CN-121973810-A - Vehicle speed planning method and device, vehicle and storage medium

CN121973810ACN 121973810 ACN121973810 ACN 121973810ACN-121973810-A

Abstract

The application provides a vehicle speed planning method, a vehicle speed planning device, a vehicle and a storage medium, and relates to the technical field of automatic driving. The method comprises the steps of carrying out discretization processing on a path to be planned based on a plurality of path points to obtain a plurality of sub-paths, configuring candidate vehicle speeds for each path point, sequentially determining forward running energy consumption of each sub-path along a forward direction and sequentially determining reverse running energy consumption of each sub-path along a reverse direction, for each sub-path, determining the target vehicle speed from the candidate vehicle speeds of each path point by taking the lowest whole-course running energy consumption from a running starting point to a running end point as a target, and realizing vehicle speed planning, wherein the running energy consumption is energy consumed by changing a first vehicle speed to a second vehicle speed when the vehicle runs on the sub-path. By discretizing the path to be planned, the purpose of forward and reverse bidirectional vehicle speed planning is achieved, planning timeliness is improved, the requirement of vehicle speed real-time planning is met, safety, riding comfort and passing efficiency of vehicle driving are improved, and energy consumption is reduced.

Inventors

SUN YAN
HAN LELE
HAN LINPEI
HOU JIANMEI

Assignees

浙江吉利控股集团有限公司
浙江远程新能源商用车集团有限公司
浙江远程商用车研发有限公司

Dates

Publication Date: 20260505
Application Date: 20260211

Claims (13)

1. A vehicle speed planning method, the method comprising: the method comprises the steps of obtaining a current path to be planned of a vehicle, discretizing the path to be planned based on a plurality of preset path points, and obtaining a plurality of sub-paths; For each sub-path, taking the candidate vehicle speed of a first path point along a positive direction as a first vehicle speed and the candidate vehicle speed of a second path point as a second vehicle speed, wherein the positive direction is the direction from the running start point to the running end point of the path to be planned; determining forward running energy consumption of each sub-path sequentially along the forward direction and determining reverse running energy consumption of each sub-path sequentially along the reverse direction, wherein for each sub-path, the running energy consumption is energy consumed by the vehicle from the first vehicle speed to the second vehicle speed when running on the sub-path, and the reverse direction is the direction from the running end point to the running start point; And determining a target vehicle speed when the vehicle runs to each route point from the corresponding candidate vehicle speeds by taking the lowest whole-course running energy consumption from the running starting point to the running ending point as a target according to the forward running energy consumption and the reverse running energy consumption.
2. The vehicle speed planning method according to claim 1, wherein configuring a plurality of candidate vehicle speeds for each of the route points, respectively, includes: Obtaining the maximum allowable speed of the vehicle; Selecting a plurality of alternative vehicle speeds from a vehicle speed section formed by the appointed vehicle speed to the maximum allowable vehicle speed; configuring each candidate vehicle speed as a candidate vehicle speed of a route point corresponding to the running starting point; Taking the path point corresponding to the running starting point as a current path point; Along the positive direction, determining candidate vehicle speeds of the next path point of the current path point according to the candidate vehicle speeds and the candidate vehicle speeds of the current path point; And taking the next path point as the current path point, and returning to the step of determining the candidate vehicle speed of the next path point of the current path point according to each candidate vehicle speed of each candidate vehicle speed and each candidate vehicle speed of the current path point until the candidate vehicle speed of the path point corresponding to the driving end point is determined.
3. The vehicle speed planning method according to claim 2, wherein determining the candidate vehicle speed for the next route point of the current route point from each of the candidate vehicle speeds and each of the candidate vehicle speeds for the current route point includes: acquiring the maximum acceleration and the maximum deceleration allowed by the vehicle; Respectively determining a maximum termination vehicle speed when the vehicle uniformly accelerates from the current path point to the next path point at the maximum acceleration and a minimum termination vehicle speed when the vehicle uniformly decelerates from the current path point to the next path point at the maximum deceleration by taking the candidate vehicle speed of the current path point as a starting vehicle speed; and extracting the vehicle speed meeting a limiting condition from the candidate vehicle speeds as the candidate vehicle speed of the next path point, wherein the limiting condition is that the candidate vehicle speed is smaller than or equal to the maximum termination vehicle speed and larger than or equal to the minimum termination vehicle speed.
4. The vehicle speed planning method according to claim 1, characterized in that determining a target vehicle speed at which the vehicle travels to each of the waypoints from the respective candidate vehicle speeds with the lowest overall travel energy consumption from the travel start point to the travel end point as a target based on the forward travel energy consumption and the reverse travel energy consumption, comprises: Determining a converging path point of the forward running energy consumption and the reverse running energy consumption in parallel in the process of determining the forward running energy consumption and the reverse running energy consumption, taking a candidate vehicle speed corresponding to the converging path point as a converging vehicle speed, taking a path from the running starting point to the converging path point as a first path section, and taking a path from the converging path point to the running end point as a second path section; Determining each forward vehicle speed track which takes the lowest running energy consumption of the first path section as a target and takes each collected vehicle speed as a termination vehicle speed according to the forward running energy consumption of each sub path, wherein the forward vehicle speed track consists of only candidate vehicle speeds of each path point on the first path section; Determining each reverse vehicle speed track which takes the lowest running energy consumption of the second path section as a target and takes each collected vehicle speed as a starting vehicle speed according to the reverse running energy consumption of each sub path, wherein the reverse vehicle speed track consists of only candidate vehicle speeds of each path point on the second path section; The forward speed track and the reverse speed track which are the same in the collected speed are spliced to obtain all whole-course speed tracks; And screening a target whole-course vehicle speed track with the lowest whole-course running energy consumption from the whole-course vehicle speed tracks, and taking the candidate vehicle speed in the target whole-course vehicle speed track as the target vehicle speed.
5. The vehicle speed planning method according to claim 4, wherein determining each forward vehicle speed trajectory targeting the lowest running energy consumption of the first path segment and each of the collective vehicle speeds as a termination vehicle speed, comprises: enumerating all initial forward speed tracks, wherein the initial forward speed tracks are formed by any one candidate speed of each path point on the first path section; Determining the driving energy consumption corresponding to the initial forward vehicle speed track according to the forward driving energy consumption of each sub-path; and aiming at each initial forward speed track taking the same collected speed as the termination speed, screening the track with the minimum running energy consumption as the forward speed track so as to obtain each forward speed track.
6. The vehicle speed planning method of claim 4, wherein determining respective reverse vehicle speed trajectories targeting the lowest running energy consumption of the second path segment and each of the aggregate vehicle speeds as a starting vehicle speed comprises: in the process of determining the reverse driving energy consumption, taking the first sub-path as a current sub-path along the reverse direction; Determining all initial sub-vehicle speed tracks of the current sub-path, wherein the initial sub-vehicle speed tracks are formed by any one candidate vehicle speed of each path point in the current sub-path; Aiming at each initial sub-vehicle speed track taking the same first vehicle speed as a starting vehicle speed, screening a track with the minimum reverse running energy consumption as a target sub-vehicle speed track so as to obtain each target sub-vehicle speed track corresponding to each first vehicle speed; returning the next sub-path as the current sub-path to the step of determining all initial sub-vehicle speed tracks of the current sub-path until all target sub-vehicle speed tracks of the sub-path where the collecting path points are located are obtained; And determining each reverse vehicle speed track based on each target sub-vehicle speed track.
7. The vehicle speed planning method of claim 6, wherein determining each of the reverse vehicle speed trajectories based on each of the target sub-vehicle speed trajectories comprises: splicing the target sub-vehicle speed tracks of all the sub-paths to obtain an initial reverse vehicle speed track of the second path section; Determining the driving energy consumption corresponding to the initial reverse vehicle speed track according to the reverse driving energy consumption of each sub-path; and aiming at all initial reverse vehicle speed tracks taking the same collected vehicle speed as a starting vehicle speed, screening the track with the minimum running energy consumption as the reverse vehicle speed track so as to obtain all the reverse vehicle speed tracks.
8. The vehicle speed planning method according to claim 1, characterized in that the method further comprises: acquiring current resource occupation parameters, wherein the resource occupation parameters at least comprise memory load rate; And stopping executing the step of sequentially determining the forward running energy consumption of each sub-path along the forward direction when the resource occupation parameter is within the corresponding threshold range, and continuing executing the step of sequentially determining the reverse running energy consumption of each sub-path along the reverse direction.
9. The vehicle speed planning method according to claim 1, characterized in that determining the running energy consumption for each of the sub-paths includes: Acquiring external resistance of the vehicle and the current opening degree of a brake pedal, wherein the external resistance comprises at least one of rolling resistance, air resistance and ramp resistance; determining acceleration resistance and driving duration of the vehicle when the vehicle runs on the sub-path according to the first vehicle speed and the second vehicle speed; the sum of the external resistance and the acceleration resistance is used as the total traction force, and the driving consumed energy is determined according to the total traction force and the driving duration; Determining a motor braking force according to the first vehicle speed, the second vehicle speed and the current brake pedal opening, and determining brake recovery energy according to the motor braking force and the driving duration; And subtracting the braking recovery energy from the driving consumption energy to obtain a difference value as the driving energy consumption.
10. The vehicle speed planning method according to claim 9, characterized by further comprising, after determining the total traction force and the motor braking force: Determining the estimated charge amount when the vehicle runs to a path point corresponding to the second vehicle speed according to the first vehicle speed, the second vehicle speed and the current charge amount of the vehicle; taking the total traction force, the motor braking force and the estimated charge amount as evaluation parameters of the second vehicle speed; And eliminating the second vehicle speed of which any evaluation parameter is not in the corresponding preset range from the second vehicle speeds.
11. A vehicle speed planning apparatus, characterized in that the apparatus comprises: The path dividing module is used for acquiring a current path to be planned of the vehicle, and discretizing the path to be planned based on a plurality of preset path points to obtain a plurality of sub-paths; The speed configuration module is used for respectively configuring a plurality of candidate vehicle speeds for each path point, wherein for each sub-path, the candidate vehicle speed of a first path point along a positive direction is taken as a first vehicle speed, and the candidate vehicle speed of a second path point is taken as a second vehicle speed; The energy consumption determining module is used for sequentially determining forward running energy consumption of each sub-path along the forward direction and reverse running energy consumption of each sub-path along the reverse direction, wherein the running energy consumption is energy consumed by the vehicle from the first vehicle speed to the second vehicle speed when running on the sub-path for each sub-path, and the reverse direction is the direction from the running end point to the running start point; And the target vehicle speed determining module is used for determining the target vehicle speed when the vehicle runs to each path point from the corresponding candidate vehicle speeds by taking the lowest whole-course running energy consumption from the running starting point to the running ending point as a target according to the forward running energy consumption and the reverse running energy consumption.
12. A vehicle, characterized by comprising: A memory for storing a computer program; A processor for implementing the steps of the vehicle speed planning method according to any one of claims 1 to 10 when executing the computer program.
13. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle speed planning method according to any one of claims 1 to 10.

Description

Vehicle speed planning method and device, vehicle and storage medium Technical Field The application relates to the technical field of automatic driving, in particular to a vehicle speed planning method and device, a vehicle and a storage medium. Background With the rapid development of the autopilot technology, more and more autopilot vehicles are put into use. The key part of the automatic driving technology is vehicle speed planning, wherein the vehicle speed planning refers to planning of driving speeds for all path points on a vehicle driving path. Since timeliness of vehicle speed planning is directly related to safety, riding comfort, energy consumption, and the like of vehicle running, timeliness is one of important evaluation indexes of vehicle speed planning. The existing vehicle speed planning method is generally low in planning speed, so that the problems of increased accident risk, large vehicle speed fluctuation, low traffic efficiency, increased energy consumption and the like are caused. Therefore, the existing vehicle speed planning method has poor performance in the aspects of safety, riding comfort, passing efficiency, energy consumption and the like, and is difficult to meet the requirement of vehicle speed real-time planning. Therefore, how to improve the timeliness of vehicle speed planning is a problem to be solved by those skilled in the art. Disclosure of Invention In view of this, the present application provides a vehicle speed planning method, the method including: the method comprises the steps of obtaining a current path to be planned of a vehicle, discretizing the path to be planned based on a plurality of preset path points, and obtaining a plurality of sub-paths; For each sub-path, taking the candidate vehicle speed of a first path point along a positive direction as a first vehicle speed and the candidate vehicle speed of a second path point as a second vehicle speed, wherein the positive direction is the direction from the running start point to the running end point of the path to be planned; determining forward running energy consumption of each sub-path sequentially along the forward direction and determining reverse running energy consumption of each sub-path sequentially along the reverse direction, wherein for each sub-path, the running energy consumption is energy consumed by the vehicle from the first vehicle speed to the second vehicle speed when running on the sub-path, and the reverse direction is the direction from the running end point to the running start point; And determining a target vehicle speed when the vehicle runs to each route point from the corresponding candidate vehicle speeds by taking the lowest whole-course running energy consumption from the running starting point to the running ending point as a target according to the forward running energy consumption and the reverse running energy consumption. Optionally, a plurality of candidate vehicle speeds are respectively configured for each path point, including: Obtaining the maximum allowable speed of the vehicle; Selecting a plurality of alternative vehicle speeds from a vehicle speed section formed by the appointed vehicle speed to the maximum allowable vehicle speed; configuring each candidate vehicle speed as a candidate vehicle speed of a route point corresponding to the running starting point; Taking the path point corresponding to the running starting point as a current path point; Along the positive direction, determining candidate vehicle speeds of the next path point of the current path point according to the candidate vehicle speeds and the candidate vehicle speeds of the current path point; And taking the next path point as the current path point, and returning to the step of determining the candidate vehicle speed of the next path point of the current path point according to each candidate vehicle speed of each candidate vehicle speed and each candidate vehicle speed of the current path point until the candidate vehicle speed of the path point corresponding to the driving end point is determined. Optionally, determining the candidate vehicle speed of the next path point of the current path point according to each candidate vehicle speed of the candidate vehicle speed and each candidate vehicle speed of the current path point includes: acquiring the maximum acceleration and the maximum deceleration allowed by the vehicle; Respectively determining a maximum termination vehicle speed when the vehicle uniformly accelerates from the current path point to the next path point at the maximum acceleration and a minimum termination vehicle speed when the vehicle uniformly decelerates from the current path point to the next path point at the maximum deceleration by taking the candidate vehicle speed of the current path point as a starting vehicle speed; and extracting the vehicle speed meeting a limiting condition from the candidate vehicle speeds as the candidate vehicle speed of the next path