# US 11,993,259 B2 · Vehicle speed control method and apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,259 B2 - Document ID: US11993259B2 - Status: Granted - Kind: B2 - Application number: 17/407,017 - Filed: 2021-08-19 - Published: 2022-05-12 - Granted: 2024-05-28 - Earliest claimed: 2019-02-20 - Assignees: Venti Technologies Corporation - Applicants: Venti Technologies Corporation - Inventors: Xinxin Du - Web page: https://patentgrep.com/patent/US11993259B2 ## CPC - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 30/146: {Speed limiting} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 50/0097: {Predicting future conditions} - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - B60K 2310/244: changing target speed or setting a new target speed, e.g. changing algorithms - B60W 2520/10: Longitudinal speed - B60W 2520/125: Lateral acceleration - B60W 2540/18: Steering angle - B60W 2552/20: Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments - B60W 2552/30: Road curve radius - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/00: Input parameters relating to objects - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2720/10: Longitudinal speed - B60W 2720/125: Lateral acceleration - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES ## Abstract A vehicle speed control method, the method comprises: when a vehicle body is in a normal state, determining a first vehicle speed of the vehicle body based on road safety information; acquiring a driving segment of the vehicle body, and determining a pose variation amount of the vehicle body within the driving segment; determining a tangential acceleration of the vehicle body within the driving segment according to a correlation between the pose variation amount of the vehicle body and the tangential acceleration of the vehicle body; when the tangential acceleration of the vehicle body reaches a preset maximum tangential acceleration, determining a second vehicle speed of the vehicle body; and determining whether the second vehicle speed is smaller than the first vehicle speed, and if the second vehicle speed is smaller than the first vehicle speed, determining the second vehicle speed to be a target vehicle speed. ## Claims ### Claim 1 A vehicle speed control method for an unmanned driving vehicle, comprising: in response to a vehicle body of the unmanned driving vehicle being in a normal state, determining, by a processor, a first vehicle speed of the vehicle body that enables the vehicle body to follow a planned trace based on road safety information; detecting, by a sensing device on the vehicle body, a travel section at which the vehicle body is traveling to determine a pose variation amount of the vehicle body in the travel section; determining a tangential acceleration of the vehicle body along a travel trace in the travel section, by the processor, based on the pose variation amount and a predetermined correspondence between the pose variation amount of the vehicle body and the tangential acceleration of the vehicle body; in response to the tangential acceleration of the vehicle body reaching a preset maximum tangential acceleration, determining a second vehicle speed of the vehicle body by the processor; judging whether the second vehicle speed is smaller than the first vehicle speed by the processor; in response to the second vehicle speed being smaller than the first vehicle speed, determining the second vehicle speed as a target vehicle speed by the processor, and in response to the second vehicle speed being greater than the first vehicle speed, determining the first vehicle speed as the target vehicle speed by the processor; and controlling the unmanned driving vehicle to travel at the target vehicle speed. ### Claim 2 (depends on 1) The method according to claim 1, wherein the road safety information comprises: one or more of information on safely avoiding obstacles, over-the-line driving information, speed-limit information, safe distance information, lane shifting information, and traffic light information. ### Claim 3 (depends on 1) The method according to claim 1, wherein said detecting, by the sensing device on the vehicle body, the travel section at which the vehicle body is traveling to determine a pose variation amount of the vehicle body in the travel section comprises: simulating the travel trace of the vehicle body in the travel section to determine curvature change information of the travel trace; and determining the pose variation amount of the vehicle body in the travel section according to the curvature change information of the travel trace. ### Claim 4 (depends on 3) The method according to claim 3, wherein said determining the pose variation amount of the vehicle body in the travel section according to the curvature change information of the travel trace comprises: dividing the travel trace into a plurality of sub-sections according to the curvature change information of the travel trace to acquire steering wheel rotation angle information of the vehicle body in the sub-sections; and determining the pose variation amount of the vehicle body in the travel section according to a correspondence between the steering wheel rotation angle information of the vehicle body and a pose variation of the vehicle body. ### Claim 5 (depends on 1) The method according to claim 1, further comprising: detecting a node at which switching is performed between the first vehicle speed and the second vehicle speed to perform smoothening on the target vehicle speed at the node. ### Claim 6 (depends on 1) The method according to claim 1, further comprising: in response to the vehicle body being in an abnormal state, determining a maximum driving speed of the vehicle body; and controlling the target vehicle speed to be smaller than or equal to the maximum driving speed of the vehicle body. ### Claim 7 A vehicle speed control device for an unmanned driving vehicle, comprising: a processor; and a memory configured to store an instruction executable for the processor, wherein the processor is configured to perform operations comprising: in response to a vehicle body of the unmanned driving vehicle being in a normal state, determining, by the processor, a first vehicle speed of the vehicle body that enables the vehicle body to follow a planned trace based on road safety information; detecting, by a sensing device on the vehicle body, a travel section at which the vehicle body is traveling to determine a pose variation amount of the vehicle body in the travel section; determining a tangential acceleration of the vehicle body along a travel trace in the travel section, by the processor, based on the pose variation amount and a predetermined correspondence between the pose variation amount of the vehicle body and the tangential acceleration of the vehicle body; in response to the tangential acceleration of the vehicle body reaching a preset maximum tangential acceleration, determining a second vehicle speed of the vehicle body by the processor; judging whether the second vehicle speed is smaller than the first vehicle speed by the processor; in response to the second vehicle speed being smaller than the first vehicle speed, determining the second vehicle speed as a target vehicle speed by the processor, and in response to the second vehicle speed being greater than the first vehicle speed, determining the first vehicle speed as the target vehicle speed by the processor; and controlling the unmanned driving vehicle to travel at the target vehicle speed. ### Claim 8 (depends on 7) The device according to claim 7, wherein the road safety information comprises: one or more of information on safely avoiding obstacles, over-the-line driving information, speed-limit information, safe distance information, lane shifting information, and traffic light information. ### Claim 9 (depends on 7) The device according to claim 7, wherein said detecting, by the sensing device on the vehicle body, the travel section at which the vehicle body is traveling to determine a pose variation amount of the vehicle body in the travel section comprises: simulating the travel trace of the vehicle body in the travel section to determine curvature change information of the travel trace; and determining the pose variation amount of the vehicle body in the travel section according to the curvature change information of the travel trace. ### Claim 10 (depends on 9) The device according to claim 9, wherein said determining the pose variation amount of the vehicle body in the travel section according to the curvature change information of the travel trace comprises: dividing the travel trace into a plurality of sub-sections according to the curvature change information of the travel trace to acquire steering wheel rotation angle information of the vehicle body in the sub-sections; and determining the pose variation amount of the vehicle body in the travel section according to a correspondence between the steering wheel rotation angle information of the vehicle body and a pose variation of the vehicle body. ### Claim 11 (depends on 7) The device according to claim 7, wherein the processor is further configured to: detect a node on which switching is performed between the first vehicle speed and the second vehicle speed to perform smoothening on the target vehicle speed at the node. ### Claim 12 (depends on 7) The device according to claim 7, wherein the processor is further configured to: in response to the vehicle body being in an abnormal state, determine a maximum driving speed of the vehicle body; and control the target vehicle speed to be smaller than or equal to the maximum driving speed of the vehicle body. ### Claim 13 A non-transitory computer-readable storage medium, wherein when an instruction in the storage medium is executed by a processor, the processor is enabled to perform operations for an unmanned driving vehicle comprising: in response to a vehicle body of the unmanned driving vehicle being in a normal state, determining, by the processor, a first vehicle speed of the vehicle body that enables the vehicle body to follow a planned trace based on road safety information; detecting, by a sensing device on the vehicle body, a travel section at which the vehicle body is traveling to determine a pose variation amount of the vehicle body in the travel section; determining a tangential acceleration of the vehicle body along a travel trace in the travel section, by the processor, based on the pose variation amount and a predetermined correspondence between the pose variation amount of the vehicle body and the tangential acceleration of the vehicle body; in response to the tangential acceleration of the vehicle body reaching a preset maximum tangential acceleration, determining a second vehicle speed of the vehicle body by the processor; judging whether the second vehicle speed is smaller than the first vehicle speed by the processor; in response to the second vehicle speed being smaller than the first vehicle speed, determining the second vehicle speed as a target vehicle speed by the processor, and in response to the second vehicle speed being greater than the first vehicle speed, determining the first vehicle speed as the target vehicle speed by the processor; and controlling the unmanned driving vehicle to travel at the target vehicle speed. ### Claim 14 (depends on 13) The non-transitory computer-readable storage medium according to claim 13, wherein the road safety information comprises: one or more of information on safely avoiding obstacles, over-the-line driving information, speed-limit information, safe distance information, lane shifting information, and traffic light information. ### Claim 15 (depends on 13) The non-transitory computer-readable storage medium according to claim 13, wherein said detecting, by the sensing device on the vehicle body, the travel section at which the vehicle body is traveling to determine a pose variation amount of the vehicle body in the travel section comprises: simulating the travel trace of the vehicle body in the travel section to determine curvature change information of the travel trace; and determining the pose variation amount of the vehicle body in the travel section according to the curvature change information of the travel trace. ### Claim 16 (depends on 15) The non-transitory computer-readable storage medium according to claim 15, wherein said determining the pose variation amount of the vehicle body in the travel section according to the curvature change information of the travel trace comprises: dividing the travel trace into a plurality of sub-sections according to the curvature change information of the travel trace to acquire steering wheel rotation angle information of the vehicle body in the sub-sections; and determining the pose variation amount of the vehicle body in the travel section according to a correspondence between the steering wheel rotation angle information of the vehicle body and a pose variation of the vehicle body. ### Claim 17 (depends on 13) The non-transitory computer-readable storage medium according to claim 13, wherein the processor is further configured to: detect a node on which switching is performed between the first vehicle speed and the second vehicle speed to perform smoothening on the target vehicle speed at the node. ### Claim 18 (depends on 13) The non-transitory computer-readable storage medium according to claim 13, wherein the processor is further configured to: in response to the vehicle body being in an abnormal state, determine a maximum driving speed of the vehicle body; and control the target vehicle speed to be smaller than or equal to the maximum driving speed of the vehicle body.