CN114148326B - Intelligent offset control method, system, vehicle and storage medium for integrated adaptive cruise system - Google Patents

Intelligent offset control method, system, vehicle and storage medium for integrated adaptive cruise system Download PDF

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Publication number
CN114148326B
CN114148326B CN202111397659.1A CN202111397659A CN114148326B CN 114148326 B CN114148326 B CN 114148326B CN 202111397659 A CN202111397659 A CN 202111397659A CN 114148326 B CN114148326 B CN 114148326B
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vehicle
distance
transverse
lane
target
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CN114148326A (en
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郑益
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

According to the intelligent deviation control method, system, vehicle and storage medium of the integrated self-adaptive cruise system, the transverse control strategy of the integrated self-adaptive cruise system is optimized, and the safety risk in the driving process can be effectively reduced on the premise of legal compliance in an intelligent deviation mode. Judging whether collision time and transverse distance between adjacent road target vehicles and the vehicle are smaller than a logic triggering safety distance threshold value or not; if the distance is not smaller than the safety distance threshold value, continuing to run in the current lane pair; if the distance is smaller than the safety distance, transversely shifting a certain distance in the direction away from the adjacent road target vehicle, and properly decelerating the vehicle according to the transverse distance condition of the two vehicles; when the two vehicles have no collision risk, the vehicle is deflected back in two sections until the vehicle runs in the middle. Meanwhile, the transverse speed and the transverse acceleration of the vehicle are reasonably controlled by sending instructions to the controller in the intelligent deviation process, so that the comfort and the safety of the intelligent deviation process are ensured.

Description

Intelligent offset control method, system, vehicle and storage medium for integrated adaptive cruise system
Technical Field
The invention belongs to the field of self-adaptive cruising of automobiles, and particularly relates to an intelligent offset control method of an integrated self-adaptive cruising system.
Background
Along with the increasing requirements of people on automobiles, the intellectualization of automobiles is also coming into rapid development. Intelligent driving assistance systems represented by integrated adaptive cruise technology have been widely used in various middle-high-end vehicle models.
When the vehicle enters the integrated self-adaptive cruising state, how to improve the safe and comfortable riding experience of the user is extremely pursued by large host factories and suppliers.
The auxiliary driving system patent with the publication number of CN113085853A for actively dodging a large-sized vehicle in a lane comprises a sensing module, a decision module, a planning module, a tracking module and a controller, and can realize automatic target recognition, decision, active dodging track planning and dodging action executing functions under the scene of exceeding the large-sized vehicle through mutual coordination of the modules.
The invention discloses a patent of an auxiliary driving system for actively dodging a large-sized vehicle in a lane, which relates to a control scheme for actively dodging the large-sized vehicle, is not limited to the type of the vehicle, and has a more refined intelligent offset control logic scheme aiming at the relative motion state of the vehicle and a target vehicle, so that the feasibility is higher. By judging the longitudinal collision time, the transverse relative distance and the distance state of the vehicle relative to the lane line of the vehicle and the adjacent lane target vehicle, an active intelligent deviation mode is adopted, so that collision risks are effectively avoided.
Disclosure of Invention
The intelligent offset control method of the integrated self-adaptive cruise system disclosed by the invention can improve the driving safety and driving experience of a user under the complex traffic flow condition.
The intelligent offset control system of the integrated self-adaptive cruise system disclosed by the invention can improve the driving safety and driving experience of a user under the complex traffic flow condition.
The vehicle adopting the intelligent offset control system of the integrated self-adaptive cruise system disclosed by the invention can improve the driving safety and driving experience of a user under the complex traffic flow condition.
The storage medium storing the computer executable instructions can be executed by one or more processors to realize the steps of the intelligent offset control method of the integrated self-adaptive cruise system, so that the driving safety and driving experience of a user under the complex traffic flow condition can be improved.
The invention discloses an intelligent offset control method of an integrated self-adaptive cruise system, which comprises the following steps,
step 1) the vehicle of the vehicle normally runs, the possibility of longitudinal collision between the vehicle of the vehicle and a target vehicle of an adjacent lane is judged, the possibility of collision is determined, and the step 2) is entered;
step 2), the vehicle of the vehicle deviates from the target vehicle by a set transverse distance according to a set comfortable vehicle speed and a set comfortable transverse acceleration;
step 3) judging whether the target vehicle and the host vehicle have continuous approaching trend or not by monitoring the target vehicle transverse offset speed, the transverse offset acceleration and the transverse distance between the target vehicle and the host vehicle of the adjacent lanes; if yes, go to step 4);
step 4) decelerating the vehicle of the vehicle by setting a longitudinal first acceleration value;
the vehicle of the vehicle continuously and transversely deviates, and a first distance is set to the transverse direction of the target vehicle;
in the transverse shifting process, continuously monitoring that the transverse distance between the vehicle and the lane line on the other side is smaller than a set second distance, decelerating by a set longitudinal second acceleration value, and keeping the transverse distance between the vehicle and the lane line on the other side larger than the set distance;
and 5) continuously monitoring whether the vehicle of the vehicle and the target vehicle have no collision risk, and if so, returning the vehicle of the vehicle transversely close to the center line of the lane.
Further, the method comprises the steps of,
in the step 1), the possibility of longitudinal collision between the vehicle of the vehicle and the target vehicle of the adjacent lane is judged by the following steps:
step 11), the vehicle of the vehicle normally runs, whether the longitudinal collision time of the target vehicle and the vehicle is smaller than a set value is judged by detecting the traffic flow condition of the front adjacent lanes, if yes, the step 12 is entered;
step 12) judging whether the transverse distance between the vehicle and the target vehicle is smaller than a set value in a certain time, if so, judging that the possibility of longitudinal collision exists.
Further, the method comprises the steps of,
step 2) setting the comfortable vehicle speed to be 0.5m/s and the comfortable transverse acceleration to be 0.5m/s in the direction away from the target vehicle 2 The offset was set to a lateral distance of 20cm.
Further, the method comprises the steps of,
step 4) the own vehicle to set the longitudinal first acceleration value of-2 m/s 2 <a<0m/s 2 Decelerating;
the vehicle of the vehicle continuously and transversely deviates, and a first distance of 80cm is set to be transverse to the target vehicle;
in the transverse shifting process, when the transverse distance between the vehicle of the vehicle and the lane line on the other side is continuously monitored to be smaller than the set second distance by 30cm, the longitudinal second acceleration value is set to be-4 m/s 2 <a<0m/s 2 Decelerating and keeping the transverse distance between the vehicle and the lane line on the other side to be larger than the set second distance by 30 cm.
Further, the method comprises the steps of,
in the step 5), the vehicle of the vehicle transversely approaches the center line of the lane in two steps;
step 51), the first step, the vehicle deviates from the center line of the lane by 1/2 of the distance of the vehicle, and the vehicle is horizontally returned to the center line of the lane to approach the center line of the lane;
step 52), after the vehicle is deviated back and approaching, monitoring whether the vehicle of the vehicle and other vehicles except the target vehicle have no collision risk, keeping the set time, continuing to deviate from the center line of the lane by the distance 1/2 as the center line of the target transverse lane until the vehicle is deviated back to the center line of the lane, and keeping centering control.
Another object of the present invention is to provide an integrated adaptive cruise system intelligent offset control system, comprising:
the first judging module is used for judging the possibility of longitudinal collision between the vehicle and the target vehicle in the adjacent lane when the vehicle runs normally, and determining that the possibility of collision exists.
And the transverse deviation module is used for setting the comfortable vehicle speed and the comfortable transverse acceleration to deviate by a set transverse distance in the direction away from the target vehicle.
And the second judging module is used for judging whether the target vehicle and the host vehicle have continuous approaching trend or not by monitoring the transverse offset speed and the transverse offset acceleration of the target vehicle of the adjacent lanes and the transverse distance between the target vehicle and the host vehicle.
The vehicle of the vehicle decelerates by setting a longitudinal first acceleration value; the vehicle of the vehicle continuously and transversely deviates, and a first distance is set to the transverse direction of the target vehicle; and in the transverse shifting process, continuously monitoring that the transverse distance between the vehicle and the lane line on the other side is smaller than the set second distance, decelerating by using the set longitudinal second acceleration value, and keeping the transverse distance between the vehicle and the lane line on the other side larger than the set distance for driving.
And the monitoring module is used for continuously monitoring whether the vehicle of the vehicle and the target vehicle have no collision risk, and if so, the vehicle of the vehicle transversely approaches the center line of the lane to return to the bias.
It is yet another object of the present invention to provide a vehicle employing an integrated adaptive cruise system intelligent offset control system as described above.
It is a further object of the present invention to provide a storage medium storing computer executable instructions, the storage medium storing one or more programs executable by one or more processors to implement the steps of the integrated adaptive cruise system intelligent offset control method as described above.
The invention has the beneficial technical effects that:
through monitoring the transverse state of adjacent road vehicles and the vehicle, when judging that two vehicles have collision risks, the integrated self-adaptive cruise system adopts an intelligent offset strategy according to the real-time relative position information of the two vehicles, avoids the safety risk in the driving process as much as possible, gives users safe and comfortable driving experience, and improves the reliability and safety of the integrated self-adaptive cruise system.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is further described in detail below with reference to the drawings and examples.
Example 1:
the integrated self-adaptive cruise system fuses and analyzes the motion state and real-time position information of the vehicle and the target vehicle according to the information acquired by the radar and the forward-looking camera, and sends the information to the domain controller so as to control the vehicle to run according to the expected state in real time. The invention discloses an intelligent offset control method of an integrated self-adaptive cruise system, which can effectively avoid potential collision risks and realize safe running of vehicles by monitoring the transverse distance and longitudinal collision time states of adjacent vehicles and the vehicle and adopting a corresponding intelligent offset strategy.
The intelligent offset control method of the integrated self-adaptive cruise system disclosed by the embodiment comprises the following steps,
step 1) the vehicle of the vehicle normally runs, the possibility of longitudinal collision between the vehicle of the vehicle and a target vehicle of an adjacent lane is judged, the possibility of collision is determined, and the step 2) is entered;
in the step 1), the possibility of longitudinal collision between the vehicle of the vehicle and the target vehicle of the adjacent lane is judged by the following steps:
step 11) the vehicle of the vehicle normally runs, whether the longitudinal collision time of the target vehicle and the vehicle is smaller than a set value of 5s is judged by detecting the traffic flow condition of a front adjacent lane, if not, the vehicle continues to keep the current state for centering running, and if so, the step 12 is entered;
step 12) judging whether the transverse distance between the vehicle and the target vehicle is smaller than the set value of 100cm within a certain time of 300ms, if not, keeping the current lane centering state, and if so, judging that the possibility of longitudinal collision exists.
Step 2) the vehicle of the vehicle is set to be 0.5m/s at a comfortable speed and 0.5m/s at a comfortable transverse acceleration in a direction away from the target vehicle 2 Setting a transverse distance of 20cm in an offset manner;
step 3) judging whether the target vehicle and the host vehicle have continuous approaching trend or not by monitoring the target vehicle transverse offset speed, the transverse offset acceleration and the transverse distance between the target vehicle and the host vehicle of the adjacent lanes; if yes, go to step 4);
step 4) the own vehicle to set the longitudinal first acceleration value of-2 m/s 2 <a<0m/s 2 Decelerating;
the vehicle of the vehicle continuously and transversely deviates, and a first distance of 80cm is set to be transverse to the target vehicle;
in the transverse shifting process, when the transverse distance between the vehicle of the vehicle and the lane line on the other side is continuously monitored to be smaller than the set second distance by 30cm, the longitudinal second acceleration value is set to be-4 m/s 2 <a<0m/s 2 Decelerating and keeping the transverse distance between the vehicle and the lane line on the other side greater than the set second distance by 30 cm;
and 5) continuously monitoring whether the vehicle of the vehicle and the target vehicle have no collision risk, if so, continuously carrying out 3s, and returning the vehicle of the vehicle transversely close to the center line of the lane. The vehicle of the vehicle transversely approaches the center line of the lane in two steps, and specifically comprises the following steps:
step 51), the first step, the vehicle deviates from the center line of the lane by 1/2 of the distance of the vehicle, and the vehicle is horizontally returned to the center line of the lane to approach the center line of the lane;
step 52), after approaching back, monitoring whether the vehicle of the host vehicle and other vehicles except the target vehicle have no collision risk,
if intelligent offset logic for other vehicles is triggered in the process of returning, ending returning;
if the collision risk does not exist, keeping the set time for 2s, continuing to deviate from the center line of the lane by the vehicle according to the distance 1/2 of the distance of the vehicle from the center line of the lane as the center line of the target transverse lane to deviate back to be close until the vehicle deviates back to the center line of the lane, and keeping centering control. The transverse speed of the vehicle is controlled to be smaller than 0.5m/s and the transverse acceleration is controlled to be smaller than 0.5m/s in the return deflection process 2
Collision risk free scenario: the vehicle quickly exceeds the moment of the slow running vehicle of the same direction adjacent road or the moment of the opposite running of two vehicles.
Example 2:
the embodiment discloses an integrated self-adaptive cruise system intelligent offset control system, which comprises the following unit modules:
the first judging module is used for judging the possibility of longitudinal collision between the vehicle and the target vehicle in the adjacent lane when the vehicle runs normally, and determining that the possibility of collision exists.
The transverse deviation module is used for setting comfortable vehicle speed and comfortable transverse acceleration of the vehicle in a direction away from the target vehicle, and deviating a set transverse distance.
And the second judging module is used for judging whether the target vehicle and the host vehicle have continuous approaching trend or not by monitoring the target vehicle transverse offset speed, the transverse offset acceleration and the transverse distance between the target vehicle and the host vehicle of the adjacent lanes.
The vehicle of the vehicle decelerates by setting a longitudinal first acceleration value; the vehicle of the vehicle continuously and transversely deviates, and a first distance is set to the transverse direction of the target vehicle; in the transverse shifting process, continuously monitoring that the transverse distance between the vehicle and the lane line on the other side is smaller than a set second distance, decelerating by a set longitudinal second acceleration value, and keeping the transverse distance between the vehicle and the lane line on the other side larger than the set distance;
and the monitoring module is used for continuously monitoring whether the vehicle of the vehicle and the target vehicle have no collision risk, and if so, the vehicle of the vehicle transversely approaches the center line of the lane to return to the bias.
In the system, the first judging module can judge the possibility of the longitudinal collision between the vehicle of the vehicle and the target vehicle of the adjacent lane through the following steps:
step 11), the vehicle of the vehicle normally runs, whether the longitudinal collision time of the target vehicle and the vehicle is smaller than a set value is judged by detecting the traffic flow condition of the front adjacent lanes, if yes, the step 12 is entered;
step 12) judging whether the transverse distance between the vehicle and the target vehicle is smaller than a set value in a certain time, if so, judging that the possibility of longitudinal collision exists.
In the system, when the monitoring module monitors that the vehicle of the vehicle and the target vehicle have no collision risk, the monitoring module controls the vehicle of the vehicle to transversely approach the center line of the lane in two steps;
the first step, the vehicle deviates from the central line of the lane by 1/2 of the distance of the vehicle and is horizontally returned to the central line of the lane to approach;
and secondly, after the vehicle is deviated back and approaching, monitoring whether the vehicle of the vehicle and other vehicles except the target vehicle have no collision risk, keeping the set time, continuously deviating the vehicle of the vehicle from the center line of the lane by taking the distance of 1/2 as the center line of the target transverse lane for the deviation back and approaching until the vehicle is deviated back to the center line of the lane, and keeping centering control.
The invention further discloses a vehicle adopting the intelligent offset control system of the integrated self-adaptive cruise system, which can improve the driving safety and driving experience of a user under the complex traffic flow condition.
The invention also discloses a storage medium storing computer executable instructions, the storage medium storing one or more programs, the one or more programs being executable by one or more processors to realize the steps of the intelligent offset control method of the integrated adaptive cruise system, so that the driving safety and driving experience of a user under the complex traffic condition can be improved.
The above embodiments can be seen that, by judging whether the collision time and the lateral distance between the adjacent road target vehicle and the vehicle are smaller than the safety distance threshold triggered by logic; if the distance is not smaller than the safety distance threshold value, continuing to run in the current lane pair; if the distance is smaller than the safety distance, transversely shifting a certain distance in the direction away from the adjacent road target vehicle, and properly decelerating the vehicle according to the transverse distance condition of the two vehicles; when the two vehicles have no collision risk, the vehicle is deflected back in two sections until the vehicle runs in the middle. Meanwhile, the transverse speed and the transverse acceleration of the vehicle are reasonably controlled by sending instructions to the controller in the intelligent deviation process, so that the comfort and the safety of the intelligent deviation process are ensured. According to the invention, the transverse control strategy of the integrated self-adaptive cruise system is optimized, and the safety risk in the driving process can be effectively reduced in an intelligent deviation mode on the premise of legal compliance.
In the foregoing specification, the gist of the present invention has been described by referring to specific examples. However, various modifications and changes can be made without departing from the gist of the present invention as set forth in the claims. The drawings described in the present specification are to be regarded as illustrative rather than restrictive. Accordingly, the scope of the gist of the present invention should be determined by the claims and their legal equivalents or entities, not by the examples described only. Any steps set forth in any method or process claims in this specification may be performed in any order or combination of orders and are not limited to the exemplary specific order set forth in the claims.

Claims (8)

1. The intelligent offset control method of the integrated self-adaptive cruise system is characterized by comprising the following steps of: comprises the steps of,
step 1) the vehicle of the vehicle normally runs, the possibility of longitudinal collision between the vehicle of the vehicle and a target vehicle of an adjacent lane is judged, the possibility of collision is determined, and the step 2) is entered;
step 2), the vehicle of the vehicle deviates from the target vehicle by a set transverse distance according to a set comfortable vehicle speed and a set comfortable transverse acceleration;
step 3) judging whether the target vehicle and the host vehicle have continuous approaching trend or not by monitoring the target vehicle transverse offset speed, the transverse offset acceleration and the transverse distance between the target vehicle and the host vehicle of the adjacent lanes; if yes, go to step 4);
step 4) decelerating the vehicle of the vehicle by setting a longitudinal first acceleration value;
the vehicle of the vehicle continuously and transversely deviates, and a first distance is set to the transverse direction of the target vehicle;
in the transverse shifting process, continuously monitoring that the transverse distance between the vehicle and the lane line on the other side is smaller than a set second distance, decelerating by a set longitudinal second acceleration value, and keeping the transverse distance between the vehicle and the lane line on the other side larger than the set distance;
step 5) continuously monitoring whether the vehicle of the vehicle and the target vehicle have no collision risk, if so, the vehicle of the vehicle transversely approaches the center line of the lane to return to the bias; the vehicle of the vehicle transversely approaches the center line of the lane in two steps;
step 51), the vehicle deviates from the central line of the lane by 1/2 of the distance of the vehicle and is horizontally returned to the central line of the lane to approach;
step 52) after the vehicle is deviated back and approaching, monitoring whether the vehicle of the vehicle and other vehicles except the target vehicle have no collision risk, keeping the set time, continuing to deviate from the center line of the lane by the distance 1/2 as the center line of the target transverse lane until the vehicle is deviated back to the center line of the lane, and keeping centering control.
2. The integrated adaptive cruise system intelligent offset control method according to claim 1, characterized in that:
in the step 1), the possibility of longitudinal collision between the vehicle of the vehicle and the target vehicle of the adjacent lane is judged by the following steps:
step 11), the vehicle of the vehicle normally runs, whether the longitudinal collision time of the target vehicle and the vehicle is smaller than a set value is judged by detecting the traffic flow condition of the front adjacent lanes, if yes, the step 12 is entered;
step 12) judging whether the transverse distance between the vehicle and the target vehicle is smaller than a set value in a certain time, if so, judging that the possibility of longitudinal collision exists.
3. The integrated adaptive cruise system intelligent offset control method according to claim 1, characterized in that:
step 2) setting the comfortable vehicle speed to be 0.5m/s and the comfortable transverse acceleration to be 0.5m/s in the direction away from the target vehicle 2 The offset was set to a lateral distance of 20cm.
4. The integrated adaptive cruise system intelligent offset control method according to claim 1, characterized in that:
step 4) the own vehicle to set the longitudinal first acceleration value of-2 m/s 2 <a<0m/s 2 Decelerating;
the vehicle of the vehicle continuously and transversely deviates, and a first distance of 80cm is set to be transverse to the target vehicle;
in the transverse shifting process, when the transverse distance between the vehicle of the vehicle and the lane line on the other side is continuously monitored to be smaller than the set second distance by 30cm, the longitudinal second acceleration value is set to be-4 m/s 2 <a<0m/s 2 Decelerating and keeping the transverse distance between the vehicle and the lane line on the other side to be larger than the set second distance by 30 cm.
5. An integrated adaptive cruise system intelligent offset control system, comprising:
the first judging module is used for judging the possibility of longitudinal collision between the vehicle and the target vehicle in the adjacent lane when the vehicle of the vehicle normally runs, and determining that the possibility of collision exists;
the vehicle of the vehicle deviates from the target vehicle by a set transverse distance according to a set comfortable vehicle speed and a set comfortable transverse acceleration;
the second judging module is used for judging whether the target vehicle and the host vehicle have a continuous approaching trend or not by monitoring the transverse offset speed and the transverse offset acceleration of the target vehicle of the adjacent lanes and the transverse distance between the target vehicle and the host vehicle;
the vehicle of the vehicle decelerates by setting a longitudinal first acceleration value; the vehicle of the vehicle continuously and transversely deviates, and a first distance is set to the transverse direction of the target vehicle; in the transverse shifting process, continuously monitoring that the transverse distance between the vehicle and the lane line on the other side is smaller than a set second distance, decelerating by a set longitudinal second acceleration value, and keeping the transverse distance between the vehicle and the lane line on the other side larger than the set distance;
the monitoring module is used for continuously monitoring whether the vehicle of the host vehicle and the target vehicle have no collision risk or not, if so, the vehicle of the vehicle is transversely close to the center line of the lane and is deflected back, and the vehicle of the vehicle is controlled to be transversely close to the center line of the lane in two steps;
the first step, the vehicle deviates from the central line of the lane by 1/2 of the distance of the vehicle and is horizontally returned to the central line of the lane to approach;
and secondly, after the vehicle is deviated back and approaching, monitoring whether the vehicle of the vehicle and other vehicles except the target vehicle have no collision risk, keeping the set time, continuously deviating the vehicle of the vehicle from the center line of the lane by taking the distance of 1/2 as the center line of the target transverse lane for the deviation back and approaching until the vehicle is deviated back to the center line of the lane, and keeping centering control.
6. The integrated adaptive cruise system intelligent offset control system according to claim 5, wherein:
the first judging module judges the possibility of longitudinal collision between the vehicle of the vehicle and the target vehicle of the adjacent lane through the following steps:
step 11), the vehicle of the vehicle normally runs, whether the longitudinal collision time of the target vehicle and the vehicle is smaller than a set value is judged by detecting the traffic flow condition of the front adjacent lanes, if yes, the step 12 is entered;
step 12) judging whether the transverse distance between the vehicle and the target vehicle is smaller than a set value in a certain time, if so, judging that the possibility of longitudinal collision exists.
7. A vehicle, characterized in that: use of an integrated adaptive cruise system intelligent offset control system according to any one of claims 5-6.
8. A storage medium storing computer-executable instructions, wherein the storage medium stores one or more programs, the one or more programs being executable by one or more processors to implement the steps of the integrated adaptive cruise system smart offset control method of any one of claims 1-4.
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