Method for controlling vehicle speed for autonomous driving, electronic device, and computer-readable storage medium

An electronic device, comprising:

• one or more processors;
• and
• a memory for storing one or more programs, wherein the one or more programs when executed by the one or more processors cause the one or more processors to perform a method of controlling a vehicle speed for autonomous driving, the method comprising:
• obtaining in real time a basic vehicle speed control instruction output by a central controller of a target vehicle;
• generating an ideal speed parameter matching the basic vehicle speed control instruction according to a preset processing delay, the preset processing delay being determined according to historical vehicle speed control empirical parameters of a plurality of vehicles matching the target vehicle;
• generating an additional vehicle speed control instruction to perform vehicle speed control on the target vehicle according to a difference between the ideal speed parameter and a real-time speed parameter of the target vehicle;
• and
• returning to perform the operation of generating the ideal speed parameter matching the basic vehicle speed control instruction according to the preset processing delay until the real-time speed parameter of the target vehicle tends to be consistent with the ideal speed parameter;
• wherein the basic vehicle speed control instruction and the additional vehicle speed control instruction are configured to control the target vehicle to perform a matched vehicle speed control operation,
• wherein the ideal speed parameter comprises an ideal speed and an ideal acceleration, the real-time speed parameter comprises a real-time speed and a real-time acceleration,
• wherein generating the additional vehicle speed control instruction to perform the vehicle speed control on the target vehicle according to the difference between the ideal speed parameter and the real-time speed parameter of the target vehicle comprises:
• computing the additional vehicle speed control instruction based on the following formula:
• Cad=Kpv (Vref−Vmea)+Kpa (aref−amea), where Cad is the additional vehicle speed control instruction, Kpv, is a speed proportional coefficient, Vref is the ideal speed in the ideal speed parameter, Vmea is the real-time speed in the real-time speed parameter, Kpa is an acceleration proportional coefficient, aref is the ideal acceleration in the ideal speed parameter, and amea is the real-time acceleration in the real-time speed parameter;
• and
• performing the vehicle speed control on the target vehicle according to the basic vehicle speed control instruction and the additional vehicle speed control instruction.

A computer-readable storage medium storing one or more computer programs, the one or more computer programs when executed on a processor being configured for performing a method for controlling a vehicle speed for autonomous driving, the method comprising the following operations:

• obtaining a basic vehicle speed control instruction output by a central controller of a target vehicle in real time;
• generating an ideal speed parameter matching the basic vehicle speed control instruction according to a preset processing delay, the preset processing delay being determined according to historical vehicle speed control empirical parameters of a plurality of vehicles matching the target vehicle;
• generating an additional vehicle speed control instruction to perform vehicle speed control on the target vehicle according to a difference between the ideal speed parameter and a real-time speed parameter of the target vehicle;
• and
• returning to perform the operation of generating the ideal speed parameter matching the basic vehicle speed control instruction according to the preset processing delay until the real-time speed parameter of the target vehicle tends to be consistent with the ideal speed parameter;
• wherein the basic vehicle speed control instruction and the additional vehicle speed control instruction are configured to control the target vehicle to perform a matched vehicle speed control operation,
• wherein the ideal speed parameter comprises an ideal speed and an ideal acceleration, the real-time speed parameter comprises a real-time speed and a real-time acceleration,
• wherein generating the additional vehicle speed control instruction to perform the vehicle speed control on the target vehicle according to the difference between the ideal speed parameter and the real-time speed parameter of the target vehicle comprises:
• computing the additional vehicle speed control instruction based on the following formula:
• Cad=Kpv (Vref−Vmea)+Kpa (aref−amea), where Cad is the additional vehicle speed control instruction, Kpv is a speed proportional coefficient, Vref is the ideal speed in the ideal speed parameter, Vmea is the real-time speed in the real-time speed parameter, Kpa is an acceleration proportional coefficient, aref is the ideal acceleration in the ideal speed parameter, and amea is the real-time acceleration in the real-time speed parameter;
• and
• performing the vehicle speed control on the target vehicle according to the basic vehicle speed control instruction and the additional vehicle speed control instruction.