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CN-121973786-A - Vehicle speed planning method and device, readable storage medium and electronic equipment

CN121973786ACN 121973786 ACN121973786 ACN 121973786ACN-121973786-A

Abstract

The invention provides a vehicle speed planning method, a vehicle speed planning device, a readable storage medium and electronic equipment, wherein the method comprises the steps of collecting and rolling dynamic traffic information on a target path in real time; based on the dynamic traffic information, the current driving scene is identified as a following scene Jing Huofei in real time, a non-following scene and a reference vehicle speed under the following scene are generated, a dynamic safety constraint condition set comprising motor rotation speed, vehicle speed, motor torque and battery power is built, a prediction model comprising a vehicle longitudinal dynamics model and a motor energy consumption model is built, a multi-objective optimization problem is built and solved under a model prediction control frame, an optimal motor torque control sequence and a speed planning sequence are obtained, and the vehicle is controlled according to the motor torque control sequence and the speed planning sequence. The invention improves the rationality of vehicle running speed planning under the actual vehicle condition.

Inventors

  • HUANG LONG
  • FENG WANQIANG
  • CHEN LIANG
  • ZENG XIANGQUAN

Assignees

  • 南昌智能新能源汽车研究院

Dates

Publication Date
20260505
Application Date
20260409

Claims (8)

  1. 1. The vehicle speed planning method is characterized by comprising the following steps of: collecting and rolling to store dynamic traffic information on a target path in real time, wherein the dynamic traffic information comprises a traffic signal lamp time sequence state, surrounding vehicle information and road topography information; based on the dynamic traffic information, the current driving scene is recognized as a following scene or a non-following scene in real time by judging whether the relative distance and the relative speed between the own vehicle and the front vehicle enter a preset following interaction interval; when the traffic signal lamp is in a non-following scene, generating a reference vehicle speed according to the time sequence state of the traffic signal lamp and road terrain information; when the vehicle is in a following scene, generating a reference vehicle speed according to the surrounding vehicle information; Predicting surrounding vehicle behaviors based on the surrounding vehicle information, and constructing a dynamic safety constraint condition set comprising motor rotation speed, vehicle speed, motor torque and battery power by combining the characteristics of a brake system of a vehicle; establishing a prediction model comprising a vehicle longitudinal dynamics model and a motor energy consumption model, taking a generated reference vehicle speed as a tracking target, taking the dynamic safety constraint condition set as a boundary, and constructing and solving a multi-target optimization problem under a model prediction control framework to obtain an optimal motor torque control sequence and a speed planning sequence, wherein an objective function of the optimization problem at least comprises an energy consumption economical index, a speed tracking index, a torque comfort index and a terminal punishment index; and controlling the vehicle according to the motor torque control sequence and the speed planning sequence.
  2. 2. The vehicle speed planning method of claim 1, wherein the step of generating the reference vehicle speed when the non-following scene is present comprises: Based on the time sequence states of the two front signal lamps, according to the green wave passing rule, the terminal running speed and the terminal distance are deduced, the optimization problem is constructed, and the green wave passing reference speed at the current moment is calculated.
  3. 3. The vehicle speed planning method according to claim 1, wherein the step of generating the reference vehicle speed when the following scene is present includes: and calculating a safe following reference speed according to the relative distance between the front vehicle and the vehicle, the relative speed and the vehicle speed of the vehicle.
  4. 4. The vehicle speed planning method according to claim 1, wherein the expression of the objective function J is: ; Wherein, the , Wherein, the Is the prediction time domain of the time domain, Is the reference vehicle speed set by the driver, Is the actual motor torque at the current moment, For the reference motor torque to be referred to, Is the weight coefficient of the weight of the object, Is the time interval from the kth time to the k +1 time, In order to be an index of energy consumption and economy, As an index of the speed-tracking property, As an index of the torque comfort, the torque, Punishment indexes are used for the terminal.
  5. 5. A vehicle speed planning apparatus, comprising: the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring and rolling-storing dynamic traffic information on a target path in real time, wherein the dynamic traffic information comprises a traffic signal lamp time sequence state, surrounding vehicle information and road topography information; the identification module is used for identifying the current driving scene as a following scene or a non-following scene in real time by judging whether the relative distance and the relative speed between the own vehicle and the front vehicle enter a preset following interaction interval or not based on the dynamic traffic information; The first generation module is used for generating a reference vehicle speed according to the time sequence state of the traffic signal lamp and road topography information when the traffic signal lamp is a non-following scene; The second generation module is used for generating a reference vehicle speed according to the surrounding vehicle information when the vehicle following scene is adopted; The construction module is used for predicting surrounding vehicle behaviors based on the surrounding vehicle information and combining the characteristics of a vehicle braking system to construct a dynamic safety constraint condition set comprising motor rotation speed, vehicle speed, motor torque and battery power; The model prediction module is used for establishing a prediction model comprising a vehicle longitudinal dynamics model and a motor energy consumption model, taking the generated reference vehicle speed as a tracking target, taking the dynamic safety constraint condition set as a boundary, constructing and solving a multi-target optimization problem under a model prediction control framework to obtain an optimal motor torque control sequence and a speed planning sequence, wherein the objective function of the optimization problem at least comprises an energy consumption economical index, a speed tracking index, a torque comfort index and a terminal punishment index; And the control module is used for controlling the vehicle according to the motor torque control sequence and the speed planning sequence.
  6. 6. The vehicle speed planning apparatus according to claim 5, wherein the expression of the objective function J is: ; Wherein, the , Wherein, the Is the prediction time domain of the time domain, Is the reference vehicle speed set by the driver, Is the actual motor torque at the current moment, For the reference motor torque to be referred to, Is the weight coefficient of the weight of the object, Is the time interval from the kth time to the k +1 time, In order to be an index of energy consumption and economy, As an index of the speed-tracking property, As an index of the torque comfort, the torque, Punishment indexes are used for the terminal.
  7. 7. An electronic device comprising a memory and a processor, the memory storing a program that when executed by the processor implements the method of any of claims 1-4.
  8. 8. A computer readable storage medium, on which a program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-4.

Description

Vehicle speed planning method and device, readable storage medium and electronic equipment Technical Field The present invention relates to the field of automobiles, and in particular, to a vehicle speed planning method and apparatus, a readable storage medium, and an electronic device. Background With the development of new energy automobile technology at present, the demand of users for the intelligent degree of vehicles is also higher and higher, the intelligent traffic system becomes an important way for solving a plurality of problems, and the reliable mapping and positioning capability plays a vital role in autonomous cruise control, collision early warning and path planning. The reasonable planning of the vehicle speed plays a vital role in the running safety, comfort and economy of the vehicle in the road running process. Disclosure of Invention In view of the above, the present invention aims to provide a method for fusing vehicle speed information and road environment information, which fully plays the advantages of information data and intelligent algorithms, further improves the rationality of vehicle running speed planning under the actual vehicle condition, and can update the speed in real time according to the relevant road information on the forward path and the behavior characteristics of surrounding vehicles, thereby overcoming a plurality of problems of single data information in vehicle speed planning application. In order to achieve the above objective, the present invention provides a vehicle speed planning method, a vehicle speed planning device, a readable storage medium and an electronic device. The invention provides a vehicle speed planning method, which comprises the following steps: collecting and rolling to store dynamic traffic information on a target path in real time, wherein the dynamic traffic information comprises a traffic signal lamp time sequence state, surrounding vehicle information and road topography information; based on the dynamic traffic information, the current driving scene is recognized as a following scene or a non-following scene in real time by judging whether the relative distance and the relative speed between the own vehicle and the front vehicle enter a preset following interaction interval; when the traffic signal lamp is in a non-following scene, generating a reference vehicle speed according to the time sequence state of the traffic signal lamp and road terrain information; when the vehicle is in a following scene, generating a reference vehicle speed according to the surrounding vehicle information; Predicting surrounding vehicle behaviors based on the surrounding vehicle information, and constructing a dynamic safety constraint condition set comprising motor rotation speed, vehicle speed, motor torque and battery power by combining the characteristics of a brake system of a vehicle; establishing a prediction model comprising a vehicle longitudinal dynamics model and a motor energy consumption model, taking a generated reference vehicle speed as a tracking target, taking the dynamic safety constraint condition set as a boundary, and constructing and solving a multi-target optimization problem under a model prediction control framework to obtain an optimal motor torque control sequence and a speed planning sequence, wherein an objective function of the optimization problem at least comprises an energy consumption economical index, a speed tracking index, a torque comfort index and a terminal punishment index; and controlling the vehicle according to the motor torque control sequence and the speed planning sequence. Further, in the vehicle speed planning method, when the vehicle is a non-following vehicle scene, the step of generating the reference vehicle speed includes: Based on the time sequence states of the two front signal lamps, according to the green wave passing rule, the terminal running speed and the terminal distance are deduced, the optimization problem is constructed, and the green wave passing reference speed at the current moment is calculated. Further, in the vehicle speed planning method, when the vehicle is a following scene, the step of generating the reference vehicle speed includes: and calculating a safe following reference speed according to the relative distance between the front vehicle and the vehicle, the relative speed and the vehicle speed of the vehicle. Further, in the vehicle speed planning method, the expression of the objective function J is: ; Wherein, the , , Wherein, the Is the prediction time domain of the time domain,Is the reference vehicle speed set by the driver,Is the actual motor torque at the current moment,For the reference motor torque to be referred to,Is the weight coefficient of the weight of the object,Is the time interval from the kth time to the k +1 time,In order to be an index of energy consumption and economy,As an index of the speed-tracking property,As an index of the torque comfort, the tor