WO2022217915A1

WO2022217915A1 - Vehicle control method and apparatus, device, and computer storage medium

Info

Publication number: WO2022217915A1
Application number: PCT/CN2021/131478
Authority: WO
Inventors: 庄登祥; 薛晶晶; 于宁; 王泽旭; 崔鑫宇
Original assignee: 阿波罗智联(北京)科技有限公司
Priority date: 2021-04-16
Filing date: 2021-11-18
Publication date: 2022-10-20
Also published as: CN114274959A; CN114274959B; JP2023524194A

Abstract

A vehicle control method, relating to the technical field of autonomous driving, and comprising: obtaining a remaining parking distance and a current speed of a vehicle; and if the obtained remaining parking distance and current speed meet preset conditions for more than consecutive N times, wherein the preset conditions are that the remaining parking distance is less than a remaining distance threshold and the current speed is less than a first speed threshold, and N is a preset positive integer: when the remaining parking distance is greater than or equal to a preset target distance, performing deceleration control on the vehicle; and when the remaining parking distance is less than the target distance, performing parking control on the vehicle. The method can ensure sufficient safety while ensuring accurate parking, thereby achieving the purpose of reasonable parking. Also disclosed are a vehicle control apparatus, an electronic device, a non-transitory computer readable storage medium storing computer instructions, and a computer program product.

Description

车辆控制方法、装置、设备和计算机存储介质Vehicle control method, apparatus, device and computer storage medium

本申请要求了申请日为2021年04月16日，申请号为202110412342.4发明名称为“车辆控制方法、装置、设备和计算机存储介质”的中国专利申请的优先权。This application claims the priority of a Chinese patent application with an application date of April 16, 2021 and an application number of 202110412342.4 with the invention title of "Vehicle Control Method, Device, Equipment and Computer Storage Medium".

技术领域technical field

本公开涉及计算机应用技术领域，尤其涉及自动驾驶技术中的车辆控制方法、装置、设备和计算机存储介质。The present disclosure relates to the technical field of computer applications, and in particular, to a vehicle control method, apparatus, device and computer storage medium in automatic driving technology.

背景技术Background technique

自动驾驶车辆又称无人驾驶车辆，是一种通过计算机***实现无人驾驶的智能汽车。自动驾驶车辆在进站、遇到红绿灯、到达目的地或者遇到紧急情况等，会面临如何合理停车的问题。An autonomous vehicle, also known as an unmanned vehicle, is a smart car that realizes unmanned driving through a computer system. Self-driving vehicles will face the problem of how to park reasonably when they are entering a station, encountering traffic lights, reaching their destination, or encountering an emergency.

发明内容SUMMARY OF THE INVENTION

有鉴于此，本公开提供了一种车辆控制方法、装置、设备和计算机存储介质，以便于实现自动驾驶车辆的合理停车。In view of this, the present disclosure provides a vehicle control method, apparatus, device, and computer storage medium, so as to realize reasonable parking of an automatic driving vehicle.

根据本公开的第一方面，提供了一种车辆控制方法，包括：According to a first aspect of the present disclosure, there is provided a vehicle control method, comprising:

获取车辆的停车剩余距离和当前速度；Get the vehicle's parking remaining distance and current speed;

若获取的停车剩余距离和当前速度满足预设条件连续超过N次，所述预设条件包括所述停车剩余距离小于剩余距离阈值且所述当前速度小于第一速度阈值，所述N为预设的正整数，则：If the obtained parking remaining distance and current speed meet the preset conditions for more than N consecutive times, the preset conditions include that the parking remaining distance is less than the remaining distance threshold and the current speed is less than the first speed threshold, and N is a preset is a positive integer, then:

在停车剩余距离大于或等于预设的目标距离时，对所述车辆进行减速控制；在停车剩余距离小于所述目标距离时，对所述车辆进行停车控制。。When the remaining parking distance is greater than or equal to the preset target distance, deceleration control is performed on the vehicle; when the remaining parking distance is less than the target distance, parking control is performed on the vehicle. .

根据本公开的第二方面，提供了一种车辆控制的装置，包括：According to a second aspect of the present disclosure, there is provided an apparatus for vehicle control, comprising:

获取单元，用于获取车辆的停车剩余距离和当前速度；an acquisition unit, used to acquire the remaining distance and current speed of the vehicle;

第一判断单元，用于判断所述获取单元获取的停车剩余距离和当前速度满足预设条件是否连续超过N次，所述预设条件包括所述停车剩余距离小于剩余距离阈值且所述当前速度小于第一速度阈值，所述N为预设的正整数；a first judging unit for judging whether the remaining parking distance and the current speed acquired by the obtaining unit meet a preset condition for more than N consecutive times, the preset conditions include that the parking remaining distance is less than a remaining distance threshold and the current speed is less than the first speed threshold, the N is a preset positive integer;

第二判断单元，用于在所述第一判断单元的判断结果为是时，判断所述停车剩余距离是否大于或等于预设的目标距离；a second judging unit, configured to judge whether the remaining parking distance is greater than or equal to a preset target distance when the judgment result of the first judging unit is yes;

减速控制单元，用于在所述第二判断单元的判断结果为是时，对所述车辆进行减速控制；a deceleration control unit, configured to perform deceleration control on the vehicle when the judgment result of the second judgment unit is yes;

停车控制单元，用于在所述第二判断单元的判断结果为否时，对所述车辆进行停车控制。A parking control unit, configured to perform parking control on the vehicle when the judgment result of the second judgment unit is no.

根据本公开的第三方面，提供了一种电子设备，包括：According to a third aspect of the present disclosure, there is provided an electronic device, comprising:

至少一个处理器；以及at least one processor; and

与所述至少一个处理器通信连接的存储器；其中，a memory communicatively coupled to the at least one processor; wherein,

所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的方法。The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.

根据本公开的第四方面，提供了一种存储有计算机指令的非瞬时计算机可读存储介质，其中，所述计算机指令用于使所述计算机执行如上所述的方法。According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to perform the method as described above.

根据本公开的第五方面，一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现如上所述的方法。According to a fifth aspect of the present disclosure, a computer program product comprising a computer program, when executed by a processor, implements the method as described above.

由以上技术方案可以看出，本公开依据停车剩余距离和当前速度是否超过连续N次满足预设条件来识别是否真正进入本公开的停车过程，并将整个停车过程中依据停车剩余距离与目标距离之间的关系分为车辆减速控制和车辆停车控制，在保证精准停车的同时保障足够的安全性，从而达到合理停车的目的。It can be seen from the above technical solutions that the present disclosure recognizes whether the parking process of the present disclosure is really entered according to whether the remaining parking distance and the current speed exceed the preset conditions for N consecutive times, and compares the parking remaining distance and the target distance in the entire parking process according to the parking remaining distance and the target distance. The relationship between them is divided into vehicle deceleration control and vehicle parking control, which ensures sufficient safety while ensuring accurate parking, so as to achieve the purpose of reasonable parking.

应当理解，本部分所描述的内容并非旨在标识本公开的实施例的关键或重要特征，也不用于限制本公开的范围。本公开的其它特征将通过以下的说明书而变得容易理解。It should be understood that what is described in this section is not intended to identify key or critical features of embodiments of the disclosure, nor is it intended to limit the scope of the disclosure. Other features of the present disclosure will become readily understood from the following description.

附图说明Description of drawings

附图用于更好地理解本方案，不构成对本公开的限定。其中：The accompanying drawings are used for better understanding of the present solution, and do not constitute a limitation to the present disclosure. in:

图1为本公开实施例提供的主要方法流程图；FIG. 1 is a flowchart of a main method provided by an embodiment of the present disclosure;

图2为本公开实施例提供的停车位置示意图；FIG. 2 is a schematic diagram of a parking position provided by an embodiment of the present disclosure;

图3为本公开实施例提供的减速控制方法流程图；FIG. 3 is a flowchart of a deceleration control method provided by an embodiment of the present disclosure;

图4为本公开实施例提供的减速控制的工作原理图；FIG. 4 is a working principle diagram of the deceleration control provided by the embodiment of the present disclosure;

图5为本公开实施例提供的停车控制方法流程图；FIG. 5 is a flowchart of a parking control method provided by an embodiment of the present disclosure;

图6为本公开实施例提供的车辆控制的装置结构图；FIG. 6 is a structural diagram of an apparatus for vehicle control provided by an embodiment of the present disclosure;

图7是用来实现本公开实施例的电子设备的框图。7 is a block diagram of an electronic device used to implement embodiments of the present disclosure.

具体实施方式Detailed ways

以下结合附图对本公开的示范性实施例做出说明，其中包括本公开实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

自动驾驶车辆在行驶过程中会面临各种各样的场景，其中存在一些需要停车的场景，例如车辆在进站、遇到红绿灯、到达目的地或者遇到紧急情况等。而为了保证体感舒适度、安全性、精确性等多种因素，并非简单的直接刹车就能够解决。本公开则提供了一种更加合理的车辆控制方法来保证停车的精准性和安全性。下面结合实施例对本公开提供的方法进行详细描述。Self-driving vehicles will face various scenarios during driving, among which there are some scenarios where parking is required, such as when the vehicle is entering a station, encountering a traffic light, reaching its destination, or encountering an emergency. In order to ensure a variety of factors such as somatosensory comfort, safety, and accuracy, it is not a simple direct braking solution. The present disclosure provides a more reasonable vehicle control method to ensure the accuracy and safety of parking. The method provided by the present disclosure will be described in detail below with reference to the embodiments.

图1为本公开实施例提供的主要方法流程图，该方法的执行主体为车辆控制装置。该装置可以是位于自动驾驶车辆的应用，或者，还可以为位于自动控制车辆的应用中的插件或软件开发工具包(Software Development Kit，SDK)等功能单元，或者，还可以位于服务器端，本发明实施例对此不进行特别限定。如图1中所示，该方法可以包括以下步骤：FIG. 1 is a flowchart of a main method provided by an embodiment of the present disclosure, and the execution body of the method is a vehicle control device. The device may be an application located in an autonomous vehicle, or may also be a functional unit such as a plug-in or a software development kit (SDK) located in an application of an automatically controlled vehicle, or may also be located at the server side. This embodiment of the invention does not specifically limit this. As shown in Figure 1, the method may include the following steps:

在101中，获取车辆的停车剩余距离和当前速度。In 101, the remaining distance to park and the current speed of the vehicle are obtained.

在102中，判断获取的停车剩余距离和当前速度是否满足预设条件连续超过N次，如果是，执行103；否则，采用其他控制策略后转至101或者直接转至步骤101。In 102, it is judged whether the obtained parking remaining distance and current speed meet the preset conditions for more than N consecutive times, if so, go to 103;

其中，预设条件包括停车剩余距离小于剩余距离阈值且当前速度小于第一速度阈值，N为预设的正整数。Wherein, the preset conditions include that the parking remaining distance is less than the remaining distance threshold and the current speed is less than the first speed threshold, and N is a preset positive integer.

在103中，判断停车剩余距离是否大于或等于预设的目标距离，如果是，执行104；否则，执行105。In 103, it is judged whether the remaining parking distance is greater than or equal to the preset target distance, if so, go to 104; otherwise, go to 105.

在104中，对车辆进行减速控制。At 104, deceleration control is performed on the vehicle.

在105中，对车辆进行停车控制。At 105, parking control is performed on the vehicle.

由以上可以看出，依据停车剩余距离和当前速度是否超过连续N次满足预设条件来识别是否真正进入本公开的停车过程，并将整个停车过程中依据停车剩余距离与目标距离之间的关系分为两个阶段，在第一阶段进行减速控制保证精确性和平稳性，在第二阶段进行停车控制保证停车安全性。As can be seen from the above, whether the parking process of the present disclosure is really entered is identified according to whether the remaining parking distance and the current speed exceed the preset conditions for N consecutive times, and the relationship between the remaining parking distance and the target distance in the entire parking process is determined. It is divided into two stages. In the first stage, deceleration control is performed to ensure accuracy and stability, and parking control is performed in the second stage to ensure parking safety.

下面结合实施例对上述各步骤进行详细描述。The above steps will be described in detail below with reference to the embodiments.

首先对上述步骤101即“获取车辆的停车剩余距离和当前速度”进行详细描述。First, the above-mentioned step 101, namely, "obtaining the remaining parking distance and current speed of the vehicle" will be described in detail.

自动驾驶车辆的行驶路线是通过上层应用根据起始地点、目的地、实时路况、交通控制信息等规划得到的，因此，当碰到需要进行停车时，上层应用会下发停车点的位置信息。作为一种优选的实施方式，在本步骤中，可以首先获取自动驾驶车辆到达停车点的规划路径；然后获取自动驾驶车辆在规划路径上距离停车点的剩余路径长度作为停车剩余距离。The driving route of the autonomous vehicle is planned by the upper-layer application according to the starting point, destination, real-time road conditions, traffic control information, etc. Therefore, when parking is required, the upper-layer application will issue the location information of the parking spot. As a preferred embodiment, in this step, the planned path of the automatic driving vehicle to the parking point can be obtained first; then the remaining path length of the automatic driving vehicle from the parking point on the planned path can be obtained as the remaining parking distance.

例如图2中所示，自动驾驶车辆的当前位置在S点，D点为上层应用确定的停车点，从S点到D点之间的路径是上层应用规划得到的。那么从当前位置S点到D点之间的距离就是当前时刻自动驾驶车辆的停车剩余距离。在本公开实施例中将停车剩余距离表示为S _remain。 For example, as shown in Figure 2, the current position of the autonomous vehicle is at point S, point D is the parking point determined by the upper-layer application, and the path from point S to point D is planned by the upper-layer application. Then the distance from the current position S point to the D point is the parking remaining distance of the autonomous vehicle at the current moment. In the embodiment of the present disclosure, the parking remaining distance is represented as S _remain .

自动驾驶车辆的当前位置则可以由自动驾驶车辆的定位模块来确定，即从定位模块获取自动驾驶车辆的当前位置。而当前速度则可以依据由定位模块连续时刻的定位位置计算得到，也可以由专用的测速模块测量得到。本公开实施例中将当前速度表示为V _cur。 The current position of the self-driving vehicle can be determined by the positioning module of the self-driving vehicle, that is, the current position of the self-driving vehicle is obtained from the positioning module. The current speed can be calculated based on the positioning position of the positioning module at successive moments, or can be measured by a dedicated speed measurement module. In the embodiment of the present disclosure, the current speed is represented as V _cur .

作为一种优选的实施方式，本步骤可以是周期性执行的。也就是说，周期性获取车辆的停车剩余距离和当前速度，并进行后续步骤102中的判断，以确定是否采用本公开实施例中的方式对车辆进行控制。除了周期性执行的方式之外，也不排除由特定事件触发执行。As a preferred implementation manner, this step may be performed periodically. That is, the remaining parking distance and the current speed of the vehicle are periodically acquired, and the judgment in the subsequent step 102 is performed to determine whether to control the vehicle in the manner in the embodiment of the present disclosure. In addition to the way of periodic execution, it is not excluded that the execution is triggered by a specific event.

下面对上述步骤102即“判断获取的停车剩余距离和当前速度是否满足预设条件连续超过N次，如果是，执行103；否则，采用其他控制策略后转至101或者直接转至步骤101”进行详细描述。Next, the above-mentioned step 102 is "judging whether the obtained parking remaining distance and the current speed meet the preset conditions for more than N consecutive times, if so, go to 103; otherwise, go to 101 after adopting other control strategies or directly go to step 101" Describe in detail.

本实施例中预设条件包括停车剩余距离S _remain小于剩余距离阈值S _in且当前速度V _cur小于第一速度阈值V _in，N为预设的正整数。 The preset conditions in this embodiment include that the parking remaining distance S _remains less than the remaining distance threshold S _in and the current speed V _cur is less than the first speed threshold V _in , and N is a preset positive integer.

其中，剩余距离阈值S _in和第一速度阈值V _in可以依据经验值预先设置。但作为一种优选的实施方式，第一速度阈值V _in可以根据预设的平均减速度值和预设的停车时长确定。剩余距离阈值S _in可以根据平均停车位置误差、第一速度阈值和预设的平均减速度值确定。 The remaining distance threshold S _in and the first speed threshold V _in may be preset according to empirical values. However, as a preferred embodiment, the first speed threshold V _in may be determined according to a preset average deceleration value and a preset parking duration. The remaining distance threshold S _in may be determined according to the average parking position error, the first speed threshold and a preset average deceleration value.

例如，第一速度阈值V _in可以采用如下公式确定： For example, the first speed threshold V _in can be determined by the following formula:

V _in＝A _aver×T (1) V _in =A _aver ×T (1)

其中，A _aver为平均减速度值，可以根据场景类型的需求进行设置，也可以根据车辆性能进行设置，或者采用经验值。T为停车时长(即设置的整个停车过程的时长)，可以采用经验值或实验值。 Among them, A _aver is the average deceleration value, which can be set according to the needs of the scene type, or according to the vehicle performance, or an empirical value. T is the parking duration (that is, the set duration of the entire parking process), and an empirical value or an experimental value can be used.

再例如，剩余距离阈值S _in可以采用如下公式确定： For another example, the remaining distance threshold S _in can be determined by the following formula:

其中，Se为平均停车位置误差，这一数值可以由历史停车状况计算得到。即采用本公开实施例所提供的车辆控制方式最终停车位置与规划的停车点之间的误差。Among them, Se is the average parking position error, which can be calculated from the historical parking conditions. That is, the error between the final parking position and the planned parking point using the vehicle control method provided by the embodiment of the present disclosure.

在自动驾驶车辆行驶过程中，单纯依靠停车剩余距离S _remain或者单纯依靠当前速度V _cur来判断是否执行本公开的停车逻辑都是不合理的。例如，虽然停车剩余距离S _remain小于剩余距离阈值S _in，但当前速度V _cur很快超出了第一速度阈值V _in，则说明当前不是停车需求场景。再例如，虽然当前速度V _cur小于第一速度阈值V _in，但停车剩余距离S _remain超出剩余距离阈值S _in即离规划的停车点很远，也说明当前不是停车需求场景。再或者，自动驾驶车辆的速度时高时低，在当前时刻小于第一速度阈值V _in，在下一时刻又超出了第一速度阈值V _in，也说明当前不是停车需求场景。对于这些情况可以由上层应用或者其他控制装置依据具体需求场景进行车辆控制。继续转至步骤101对车辆的停车剩余距离和当前速度进行获取。或者，若不触发其他车辆控制逻辑，也可以直接转至步骤101对车辆的停车剩余距离和当前速度进行获取。 During the driving process of the automatic driving vehicle, it is unreasonable to judge whether to execute the parking logic of the present disclosure solely by relying on the remaining parking distance S _remain or solely by relying solely on the current speed V _cur . For example, although the parking remaining distance S _remains is less than the remaining distance threshold S _in , but the current speed V _cur exceeds the first speed threshold V _in quickly, it means that the current parking demand scenario is not. For another example, although the current speed V _cur is less than the first speed threshold V _in , the remaining parking distance S _remains beyond the remaining distance threshold S _in , that is, it is far from the planned parking spot, which also means that the current parking demand scenario is not. Or, the speed of the automatic driving vehicle is sometimes high and sometimes low, is less than the first speed threshold Vin at the current moment, and exceeds the first speed threshold _Vin _at the next moment, which also indicates that the current is not a parking demand scenario. For these situations, vehicle control can be performed by upper-layer applications or other control devices according to specific demand scenarios. Continue to go to step 101 to obtain the remaining parking distance and current speed of the vehicle. Alternatively, if other vehicle control logics are not triggered, it is also possible to directly go to step 101 to obtain the remaining parking distance and current speed of the vehicle.

如果超过连续N次满足预设条件，则执行本公开后续的控制逻辑。后续的控制逻辑由两个阶段构成，减速控制阶段和停车控制阶段。通常情况下，在步骤103中停车剩余距离是大于或等于预设的目标距离的，因此，先执行减速控制阶段，在停车剩余距离小于预设的目的距离后执行停车控制阶段。但也有一些特殊情况下，进入步骤103后，停车剩余距离本身就是小于目标距离的，那么就仅执行停车控制阶段来保证及时和安全的停车。还有一些特殊情况，在目标距离设置为0的情况下，仅执行减速控制阶段就能够实现精准停车。If the preset condition is satisfied for more than N consecutive times, the subsequent control logic of the present disclosure is executed. The subsequent control logic consists of two stages, the deceleration control stage and the stop control stage. Under normal circumstances, in step 103, the remaining distance to stop is greater than or equal to the preset target distance. Therefore, the deceleration control phase is performed first, and the parking control phase is performed after the remaining distance to stop is less than the preset target distance. But in some special cases, after entering step 103, the remaining parking distance itself is less than the target distance, so only the parking control phase is performed to ensure timely and safe parking. In some special cases, when the target distance is set to 0, precise parking can be achieved only by performing the deceleration control phase.

上述的目标距离是预先设置的，在本公开实施例中表示为S _bias，可以采用经验值或实验值。 The above-mentioned target distance is preset, which is represented as S _bias in the embodiment of the present disclosure, and an empirical value or an experimental value can be used.

继续参见图2，D1点距离停车点D的距离为目标距离S _bias。假设自动驾驶车辆从S点开始进入本公开实施例的控制逻辑，那么从S点行驶到D1点的过程为减速控制阶段，从D1点行驶到D点的过程为停车控制阶段。 Continuing to refer to FIG. 2 , the distance between the point D1 and the parking point D is the target distance S _bias . Assuming that the automatic driving vehicle starts to enter the control logic of the embodiment of the present disclosure from point S, the process of driving from point S to point D1 is the deceleration control stage, and the process of driving from point D1 to point D is the parking control stage.

另外需要说明的是，上述目标距离S _bias的取值可以大于0，可以等于0，也可以小于0。如果目标距离S _bias的取值大于0，则是图2中所示出的情况。如果目标距离S _bias的取值等于0，则说明第一阶段的减速控制在D点结束，即D1点与D点重合。如果目标距离S _bias的取值小于0，则说明自动驾驶车辆的实际停车点在D点之后，即第一阶段的减速控制在D点之后结束。也就是说，通过对目标距离S _bias的灵活设置可以实现对实际停车点的灵活设置。 In addition, it should be noted that the value of the above-mentioned target distance S _bias may be greater than 0, may be equal to 0, or may be smaller than 0. If the value of the target distance S _bias is greater than 0, it is the situation shown in FIG. 2 . If the value of the target distance S _bias is equal to 0, it means that the first stage of deceleration control ends at point D, that is, point D1 and point D coincide. If the value of the target distance S _bias is less than 0, it means that the actual parking point of the autonomous vehicle is after point D, that is, the first stage of deceleration control ends after point D. That is to say, the flexible setting of the actual parking point can be realized by the flexible setting of the target distance S _bias .

下面结合实施例对上述步骤104即“对车辆进行减速控制”进行详细描述。The above step 104, that is, "decelerating control of the vehicle", will be described in detail below with reference to the embodiment.

对车辆进行减速控制实际上就是合理的使用油门和刹车对车辆进行整体上的减速控制，目标是在减少的刹车和油门切换次数内，精确地行驶到规划的停车点，且保证多次的停靠具有一致性。具体可以利用剩余停车距离、目标距离、当前速度和预设的目标速度，控制车辆的油门值或刹车值。The deceleration control of the vehicle is actually the rational use of the accelerator and brake to decelerate the vehicle as a whole. The goal is to accurately drive to the planned parking point within the reduced number of brake and accelerator switching, and ensure multiple stops. with consistency. Specifically, the remaining parking distance, the target distance, the current speed and the preset target speed can be used to control the accelerator value or braking value of the vehicle.

图3为本公开实施例提供的减速控制方法流程图，如图3中所示，该方法可以包括以下步骤：FIG. 3 is a flowchart of a deceleration control method provided by an embodiment of the present disclosure. As shown in FIG. 3 , the method may include the following steps:

在301中，依据剩余停车距离和目标距离，确定位置偏差。In 301, a position deviation is determined according to the remaining parking distance and the target distance.

位置偏差S _error可以由剩余停车距离S _remain和目标距离S _bias之间的差值得到，即： The position deviation S _error can be obtained from the difference between the remaining parking distance S _remain and the target distance S _bias , namely:

S _error＝S _bias-S _remain (3) S _error =S _bias -S _remain (3)

在302中，将位置偏差输入PID(比例积分微分)控制器的位置环，得到速度补偿量。In 302, the position deviation is input into the position loop of the PID (Proportional Integral Derivative) controller to obtain the speed compensation amount.

在本公开涉及到的PID控制器可以是PID串级控制。PID串级控制是改善质量的有效方法之一，在过程控制中得到了广泛的应用。所谓串级控制就是采用两个控制器串连工作，外环控制器的输出作为内环控制器的设定值，由内环控制器的输出去操纵控制阀，从而对外环被控量具有更好的控制效果。在本公开中自动驾驶车辆上使用的PID串级控制的外环控制器为位置环，内环控制器为速度环。The PID controller involved in the present disclosure may be a PID cascade control. PID cascade control is one of the effective methods to improve quality and has been widely used in process control. The so-called cascade control is to use two controllers to work in series, the output of the outer loop controller is used as the set value of the inner loop controller, and the output of the inner loop controller is used to control the control valve, so that the controlled quantity of the outer loop has more control. good control effect. The outer loop controller of the PID cascade control used on the autonomous vehicle in the present disclosure is a position loop, and the inner loop controller is a velocity loop.

如图4中所示，将位置偏差S _error输入位置环后，得到位置环输出的速度补偿量V _add。关于串行PID控制中位置环和速度环的工作原理为已有技术，在此仅仅是调用了串行PID控制中位置环和速度环，因此对其具体的工作原理不做详述。 As shown in FIG. 4 , after the position error S _error is input into the position loop, the speed compensation amount V _add output by the position loop is obtained. The working principle of the position loop and the speed loop in the serial PID control is the prior art. Here, only the position loop and the speed loop in the serial PID control are called, so the specific working principle will not be described in detail.

在303中，利用当前速度、预设的目标速度以及速度补偿量，确定速度偏差。In 303, the speed deviation is determined using the current speed, the preset target speed and the speed compensation amount.

速度偏差V _error可以由如下公式得到： The speed deviation V _error can be obtained by the following formula:

V _error＝V _add+V _bias-V _cur (4) V _error =V _add +V _bias -V _cur (4)

其中，V _bias为预设的目标速度，该目标速度可以根据具体的场景或需求预先设置，采用经验值、实验值等。 Wherein, V _bias is a preset target speed, and the target speed can be preset according to a specific scene or requirement, and an empirical value, an experimental value, etc. are used.

在304中，将速度偏差输入PID控制器的速度环，得到加速度控制量。In 304, the speed deviation is input into the speed loop of the PID controller to obtain the acceleration control amount.

如图4中所示，将速度偏差V _error输入速度环后，得到速度环输出的加速度控制量U _acc。 As shown in FIG. 4 , after the speed deviation V _error is input into the speed loop, the acceleration control amount U _acc output by the speed loop is obtained.

在305中，根据当前速度和加速度控制量查询标定表，确定对应的油门值或刹车值以对车辆进行减速控制。In 305, the calibration table is queried according to the current speed and the acceleration control amount, and the corresponding accelerator value or brake value is determined to perform deceleration control on the vehicle.

本步骤中涉及的标定表是预先标定好的，实际上包含的是速度、加速度和油门值/刹车值之间对应关系。通过当前速度V _cur和加速度控制量U _acc查询标定表就能够得到对应的油门值或刹车值，依据油门值或刹车值向自动驾驶车辆中刹车和油门的执行装置下发对应的油门指令或刹车指令，从而实现对车辆的减速控制。其中油门值和刹车值可以体现为油门的百分比、刹车的百分比。例如经过查询标定表，得到油门值为20％，若当前油门值为50％，则意味着要将油门收为20％。例如经过查询标定表，得到刹车值为50％，若当前油门值为20％，则意味着收掉油门并采用50％的刹车。 The calibration table involved in this step is pre-calibrated, and actually contains the corresponding relationship between speed, acceleration and accelerator value/brake value. The corresponding accelerator value or brake value can be obtained by querying the calibration table through the current speed V _cur and the acceleration control amount U _acc , and the corresponding accelerator command or brake is issued to the brake and accelerator execution device in the autonomous vehicle according to the accelerator value or brake value. command, so as to realize the deceleration control of the vehicle. Among them, the accelerator value and the brake value can be reflected as the percentage of the accelerator and the percentage of the brake. For example, after querying the calibration table, the throttle value is obtained as 20%. If the current throttle value is 50%, it means that the throttle should be closed at 20%. For example, after querying the calibration table, the braking value is 50%. If the current accelerator value is 20%, it means that the accelerator is closed and 50% braking is used.

下面结合实施例对上述步骤105即“对车辆进行停车控制”进行详细描述。The above step 105, that is, "carrying parking control on the vehicle", will be described in detail below with reference to the embodiments.

本步骤中对车辆进行停车控制实际上就是如何及时安全的将车辆停住，在此阶段仅涉及刹车的控制，从而保证足够的安全。具体可以利用剩余停车距离、当前速度、预设的目标速度和预设的第二速度阈值，控制车辆的刹车值。The parking control of the vehicle in this step is actually how to stop the vehicle in a timely and safe manner. At this stage, only the control of the brake is involved, so as to ensure sufficient safety. Specifically, the remaining parking distance, the current speed, the preset target speed, and the preset second speed threshold may be used to control the braking value of the vehicle.

图5为本公开实施例提供的停车控制方法流程图，如图5中所示，该方法可以包括以下步骤：FIG. 5 is a flowchart of a parking control method provided by an embodiment of the present disclosure. As shown in FIG. 5 , the method may include the following steps:

在501中，判断停车剩余距离是否小于或等于0，如果是，执行步骤502；否则执行步骤503。In 501, it is judged whether the remaining parking distance is less than or equal to 0, and if so, step 502 is performed; otherwise, step 503 is performed.

在502中，向车辆下发第一刹车值的刹车命令。In 502, a braking command of a first braking value is issued to the vehicle.

如果停车剩余距离S _remain小于0，说明自动驾驶车辆当前已经到达或者超过规划的停车点，因此需要尽可能地快速停车。本步骤中涉及的第一刹车值是一个较大的刹车值，例如100％的刹车、90％的刹车等。 If the remaining parking distance S _remains is less than 0, it means that the autonomous vehicle has reached or exceeded the planned parking point, so it needs to stop as quickly as possible. The first braking value involved in this step is a larger braking value, such as 100% braking, 90% braking, and so on.

在503中，判断当前速度是否大于或等于预设的目标速度，如果是，执行步骤504；否则执行步骤505。In 503, it is judged whether the current speed is greater than or equal to the preset target speed, if so, step 504 is performed; otherwise, step 505 is performed.

在504中，向车辆下发第二刹车值的刹车命令。At 504, a braking command of a second braking value is issued to the vehicle.

如果当前速度V _cur大于或等于目标速度V _bias，则表明虽然目前尚未到达停车点，但当前速度较高，因此可以采用一个中等的刹车值。例如50％的刹车，60％的刹车等。 If the current speed V _cur is greater than or equal to the target speed V _bias , it means that although the parking point has not yet been reached, the current speed is high, so a moderate braking value can be used. For example 50% braking, 60% braking, etc.

在505中，判断当前速度是否大于或等于预设的第二速度阈值，如果是，执行步骤506；否则，执行步骤502。In 505, it is judged whether the current speed is greater than or equal to the preset second speed threshold, if so, go to step 506; otherwise, go to step 502.

在506中，向车辆下发第三刹车值的刹车命令。At 506, a braking command of a third braking value is issued to the vehicle.

如果当前速度V _cur低于目标速度V _bias，则说明自动驾驶车辆当前速度较低，可以采用一个较小的刹车值。例如20％的刹车值，30％的刹车值等等。 If the current speed V _cur is lower than the target speed V _bias , it means that the current speed of the autonomous vehicle is low, and a smaller braking value can be used. For example 20% brake value, 30% brake value and so on.

但如果当前速度V _cur非常低，低于第二速度阈值V _parking，则为了防止停车不稳，发生溜车等状况，在此可以下发一个较大的刹车值，使得车辆能够尽可能快速停住。 However, if the current speed V _cur is very low and lower than the second speed threshold V _parking , in order to prevent unstable parking and slipping, a larger braking value can be issued here, so that the vehicle can stop as quickly as possible. live.

上述第一刹车值大于第二刹车值，第二刹车值大于第三刹车值。第二速度阈值V _parking小于目标速度V _bias。V _parking可以采用经验值或实验值，例如采用0.05m/s。 The first braking value is greater than the second braking value, and the second braking value is greater than the third braking value. The second speed threshold V _parking is less than the target speed V _bias . V _parking can be an empirical value or an experimental value, such as 0.05m/s.

另外，需要说明的是，在本公开上述实施例中涉及的“第一”、“第二”、“第三”，例如“第一速度阈值”、“第二速度阈值”、“第一刹车值”、“第二刹车值”、“第三刹车值”等，并不具备大小、顺序、数量等的限定，仅仅用以在名称上进行区别。其数值大小的限制参见对其进行的额外的大小关系限制的描述。In addition, it should be noted that the "first", "second" and "third" involved in the above-mentioned embodiments of the present disclosure, such as "first speed threshold", "second speed threshold", "first brake" "Value", "Second Braking Value", "Third Braking Value", etc. are not limited in size, order, quantity, etc., but are only used to distinguish names. See the description of the additional size relationship restrictions for its numerical size restrictions.

上述实施例中以自动驾驶车辆为例，但本公开所提供的车辆控制方法并不限于自动驾驶车辆，也可以适用于诸如具有辅助驾驶功能车辆、具有部分自动驾驶功能车辆等等。In the above embodiments, an automatic driving vehicle is used as an example, but the vehicle control method provided by the present disclosure is not limited to the automatic driving vehicle, but can also be applied to vehicles with assisted driving functions, vehicles with partial automatic driving functions, and the like.

以上是对本公开所提供方法进行的详细描述，下面结合实施例对本公开提供的装置进行详细描述。The above is a detailed description of the method provided by the present disclosure, and the device provided by the present disclosure is described in detail below with reference to the embodiments.

图6为本公开实施例提供的车辆控制的装置结构图，如图6中所示，该装置可以包括：获取单元601、第一判断单元602、第二判断单元603、减速控制单元604和停车控制单元605。其中各组成单元的主要功能如下：FIG. 6 is a structural diagram of an apparatus for vehicle control provided by an embodiment of the present disclosure. As shown in FIG. 6 , the apparatus may include: an acquisition unit 601 , a first determination unit 602 , a second determination unit 603 , a deceleration control unit 604 , and a parking control unit 605. The main functions of each unit are as follows:

获取单元601，用于获取车辆的停车剩余距离和当前速度。The obtaining unit 601 is used to obtain the remaining distance and the current speed of the vehicle for parking.

第一判断单元602，用于判断获取单元获取的停车剩余距离和当前速度满足预设条件是否连续超过N次，预设条件包括停车剩余距离小于剩余距离阈值且当前速度小于第一速度阈值，N为预设的正整数。The first judging unit 602 is configured to judge whether the parking remaining distance and the current speed obtained by the obtaining unit meet the preset conditions for more than N consecutive times, the preset conditions include that the parking remaining distance is less than the remaining distance threshold and the current speed is less than the first speed threshold, N is a preset positive integer.

第二判断单元603，用于在第一判断单元的判断结果为是时，判断停车剩余距离是否大于或等于预设的目标距离。The second judging unit 603 is configured to judge whether the remaining parking distance is greater than or equal to the preset target distance when the judgment result of the first judging unit is yes.

减速控制单元604，用于在第二判断单元的判断结果为是时，对车辆进行减速控制。The deceleration control unit 604 is configured to perform deceleration control on the vehicle when the judgment result of the second judgment unit is yes.

停车控制单元605，用于在第二判断单元的判断结果为否时，对车辆进行停车控制。The parking control unit 605 is configured to perform parking control on the vehicle when the judgment result of the second judgment unit is no.

作为其中一种优选的实施方式，获取单元601可以具体用于获取车辆到达停车点的规划路径；获取车辆在规划路径上距离停车点的剩余路径长度作为停车剩余距离。As one of the preferred implementations, the obtaining unit 601 may be specifically configured to obtain the planned path for the vehicle to reach the parking spot; obtain the remaining path length of the vehicle from the parking spot on the planned path as the remaining parking distance.

其中，第一速度阈值是根据预设的平均减速度值和预设的停车时长确定的。The first speed threshold is determined according to a preset average deceleration value and a preset parking duration.

其中，剩余距离阈值是根据平均停车位置误差、第一速度阈值和预设的平均减速度值确定的。The remaining distance threshold is determined according to the average parking position error, the first speed threshold and a preset average deceleration value.

具体地，减速控制单元604，可以具体用于利用剩余停车距离、目标距离、当前速度和预设的目标速度，控制车辆的油门值或刹车值。Specifically, the deceleration control unit 604 may be specifically configured to use the remaining parking distance, the target distance, the current speed and the preset target speed to control the accelerator value or the brake value of the vehicle.

停车控制单元605，具体用于利用剩余停车距离、当前速度、预设的目标速度和预设的第二速度阈值，控制车辆的刹车值。The parking control unit 605 is specifically configured to use the remaining parking distance, the current speed, the preset target speed and the preset second speed threshold to control the braking value of the vehicle.

作为一种优选的实施方式，减速控制单元604可以依据剩余停车距离和目标距离，确定位置偏差；将位置偏差输入PID控制器的位置环，得到速度补偿量；利用当前速度、预设的目标速度以及速度补偿量，确定速度偏差；将速度偏差输入PID控制器的速度环，得到加速度控制量；根据当前速度和加速度控制量查询标定表，确定对应的油门值或刹车值以对车辆进行减速控制。As a preferred embodiment, the deceleration control unit 604 can determine the position deviation according to the remaining parking distance and the target distance; input the position deviation into the position loop of the PID controller to obtain the speed compensation amount; use the current speed and the preset target speed and the speed compensation amount to determine the speed deviation; input the speed deviation into the speed loop of the PID controller to obtain the acceleration control amount; query the calibration table according to the current speed and acceleration control amount, and determine the corresponding accelerator value or brake value to decelerate the vehicle. .

作为另一种优选的实施方式，停车控制单元605可以执行以下控制：As another preferred embodiment, the parking control unit 605 can perform the following controls:

若停车剩余距离小于或等于0，则向车辆下发第一刹车值的刹车命令；If the remaining distance to stop is less than or equal to 0, a braking command of the first braking value is issued to the vehicle;

若停车剩余距离大于0且当前速度大于或等于预设的目标速度，则向车辆下发第二刹车值的刹车命令；If the remaining distance to stop is greater than 0 and the current speed is greater than or equal to the preset target speed, a braking command of the second braking value is issued to the vehicle;

若停车剩余距离大于0、当前速度大于或等于预设的第二速度阈值且小于目标速度，则向车辆下发第三刹车值的刹车命令；If the remaining distance to stop is greater than 0, and the current speed is greater than or equal to the preset second speed threshold and less than the target speed, a braking command with a third braking value is issued to the vehicle;

若停车剩余距离大于0且当前速度小于第二速度阈值，则向车辆下发第一刹车值的刹车命令；If the remaining distance to stop is greater than 0 and the current speed is less than the second speed threshold, a braking command of the first braking value is issued to the vehicle;

其中，第一刹车值大于第二刹车值，第二刹车值大于第三刹车值；第二速度阈值小于目标速度。The first braking value is greater than the second braking value, the second braking value is greater than the third braking value, and the second speed threshold is less than the target speed.

本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for related parts.

根据本公开的实施例，本公开还提供了一种电子设备、一种可读存储介质和一种计算机程序产品。According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

如图7所示，是根据本公开实施例的电子设备的框图。电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本公开的实现。As shown in FIG. 7 , it is a block diagram of an electronic device according to an embodiment of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

如图7所示，设备700包括计算单元701，其可以根据存储在只读存储器(ROM)702中的计算机程序或者从存储单元708加载到随机访问存储器(RAM)703中的计算机程序，来执行各种适当的动作和处理。在RAM 703中，还可存储设备700操作所需的各种程序和数据。计算单元701、ROM 702以及RAM 703通过总线704彼此相连。输入/输出(I/O)接口705也连接至总线704。As shown in FIG. 7 , the device 700 includes a computing unit 701 that can be executed according to a computer program stored in a read only memory (ROM) 702 or loaded into a random access memory (RAM) 703 from a storage unit 708 Various appropriate actions and handling. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704 .

设备700中的多个部件连接至I/O接口705，包括：输入单元706，例如键盘、鼠标等；输出单元707，例如各种类型的显示器、扬声器等；存储单元708，例如磁盘、光盘等；以及通信单元709，例如网卡、调制解调器、无线通信收发机等。通信单元709允许设备700通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706, such as a keyboard, mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a magnetic disk, an optical disk, etc. ; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 709 allows the device 700 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.

计算单元701可以是各种具有处理和计算能力的通用和/或专用处理组件。计算单元701的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯片、各种运行机器学习模型算法的计算单元、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。计算单元701执行上文所描述的各个方法和处理，例如车辆控制方法。例如，在一些实施例中，车辆控制方法可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元708。 Computing unit 701 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of computing units 701 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 701 executes the various methods and processes described above, such as the vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 708 .

在一些实施例中，计算机程序的部分或者全部可以经由ROM 802和/或通信单元709而被载入和/或安装到设备700上。当计算机程序加载到RAM 703并由计算单元701执行时，可以执行上文描述的车辆控制方法的一个或多个步骤。备选地，在其他实施例中，计算单元701可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行车辆控制方法。In some embodiments, part or all of the computer program may be loaded and/or installed on device 700 via ROM 802 and/or communication unit 709 . When the computer program is loaded into RAM 703 and executed by computing unit 701, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

此处描述的***和技术的各种实施方式可以在数字电子电路***、集成电路***、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上***的***(SOC)、复杂可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程***上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储***、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储***、该至少一个输入装置、和该至少一个输出装置。Various implementations of the systems and techniques described herein may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip System (SOC), Complex Programmable Logic Device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that The processor, which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.

用于实施本公开的方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器或控制器，使得程序代码当由处理器或控30制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the execution of the flowcharts and/or block diagrams The function/operation is implemented. The program code may execute entirely on the machine, partly on the machine, partly on the machine and partly on a remote machine as a stand-alone software package or entirely on the remote machine or server.

在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行***、装置或设备使用或与指令执行***、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体***、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.

为了提供与用户的交互，可以在计算机上实施此处描述的***和技术，该计算机具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给计算机。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。To provide interaction with a user, the systems and techniques described herein may be implemented on a computer having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, a mouse or trackball) through which a user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.

可以将此处描述的***和技术实施在包括后台部件的计算***(例如，作为数据服务器)、或者包括中间件部件的计算***(例如，应用服务器)、或者包括前端部件的计算***(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的***和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算***中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将***的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN)和互联网。The systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user's computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

计算机***可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，又称为云计算服务器或云主机，是云计算服务体系中的一项主机产品，以解决传统物理主机与虚拟专用服务器(VPs，Ⅵirtual Private Server)服务中存在的管理难度大，业务扩展性弱的缺陷。服务器也可以为分布式***的服务器，或者是结合了区块链的服务器。A computer system can include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or a cloud host. It is a host product in the cloud computing service system to solve the management difficulties in traditional physical host and virtual private server (VPs, VIrtual Private Server) services. Large, weak business expansion defects. The server can also be a server of a distributed system, or a server combined with a blockchain.

应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本发申请中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本公开公开的技术方案所期望的结果，本文在此不进行限制。It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present application can be executed in parallel, sequentially or in different orders, and as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, no limitation is imposed herein.

上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护范围之内。The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure should be included within the protection scope of the present disclosure.

Claims

一种车辆控制方法，包括：A vehicle control method, comprising:

获取车辆的停车剩余距离和当前速度；Get the vehicle's parking remaining distance and current speed;

若获取的停车剩余距离和当前速度满足预设条件连续超过N次，所述预设条件包括所述停车剩余距离小于剩余距离阈值且所述当前速度小于第一速度阈值，所述N为预设的正整数，则：If the obtained parking remaining distance and current speed meet the preset conditions for more than N consecutive times, the preset conditions include that the parking remaining distance is less than the remaining distance threshold and the current speed is less than the first speed threshold, and N is a preset is a positive integer, then:

在停车剩余距离大于或等于预设的目标距离时，对所述车辆进行减速控制；在停车剩余距离小于所述目标距离时，对所述车辆进行停车控制。When the remaining parking distance is greater than or equal to the preset target distance, deceleration control is performed on the vehicle; when the remaining parking distance is less than the target distance, parking control is performed on the vehicle.
根据权利要求1所述的方法，其中，所述获取车辆的停车剩余距离包括：The method according to claim 1, wherein the obtaining the remaining parking distance of the vehicle comprises:

获取所述车辆到达停车点的规划路径；obtaining the planned path of the vehicle to the parking point;

获取所述车辆在所述规划路径上距离所述停车点的剩余路径长度作为所述停车剩余距离。The remaining path length of the vehicle from the parking point on the planned path is obtained as the remaining parking distance.
根据权利要求1所述的方法，其中，所述第一速度阈值是根据预设的平均减速度值和预设的停车时长确定的。The method according to claim 1, wherein the first speed threshold is determined according to a preset average deceleration value and a preset parking duration.
根据权利要求1所述的方法，其中，所述剩余距离阈值是根据平均停车位置误差、所述第一速度阈值和预设的平均减速度值确定的。The method of claim 1, wherein the remaining distance threshold is determined based on an average parking position error, the first speed threshold and a preset average deceleration value.
根据权利要求1所述的方法，其中，所述对车辆进行减速控制包括：利用所述剩余停车距离、所述目标距离、所述当前速度和预设的目标速度，控制车辆的油门值或刹车值；The method according to claim 1, wherein the deceleration control of the vehicle comprises: using the remaining parking distance, the target distance, the current speed and the preset target speed to control the accelerator value or braking of the vehicle value;

所述对车辆进行停车控制包括：利用所述剩余停车距离、所述当前速度、预设的目标速度和预设的第二速度阈值，控制车辆的刹车值。The parking control of the vehicle includes: using the remaining parking distance, the current speed, the preset target speed and the preset second speed threshold to control the braking value of the vehicle.
根据权利要求5所述的方法，其中，所述利用所述剩余停车距离、所述目标距离、所述当前速度和预设的目标速度，控制车辆的油门值或刹车值包括：The method according to claim 5, wherein, using the remaining parking distance, the target distance, the current speed and the preset target speed to control the accelerator value or the brake value of the vehicle comprises:

依据所述剩余停车距离和所述目标距离，确定位置偏差；Determine the position deviation according to the remaining parking distance and the target distance;

将所述位置偏差输入比例积分微分PID控制器的位置环，得到速度补偿量；Inputting the position deviation into the position loop of the proportional-integral-derivative PID controller to obtain the speed compensation amount;

利用所述当前速度、预设的目标速度以及所述速度补偿量，确定速度偏差；Using the current speed, the preset target speed and the speed compensation amount to determine the speed deviation;

将所述速度偏差输入PID控制器的速度环，得到加速度控制量；Input the speed deviation into the speed loop of the PID controller to obtain the acceleration control amount;

根据所述当前速度和所述加速度控制量查询标定表，确定对应的油门值或刹车值以对所述车辆进行减速控制。According to the current speed and the acceleration control amount, a calibration table is queried, and a corresponding accelerator value or brake value is determined to perform deceleration control on the vehicle.
根据权利要求5所述的方法，其中，所述利用所述剩余停车距离、所述当前速度、预设的目标速度和预设的第二速度阈值，控制车辆的刹车值包括：The method according to claim 5, wherein, using the remaining parking distance, the current speed, the preset target speed and the preset second speed threshold to control the braking value of the vehicle comprises:

若所述停车剩余距离小于或等于0，则向所述车辆下发第一刹车值的刹车命令；If the remaining distance to stop is less than or equal to 0, issuing a braking command with a first braking value to the vehicle;

若所述停车剩余距离大于0且所述当前速度大于或等于预设的目标速度，则向所述车辆下发第二刹车值的刹车命令；If the remaining distance to stop is greater than 0 and the current speed is greater than or equal to a preset target speed, issuing a braking command with a second braking value to the vehicle;

若所述停车剩余距离大于0、所述当前速度大于或等于预设的第二速度阈值且小于所述目标速度，则向所述车辆下发第三刹车值的刹车命令；If the remaining distance to stop is greater than 0, and the current speed is greater than or equal to a preset second speed threshold and less than the target speed, issuing a braking command with a third braking value to the vehicle;

若所述停车剩余距离大于0且所述当前速度小于所述第二速度阈值，则向所述车辆下发第一刹车值的刹车命令；If the remaining distance to stop is greater than 0 and the current speed is less than the second speed threshold, issuing a braking command with a first braking value to the vehicle;

其中，所述第一刹车值大于所述第二刹车值，所述第二刹车值大于所述第三刹车值；所述第二速度阈值小于所述目标速度。The first braking value is greater than the second braking value, the second braking value is greater than the third braking value, and the second speed threshold is less than the target speed.
一种车辆控制的装置，包括：A device for vehicle control, comprising:

获取单元，用于获取车辆的停车剩余距离和当前速度；an acquisition unit, used to acquire the remaining distance and current speed of the vehicle;

第一判断单元，用于判断所述获取单元获取的停车剩余距离和当前速度满足预设条件是否连续超过N次，所述预设条件包括所述停车剩余距离小于剩余距离阈值且所述当前速度小于第一速度阈值，所述N为预设的正整数；a first judging unit for judging whether the remaining parking distance and the current speed acquired by the obtaining unit meet a preset condition for more than N consecutive times, the preset conditions include that the parking remaining distance is less than a remaining distance threshold and the current speed is less than the first speed threshold, the N is a preset positive integer;

第二判断单元，用于在所述第一判断单元的判断结果为是时，判断所述停车剩余距离是否大于或等于预设的目标距离；a second judging unit, configured to judge whether the remaining parking distance is greater than or equal to a preset target distance when the judgment result of the first judging unit is yes;

减速控制单元，用于在所述第二判断单元的判断结果为是时，对所述车辆进行减速控制；a deceleration control unit, configured to perform deceleration control on the vehicle when the judgment result of the second judgment unit is yes;

停车控制单元，用于在所述第二判断单元的判断结果为否时，对所述车辆进行停车控制。A parking control unit, configured to perform parking control on the vehicle when the judgment result of the second judgment unit is no.
根据权利要求8所述的装置，其中，所述获取单元，具体用于获取所述车辆到达停车点的规划路径；获取所述车辆在所述规划路径上距离所述停车点的剩余路径长度作为所述停车剩余距离。The device according to claim 8, wherein the obtaining unit is specifically configured to obtain the planned path of the vehicle to the parking point; and obtain the remaining path length of the vehicle from the parking point on the planned path as The parking remaining distance.
根据权利要求8所述的装置，其中，所述第一速度阈值是根据预设的平均减速度值和预设的停车时长确定的。The device according to claim 8, wherein the first speed threshold is determined according to a preset average deceleration value and a preset parking duration.
根据权利要求8所述的装置，其中，所述剩余距离阈值是根据平均停车位置误差、所述第一速度阈值和预设的平均减速度值确定的。9. The apparatus of claim 8, wherein the remaining distance threshold is determined based on an average parking position error, the first speed threshold, and a preset average deceleration value.
根据权利要求8所述的装置，其中，所述减速控制单元，具体用于利用所述剩余停车距离、所述目标距离、所述当前速度和预设的目标速度，控制车辆的油门值或刹车值；The device according to claim 8, wherein the deceleration control unit is specifically configured to use the remaining parking distance, the target distance, the current speed and the preset target speed to control the accelerator value or braking of the vehicle value;

所述停车控制单元，具体用于利用所述剩余停车距离、所述当前速度、预设的目标速度和预设的第二速度阈值，控制车辆的刹车值。The parking control unit is specifically configured to use the remaining parking distance, the current speed, the preset target speed and the preset second speed threshold to control the braking value of the vehicle.
根据权利要求12所述的装置，其中，所述减速控制单元，具体用于依据所述剩余停车距离和所述目标距离，确定位置偏差；将所述位置偏差输入比例积分微分PID控制器的位置环，得到速度补偿量；利用所述当前速度、预设的目标速度以及所述速度补偿量，确定速度偏差；将所述速度偏差输入PID控制器的速度环，得到加速度控制量；根据所述当前速度和所述加速度控制量查询标定表，确定对应的油门值或刹车值以对所述车辆进行减速控制。The device according to claim 12, wherein the deceleration control unit is specifically configured to determine a position deviation according to the remaining parking distance and the target distance; and input the position deviation into the position of a proportional-integral-derivative PID controller loop to obtain the speed compensation amount; use the current speed, the preset target speed and the speed compensation amount to determine the speed deviation; input the speed deviation into the speed loop of the PID controller to obtain the acceleration control amount; according to the The current speed and the acceleration control amount query the calibration table to determine the corresponding accelerator value or brake value to decelerate the vehicle.
根据权利要求12所述的装置，其中，所述停车控制单元，具体用于若所述停车剩余距离小于或等于0，则向所述车辆下发第一刹车值的刹车命令；The device according to claim 12, wherein the parking control unit is specifically configured to issue a braking command of a first braking value to the vehicle if the remaining parking distance is less than or equal to 0;

若所述停车剩余距离大于0且所述当前速度大于或等于预设的目标速度，则向所述车辆下发第二刹车值的刹车命令；If the remaining distance to stop is greater than 0 and the current speed is greater than or equal to a preset target speed, issuing a braking command with a second braking value to the vehicle;

若所述停车剩余距离大于0、所述当前速度大于或等于预设的第二速度阈值且小于所述目标速度，则向所述车辆下发第三刹车值的刹车命令；If the remaining distance to stop is greater than 0, and the current speed is greater than or equal to a preset second speed threshold and less than the target speed, issuing a braking command with a third braking value to the vehicle;

若所述停车剩余距离大于0且所述当前速度小于所述第二速度阈值，则向所述车辆下发第一刹车值的刹车命令；If the remaining distance to stop is greater than 0 and the current speed is less than the second speed threshold, issuing a braking command with a first braking value to the vehicle;

其中，所述第一刹车值大于所述第二刹车值，所述第二刹车值大于所述第三刹车值；所述第二速度阈值小于所述目标速度。The first braking value is greater than the second braking value, the second braking value is greater than the third braking value, and the second speed threshold is less than the target speed.
一种电子设备，包括：An electronic device comprising:

至少一个处理器；以及at least one processor; and

与所述至少一个处理器通信连接的存储器；其中，a memory communicatively coupled to the at least one processor; wherein,

所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-7中任一项所述的方法。The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the execution of any of claims 1-7 Methods.
一种存储有计算机指令的非瞬时计算机可读存储介质，其中，所述计算机指令用于使所述计算机执行权利要求1-7中任一项所述的方法。A non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现根据权利要求1-7中任一项所述的方法。A computer program product comprising a computer program which, when executed by a processor, implements the method of any of claims 1-7.