 2, the embodiment of the present application may further include:
step 201, controlling the vehicle according to an th control command to obtain an actual acceleration;
step 202, if the actual acceleration and the target acceleration are not , performing Proportional Integral Derivative (PID) adjustment on the target brake opening and the target oil opening according to the actual acceleration and the target acceleration to obtain an adjusted brake opening and an adjusted oil opening;
and step 203, generating a second control command according to the adjusted brake opening degree and the adjusted oil opening degree, wherein the second control command is used for controlling the vehicle to adjust the brake and the oil opening degrees according to the adjusted brake opening degree and the adjusted oil opening degree respectively.
For example, assume that the actual acceleration obtained according to the th control command is 9m/s2To do soThe target acceleration is 10m/s2Then, in cases, it could be based on the 9m/s2And 10m/s2The brake and oil are PID-adjusted to obtain an adjusted brake opening and an adjusted oil opening when the actual acceleration is the target acceleration, and the vehicle is controlled to run at the adjusted brake opening and the adjusted oil opening so that the vehicle is 10m/s2Alternatively, cases may be based on the 9m/s2And 10m/s2PID-adjusting the brake and oil to obtain an adjusted brake opening and adjusted oil opening that needs to be increased or decreased based on the target brake opening and target oil opening when the actual acceleration is changed to the target acceleration, and controlling the vehicle to run in a brake and oil state in which the adjusted brake opening and adjusted oil opening are increased or decreased based on the target brake opening and target oil opening, such that the vehicle is driven at 10m/s2And (5) running.
For example, when the brake opening and the oil opening are adjusted to be opening for braking and adjusting which should be maintained when the actual acceleration becomes the target acceleration, the target brake opening and the target oil opening corresponding to the target acceleration in the static corresponding relationship may be directly adjusted to be the brake opening and the oil opening, and for example, when the brake opening and the oil opening are adjusted to be opening for braking and oil which need to be increased or decreased based on the target brake opening and the target oil opening when the actual acceleration becomes the target acceleration, the brake opening and the oil opening corresponding to the target acceleration in the static corresponding relationship may be increased or decreased respectively.
In other possible implementations, the correspondence may be a dynamic correspondence, that is, the correspondence may be updated periodically on the basis of correspondence saved at the time of factory shipment, or the correspondence may be updated when the actual acceleration and the target acceleration do not reach .
In the concrete implementation, when the corresponding relation needs to be updated, for example, the time for updating the corresponding relation last time reaches a preset updating period, and for example, a situation that the actual acceleration and the target acceleration are not is found, the embodiment of the application can further include S21 for applying different test brake opening degrees and test oil opening degrees to the vehicle to obtain corresponding test acceleration, S22 for updating the corresponding relation of the acceleration, the brake opening degrees and the oil opening degrees, which is stored in advance, by using the corresponding relation among the test acceleration, the test brake opening degrees and the test oil opening degrees, so that the corresponding acceleration under the current situation is tested by traversing all possible situations of the brake opening degrees and the oil opening degrees, the newly obtained corresponding relation is updated to the vehicle or a cloud side, and a reliable data basis is provided for the subsequent vehicle speed control based on the method provided by the embodiment of the application.
Note that, each time the correspondence relationship is updated, a part (for example, a part of the correspondence relationship resulting from the actual acceleration and the target acceleration not being is updated, or the part and a part within a preset range) may be updated, or all of the parts may be updated, and the embodiment of the present application is not particularly limited.
It can be seen that, in the embodiment of the present application, by saving the corresponding relationship between the acceleration, the brake opening and the oil opening in advance, when the vehicle needs to run at the target acceleration, the target brake opening and the target oil opening corresponding to the target acceleration can be directly searched from the corresponding relationship, so as to directly control the brake and the oil of the vehicle, thereby realizing fast and accurate vehicle speed control, avoiding the problem that the vehicle speed cannot be controlled fast and accurately by controlling the vehicle speed in a multiple-time repeated adjustment manner, enabling the vehicle to reach the required vehicle speed quickly, and improving the control accuracy, response speed and other performances on the basis of ensuring the safety of the unmanned vehicle.
Accordingly, the present embodiment further provides an vehicle speed control device 300, as shown in fig. 3, where the device 300 may include:
an th acquisition unit 301 for acquiring a target acceleration of the vehicle;
a determining unit 302, configured to determine a target brake opening and a target oil opening corresponding to the target acceleration, based on a pre-stored correspondence relationship between the acceleration, the brake opening, and the oil opening;
an th generating unit 303, configured to generate a th control command according to the target braking opening and the target oil opening, wherein the th control command is used to control the vehicle to adjust the openings of brakes and oil according to the target braking opening and the target oil opening, respectively.
Optionally, the th obtaining unit 301 includes:
an acquisition subunit configured to acquire an actual speed and a target speed of the vehicle;
the calculating subunit is used for calculating a speed error according to the actual speed and the target speed;
a determining subunit, configured to determine the target acceleration based on the speed error.
Alternatively, the correspondence relationship of the acceleration, the brake opening degree, and the oil opening degree that is held in advance is a static correspondence relationship.
Optionally, the apparatus 300 further comprises:
a second acquisition unit, configured to control the vehicle according to the th control instruction, so as to obtain an actual acceleration;
an adjusting unit, configured to, if the actual acceleration and the target acceleration are not degrees, perform proportional-integral-derivative PID adjustment on the target brake opening degree and the target oil opening degree according to the actual acceleration and the target acceleration to obtain an adjusted brake opening degree and an adjusted oil opening degree;
and the second generation unit is used for generating a second control command according to the adjusted brake opening degree and the adjusted oil opening degree, and the second control command is used for controlling the vehicle to adjust the brake and the oil opening degrees according to the adjusted brake opening degree and the adjusted oil opening degree respectively.
Optionally, the apparatus 300 further comprises:
and the updating unit is used for updating the static corresponding relation according to the adjusting brake opening and the adjusting oil opening.
Optionally, the apparatus 300 further comprises:
the third acquisition unit is used for applying different test brake opening degrees and test oil opening degrees to the vehicle to obtain corresponding test acceleration;
and the second updating unit is used for updating the corresponding relation among the acceleration, the brake opening and the oil opening which are stored in advance by using the corresponding relation among the test acceleration, the test brake opening and the test oil opening.
The above description is related to the control device 300 for vehicle speeds, wherein, for specific implementation and achieved effects, reference may be made to the description of the vehicle speed control method embodiment shown in fig. 1, and details are not repeated here.
In addition, the embodiment of the application also provides vehicles, and the vehicle comprises the vehicle speed control device 300.
In addition, an kinds of devices 400 are further provided in the embodiments of the present application, as shown in fig. 4, the device 400 includes a processor 401 and a memory 402:
the memory 402 is used for storing computer programs;
the processor 401 is configured to execute the vehicle speed control method according to any implementation manners in the corresponding embodiment of fig. 1 according to the computer program.
In addition, computer-readable storage media are further provided in an embodiment of the present application, and are characterized in that the computer-readable storage media are configured to store a computer program, and the computer program is configured to execute the method for generating the battery information in any implementation manners in the embodiment corresponding to fig. 1.
The of the names of the th control command, the th obtaining unit and the like mentioned in the embodiment of the application is only used for name identification and does not represent the th in sequence.
Based on the understanding that the technical solutions of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM)/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling computer devices (which may be personal computers, servers, or network communication devices such as routers) to execute the methods described in the various embodiments or some parts of the embodiments of the present application.
The above-described apparatus and apparatus embodiments are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components displayed as modules may or may not be physical modules, i.e., may be located in places, or may be distributed over a plurality of network elements.
The above description is only a preferred embodiment of the present application and is not intended to limit the scope of the present application. It should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the scope of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims (10)

1, A method for controlling vehicle speed, comprising:
acquiring a target acceleration of a vehicle;
determining a target brake opening degree and a target oil opening degree corresponding to the target acceleration based on a prestored corresponding relation among the acceleration, the brake opening degree and the oil opening degree;
and generating a control command according to the target brake opening degree and the target oil opening degree, wherein the control command is used for controlling the vehicle to adjust the brake and oil opening degrees according to the target brake opening degree and the target oil opening degree respectively.
2. The method of claim 1, wherein said obtaining a target acceleration of the vehicle comprises:
acquiring an actual speed and a target speed of the vehicle;
calculating a speed error according to the actual speed and the target speed;
based on the velocity error, the target acceleration is determined.
3. The method according to claim 1 or 2, wherein the correspondence relationship of the pre-saved acceleration, brake opening, and oil opening is a static correspondence relationship.
4. The method of claim 3, further comprising:
controlling the vehicle according to the th control command to obtain an actual acceleration;
if the actual acceleration and the target acceleration are not , performing Proportional Integral Derivative (PID) adjustment on the target brake opening and the target oil opening according to the actual acceleration and the target acceleration to obtain an adjusted brake opening and an adjusted oil opening;
and generating a second control command according to the adjusted brake opening degree and the adjusted oil opening degree, wherein the second control command is used for controlling the vehicle to adjust the brake and the oil opening degrees according to the adjusted brake opening degree and the adjusted oil opening degree respectively.
5. The method of claim 4, further comprising:
and updating the static corresponding relation according to the opening degree of the brake and the opening degree of the regulating oil .
6. The method of claim 1 or 2, further comprising:
applying different test brake opening degrees and test oil opening degrees to the vehicle to obtain corresponding test acceleration;
and updating the corresponding relation among the acceleration, the brake opening and the oil opening which is stored in advance by using the corresponding relation among the test acceleration, the test brake opening and the test oil opening.
7, A vehicle speed control device, comprising:
an th acquisition unit configured to acquire a target acceleration of the vehicle;
a determining unit, configured to determine a target brake opening and a target oil opening corresponding to the target acceleration, based on a correspondence relationship among an acceleration, a brake opening, and an oil opening, which is stored in advance;
an generation unit, configured to generate a control command according to the target braking opening and the target oil opening, where the control command is used to control the vehicle to adjust the openings of brakes and oil according to the target braking opening and the target oil opening, respectively.
A vehicle of , characterized in that the vehicle comprises a control device for the vehicle speed of claim 7.
An apparatus of the type 9, , comprising a processor and a memory:
the memory is used for storing a computer program;
the processor is configured to execute the method of any of claims 1-6 according to the computer program.
A computer-readable storage medium , wherein the computer-readable storage medium is configured to store a computer program for performing the method of any of claims 1-6 to .
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