CN112744268A - Vehicle control method and device and vehicle - Google Patents

Vehicle control method and device and vehicle Download PDF

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Publication number
CN112744268A
CN112744268A CN201911051246.0A CN201911051246A CN112744268A CN 112744268 A CN112744268 A CN 112744268A CN 201911051246 A CN201911051246 A CN 201911051246A CN 112744268 A CN112744268 A CN 112744268A
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speed
vehicle
acceleration
current
determining
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CN112744268B (en
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朱文刚
朱国栋
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BYD Co Ltd
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BYD Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The disclosure relates to a vehicle control method, a vehicle control device and a vehicle, and relates to the technical field of vehicle control, wherein the method comprises the following steps: the method comprises the steps of obtaining the current position and the current speed of a vehicle according to a preset period, determining the corresponding speed limit and the corresponding designated target point according to the current position, determining the second working mode of the vehicle in the next preset period according to the current first working mode, the current position, the current speed and the designated target point of the vehicle, determining the reference acceleration and the control speed of the vehicle according to the current position, the current speed, the speed limit and the second working mode, and controlling the vehicle to run according to the reference acceleration and the control speed. According to the method and the device, the current position and the current speed of the vehicle are obtained at regular time, the reference acceleration and the control speed of the vehicle are determined by combining the specified target point and the working mode of the vehicle, the vehicle is controlled to run according to the reference acceleration and the control speed, the whole-course control can be performed on the running process of the vehicle, and the accuracy of vehicle control is improved.

Description

Vehicle control method and device and vehicle
Technical Field
The disclosure relates to the technical field of vehicle control, in particular to a vehicle control method and device and a vehicle.
Background
With the continuous development of rail transit, the transportation modes of trains, subways, light rails, trams and the like have become common choices for people to go out daily. An ATO (Automatic Train Operation, chinese) system is generally provided on the vehicle to enable the vehicle to be automatically driven. In the ATO system, a protection speed curve is determined through parameters (such as a line gradient, an inter-station running distance, a dynamic model and the like) of a vehicle running route, the vehicle is controlled to run by adopting methods such as fuzzy control and the like, a target speed curve is calculated only in the vehicle deceleration process to control the vehicle, and in the vehicle acceleration and cruising processes, the target speed curve is not used as a reference, the speed fluctuation range is large, overspeed or over-low speed is easy to occur, and the running time and the arrival time of the vehicle are difficult to accurately estimate.
Disclosure of Invention
The purpose of the disclosure is to provide a vehicle control method and device and a vehicle, which are used for solving the problems that the vehicle cannot be controlled in the whole course and the vehicle control accuracy is low in the prior art.
In order to achieve the above object, according to a first aspect of an embodiment of the present disclosure, there is provided a control method of a vehicle, the method including:
acquiring the current position and the current speed of the vehicle according to a preset period;
determining a corresponding limiting speed and a designated target point according to the current position;
determining a second working mode of the vehicle in the next preset period according to the current first working mode of the vehicle, the current position, the current speed and the designated target point;
determining a reference acceleration and a control speed of the vehicle according to the current position, the current speed, the limit speed and the second working mode;
and controlling the vehicle to run according to the reference acceleration and the control speed.
Optionally, the determining a corresponding speed limit and a designated target point according to the current position includes:
taking the speed corresponding to the current position on a preset speed protection curve as the limiting speed;
determining a preset number of target points according to the current position;
determining the acceleration of the vehicle to reach each target point in the preset number of target points;
and taking the target point with the maximum absolute value of the acceleration as the designated target point.
Optionally, the determining the acceleration of the vehicle to reach each of the preset number of target points includes:
determining the target position of each target point in the preset number of target points and the target limiting speed corresponding to each target point;
and determining the acceleration of the vehicle reaching the target point according to the current position, the current speed, the target position of each target point and the target limit speed corresponding to each target point.
Optionally, when the first operating mode is an acceleration mode, the determining, according to the current first operating mode of the vehicle, the current position, the current speed, and the specified target point, a second operating mode of the vehicle in a next preset period includes:
determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the specified target point and the target limit speed corresponding to the specified target point, wherein the first acceleration is the acceleration required by the vehicle to reach the target limit speed when the vehicle runs from the current position to the target position;
if the first acceleration is smaller than a preset first acceleration threshold value, determining that the second working mode is a deceleration mode;
if the first acceleration is larger than or equal to the first acceleration threshold, determining an expected cruising position according to the current position, the current speed and preset cruising time, wherein the expected cruising position is a position reached after the vehicle runs at the current speed for the cruising time;
determining a second acceleration of the vehicle based on the current speed, the expected cruise position, the target position, and the target limit speed, the second acceleration being an acceleration required for the vehicle to travel from the expected cruise position to the target position to reach the target limit speed;
if the second acceleration is smaller than a preset second acceleration threshold value, determining that the second working mode is a cruise mode;
if the second acceleration is greater than or equal to the second acceleration threshold value, and the difference between the limit speed and the current speed is smaller than a preset first speed threshold value, determining that the second working mode is a cruise mode;
and if the second acceleration is greater than or equal to the second acceleration threshold value and the difference between the limit speed and the current speed is greater than or equal to the first speed threshold value, determining that the second working mode is an acceleration mode.
Optionally, when the first operating mode is a cruise mode, the determining, according to the current first operating mode of the vehicle, the current position, the current speed, and the specified target point, a second operating mode of the vehicle in a next preset period includes:
determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the specified target point and the target limit speed corresponding to the specified target point, wherein the first acceleration is the acceleration required by the vehicle to reach the target limit speed when the vehicle runs from the current position to the target position;
if the first acceleration is smaller than a preset third acceleration threshold, determining that a second working mode is a deceleration mode;
if the first acceleration is greater than or equal to the third acceleration threshold value, and the difference between the limit speed and the current speed is less than a preset second speed threshold value, determining that the second working mode is a cruise mode;
and if the first acceleration is greater than or equal to the third acceleration threshold and the difference between the limit speed and the current speed is greater than or equal to the second speed threshold, determining that the second working mode is an acceleration mode.
Optionally, when the first operating mode is a deceleration mode, the determining, according to the current first operating mode of the vehicle, the current position, the current speed, and the specified target point, a second operating mode of the vehicle in a next preset period includes:
if the current speed is smaller than the target limit speed corresponding to the specified target point, determining that the second working mode is a cruise mode;
and if the current speed is greater than or equal to the target limit speed, determining that the second working mode is a deceleration mode.
Optionally, the determining the reference acceleration and the control speed of the vehicle according to the current position, the current speed, the limit speed and the second operation mode includes:
if the second working mode is an acceleration mode, determining the reference acceleration required by the vehicle for changing the current speed into the limited speed according to a preset acceleration change rate;
and determining the control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle which is shifted to the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
Optionally, the determining the reference acceleration and the control speed of the vehicle according to the current position, the current speed, the limit speed and the second operation mode includes:
if the second working mode is a cruise mode, determining that the reference acceleration is zero, and determining that the control speed is the current speed;
if the second working mode is a deceleration mode, determining the reference acceleration required by the vehicle to change the current speed into the target limiting speed according to the current position, the current speed, the target position of the specified target point and the target limiting speed corresponding to the specified target point;
and determining the control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle which is shifted to the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
Optionally, the controlling the vehicle to run according to the reference acceleration and the control speed includes:
determining an initial control quantity according to the reference acceleration and a preset dynamic model;
determining an adjusting control quantity according to the current speed, the control speed, the historical speed before the current moment and a preset PID model;
and controlling the vehicle to run according to the initial control quantity and the adjusting control quantity.
According to a second aspect of the embodiments of the present disclosure, there is provided a control apparatus of a vehicle, the apparatus including:
the acquisition module is used for acquiring the position and the speed of the vehicle according to a preset period;
the first determining module is used for determining the corresponding speed limit and the designated target point according to the current position;
the second determining module is used for determining a second working mode of the vehicle in the next preset period according to the current first working mode of the vehicle, the current position, the current speed and the specified target point;
the third determining module is used for determining the reference acceleration and the control speed of the vehicle according to the current position, the current speed, the limit speed and the second working mode;
and the control module is used for controlling the vehicle to run according to the reference acceleration and the control speed.
Optionally, the first determining module includes:
the searching submodule is used for taking the speed corresponding to the current position on a preset speed protection curve as the limiting speed;
the first determining submodule is used for determining a preset number of target points according to the current position;
the first determining submodule is further used for determining the acceleration of the vehicle reaching each target point in the preset number of target points;
the first determining submodule is further configured to use a target point at which an absolute value of the acceleration is maximum as the designated target point.
Optionally, the first determining sub-module is configured to:
determining the target position of each target point in the preset number of target points and the target limiting speed corresponding to each target point;
and determining the acceleration of the vehicle reaching the target point according to the current position, the current speed, the target position of each target point and the target limit speed corresponding to each target point.
Optionally, the second determining module is configured to:
when the first working mode is an acceleration mode, determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the specified target point and a target limit speed corresponding to the specified target point, wherein the first acceleration is an acceleration required by the vehicle to reach the target limit speed when the vehicle runs from the current position to the target position;
if the first acceleration is smaller than a preset first acceleration threshold value, determining that the second working mode is a deceleration mode;
if the first acceleration is larger than or equal to the first acceleration threshold, determining an expected cruising position according to the current position, the current speed and preset cruising time, wherein the expected cruising position is a position reached after the vehicle runs at the current speed for the cruising time;
determining a second acceleration of the vehicle based on the current speed, the expected cruise position, the target position, and the target limit speed, the second acceleration being an acceleration required for the vehicle to travel from the expected cruise position to the target position to reach the target limit speed;
if the second acceleration is smaller than a preset second acceleration threshold value, determining that the second working mode is a cruise mode;
if the second acceleration is greater than or equal to the second acceleration threshold value, and the difference between the limit speed and the current speed is smaller than a preset first speed threshold value, determining that the second working mode is a cruise mode;
and if the second acceleration is greater than or equal to the second acceleration threshold value and the difference between the limit speed and the current speed is greater than or equal to the first speed threshold value, determining that the second working mode is an acceleration mode.
Optionally, the second determining module is configured to:
when the first working mode is a cruise mode, determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the specified target point and the target limit speed corresponding to the specified target point, wherein the first acceleration is the acceleration required by the vehicle to reach the target limit speed when the vehicle runs from the current position to the target position;
if the first acceleration is smaller than a preset third acceleration threshold, determining that a second working mode is a deceleration mode;
if the first acceleration is greater than or equal to the third acceleration threshold value, and the difference between the limit speed and the current speed is less than a preset second speed threshold value, determining that the second working mode is a cruise mode;
and if the first acceleration is greater than or equal to the third acceleration threshold and the difference between the limit speed and the current speed is greater than or equal to the second speed threshold, determining that the second working mode is an acceleration mode.
Optionally, the second determining module is configured to:
when the first working mode is a deceleration mode, if the current speed is less than a target limit speed corresponding to the specified target point, determining that the second working mode is a cruise mode;
and if the current speed is greater than or equal to the target limit speed, determining that the second working mode is a deceleration mode.
Optionally, the third determining module is configured to:
if the second working mode is an acceleration mode, determining the reference acceleration required by the vehicle for changing the current speed into the limited speed according to a preset acceleration change rate;
and determining the control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle which is shifted to the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
Optionally, the third determining module is configured to:
if the second working mode is a cruise mode, determining that the reference acceleration is zero, and determining that the control speed is the current speed;
if the second working mode is a deceleration mode, determining the reference acceleration required by the vehicle to change the current speed into the target limiting speed according to the current position, the current speed, the target position of the specified target point and the target limiting speed corresponding to the specified target point;
and determining the control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle which is shifted to the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
Optionally, the control module comprises:
the control quantity determining submodule is used for determining an initial control quantity according to the reference acceleration and a preset dynamic model;
the control quantity determining submodule is also used for determining an adjusting control quantity according to the current speed, the control speed, the historical speed before the current moment and a preset PID model;
and the control submodule is used for controlling the vehicle to run according to the initial control quantity and the adjusting control quantity.
According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle provided with a controller thereon;
the controller is configured to perform the steps of the method according to the first aspect of the above-described embodiment.
According to the technical scheme, the method comprises the steps of firstly obtaining the current position and the current speed of the vehicle according to a preset period, then determining the corresponding speed limit and the corresponding designated target point according to the current position, then determining the second working mode of the vehicle in the next preset period by combining the current first working mode, the current position, the current speed and the designated target point of the vehicle, then determining the reference acceleration and the control speed of the vehicle by combining the current position, the current speed, the speed limit and the second working mode, and finally controlling the vehicle to run according to the reference acceleration and the control speed. According to the method and the device, the current position and the current speed of the vehicle are obtained at regular time, the reference acceleration and the control speed of the vehicle are determined by combining the specified target point and the working mode of the vehicle, the vehicle is controlled to run according to the reference acceleration and the control speed, the whole-course control can be performed on the running process of the vehicle, and the accuracy of vehicle control is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure.
In the drawings:
FIG. 1 is a flow chart illustrating a method of controlling a vehicle according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 3 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 4 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 5 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 6 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 7 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 8 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 9 is a block diagram illustrating a control apparatus of a vehicle according to an exemplary embodiment;
FIG. 10 is a block diagram illustrating another vehicle control apparatus according to an exemplary embodiment;
FIG. 11 is a block diagram illustrating another vehicle control apparatus according to an exemplary embodiment;
FIG. 12 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Before the control method and device for the vehicle and the vehicle provided by the present disclosure are introduced, application scenarios related to various embodiments of the present disclosure will be first introduced. The application scenario may be any kind of vehicle, where the vehicle runs according to a preset track, for example: trains, subways, light rails, trams, and the like.
Fig. 1 is a flowchart illustrating a control method of a vehicle according to an exemplary embodiment, as shown in fig. 1, the method including:
step 101, obtaining the current position and the current speed of the vehicle according to a preset period.
And 102, determining a corresponding speed limit and a specified target point according to the current position.
For example, during the driving process of the vehicle, the current position and the current speed of the vehicle may be collected according to a preset period. For example, the current speed of the vehicle may be acquired by a speed sensor provided on the vehicle, the current position of the vehicle may be acquired by a positioning device (e.g., a satellite positioning system) provided on the vehicle, or the current position of the vehicle may be acquired in real time by an ATS (Automatic Train monitoring) system. The preset period may be understood as a control period, and the vehicle is controlled to run in the next preset period according to the current position and the current speed acquired in the preset period where the current time is, where the preset period may be in units of ms, for example, 150 ms.
Thereafter, the restriction speed and the designated target point corresponding to the current position may be determined. The speed limit is understood to mean the maximum speed that is permitted for the vehicle to travel to the current position on the predetermined travel route (i.e., track). The speed limit corresponding to each position on the driving route can be predetermined according to forms such as a table, a functional relation and a model, and the vehicle can determine the corresponding speed limit according to the current position acquired in the current preset period. Meanwhile, a plurality of target points are also preset on the driving route, and the target points can comprise designated speed limit points and can also comprise MA (English: Movement Authority, Chinese: Movement authorization) points. The corresponding designated target point is determined according to the current position of the vehicle, for example, a preset number (for example, 3) of target points located behind the current position in the driving direction may be selected from the plurality of target points on the driving route, and then the target point satisfying a preset condition among the preset number of target points is taken as the designated target point.
And 103, determining a second working mode of the vehicle in the next preset period according to the current first working mode, the current position, the current speed and the designated target point of the vehicle.
For example, the vehicle may include, during driving: an acceleration mode, a cruise mode, and a deceleration mode. Firstly, a working mode in a current preset period is obtained, namely the first working mode. And selecting different modes to determine the second working mode of the vehicle in the next preset period according to whether the first working mode is an acceleration mode, a cruise mode or a deceleration mode. For example, if the first operation mode is an acceleration mode, the acceleration that can be achieved when the vehicle travels to the target position of the specified target point may be determined according to the current position, the current speed, and the specified target point, and the second operation mode may be determined according to a comparison result between the acceleration and a preset acceleration threshold. And if the first working mode is the cruise mode, determining a target position of the vehicle from the current position to the specified target point according to the current position, the current speed and the specified target point, determining the acceleration required for reaching the target limit speed corresponding to the specified target point, and determining a second working mode according to the comparison result of the acceleration and a preset acceleration threshold. And if the first working mode is the deceleration mode, determining a second working mode according to the comparison result of the current speed and the target limiting speed corresponding to the specified target point.
And 104, determining the reference acceleration and the control speed of the vehicle according to the current position, the current speed, the limit speed and the second working mode.
And step 105, controlling the vehicle to run according to the reference acceleration and the control speed.
For example, after the second operation mode is determined, the reference acceleration and the control speed of the vehicle are determined according to the current position, the current speed, the limit speed, and the second operation mode. The reference acceleration may be understood as an acceleration required for the vehicle to change from the current speed to the speed limit corresponding to the current position, or an acceleration required for the vehicle to change to the target speed limit corresponding to the designated target point. The control speed may be understood as a target speed at which the vehicle is controlled to travel according to the reference acceleration in the next preset period. Further, a control quantity of a traction device (or a brake device) of the vehicle is determined according to the reference acceleration so as to control the vehicle to run, and the control quantity is adjusted in real time according to the control speed so that the actual speed of the vehicle can track the control speed, namely the difference value between the actual speed and the control speed of the vehicle is smaller than a preset threshold value. Therefore, in the whole process of vehicle running, the vehicle can be controlled to run according to the reference acceleration and the control speed, the actual speed of the vehicle can be accurately predicted, the speed fluctuation range is small, the running time and the arrival time of the vehicle can be accurately predicted, and the accuracy of vehicle control is improved.
It should be noted that the control method of the vehicle provided by the present disclosure is a control performed during the running of the vehicle, that is, the reference acceleration and the control speed in the current preset period are determined according to the position and the speed of the vehicle obtained in the previous preset period, and the vehicle is controlled to run. Accordingly, the reference acceleration and the control speed of the next preset period are determined according to the position (i.e., the current position) and the speed (i.e., the current speed) acquired in the current preset period, and the vehicle is controlled to run, and so on. If the vehicle is in a static state, the vehicle is to start running, namely the vehicle starts to start, a starting instruction is sent by a trainee or a control center sends a starting instruction to the vehicle, the starting instruction can comprise a reference acceleration, and in response to the starting instruction, the control quantity of a traction device of the vehicle can be determined according to the reference acceleration so as to control the vehicle to start running.
In summary, according to the present disclosure, a current position and a current speed of a vehicle are first obtained according to a preset period, then a corresponding speed limit and a corresponding target point are determined according to the current position, a second working mode of the vehicle in a next preset period is determined by combining a current first working mode, the current position, the current speed and the target point of the vehicle, then a reference acceleration and a control speed of the vehicle are determined by combining the current position, the current speed, the speed limit and the second working mode, and finally the vehicle is controlled to run according to the reference acceleration and the control speed. According to the method and the device, the current position and the current speed of the vehicle are obtained at regular time, the reference acceleration and the control speed of the vehicle are determined by combining the specified target point and the working mode of the vehicle, the vehicle is controlled to run according to the reference acceleration and the control speed, the whole-course control can be performed on the running process of the vehicle, and the accuracy of vehicle control is improved.
FIG. 2 is a flow chart illustrating another method of controlling a vehicle, according to an exemplary embodiment, as shown in FIG. 2, step 102 includes:
and step 1021, taking the speed corresponding to the current position on the preset speed protection curve as the limiting speed.
Step 1022, determining a preset number of target points according to the current position.
At step 1023, the acceleration of the vehicle to each of a preset number of target points is determined.
And step 1024, taking the target point with the maximum absolute value of the acceleration as the designated target point.
For example, the speed protection curve of the driving route, that is, the maximum speed allowed at each position on the driving route, may be predetermined according to the line gradient on the driving route of the vehicle, the inter-station operating distance, and a preset dynamic model. According to the current position of the vehicle determined in step 101, the speed corresponding to the current position on the speed protection curve can be searched for as the limit speed. Then, a preset number of target points located behind the current position in the traveling direction of the vehicle are selected from a plurality of target points preset on the traveling route. And then sequentially determining the acceleration of each target point in a preset number of target points, selecting the acceleration with the maximum absolute value from the preset number of accelerations, and taking the target point corresponding to the acceleration as the designated target point. It can be understood that the target point is designated as the most strict target point among the preset number of target points.
The specific implementation manner of step 1023 may be:
first, a target position of each target point in a preset number of target points and a target limit speed corresponding to each target point are determined.
And then, determining the acceleration of the vehicle reaching the target point according to the current position, the current speed, the target position of each target point and the target limit speed corresponding to each target point.
For example, selecting 3 target points before the current position of the vehicle, the acceleration of the 3 target points can be calculated according to formula (1):
Vi 2-V0 2＝2ai*(si-s0) Formula (1)
Wherein, ViIs the target limiting velocity, V, of the ith target point0As the current speed, aiIs the acceleration of the ith target point, siTarget position, s, for the ith target point0For the current position, i ∈ [1,3 ]]。
Fig. 3 is a flowchart illustrating another control method of a vehicle according to an exemplary embodiment, where, as shown in fig. 3, when the first operating mode is an acceleration mode, step 103 may include:
step 1031a, determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the designated target point and the target limit speed corresponding to the designated target point, wherein the first acceleration is the acceleration required by the vehicle to travel from the current position to the target position and to reach the target limit speed.
Step 1032a, if the first acceleration is smaller than a preset first acceleration threshold, it is determined that the second working mode is a deceleration mode.
And step 1033a, if the first acceleration is larger than or equal to the first acceleration threshold, determining an expected cruising position according to the current position, the current speed and the preset cruising time, wherein the expected cruising position is a position reached by the vehicle after the cruising time is driven at the current speed.
At step 1034a, a second acceleration of the vehicle is determined based on the current speed, the expected cruising position, the target position, and the target speed limit, the second acceleration being an acceleration required for the vehicle to travel from the expected cruising position to the target position to reach the target speed limit.
In step 1035a, if the second acceleration is smaller than a preset second acceleration threshold, it is determined that the second operating mode is the cruise mode.
Step 1036a, if the second acceleration is greater than or equal to a second acceleration threshold value, and the difference between the limit speed and the current speed is less than a preset first speed threshold value, determining that the second working mode is the cruise mode.
In step 1037a, if the second acceleration is greater than or equal to the second acceleration threshold and the difference between the limit speed and the current speed is greater than or equal to the first speed threshold, it is determined that the second operating mode is the acceleration mode.
For example, when the first operating mode is an acceleration mode, first, a target speed limit corresponding to the current position, the current speed, the target position of the designated target point and the designated target point is determined, and a first acceleration required for the vehicle to travel from the current position to the target position and to reach the target speed limit is determined. For example, the first acceleration may be determined according to equation (2):
Vp 2-V0 2＝2ap1*(sp-s0) Formula (2)
Wherein, VpTo specify a target limiting speed, V, of the target point0As the current speed, ap1Is a first acceleration, spTo specify the target position of the target point, s0Is the current position.
When the first acceleration is smaller than the preset first acceleration threshold, the vehicle is determined to enter the deceleration mode in the next preset period, and it can be understood that if the vehicle travels from the current position to the target position, the acceleration required to reach the target speed limit is smaller, which indicates that the current speed of the vehicle is higher and is already close to the target speed limit, so that it can be determined that the vehicle enters the deceleration mode in the next preset period to reduce the speed of the vehicle and prevent overspeed. If the first acceleration is greater than or equal to the first acceleration threshold, then the expected cruise position is further determined. The expected cruising position may be understood as a position where the vehicle is expected to reach after a preset cruising time after the vehicle resumes running at a constant speed at the current speed, and then the vehicle is determined to travel from the expected cruising position to the target position, and the second acceleration required to reach the target speed limit may be determined, for example, according to equation (3):
Vp 2-V0 2＝2ap2*(sp-s1) Formula (3)
Wherein, VpTo specify a target limiting speed, V, of the target point0As the current speed, ap2Is the second acceleration, spTo specify the target position of the target point, s1The desired cruise position.
And when the second acceleration is smaller than a preset second acceleration threshold value, determining that the vehicle enters a cruise mode in the next preset period, wherein the speed entering the cruise mode is the current speed of the vehicle. And when the second acceleration is greater than or equal to the second acceleration threshold, judging the relationship between the difference between the limit speed and the current speed and a preset first speed threshold. And if the difference between the limited speed and the current speed is less than the first speed threshold value, determining that the second working mode is the cruise mode, and determining the speed entering the cruise mode as the current speed of the vehicle. And if the difference between the limit speed and the current speed is greater than or equal to the first speed threshold value, determining that the second working mode is the acceleration mode. The first acceleration threshold and the second acceleration threshold may be the same or different.
FIG. 4 is a flowchart illustrating another method of controlling a vehicle, according to an exemplary embodiment, where step 103 includes, when the first operating mode is a cruise mode, as shown in FIG. 4:
step 1031b, determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the specified target point and the target limit speed corresponding to the specified target point, wherein the first acceleration is the acceleration required by the vehicle to travel from the current position to the target position and to reach the target limit speed.
And 1032b, if the first acceleration is smaller than a preset third acceleration threshold, determining that the second working mode is a deceleration mode.
And 1033b, if the first acceleration is greater than or equal to the third acceleration threshold value and the difference between the limit speed and the current speed is less than a preset second speed threshold value, determining that the second working mode is the cruising mode.
In step 1034b, if the first acceleration is greater than or equal to the third acceleration threshold and the difference between the limited speed and the current speed is greater than or equal to the second speed threshold, it is determined that the second operating mode is the acceleration mode.
In the scene where the first operating mode is the cruise mode, the second operating mode may be determined by first determining a target speed limit corresponding to the current position, the current speed, the target position of the designated target point, and determining a first acceleration required for the vehicle to travel from the current position to the target position to reach the target speed limit. For example, the first acceleration may be determined according to the above equation (2). If the first acceleration is smaller than the preset third acceleration threshold, the vehicle is determined to enter the deceleration mode in the next preset period, and it can be understood that if the vehicle travels from the current position to the target position, the acceleration required to reach the target speed limit is smaller, which indicates that the current speed of the vehicle is higher and is already close to the target speed limit, so that it can be determined that the vehicle enters the deceleration mode in the next preset period to reduce the speed of the vehicle and prevent overspeed. And if the first acceleration is greater than or equal to the third acceleration threshold, judging the relationship between the difference between the limited speed and the current speed and a preset second speed threshold. And if the difference between the limited speed and the current speed is less than a second speed threshold value, determining that the second working mode is a cruise mode, and determining the speed entering the cruise mode as the current speed of the vehicle. And if the difference between the limit speed and the current speed is greater than or equal to a second speed threshold value, determining that the second working mode is an acceleration mode. The third acceleration threshold may be the same as or different from the first acceleration threshold and the second acceleration threshold, and the second speed threshold may be the same as or different from the first speed threshold.
Fig. 5 is a flowchart illustrating another control method of a vehicle according to an exemplary embodiment, and as shown in fig. 5, when the first operation mode is a deceleration mode, the implementation of step 103 may include:
and step 1031c, if the current speed is less than the target limiting speed corresponding to the designated target point, determining that the second working mode is the cruise mode.
And 1032c, if the current speed is greater than or equal to the target limiting speed, determining that the second working mode is a deceleration mode.
In a scenario where the first operating mode is a deceleration mode, the second operating mode may be determined according to a correspondence between the current speed and a target speed limit corresponding to the designated target point. For example, when the current speed is less than the target speed limit, the second operating mode is determined to be the cruise mode, and the speed for entering the cruise mode may be the vehicle target speed limit minus a preset speed value. And when the current speed is greater than or equal to the target limit speed, determining that the second working mode is a deceleration mode.
It should be noted that, during the running process of the vehicle, whether the vehicle needs to be stopped may be periodically detected according to a preset detection period. For example, the acceleration required for the vehicle to travel from the current position to the parking spot to become the zero speed may be determined according to the current speed, the current position, the position of the parking spot, and the speed of the parking spot (i.e., the zero speed), and if the acceleration is smaller than a preset parking acceleration threshold, the second operation mode may be determined to be the parking mode.
FIG. 6 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment, as shown in FIG. 6, step 104 may include:
step 1041, if the second operating mode is an acceleration mode, determining that the vehicle changes from the current speed to a reference acceleration required for limiting the speed according to a preset acceleration rate.
And step 1042, determining the control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle at the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
For example, the reference acceleration and the control speed are determined differently according to the different second operating mode. In a scenario where the second operation mode is an acceleration mode, it is first determined that the vehicle changes from the current speed to the limit speed according to a preset acceleration rate (also referred to as a jerk), and a reference acceleration satisfying the acceleration rate is satisfied. For example, after the vehicle is sent out, the vehicle firstly enters an acceleration mode, the vehicle does variable acceleration movement, the acceleration is changed from small to large until the maximum value is reached, then the acceleration is gradually reduced and is reduced to a specified value, and then the vehicle can enter a cruise mode. Therefore, the acceleration of the vehicle is constantly changing, and the acceleration change rate may be set in advance so as to determine the reference acceleration. The acceleration rate may be a fixed value, or may be an acceleration rate curve or an acceleration rate function. After determining the reference acceleration, a control speed at which the vehicle is shifted to the first time according to the reference acceleration may be further determined. Wherein the control speed can be calculated by integrating the reference acceleration with time. It should be noted that the first time may be any time in the next preset period, that is, in the next preset period, the acceleration is the reference acceleration, and the control speed is constantly changing along with the increase of time.
Wherein the acceleration rate is set in advance, and the acceleration rate may be set to a small value in order to ensure the comfort of the passenger on the vehicle. Further, the acceleration rate of change can also be adjusted according to specific demands, for example, when normal weather, can set up the acceleration rate of change to the great value, in the scene of easily skidding such as sleet weather, in order to prevent that the wheel from spinning and skidding, producing the potential safety hazard, can set up the acceleration rate of change to the less value. Therefore, the comfort level of the vehicle running can be further improved, and the safety degree of the vehicle control can be improved.
FIG. 7 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment, as shown in FIG. 7, step 104 may further include:
in step 1043, if the second operating mode is the cruise mode, the reference acceleration is determined to be zero, and the control speed is determined to be the current speed.
Step 1044, if the second operating mode is the deceleration mode, determining a reference acceleration required for the vehicle to change from the current speed to the target speed limit according to the current position, the current speed, the target position of the designated target point and the target speed limit corresponding to the designated target point.
And 1045, determining a control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle which is changed to the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
For example, in the case where the second operation mode is the cruise mode, the vehicle keeps moving at a constant speed, or the vehicle moves at a variable speed close to the constant speed (the actual speed of the vehicle is always close to the current speed). The reference acceleration is zero and the control speed is the current speed of the vehicle. In the scene that the second working mode is the deceleration mode, firstly, the reference acceleration required by the vehicle to change from the current speed to the target speed limit is determined according to the current position, the current speed, the target position of the specified target point and the target speed limit corresponding to the specified target point. The reference acceleration may be determined according to equation (4):
Vp 2-V0 2＝2ap*(sp-s0) Formula (4)
Wherein, VpTo specify a target limiting speed, V, of the target point0As the current speed, apFor reference acceleration, spTo specify the target position of the target point, s0Is the current position.
Thereafter, the control speed of the vehicle at the first timing at which the vehicle is shifted in accordance with the reference acceleration may be further determined. Wherein the control speed can be calculated by integrating the reference acceleration with time.
It should be noted that the second operating mode may also be a parking mode, and then the determination manner of the corresponding reference acceleration and control speed is the same as the determination manner of the second operating mode being a deceleration mode, and only the specified target point needs to be replaced by a parking point, and the target limit speed corresponding to the parking point is zero.
Fig. 8 is a flowchart illustrating another control method of a vehicle according to an exemplary embodiment, and as shown in fig. 8, the implementation of step 105 may include:
and 1051, determining an initial control quantity according to the reference acceleration and a preset dynamic model.
Step 1052, determining an adjustment control quantity according to the current speed, the control speed, the historical speed before the current moment and a preset PID model.
And step 1053, controlling the vehicle to run according to the initial control quantity and the adjusting control quantity.
For example, the manner of controlling the vehicle to travel at the reference acceleration and the control speed may be to determine a control amount for a traction device (or a brake device) of the vehicle based on the reference acceleration and the control speed, and to control the vehicle to travel based on the control amount. For example, a dynamic model of the vehicle may be set in advance, and the dynamic model includes correspondence between different accelerations and control amounts of the traction devices (or the brake devices). The reference acceleration is input to the kinetic model to find an initial control amount corresponding to the reference acceleration in the correspondence relationship. The vehicle can be controlled to run according to the initial control quantity, then the current speed, the control speed and the historical speed before the current moment are further input into a preset PID (English: presentation-Integral-Differential, Chinese: proportional-Integral-Differential) model, the output of the PID model is the regulated control quantity, and finally the vehicle is controlled to run according to the sum of the initial control quantity and the regulated control quantity. The historical speed may be, for example, a current speed acquired a preset number of preset periods before the preset period. By adjusting the control amount, the accuracy and robustness of the vehicle control can be further improved.
In summary, according to the present disclosure, a current position and a current speed of a vehicle are first obtained according to a preset period, then a corresponding speed limit and a corresponding target point are determined according to the current position, a second working mode of the vehicle in a next preset period is determined by combining a current first working mode, the current position, the current speed and the target point of the vehicle, then a reference acceleration and a control speed of the vehicle are determined by combining the current position, the current speed, the speed limit and the second working mode, and finally the vehicle is controlled to run according to the reference acceleration and the control speed. According to the method and the device, the current position and the current speed of the vehicle are obtained at regular time, the reference acceleration and the control speed of the vehicle are determined by combining the specified target point and the working mode of the vehicle, the vehicle is controlled to run according to the reference acceleration and the control speed, the whole-course control can be performed on the running process of the vehicle, and the accuracy of vehicle control is improved.
Fig. 9 is a block diagram illustrating a control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 9, the apparatus 200 includes:
the obtaining module 201 is configured to obtain a current position and a current speed of the vehicle according to a preset period.
And a first determining module 202, configured to determine a corresponding speed limit and a designated target point according to the current position.
And the second determining module 203 is used for determining a second working mode of the vehicle in the next preset period according to the current first working mode, the current position, the current speed and the designated target point of the vehicle.
The third determining module 204 is configured to determine a reference acceleration and a control speed of the vehicle according to the current position, the current speed, the limit speed, and the second operating mode.
And a control module 205 for controlling the vehicle to run according to the reference acceleration and the control speed.
Fig. 10 is a block diagram illustrating another control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 10, the first determination module 202 includes:
the searching submodule 2021 is configured to use a speed corresponding to the current position on the preset speed protection curve as a speed limit.
The first determining sub-module 2022 is configured to determine a preset number of target points according to the current position.
The first determining sub-module 2022 is further configured to determine an acceleration of the vehicle to each of a preset number of target points.
The first determining sub-module 2022 is further configured to use the target point with the largest absolute value of the acceleration as the designated target point.
Optionally, the first determining submodule 2022 is configured to perform the following steps:
first, a target position of each target point in a preset number of target points and a target limit speed corresponding to each target point are determined.
And then, determining the acceleration of the vehicle reaching the target point according to the current position, the current speed, the target position of each target point and the target limit speed corresponding to each target point.
Optionally, the second determining module 203 is configured to perform the following steps:
1) and when the first working mode is an acceleration mode, determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the specified target point and the target limit speed corresponding to the specified target point, wherein the first acceleration is the acceleration required by the vehicle to reach the target limit speed when the vehicle runs from the current position to the target position.
2) And if the first acceleration is smaller than a preset first acceleration threshold value, determining that the second working mode is a deceleration mode.
3) And if the first acceleration is larger than or equal to the first acceleration threshold value, determining an expected cruising position according to the current position, the current speed and the preset cruising time, wherein the expected cruising position is the position which is reached after the vehicle drives at the current speed for the cruising time.
4) A second acceleration of the vehicle is determined based on the current speed, the expected cruise position, the target position, and the target limit speed, the second acceleration being an acceleration required for the vehicle to travel from the expected cruise position to the target position to achieve the target limit speed.
5) And if the second acceleration is smaller than a preset second acceleration threshold value, determining that the second working mode is the cruise mode.
6) And if the second acceleration is greater than or equal to a second acceleration threshold value and the difference between the limited speed and the current speed is less than a preset first speed threshold value, determining that the second working mode is the cruise mode.
7) And if the second acceleration is greater than or equal to a second acceleration threshold value and the difference between the limit speed and the current speed is greater than or equal to a first speed threshold value, determining that the second working mode is an acceleration mode.
In another implementation, the second determining module 203 is configured to perform the following steps:
8) and when the first working mode is a cruise mode, determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the specified target point and the target limit speed corresponding to the specified target point, wherein the first acceleration is the acceleration required by the vehicle to reach the target limit speed when the vehicle runs from the current position to the target position.
9) And if the first acceleration is smaller than a preset third acceleration threshold, determining that the second working mode is a deceleration mode.
10) And if the first acceleration is greater than or equal to the third acceleration threshold value and the difference between the limited speed and the current speed is less than a preset second speed threshold value, determining that the second working mode is the cruise mode.
11) And if the first acceleration is greater than or equal to the third acceleration threshold value and the difference between the limit speed and the current speed is greater than or equal to the second speed threshold value, determining that the second working mode is the acceleration mode.
In another implementation, the second determining module 203 is configured to perform the following steps:
12) and when the first working mode is a deceleration mode, if the current speed is less than the target limit speed corresponding to the designated target point, determining that the second working mode is a cruise mode.
13) And if the current speed is greater than or equal to the target limiting speed, determining that the second working mode is a deceleration mode.
Optionally, the third determining module 204 is configured to perform the following steps:
A) and if the second working mode is an acceleration mode, determining the reference acceleration required by the vehicle when the current speed is changed into the limited speed according to the preset acceleration change rate.
B) And determining the control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle which is shifted to the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
In another implementation scenario, the third determining module 204 is configured to perform the following steps:
C) and if the second working mode is the cruise mode, determining the reference acceleration as zero, and determining the control speed as the current speed.
D) And if the second working mode is a deceleration mode, determining the reference acceleration required by the vehicle to change the current speed into the target speed limit according to the current position, the current speed, the target position of the specified target point and the target speed limit corresponding to the specified target point.
E) And determining the control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle which is shifted to the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
Fig. 11 is a block diagram illustrating another control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 11, a control module 205 includes:
and a control quantity determination submodule 2051 configured to determine an initial control quantity according to the reference acceleration and a preset dynamic model.
The controlled variable determining submodule 2051 is further configured to determine an adjustment controlled variable according to the current speed, the control speed, the historical speed before the current time, and a preset PID model.
And a control submodule 2052 for controlling the vehicle to run according to the initial control amount and the adjustment control amount.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
In summary, according to the present disclosure, a current position and a current speed of a vehicle are first obtained according to a preset period, then a corresponding speed limit and a corresponding target point are determined according to the current position, a second working mode of the vehicle in a next preset period is determined by combining a current first working mode, the current position, the current speed and the target point of the vehicle, then a reference acceleration and a control speed of the vehicle are determined by combining the current position, the current speed, the speed limit and the second working mode, and finally the vehicle is controlled to run according to the reference acceleration and the control speed. According to the method and the device, the current position and the current speed of the vehicle are obtained at regular time, the reference acceleration and the control speed of the vehicle are determined by combining the specified target point and the working mode of the vehicle, the vehicle is controlled to run according to the reference acceleration and the control speed, the whole-course control can be performed on the running process of the vehicle, and the accuracy of vehicle control is improved.
Fig. 12 is a block diagram illustrating a vehicle 300, as shown in fig. 12, including a controller 301, according to an exemplary embodiment. The controller 301 is configured to execute the steps of the control method of any one of the vehicles described above.
With regard to the vehicle in the above-described embodiment, the specific manner in which the controller performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
In summary, according to the present disclosure, a current position and a current speed of a vehicle are first obtained according to a preset period, then a corresponding speed limit and a corresponding target point are determined according to the current position, a second working mode of the vehicle in a next preset period is determined by combining a current first working mode, the current position, the current speed and the target point of the vehicle, then a reference acceleration and a control speed of the vehicle are determined by combining the current position, the current speed, the speed limit and the second working mode, and finally the vehicle is controlled to run according to the reference acceleration and the control speed. According to the method and the device, the current position and the current speed of the vehicle are obtained at regular time, the reference acceleration and the control speed of the vehicle are determined by combining the specified target point and the working mode of the vehicle, the vehicle is controlled to run according to the reference acceleration and the control speed, the whole-course control can be performed on the running process of the vehicle, and the accuracy of vehicle control is improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (11)

1. A control method of a vehicle, characterized by comprising:
acquiring the current position and the current speed of the vehicle according to a preset period;
determining a corresponding limiting speed and a designated target point according to the current position;
determining a second working mode of the vehicle in the next preset period according to the current first working mode of the vehicle, the current position, the current speed and the designated target point;
determining a reference acceleration and a control speed of the vehicle according to the current position, the current speed, the limit speed and the second working mode;
and controlling the vehicle to run according to the reference acceleration and the control speed.
2. The method of claim 1, wherein determining the corresponding restriction speed and the designated target point according to the current position comprises:
taking the speed corresponding to the current position on a preset speed protection curve as the limiting speed;
determining a preset number of target points according to the current position;
determining the acceleration of the vehicle to reach each target point in the preset number of target points;
and taking the target point with the maximum absolute value of the acceleration as the designated target point.
3. The method of claim 2, wherein the determining the acceleration of the vehicle to each of the preset number of target points comprises:
determining the target position of each target point in the preset number of target points and the target limiting speed corresponding to each target point;
and determining the acceleration of the vehicle reaching the target point according to the current position, the current speed, the target position of each target point and the target limit speed corresponding to each target point.
4. The method according to claim 1, wherein when the first operation mode is an acceleration mode, the determining a second operation mode of the vehicle for a next preset period according to the current first operation mode of the vehicle, the current position, the current speed and the specified target point comprises:
determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the specified target point and the target limit speed corresponding to the specified target point, wherein the first acceleration is the acceleration required by the vehicle to reach the target limit speed when the vehicle runs from the current position to the target position;
if the first acceleration is smaller than a preset first acceleration threshold value, determining that the second working mode is a deceleration mode;
if the first acceleration is larger than or equal to the first acceleration threshold, determining an expected cruising position according to the current position, the current speed and preset cruising time, wherein the expected cruising position is a position reached after the vehicle runs at the current speed for the cruising time;
determining a second acceleration of the vehicle based on the current speed, the expected cruise position, the target position, and the target limit speed, the second acceleration being an acceleration required for the vehicle to travel from the expected cruise position to the target position to reach the target limit speed;
if the second acceleration is smaller than a preset second acceleration threshold value, determining that the second working mode is a cruise mode;
if the second acceleration is greater than or equal to the second acceleration threshold value, and the difference between the limit speed and the current speed is smaller than a preset first speed threshold value, determining that the second working mode is a cruise mode;
and if the second acceleration is greater than or equal to the second acceleration threshold value and the difference between the limit speed and the current speed is greater than or equal to the first speed threshold value, determining that the second working mode is an acceleration mode.
5. The method according to claim 1, wherein when the first operating mode is a cruise mode, the determining a second operating mode of the vehicle for a next preset period according to the current first operating mode of the vehicle, the current position, the current speed and the specified target point comprises:
determining a first acceleration of the vehicle according to the current position, the current speed, the target position of the specified target point and the target limit speed corresponding to the specified target point, wherein the first acceleration is the acceleration required by the vehicle to reach the target limit speed when the vehicle runs from the current position to the target position;
if the first acceleration is smaller than a preset third acceleration threshold, determining that a second working mode is a deceleration mode;
if the first acceleration is greater than or equal to the third acceleration threshold value, and the difference between the limit speed and the current speed is less than a preset second speed threshold value, determining that the second working mode is a cruise mode;
and if the first acceleration is greater than or equal to the third acceleration threshold and the difference between the limit speed and the current speed is greater than or equal to the second speed threshold, determining that the second working mode is an acceleration mode.
6. The method according to claim 1, wherein when the first operation mode is a deceleration mode, the determining a second operation mode of the vehicle for a next preset period according to the current first operation mode of the vehicle, the current position, the current speed and the specified target point comprises:
if the current speed is smaller than the target limit speed corresponding to the specified target point, determining that the second working mode is a cruise mode;
and if the current speed is greater than or equal to the target limit speed, determining that the second working mode is a deceleration mode.
7. The method of claim 1, wherein said determining a reference acceleration and a control speed of the vehicle based on the current position, the current speed, the limit speed, and the second operating mode comprises:
if the second working mode is an acceleration mode, determining the reference acceleration required by the vehicle for changing the current speed into the limited speed according to a preset acceleration change rate;
and determining the control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle which is shifted to the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
8. The method of claim 1, wherein said determining a reference acceleration and a control speed of the vehicle based on the current position, the current speed, the limit speed, and the second operating mode comprises:
if the second working mode is a cruise mode, determining that the reference acceleration is zero, and determining that the control speed is the current speed;
if the second working mode is a deceleration mode, determining the reference acceleration required by the vehicle to change the current speed into the target limiting speed according to the current position, the current speed, the target position of the specified target point and the target limiting speed corresponding to the specified target point;
and determining the control speed of the vehicle at a first moment, wherein the control speed is the speed of the vehicle which is shifted to the first moment according to the reference acceleration, and the first moment is any moment in a next preset period.
9. The method according to claim 1, wherein the controlling the vehicle to travel according to the reference acceleration and the control speed includes:
determining an initial control quantity according to the reference acceleration and a preset dynamic model;
determining an adjusting control quantity according to the current speed, the control speed, the historical speed before the current moment and a preset PID model;
and controlling the vehicle to run according to the initial control quantity and the adjusting control quantity.
10. A control apparatus of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the current position and the current speed of the vehicle according to a preset period;
the first determining module is used for determining the corresponding speed limit and the designated target point according to the current position;
the second determining module is used for determining a second working mode of the vehicle in the next preset period according to the current first working mode of the vehicle, the current position, the current speed and the specified target point;
the third determining module is used for determining the reference acceleration and the control speed of the vehicle according to the current position, the current speed, the limit speed and the second working mode;
and the control module is used for controlling the vehicle to run according to the reference acceleration and the control speed.
11. A vehicle, characterized in that a controller is provided on the vehicle;
the controller is configured to perform the steps of the method of any one of claims 1-9.
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