CN114684124B - Method and device for determining vehicle running parameters, electronic equipment and storage medium - Google Patents

Method and device for determining vehicle running parameters, electronic equipment and storage medium Download PDF

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Publication number
CN114684124B
CN114684124B CN202111131037.4A CN202111131037A CN114684124B CN 114684124 B CN114684124 B CN 114684124B CN 202111131037 A CN202111131037 A CN 202111131037A CN 114684124 B CN114684124 B CN 114684124B
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vehicle
acceleration
initial
front vehicle
rear vehicle
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CN114684124A (en
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李文锐
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Tianjin Carl Power Technology Co ltd
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Tianjin Caldog Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The disclosed embodiments relate to a method, an apparatus, a computer device, a storage medium and a computer program product for determining a vehicle driving parameter. The method comprises the following steps: acquiring output power data of a front vehicle engine and output resistance data of a front vehicle brake; calculating the initial acceleration of the front vehicle according to the output power data of the engine of the front vehicle, and determining the initial deceleration of the front vehicle according to the output resistance data of the brake of the front vehicle; determining the target acceleration of the front vehicle according to the initial acceleration and the initial deceleration of the front vehicle; and determining the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the target acceleration of the front vehicle and the reference acceleration of the rear vehicle. By adopting the method, the timeliness of the vehicle data can be improved, the time delay is reduced, and the following distance of the vehicle queue is favorably reduced.

Description

Method and device for determining vehicle running parameters, electronic equipment and storage medium
Technical Field
The disclosed embodiments relate to the field of vehicle control technologies, and in particular, to a method and an apparatus for determining a vehicle driving parameter, an electronic device, a storage medium, and a computer program product.
Background
If vehicles are allowed to run in a line during running of the vehicles, the overall aerodynamic resistance can be changed by shortening the following interval, and it is expected that the traffic flow is increased and the fuel consumption is reduced, thereby resulting in a Vehicle in-line automatic driving (Vehicle riding) technology. Vehicle fleet autonomous driving technology enables vehicles to travel safely close together.
In the conventional vehicle queue automatic driving method, the actual acceleration and/or deceleration of the front vehicle fed back by the front vehicle chassis is obtained through vehicle wireless communication technology (vehicle to X, v 2X), and then the driving parameters of the rear vehicle are determined according to the actual acceleration and/or deceleration so as to realize queue following.
However, with the actual acceleration and/or deceleration of the front chassis feedback, there is typically a relatively severe hysteresis.
Disclosure of Invention
The embodiment of the disclosure provides a method and a device for determining vehicle running parameters, electronic equipment, a storage medium and a computer program product, which can be used for improving the timeliness of vehicle data.
In a first aspect, an embodiment of the present disclosure provides a method for determining a vehicle driving parameter, where the method includes:
acquiring output power data of a front vehicle engine and output resistance data of a front vehicle brake;
calculating the initial acceleration of the front vehicle according to the output power data of the engine of the front vehicle, and determining the initial deceleration of the front vehicle according to the output resistance data of the brake of the front vehicle;
determining the target acceleration of the front vehicle according to the initial acceleration and the initial deceleration of the front vehicle;
calculating the initial acceleration of the rear vehicle according to the target acceleration of the front vehicle and the compensation acceleration of the rear vehicle;
and determining the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle.
In one embodiment, the determining the target acceleration of the preceding vehicle according to the initial acceleration and the initial deceleration of the preceding vehicle includes:
if the initial acceleration of the front vehicle is greater than or equal to zero and the initial deceleration of the front vehicle is greater than or equal to zero, determining the initial acceleration of the front vehicle as the target acceleration of the front vehicle;
or,
and if the initial acceleration of the front vehicle is smaller than zero and the initial deceleration of the front vehicle is larger than or equal to zero, determining the initial acceleration of the front vehicle as the target acceleration of the front vehicle.
In one embodiment, the determining the target acceleration of the preceding vehicle according to the initial acceleration and the initial deceleration of the preceding vehicle includes:
and if the initial acceleration of the front vehicle is greater than or equal to zero and the initial deceleration of the front vehicle is less than zero, determining the initial deceleration of the front vehicle as the target acceleration of the front vehicle.
In one embodiment, the determining the target acceleration of the preceding vehicle according to the initial acceleration of the preceding vehicle and the initial deceleration of the preceding vehicle comprises:
if the initial acceleration of the front vehicle is smaller than zero and the initial deceleration of the front vehicle is smaller than zero, acquiring the working mode of the front vehicle brake;
and determining the target acceleration of the front vehicle according to the working mode of the front vehicle brake, the initial acceleration of the front vehicle and the initial deceleration of the front vehicle.
In one embodiment, the determining the target acceleration of the preceding vehicle according to the operation mode of the preceding vehicle brake, the initial acceleration of the preceding vehicle and the initial deceleration of the preceding vehicle comprises:
and if the working mode of the front vehicle brake is started in a maximum deceleration mode, selecting the smaller value of the initial acceleration and the initial deceleration of the front vehicle, and determining the smaller value as the target acceleration of the front vehicle.
And if the working mode of the front vehicle brake is executed in a superposition mode, adding the initial acceleration of the front vehicle and the initial deceleration of the front vehicle to obtain the target acceleration of the front vehicle.
In one embodiment, the determining the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the target acceleration of the front vehicle and the reference acceleration of the rear vehicle comprises:
calculating the initial acceleration of the rear vehicle according to the target acceleration of the front vehicle and the compensation acceleration of the rear vehicle;
and determining the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle.
In one embodiment, the reference acceleration of the rear vehicle is the acceleration of the rear vehicle under no output power data;
the determining of the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle comprises the following steps:
if the initial acceleration of the rear vehicle is greater than or equal to the reference acceleration of the rear vehicle, calculating the output power data of an engine of the rear vehicle according to the initial acceleration of the rear vehicle, and assigning the output resistance data of a brake of the rear vehicle to be zero;
and if the initial acceleration of the rear vehicle is smaller than the reference acceleration of the rear vehicle, determining the output resistance data of a rear vehicle brake according to the initial acceleration of the rear vehicle, and assigning the output power data of a rear vehicle engine to be zero.
In one embodiment, the output power data includes output torque and the output resistance data includes an external braking request.
In a second aspect, an embodiment of the present disclosure provides an apparatus for determining a vehicle driving parameter, where the apparatus includes:
the data acquisition module is used for acquiring the output power data of a front vehicle engine and the output resistance data of a front vehicle brake;
the data calculation module is used for calculating the initial acceleration of the front vehicle according to the output power data of the engine of the front vehicle and determining the initial deceleration of the front vehicle according to the output resistance data of the brake of the front vehicle;
the acceleration determining module is used for determining the target acceleration of the front vehicle according to the initial acceleration and the initial deceleration of the front vehicle;
and the data determining module is used for determining the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the target acceleration of the front vehicle and the reference acceleration of the rear vehicle.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the method of the first aspect when executing the computer program.
In a fourth aspect, the present disclosure provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method of the first aspect.
In a fifth aspect, the present disclosure provides a computer program product including a computer program, where the computer program is executed by a processor to implement the method of the first aspect.
The disclosed embodiments provide a method, apparatus, computer device, storage medium, and computer program product for determining vehicle driving parameters, which calculate an initial acceleration of a front vehicle using output power data of a front vehicle engine, calculate an initial deceleration of the front vehicle using output resistance data of a front vehicle brake, and further determine a target acceleration of the front vehicle, then calculate an initial acceleration of a rear vehicle based on the target acceleration of the front vehicle and a compensated acceleration of the rear vehicle, and determine a rear vehicle driving parameter based on the initial acceleration of the rear vehicle and a reference acceleration of the rear vehicle. Because the output data of the front vehicle engine and the brake do not need to be sent to the front vehicle chassis, and the fed back actual acceleration and/or deceleration can be obtained through the front vehicle chassis, the equivalent acceleration and deceleration of the front vehicle can be calculated by adopting the output data of the front vehicle engine and the brake, the timeliness of the vehicle data is higher, the time delay is reduced, and the following distance of the vehicle queue can be reduced.
Drawings
FIG. 1 is a diagram of an exemplary implementation of a method for determining vehicle driving parameters;
FIG. 2 is a flow diagram illustrating a method for determining vehicle driving parameters according to one embodiment;
FIG. 3 is a block diagram showing a configuration of a vehicle running parameter determination apparatus according to an embodiment;
FIG. 4 is a diagram illustrating an internal structure of an electronic device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clearly understood, the embodiments of the present disclosure are described in further detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the disclosure and that they are not intended to limit the embodiments of the disclosure.
First, before specifically describing the technical solution of the embodiment of the present disclosure, a technical background or a technical evolution context on which the embodiment of the present disclosure is based is described. In general, in the field of vehicle fleet automatic driving, the current technical background is: the actual acceleration and/or deceleration fed back by the front chassis is obtained through vehicle wireless communication technology (vehicle to X, v 2X), and then the running parameters of the rear vehicle are determined according to the actual acceleration and/or deceleration so as to realize queue following. Based on this background, the applicant finds that through long-term model simulation development and experimental data collection, demonstration and verification, there is generally a relatively serious hysteresis between the actual acceleration/deceleration fed back by the front vehicle chassis, for example, after the front vehicle steps on a brake pedal, the front vehicle actually forms a brake, and the delay between the deceleration and the feedback of the front vehicle chassis is about 0.4s. Therefore, how to improve the timeliness of the vehicle data to reduce the data delay becomes a problem to be solved urgently at present. In addition, it should be noted that the technical solutions introduced in the following embodiments are all provided by a great deal of creative work for the applicant.
The following describes technical solutions related to the embodiments of the present disclosure with reference to a scenario in which the embodiments of the present disclosure are applied.
The method for determining the vehicle running parameters provided by the embodiment of the disclosure can be applied to the application environment shown in fig. 1. The front vehicle 102 may communicate with the rear vehicle 104 via vehicle wireless communication technology (vehicle to X, v 2X). Alternatively, in one embodiment, the front vehicle 102 may communicate with the rear vehicle 104 via vehicle-to-vehicle communication technology (v 2 v). In another embodiment, the front vehicle 102 and the rear vehicle 104 may communicate with each other via vehicle to infrastructure communication technology (v 2 i). Optionally, in one embodiment, the front vehicle 102 may be a pilot vehicle in the vehicle train, or may be a vehicle traveling ahead in the vehicle train. The rear vehicle 104 may be a following vehicle in the vehicle train or may be a vehicle driving behind in the vehicle train.
In one embodiment, as shown in fig. 2, a method for determining a vehicle driving parameter is provided, which is illustrated by applying the method to a rear vehicle in fig. 1. In another embodiment, the method may also be applied in a lead vehicle or infrastructure. The method comprises the following steps:
step S202, acquiring output power data of a front vehicle engine and output resistance data of a front vehicle brake.
The output power data refers to power data generated by the operation of the engine and used for driving the vehicle to run. Optionally, the output power data comprises one or more of output torque or output torque. The output resistance data refers to data generated by the brake for decelerating or stopping the vehicle. Optionally, the output resistance data includes one or more of an External Braking Request (XBR) issued to the brake, a depth of the brake pedal, or a rate of change of the brake pedal.
Specifically, the rear vehicle receives the output power data of the engine of the front vehicle and the output resistance data of the brake of the front vehicle, which are transmitted by the front vehicle.
In step S204, the initial acceleration of the front vehicle is calculated according to the output power data of the engine of the front vehicle, and the initial deceleration of the front vehicle is determined according to the output resistance data of the brake of the front vehicle.
Specifically, the rear vehicle calculates the initial acceleration of the front vehicle based on the output power data of the engine of the front vehicle. The rear vehicle determines the initial deceleration of the front vehicle according to the output resistance data of the front vehicle brake. Optionally, the rear vehicle analyzes an external braking request to the front vehicle brake to obtain an initial deceleration of the front vehicle.
In step S206, a target acceleration of the preceding vehicle is determined based on the initial acceleration and the initial deceleration of the preceding vehicle.
Specifically, the rear vehicle determines a target acceleration of the front vehicle based on an initial acceleration of the front vehicle and an initial deceleration of the front vehicle. Optionally, the rear vehicle compares the initial acceleration of the front vehicle with zero, and compares the initial deceleration of the front vehicle with zero, and determines the target acceleration of the front vehicle according to the comparison result.
And step S208, determining the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the target acceleration of the front vehicle and the reference acceleration of the rear vehicle.
The rear vehicle is a vehicle running following the front vehicle, namely the rear vehicle needs to keep following the front vehicle.
Specifically, the rear vehicle determines output power data of an engine of the rear vehicle and output resistance data of a brake of the rear vehicle based on a target acceleration of the front vehicle and a reference acceleration of the rear vehicle. Alternatively, the rear vehicle calculates an initial acceleration of the rear vehicle based on the target acceleration of the front vehicle and the compensated acceleration of the rear vehicle, and then determines output power data of an engine of the rear vehicle and output resistance data of a brake of the rear vehicle based on the initial acceleration of the rear vehicle and a reference acceleration of the rear vehicle.
In the method for determining the vehicle running parameters, the initial acceleration of the front vehicle is calculated by adopting the output power data of the engine of the front vehicle, the initial deceleration of the front vehicle is calculated by adopting the output resistance data of the brake of the front vehicle, the target acceleration of the front vehicle is further determined, then the initial acceleration of the rear vehicle is calculated according to the target acceleration of the front vehicle and the compensation acceleration of the rear vehicle, and the running parameters of the rear vehicle are determined according to the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle. Because the output data of the front vehicle engine and the brake do not need to be sent to the front vehicle chassis, and the fed back actual acceleration and/or deceleration can be obtained through the front vehicle chassis, the equivalent acceleration and deceleration of the front vehicle can be calculated by adopting the output data of the front vehicle engine and the brake, the timeliness of the vehicle data is higher, the time delay is reduced, and the following distance of the vehicle queue can be reduced.
In one embodiment, one possible implementation involving the above-described step S206 "determining the target acceleration of the preceding vehicle based on the initial acceleration and the initial deceleration of the preceding vehicle". On the basis of the above embodiment, step S206 may be specifically implemented by the following steps:
s2062, if the initial acceleration of the preceding vehicle is greater than or equal to zero and the initial deceleration of the preceding vehicle is greater than or equal to zero, determining the initial acceleration of the preceding vehicle as the target acceleration of the preceding vehicle.
Specifically, assume that the initial acceleration of the preceding vehicle is denoted as a 11 The initial deceleration of the preceding vehicle is denoted by a 12 . Rear vehicle comparison a 11 And the magnitude of 0, while comparing a 12 And a size of 0, if 11 Not less than 0, and a 12 ≧ 0 (typically equal to zero), then the trailing vehicle will a 11 The target acceleration of the front vehicle is determined, so that the accuracy of the target acceleration of the front vehicle can be improved.
In one embodiment, another possible implementation involving the above-described step S206 "determining the target acceleration of the preceding vehicle based on the initial acceleration and the initial deceleration of the preceding vehicle". On the basis of the above embodiment, step S206 may be specifically implemented by the following steps:
and S2064, if the initial acceleration of the front vehicle is less than zero and the initial deceleration of the front vehicle is greater than or equal to zero, determining the initial acceleration of the front vehicle as the target acceleration of the front vehicle.
Specifically, rear vehicle comparison a 11 With the magnitude of 0, while comparing a 12 And a size of 0, if a 11 < 0 (when the output torque of the engine of the preceding vehicle is small and insufficient to offset the drag, the acceleration is a negative value, although the engine of the preceding vehicle is outputting the torque, the preceding vehicle is actually decelerating), and a 12 Is equal to or more than 0 (normally equal to zero), the rear vehicle will be a 11 The target acceleration of the front vehicle is determined, so that the accuracy of the target acceleration of the front vehicle can be improved.
In one embodiment, another possible implementation involving the above-described step S206 "determining the target acceleration of the preceding vehicle based on the initial acceleration and the initial deceleration of the preceding vehicle". On the basis of the above embodiment, step S206 may be specifically implemented by the following steps:
s2066, if the initial acceleration of the preceding vehicle is greater than or equal to zero and the initial deceleration of the preceding vehicle is less than zero, determining the initial deceleration of the preceding vehicle as the target acceleration of the preceding vehicle.
Specifically, rear vehicle comparison a 11 And the magnitude of 0, while comparing a 12 And a size of 0, if a 11 Is not less than 0, and a 12 If < 0, the rear vehicle will be a 12 Determining the target acceleration of the preceding vehicle, so as to increase the target acceleration of the preceding vehicleAccuracy of the speed.
In one embodiment, another possible implementation involving the step S206 "determining the target acceleration of the preceding vehicle based on the initial acceleration and the initial deceleration of the preceding vehicle" is described above. On the basis of the above embodiment, step S206 may be specifically implemented by the following steps:
step S2068, if the initial deceleration of the front vehicle is less than zero and the initial acceleration of the front vehicle is less than zero, the working mode of the front vehicle brake is obtained;
in step S2069, the target acceleration of the preceding vehicle is determined based on the operation mode of the preceding vehicle brake, the initial acceleration of the preceding vehicle, and the initial deceleration of the preceding vehicle.
Specifically, rear vehicle comparison a 11 And the magnitude of 0, while comparing a 12 And a size of 0, if a 11 < 0 (when the output torque of the engine of the preceding vehicle is small and insufficient to offset the drag, the acceleration is a negative value, although the engine of the preceding vehicle is outputting the torque, the preceding vehicle is actually decelerating), and a 12 If the acceleration is less than 0, the rear vehicle acquires the working mode of the front vehicle brake, and determines the target acceleration of the front vehicle according to the working mode of the front vehicle brake, the initial acceleration of the front vehicle and the initial deceleration of the front vehicle.
In the embodiment, under different driving conditions, different calculation modes of the target acceleration of the front vehicle are respectively adopted, so that the consideration factors for the driving of the vehicle are more comprehensive, and the accuracy of the target acceleration of the front vehicle is improved.
In one embodiment, another possible implementation related to the step S2069 "determining the target acceleration of the preceding vehicle according to the operation mode of the preceding vehicle brake, the initial acceleration of the preceding vehicle and the initial deceleration of the preceding vehicle" is described. On the basis of the above embodiment, step S2069 may be specifically implemented by the following steps:
in step S206a, if the operation mode of the front brake is the maximum deceleration mode, the smaller value of the initial acceleration and the initial deceleration of the front vehicle is selected and determined as the target acceleration of the front vehicle.
In step S206b, if the operation mode of the front brake is in the superimposed mode, the initial acceleration of the front vehicle and the initial deceleration of the front vehicle are added to obtain the target acceleration of the front vehicle.
Specifically, if the working mode of the front vehicle brake is started in the maximum deceleration mode, the rear vehicle selects the smaller value of the initial acceleration and the initial deceleration of the front vehicle and determines the smaller value as the target acceleration of the front vehicle; if the working mode of the front vehicle brake is executed in the superposition mode, the rear vehicle adds the initial acceleration of the front vehicle and the initial deceleration of the front vehicle to obtain the target acceleration of the front vehicle.
In the embodiment, the target acceleration of the front vehicle is obtained by adopting different calculation modes based on different working modes of the front vehicle brake, so that the consideration factors influencing the vehicle running are further increased, and the accuracy of the target acceleration of the front vehicle is further improved.
In one embodiment, another possible implementation involving the step S208 "determining the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle based on the target acceleration of the front vehicle and the reference acceleration of the rear vehicle" is described above. On the basis of the above embodiment, step S208 can be specifically implemented by the following steps:
step S2082, calculating the initial acceleration of the rear vehicle according to the target acceleration of the front vehicle and the compensation acceleration of the rear vehicle;
and step S2084, determining output power data of an engine of the rear vehicle and output resistance data of a brake of the rear vehicle according to the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle.
Wherein, the compensation acceleration of the rear vehicle is the acceleration compensation value of the rear vehicle. Optionally, the rear vehicle obtains a speed difference between the front vehicle and the rear vehicle, and calculates a compensated acceleration of the rear vehicle according to the speed difference. Optionally, the rear vehicle obtains an acceleration difference between the front vehicle and the rear vehicle, and calculates a compensated acceleration of the rear vehicle according to the speed difference. Optionally, the rear vehicle obtains a distance difference between a distance between the front vehicle and the rear vehicle and the target distance, and calculates a compensated acceleration of the rear vehicle according to the distance difference. Of course, the rear vehicle may also combine one or more of the above calculation methods to obtain the compensated acceleration of the rear vehicle.
Specifically, the rear vehicle calculates an initial acceleration of the rear vehicle based on a target acceleration of the front vehicle and a compensated acceleration of the rear vehicle. Optionally, the rear vehicle adds the target acceleration of the front vehicle and the compensated acceleration of the rear vehicle to obtain the initial acceleration of the rear vehicle. Then, the rear vehicle determines output power data of an engine of the rear vehicle and output resistance data of a brake of the rear vehicle based on the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle. Optionally, the rear vehicle compares the initial acceleration of the rear vehicle with the reference acceleration of the rear vehicle, and determines the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the comparison result.
In the embodiment, the rear vehicle running parameter is determined according to the target acceleration of the front vehicle, the compensation acceleration of the rear vehicle and the reference acceleration of the rear vehicle, so that the accuracy of the rear vehicle running parameter is improved.
In one embodiment, the reference acceleration of the rear vehicle is an acceleration of the rear vehicle without output power data. Based on this, in one embodiment, another possible implementation of the above-mentioned step S2084 "determining the output power data of the engine of the following vehicle and the output resistance data of the brake of the following vehicle based on the initial acceleration of the following vehicle and the reference acceleration of the following vehicle" is involved. On the basis of the foregoing embodiment, step S2084 may be specifically implemented by the following steps:
step S208a, if the initial acceleration of the rear vehicle is greater than or equal to the reference acceleration of the rear vehicle, calculating the output power data of the engine of the rear vehicle according to the initial acceleration of the rear vehicle, and assigning the output resistance data of the brake of the rear vehicle to be zero;
and S208b, if the initial acceleration of the rear vehicle is smaller than the reference acceleration of the rear vehicle, determining the output resistance data of the rear vehicle brake according to the initial acceleration of the rear vehicle, and assigning the output power data of the rear vehicle engine to be zero.
Specifically, assume that the initial acceleration of the following vehicle is denoted as a 21 The reference acceleration of the rear vehicle is denoted by a 22 . Rear vehicle comparison a 21 And a 22 Size of (2)If a 21 ≥a 22 Then according to a 21 Calculating the output power data of the rear vehicle engine, and assigning the value of the output resistance data of the rear vehicle brake as zero; if a 21 ＜a 22 Then according to a 21 Output resistance data of a rear vehicle brake is determined, and the output power data of a rear vehicle engine is assigned to zero. And then, the rear vehicle directly sends the output power data of the rear vehicle engine and the output resistance data of the rear vehicle brake to a rear vehicle chassis as a control interface.
In the embodiment, under various different driving conditions, different rear vehicle driving parameter calculation modes are adopted, so that the consideration factors for the rear vehicle driving are more comprehensive, and the accuracy of the driving parameters of the rear vehicle is improved.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
In one embodiment, as shown in fig. 3, there is provided a vehicle travel parameter determination apparatus including:
a data acquisition module 302 for acquiring output power data of a preceding vehicle engine and output resistance data of a preceding vehicle brake;
the data calculation module 304 is used for calculating the initial acceleration of the front vehicle according to the output power data of the engine of the front vehicle and determining the initial deceleration of the front vehicle according to the output resistance data of the brake of the front vehicle;
an acceleration determining module 306, configured to determine a target acceleration of the preceding vehicle according to the initial acceleration and the initial deceleration of the preceding vehicle;
and the data determining module 308 is used for determining the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the target acceleration of the front vehicle and the reference acceleration of the rear vehicle.
In the above-described vehicle travel parameter determination apparatus, the initial acceleration of the preceding vehicle is calculated using the output power data of the engine of the preceding vehicle, the initial deceleration of the preceding vehicle is calculated using the output resistance data of the brake of the preceding vehicle, and the target acceleration of the preceding vehicle is determined, and then the initial acceleration of the following vehicle is calculated based on the target acceleration of the preceding vehicle and the compensated acceleration of the following vehicle, and the following vehicle travel parameter is determined based on the initial acceleration of the following vehicle and the reference acceleration of the following vehicle. Because the output data of the front vehicle engine and the brake do not need to be sent to the front vehicle chassis, and the fed back actual acceleration and/or deceleration can be obtained through the front vehicle chassis, the equivalent acceleration and deceleration of the front vehicle can be calculated by adopting the output data of the front vehicle engine and the brake, the timeliness of the vehicle data is higher, the time delay is reduced, and the following distance of the vehicle queue can be reduced.
In one embodiment, the acceleration determination module 306 is specifically configured to determine the initial acceleration of the preceding vehicle as the target acceleration of the preceding vehicle if the initial acceleration of the preceding vehicle is greater than or equal to zero and the initial deceleration of the preceding vehicle is greater than or equal to zero; or, if the initial acceleration of the preceding vehicle is less than zero and the initial deceleration of the preceding vehicle is greater than or equal to zero, determining the initial acceleration of the preceding vehicle as the target acceleration of the preceding vehicle.
In one embodiment, the acceleration determination module 306 is specifically configured to determine the initial deceleration of the preceding vehicle as the target acceleration of the preceding vehicle if the initial acceleration of the preceding vehicle is greater than or equal to zero and the initial deceleration of the preceding vehicle is less than zero.
In one embodiment, the acceleration determination module 306 is specifically configured to obtain the operating mode of the front brake if the initial acceleration of the front vehicle is less than zero and the initial deceleration of the front vehicle is less than zero; and determining the target acceleration of the front vehicle according to the working mode of the front vehicle brake, the initial acceleration of the front vehicle and the initial deceleration of the front vehicle.
In one embodiment, the acceleration determining module 306 is specifically configured to select the smaller value of the initial acceleration and the initial deceleration of the preceding vehicle to determine the smaller value as the target acceleration of the preceding vehicle, if the operating mode of the preceding vehicle brake is the maximum deceleration mode; if the operation mode of the front brake is executed in the superposition mode, the initial acceleration of the front vehicle is added to the initial deceleration of the front vehicle to obtain the target acceleration of the front vehicle.
In one embodiment, the data determination module 308 is specifically configured to calculate an initial acceleration of the following vehicle based on the target acceleration of the preceding vehicle and the compensated acceleration of the following vehicle; and determining the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle.
In one embodiment, the data determination module 308 is specifically configured to calculate the output power data of the engine of the rear vehicle based on the initial acceleration of the rear vehicle and assign the output resistance data of the brake of the rear vehicle to zero if the initial acceleration of the rear vehicle is greater than or equal to the reference acceleration of the rear vehicle; and if the initial acceleration of the rear vehicle is smaller than the reference acceleration of the rear vehicle, determining the output resistance data of the rear vehicle brake according to the initial acceleration of the rear vehicle, and assigning the output power data of the rear vehicle engine to be zero.
For specific definition of the determination device of the vehicle running parameter, reference may be made to the above definition of the determination method of the vehicle running parameter, and details thereof are not repeated here. The respective modules in the above-described device for determining the vehicle running parameter may be wholly or partially implemented by software, hardware, and a combination thereof. The modules may be embedded in hardware or independent of a processor in the electronic device, or may be stored in a memory in the electronic device in software, so that the processor calls and executes operations corresponding to the modules.
Fig. 4 is a block diagram illustrating an electronic device 1300 according to an example embodiment. For example, the electronic device 1300 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and so forth.
Referring to fig. 4, electronic device 1300 may include one or more of the following components: a processing component 1302, a memory 1304, a power component 1306, a multimedia component 1308, an audio component 1310, an input/output (I/O) interface 1312, a sensor component 1314, and a communication component 1316. Wherein the memory has stored thereon a computer program or instructions for execution on the processor.
The processing component 1302 generally controls overall operation of the electronic device 1300, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 1302 may include one or more processors 1320 to execute instructions to perform all or part of the steps of the method described above. Further, processing component 1302 can include one or more modules that facilitate interaction between processing component 1302 and other components. For example, the processing component 1302 may include a multimedia module to facilitate interaction between the multimedia component 1308 and the processing component 1302.
The memory 1304 is configured to store various types of data to support operation at the electronic device 1300. Examples of such data include instructions for any application or method operating on the electronic device 1300, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 1304 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The power supply component 1306 provides power to the various components of the electronic device 1300. Power components 1306 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for electronic device 1300.
The multimedia component 1308 includes a touch-sensitive display screen that provides an output interface between the electronic device 1300 and a user. In some embodiments, the touch display screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1308 includes a front facing camera and/or a rear facing camera. The front-facing camera and/or the rear-facing camera may receive external multimedia data when the electronic device 1300 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 1310 is configured to output and/or input audio signals. For example, the audio component 1310 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 1300 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 1304 or transmitted via the communication component 1316. In some embodiments, the audio component 1310 also includes a speaker for outputting audio signals.
The I/O interface 1312 provides an interface between the processing component 1302 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 1314 includes one or more sensors for providing various aspects of state assessment for the electronic device 1300. For example, the sensor assembly 1314 may detect the open/closed state of the electronic device 1300, the relative positioning of components, such as a display and keypad of the electronic device 1300, the sensor assembly 1314 may also detect a change in the position of the electronic device 1300 or a component of the electronic device 1300, the presence or absence of user contact with the electronic device 1300, orientation or acceleration/deceleration of the electronic device 1300, and a change in the temperature of the electronic device 1300. The sensor assembly 1314 may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly 1314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1314 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 1316 is configured to facilitate communications between the electronic device 1300 and other devices in a wired or wireless manner. The electronic device 1300 may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1316 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communications component 1316 also includes a Near Field Communications (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the electronic device 1300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components for performing the above-described method of determining vehicle travel parameters.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 1304 comprising instructions, executable by the processor 1320 of the electronic device 1300 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, a computer program product is also provided, which, when executed by a processor, may carry out the above-mentioned method. The computer program product includes one or more computer instructions. When loaded and executed on a computer, may implement some or all of the above-described methods, in whole or in part, according to the procedures or functions described in the embodiments of the disclosure.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases or other media used in the embodiments provided in the disclosure may include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express a few implementation modes of the embodiments of the present disclosure, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, variations and modifications can be made without departing from the concept of the embodiments of the present disclosure, and these are all within the scope of the embodiments of the present disclosure. Therefore, the protection scope of the patent of the embodiment of the disclosure should be subject to the appended claims.

Claims (11)

1. A method of determining a vehicle travel parameter, the method comprising:
acquiring output power data of a front vehicle engine and output resistance data of a front vehicle brake;
calculating the initial acceleration of the front vehicle according to the output power data of the engine of the front vehicle, and determining the initial deceleration of the front vehicle according to the output resistance data of the brake of the front vehicle;
determining the target acceleration of the front vehicle according to the initial acceleration and the initial deceleration of the front vehicle;
adding the target acceleration of the front vehicle and the compensation acceleration of the rear vehicle to obtain the initial acceleration of the rear vehicle, and determining the output power data of an engine of the rear vehicle and the output resistance data of a brake of the rear vehicle according to the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle; the compensation acceleration of the rear vehicle is an acceleration compensation value of the rear vehicle, and the compensation acceleration of the rear vehicle is determined according to at least one of a speed difference between the front vehicle and the rear vehicle, an acceleration difference between the front vehicle and the rear vehicle, and a distance difference between a distance between the front vehicle and the rear vehicle and a target distance; the reference acceleration of the rear vehicle is the acceleration of the rear vehicle under the condition of no output power data; the output power data comprises an output torque;
the rear vehicle is a vehicle which runs along with the front vehicle.
2. The method of claim 1, wherein determining a target acceleration of a leading vehicle based on the initial acceleration of the leading vehicle and the initial deceleration of the leading vehicle comprises:
if the initial acceleration of the front vehicle is greater than or equal to zero and the initial deceleration of the front vehicle is greater than or equal to zero, determining the initial acceleration of the front vehicle as the target acceleration of the front vehicle;
or,
and if the initial acceleration of the front vehicle is smaller than zero and the initial deceleration of the front vehicle is larger than or equal to zero, determining the initial acceleration of the front vehicle as the target acceleration of the front vehicle.
3. The method of claim 1, wherein determining a target acceleration of a leading vehicle based on the initial acceleration of the leading vehicle and the initial deceleration of the leading vehicle comprises:
and if the initial acceleration of the front vehicle is greater than or equal to zero and the initial deceleration of the front vehicle is less than zero, determining the initial deceleration of the front vehicle as the target acceleration of the front vehicle.
4. The method of claim 1, wherein determining a target acceleration of a leading vehicle based on the initial acceleration of the leading vehicle and the initial deceleration of the leading vehicle comprises:
if the initial acceleration of the front vehicle is smaller than zero and the initial deceleration of the front vehicle is smaller than zero, acquiring the working mode of a front vehicle brake;
and determining the target acceleration of the front vehicle according to the working mode of the front vehicle brake, the initial acceleration of the front vehicle and the initial deceleration of the front vehicle.
5. The method of claim 4, wherein determining a target acceleration of the preceding vehicle based on the operating mode of the preceding vehicle brakes, the initial acceleration of the preceding vehicle, and the initial deceleration of the preceding vehicle comprises:
if the working mode of the front vehicle brake is started in a maximum deceleration mode, selecting the smaller value of the initial acceleration and the initial deceleration of the front vehicle, and determining the smaller value as the target acceleration of the front vehicle;
and if the working mode of the front vehicle brake is executed in a superposition mode, adding the initial acceleration of the front vehicle and the initial deceleration of the front vehicle to obtain the target acceleration of the front vehicle.
6. The method of claim 1, wherein the reference acceleration of the rear vehicle is an acceleration of the rear vehicle without output power data;
the determining of the output power data of the engine of the rear vehicle and the output resistance data of the brake of the rear vehicle according to the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle comprises the following steps:
if the initial acceleration of the rear vehicle is greater than or equal to the reference acceleration of the rear vehicle, calculating the output power data of an engine of the rear vehicle according to the initial acceleration of the rear vehicle, and assigning the output resistance data of a brake of the rear vehicle to be zero;
and if the initial acceleration of the rear vehicle is smaller than the reference acceleration of the rear vehicle, determining the output resistance data of a brake of the rear vehicle according to the initial acceleration of the rear vehicle, and assigning the output power data of an engine of the rear vehicle to be zero.
7. The method of any of claims 1-6, wherein the output resistance data comprises an external braking request.
8. An apparatus for determining a vehicle travel parameter, the apparatus comprising:
the data acquisition module is used for acquiring the output power data of a front vehicle engine and the output resistance data of a front vehicle brake;
the data calculation module is used for calculating the initial acceleration of the front vehicle according to the output power data of the engine of the front vehicle and determining the initial deceleration of the front vehicle according to the output resistance data of the brake of the front vehicle;
the acceleration determining module is used for determining the target acceleration of the front vehicle according to the initial acceleration and the initial deceleration of the front vehicle;
the data determination module is used for adding the target acceleration of the front vehicle and the compensation acceleration of the rear vehicle to obtain the initial acceleration of the rear vehicle, and determining the output power data of an engine of the rear vehicle and the output resistance data of a brake of the rear vehicle according to the initial acceleration of the rear vehicle and the reference acceleration of the rear vehicle; the compensation acceleration of the rear vehicle is an acceleration compensation value of the rear vehicle, and the compensation acceleration of the rear vehicle is determined according to at least one of a speed difference between the front vehicle and the rear vehicle, an acceleration difference between the front vehicle and the rear vehicle, and a distance difference between a distance between the front vehicle and the rear vehicle and a target distance; the reference acceleration of the rear vehicle is the acceleration of the rear vehicle under the condition of no output power data; the output power data comprises an output torque;
the rear vehicle is a vehicle which runs along with the front vehicle.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
11. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1-7 when executed by a processor.
CN202111131037.4A 2021-09-26 2021-09-26 Method and device for determining vehicle running parameters, electronic equipment and storage medium Active CN114684124B (en)

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