CN117141480A - Adaptive cruise control method and device, vehicle and storage medium - Google Patents

Adaptive cruise control method and device, vehicle and storage medium Download PDF

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Publication number
CN117141480A
CN117141480A CN202311352220.6A CN202311352220A CN117141480A CN 117141480 A CN117141480 A CN 117141480A CN 202311352220 A CN202311352220 A CN 202311352220A CN 117141480 A CN117141480 A CN 117141480A
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China
Prior art keywords
headway
vehicle
speed
real
time
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Chinese (zh)
Inventor
何天翼
阙秋根
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BDstar Intelligent and Connected Vehicle Technology Co Ltd
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BDstar Intelligent and Connected Vehicle Technology Co Ltd
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Priority to CN202311352220.6A priority Critical patent/CN117141480A/en
Publication of CN117141480A publication Critical patent/CN117141480A/en
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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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • 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
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2554/804—Relative longitudinal speed

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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

The application relates to the field of intelligent driving, and discloses a self-adaptive cruise control method, a device, a vehicle and a storage medium. The method comprises the following steps: acquiring the front vehicle speed and the own vehicle speed at the current moment, and calculating the relative speed between the two vehicles according to the front vehicle speed and the own vehicle speed; based on the relative speed, respectively calculating a real-time headway and a target headway corresponding to the current moment; and comparing the real-time headway with the target headway, and correspondingly controlling the real-time speed of the vehicle according to the comparison result. According to the embodiment of the application, the speed change condition of the front vehicle is predicted by introducing the relative speed, so that the control of the real-time vehicle speed is realized, the anti-interference capability of the self-adaptive cruise control is improved, the dynamic performance of the real-time headway control is effectively improved, and the driving safety and the following performance under a complex environment are ensured.

Description

Adaptive cruise control method and device, vehicle and storage medium
Technical Field
The application relates to the field of intelligent driving, in particular to an adaptive cruise control method, an adaptive cruise control device, a vehicle and a storage medium.
Background
The self-adaptive cruising (Adaptive Cruise Control, ACC) is used as an auxiliary driving system, unnecessary acceleration and deceleration are correspondingly reduced through constant-speed cruising and stable following, and riding comfort is improved; and by setting a smaller headway, the road traffic capacity can be obviously improved, and the traffic pressure can be relieved.
The reasonable vehicle head distance is an important factor of the self-adaptive cruising, and the regulation strategy of the vehicle head distance determines the safety of the vehicle in the process of following the front vehicle. At present, the regulation and control strategy of the vehicle head distance only considers the influence of the speed of the vehicle to the vehicle head distance, but does not consider the speed influence of the front vehicle, and further when facing complex and changeable road scenes, for example, once the front vehicle is in a frequent acceleration and deceleration state, the vehicle needs to be severely controlled to accelerate and decelerate, so that the problems of poor driving safety and poor riding comfort are caused.
Disclosure of Invention
In view of the above, the present application provides an adaptive cruise control method, apparatus, vehicle and storage medium for solving the problems of the prior art.
In a first aspect, the present application provides an adaptive cruise control method comprising:
acquiring the front vehicle speed and the own vehicle speed at the current moment, and calculating the relative speed between the two vehicles according to the front vehicle speed and the own vehicle speed;
based on the relative speed, respectively calculating a real-time headway and a target headway corresponding to the current moment;
and comparing the real-time headway with the target headway, and correspondingly controlling the real-time speed of the vehicle according to a comparison result.
In an optional embodiment, the calculating, based on the relative speed, a target headway corresponding to the current moment includes:
based on the relative speed, calculating to obtain an ideal headway corresponding to the current moment;
and comparing the ideal headway with a boundary value of a preset headway interval to determine a target headway.
In an alternative embodiment, the ideal headway is the difference between a preset minimum headway and the proportional value of the relative speed; the ratio value of the relative speed is the product of the relative speed and a preset first ratio parameter.
In an alternative embodiment, the method further comprises:
acquiring the acceleration of the vehicle in real time, and calculating to obtain the acceleration of the front vehicle according to the acceleration of the vehicle;
the calculating the target headway corresponding to the current moment based on the relative speed comprises the following steps:
and calculating an ideal headway corresponding to the current moment based on the relative speed and the acceleration of the front vehicle.
In an alternative embodiment, the ideal headway is the difference between a preset minimum headway, a proportional value of the relative speed, and a proportional value of the front vehicle acceleration; the ratio value of the front vehicle acceleration is the product of the front vehicle acceleration and a preset second ratio parameter.
In an alternative embodiment, the comparing the ideal headway with the boundary value of the preset headway interval to determine the target headway includes:
judging whether the ideal headway is in a preset headway interval or not;
if the ideal headway is within a preset headway interval, taking the ideal headway as a target headway;
if the ideal headway is not in the preset headway interval, and if the ideal headway is smaller than the minimum value of the headway interval, taking the minimum value of the headway interval as a target headway;
and if the ideal headway is not in the preset headway interval, and if the headway is larger than the maximum value of the headway interval, taking the maximum value of the headway interval as a target headway.
In an optional embodiment, the controlling the real-time vehicle speed of the vehicle according to the comparison result includes:
if the real-time headway is smaller than the target headway, controlling the vehicle to decelerate;
and if the real-time headway is larger than the target headway, controlling the vehicle to accelerate.
In a second aspect, the present application provides an adaptive cruise control apparatus comprising:
the acquisition module is used for acquiring the front vehicle speed and the own vehicle speed at the current moment and calculating the relative speed between the two vehicles according to the front vehicle speed and the own vehicle speed;
the calculating module is used for respectively calculating the real-time headway and the target headway corresponding to the current moment based on the relative speed;
the control module is used for comparing the real-time headway with the target headway and correspondingly controlling the real-time speed of the vehicle according to the comparison result.
In a third aspect, the present application provides a vehicle comprising a memory and at least one processor, the memory storing a computer program for executing the computer program to implement the adaptive cruise control method described above.
In a fourth aspect, the present application provides a computer storage medium storing a computer program which, when executed, implements an adaptive cruise control method according to the foregoing.
The embodiment of the application has the following beneficial effects:
the embodiment of the application provides a self-adaptive cruise control method, which comprises the following steps: acquiring the front vehicle speed and the own vehicle speed at the current moment, and calculating the relative speed between the two vehicles according to the front vehicle speed and the own vehicle speed; based on the relative speed, respectively calculating a real-time headway and a target headway corresponding to the current moment; and comparing the real-time headway with the target headway, and correspondingly controlling the real-time speed of the vehicle according to the comparison result. According to the embodiment of the application, the speed change condition of the front vehicle is predicted by introducing the relative speed between the front vehicle and the front vehicle, and the control of the real-time vehicle head distance and the real-time vehicle speed is realized based on the parameter, so that the front vehicle and the front vehicle are ensured to be in a safe distance range, the traffic capacity is kept appropriate, the lane changing and cutting of the vehicles in the adjacent lanes are avoided, the anti-interference capability of the adaptive cruise control is improved, the dynamic performance of the real-time vehicle head time distance control is effectively improved, the complex and changeable driving environment can be better adapted, and the driving safety and the following performance under the complex environment are ensured.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of the present application. Like elements are numbered alike in the various figures.
FIG. 1 shows a first flow diagram of an adaptive cruise control method in an embodiment of the present application;
FIG. 2 illustrates a second flow chart of an adaptive cruise control method in an embodiment of the present application;
FIG. 3 shows a third flow chart of an adaptive cruise control method in an embodiment of the present application;
fig. 4 shows a schematic structural diagram of an adaptive cruise control device in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.
The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present application, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the application.
The distance between the front and the rear adjacent vehicles on one lane is the distance between the front and the rear adjacent vehicles, the time interval between the front and the rear vehicles passes through a certain point on the roadway, and the relation between the front and the rear vehicles is as follows: average headway = average headway/average vehicle speed. That is, the headway represents the time difference between the front ends of the front and rear vehicles passing through the same place, and can be generally calculated by dividing the headway of the front and rear vehicles by the rear vehicle speed. The headway is an important index for evaluating driving safety, is closely related to traffic flow composition and driving behavior, is an important basis for reflecting road traffic capacity and service level, and has important significance for optimizing road design and management. In short, the distance between the two adjacent vehicles in front and back in traffic flow and the time difference of the two vehicles passing through a certain point are expressed by different measurement units expressing the same concept.
Currently, adaptive cruise systems on the market generally employ a constant headway (Constant Time Headway, CTH) headway regulation strategy. The time interval of the front vehicle and the vehicle head end part of the vehicle passes through the time interval of a certain section. For CTH spacing regulation strategies, the head spacing in the safety range (i.e., the safety inter-vehicle spacing) is proportional to the own-vehicle speed, i.e., d=t×v+d 0 D is a safety workshopDistance, t is constant headway, v is host vehicle speed, d 0 Is the minimum safe inter-vehicle distance.
However, the CTH interval regulation and control strategy only considers the influence of the speed of the vehicle on the safe vehicle interval, but does not consider the influence of the speed change of the front vehicle on the safe vehicle interval, and further cannot adapt to complex and changeable driving environments. Once the speed of the front vehicle changes frequently in a short time, the self-adaptive cruising of the vehicle cannot realize dynamic regulation and control, so that the vehicle needs to be decelerated or accelerated frequently and severely, and the riding comfort is poor and the energy consumption economy is low; when the front car is braked suddenly, the car is also required to brake suddenly at the moment, so that the car is easy to collide with the front car, and the driving safety is low.
Based on the above, the embodiment of the application provides a self-adaptive cruise control method, which predicts the speed change condition of a front vehicle by introducing the relative speed between the front vehicle and the front vehicle, and further controls the real-time headway and the real-time vehicle speed based on the parameters, so as to ensure that the front vehicle and the front vehicle are in a safe distance range, effectively improve the dynamic performance of the real-time headway control, better adapt to complex and changeable driving environments and ensure the driving safety and the following performance under the complex environment.
Referring to fig. 1, the adaptive cruise control method will be described in detail.
S10, acquiring the speed of the front vehicle and the speed of the own vehicle at the current moment, and calculating the relative speed between the two vehicles according to the speed of the front vehicle and the speed of the own vehicle.
The speed of the front vehicle (the front vehicle refers to the front vehicle positioned on the current lane along the current running direction) in the running process of the vehicle at the current moment is acquired in real time through equipment such as a front camera or a sensor arranged on the vehicle body of the vehicle, and the speed of the vehicle is correspondingly measured in real time through sensors such as feedback of the chassis of the vehicle or an inertial measurement unit (i.e. an IMU unit) arranged on the chassis of the vehicle.
And further, according to the acquired front vehicle speed and the acquired own vehicle speed at the same moment, calculating the relative speed between the front vehicle and the own vehicle at the current moment. Wherein v is r ＝v f -v e ，v f For the speed of the front vehicle v e The speed of the vehicle.
S20, respectively calculating a real-time headway and a target headway corresponding to the current moment based on the relative speed.
Further, the real-time headway and the target headway at the current time are respectively calculated through the front vehicle speed, the own vehicle speed and the relative speed corresponding to the current time. Exemplarily, the real-time headway is the quotient of the distance between two vehicles and the speed of the vehicle; the distance between two vehicles can be calculated based on the relative speed between the two vehicles or can be obtained through recognition calculation of equipment such as a visual sensor arranged on the vehicle, and the specific calculation mode can be set according to actual requirements without limitation. That is, ideal headway = t 0 -k v v r 。
In one embodiment, when calculating the target headway (i.e., t), the present embodiment first calculates the ideal headway corresponding to the current time based on the relative speed; and comparing the ideal headway with the boundary value of the preset headway interval to determine the value of the target headway.
The ideal headway is illustratively a preset minimum headway (i.e., t 0 ) A difference from a proportional value of the relative speed; wherein the relative speed has a proportional value of the relative speed (i.e. v r ) With a preset first proportional parameter (i.e. k v ) Is a product of (2); the preset first proportional parameter (i.e., k v ) The value of the first proportional parameter is not limited herein, and for example, the value of the first proportional parameter can be between 0.15 and 0.6; the preset minimum headway (i.e. t 0 ) The specific value of the calibration parameter is set according to the actual requirement, and is not limited herein, for example, the minimum headway may be 1m or 2 m.
It should be noted that, based on the actual application scenario, if the front vehicle speed is greater than the vehicle speed, the real-time vehicle head distance between the two vehicles is smaller; conversely, if the vehicle is at a front speedWhen the speed of the vehicle is smaller than that of the vehicle, the real-time headway is larger. That is, if the speed of the preceding vehicle is far smaller than the speed of the host vehicle, the value of t will be large, so that too large a distance between two vehicles is likely to cause waste of road traffic and lane changing and cutting of vehicles in adjacent lanes, so that the upper limit of t (i.e. t max ). Conversely, if the front vehicle speed is far greater than the host vehicle speed, the value of t will be small, even negative, which is obviously unsafe, and therefore the lower limit of t (i.e., t min ). That is, the preset headway interval is (t min ，t max ) Ideally, the maximum value of the headway interval (i.e. t max ) A difference between a proportional value less than or equal to the relative speed and a preset minimum headway; minimum value of headway interval (i.e. t min ) A difference between a ratio value of a preset minimum headway and a relative speed is greater than or equal to; in this embodiment, the value defining the target headway (i.e., t) is located within the headway interval.
Furthermore, the specific target headway (i.e., t) is expressed as:
in one embodiment, the boundary value of the headway interval is preset, i.e. t is set max 、t min And further, comparing the ideal headway with the boundary value of the headway interval to determine the target headway.
Specifically, judging whether the ideal headway falls in the headway interval or not; if the ideal headway falls within the headway interval, the ideal headway is taken as the target headway.
Otherwise, if the ideal headway does not fall in the headway interval, further analyzing the relation between the ideal headway and the headway interval boundary value.
Further, if the ideal headway is smaller than the minimum value of the headway interval, the minimum value of the headway interval is used as the target headway; if the ideal headway does not fall in the headway interval, and if the headway is larger than the maximum value of the headway interval, taking the maximum value of the headway interval as the target headway.
It can be understood that the target headway determined in this embodiment is determined jointly based on the driving conditions of the preceding vehicle and the own vehicle in the actual scene and a preset headway interval, so that the value of the target headway is ensured to be located in the headway interval, and thus the reliability of the target headway is ensured.
For example, if the preset headway interval is (2, 4), and the ideal headway calculated at the current moment is 2.5, determining that the target headway is 2.5; and if the ideal headway calculated at the current moment is 5, determining that the target headway is 4.
It should be noted that, in this embodiment, the ideal headway, the target headway, and the real-time headway all change with time. In short, different moments correspond to different real-time headway and different target headway. Furthermore, the running speed and the inter-vehicle distance (i.e. the inter-vehicle distance) of the vehicle can be regulated and controlled in real time by monitoring the real-time inter-vehicle distance and the target inter-vehicle distance.
As an optional implementation manner, based on the actual application scene, the front vehicle is braked suddenly, so that the speed of the front vehicle suddenly drops, and the current vehicle and the front vehicle should keep a larger vehicle head distance to avoid collision, namely the larger the vehicle head time distance should be; on the contrary, when the front vehicle suddenly accelerates, the distance between the two workshops can be properly reduced to increase traffic capacity and avoid lane changing and cutting of vehicles on adjacent lanes, namely, the headway is properly reduced. Based on the above, the embodiment correspondingly adjusts and controls the real-time headstock distance and the target headstock distance by adding the acceleration variable, and further correspondingly controls the target headstock distance and the real-time speed of the vehicle by the target headstock distance so as to meet different application scene requirements and improve the reliability of the self-adaptive cruise control.
Specifically, as shown in fig. 2, the present embodiment further specifically includes the following steps:
s41, acquiring the acceleration of the vehicle in real time, and calculating the acceleration of the front vehicle according to the acceleration of the vehicle.
S42, calculating and obtaining an ideal headway corresponding to the current moment based on the relative speed and the acceleration of the front vehicle.
S43, comparing the ideal headway with the boundary value of the preset headway interval to determine the target headway.
In this embodiment, the acceleration of the vehicle during the running process is obtained through the sensor and other devices, and then the acceleration of the vehicle is used to calculate the acceleration of the front vehicle. Further, the front vehicle acceleration (i.e., a f ) For the acceleration of the vehicle (i.e. a e ) From the relative velocity (i.e) The sum, i.e.)>And the ratio of the front acceleration is the front acceleration (i.e. a f ) With a preset second proportional parameter (i.e. k a ) Is a product of (a) and (b).
Wherein the ideal headway is a preset minimum headway (i.e., t 0 ) The difference between the proportional value of the relative speed and the proportional value of the acceleration of the front vehicle; the ratio of the acceleration of the front vehicle is the product of the acceleration of the front vehicle and a predetermined second ratio parameter (i.e., k a ) The physical quantity calibration parameter is a proportional parameter with the number value larger than 0, the meaning of the proportional parameter is an acceleration physical quantity experience calibration parameter, the specific value of the proportional parameter can be set according to actual requirements, and the proportional parameter is not limited herein. That is, ideal headway = t 0 -k v v r -k a a f 。
Then, a target headway is determined based on the ideal headway and a preset headway interval, and a value defining the target headway (i.e., t) is located within the headway interval. Specifically, the expression of the target headway in this scenario is:
it can be appreciated that after the ideal headway is calculated, the target headway can be determined by the ideal headway and the preset headway interval. Specifically, judging whether the ideal headway falls in the headway interval or not; if the ideal headway falls within the headway interval, the ideal headway is taken as the target headway. Otherwise, if the ideal headway does not fall in the headway interval and the ideal headway is smaller than the minimum value of the headway interval, taking the minimum value of the headway interval as the target headway; if the ideal headway does not fall in the headway interval, and if the headway is larger than the maximum value of the headway interval, taking the maximum value of the headway interval as the target headway.
Furthermore, based on the application scene of frequent acceleration and deceleration of the front vehicle, the embodiment correspondingly considers the value of the target headway by introducing the parameter of the acceleration of the front vehicle, so that when the front vehicle accelerates, the control vehicle dynamically reduces the real-time headway, thereby reducing the distance between the two vehicles and increasing the road traffic capacity; if the front car is decelerating, control the car developments increase real-time headstock time span to increase two car intervals, guarantee driving safety, in short, this embodiment can be when the current car is suddenly stopped stopping, dynamic control slows down, with real-time headstock time span and headstock interval between the increase two cars, effectively avoid the car to bump with the front car, guaranteed driving safety.
Based on the above, the speed change condition of the front vehicle is observed by introducing the front vehicle acceleration, so that compared with the relative speed between two vehicles, the front vehicle acceleration is used for intuitively and obviously displaying the dynamic speed change of the front vehicle, and the front vehicle acceleration is used for dynamically regulating and controlling the headway between the two vehicles so as to regulate and control the headway between the two vehicles in real time, thereby realizing synchronous acceleration and deceleration between the vehicle and the front vehicle, reducing the variation range of the vehicle speed and the acceleration, and effectively improving riding comfort and energy consumption economy.
S30, comparing the real-time headway with the target headway, and correspondingly controlling the real-time speed of the vehicle according to the comparison result.
The current real-time headway is compared with the target headway to determine whether to adjust the current real-time vehicle speed. Further, as shown in fig. 3, the step S30 specifically includes the following steps:
s31, comparing the real-time headway with the target headway.
S32, if the real-time headway is smaller than the target headway, controlling the vehicle to decelerate.
And S33, if the real-time headway is larger than the target headway, controlling the vehicle to accelerate.
It should be noted that, in this embodiment, the speed change values for controlling the deceleration and acceleration of the vehicle may be set correspondingly according to the difference between the real-time headway and the target headway, that is, according to the actual requirement, which is not limited herein.
Meanwhile, the real-time headway of each moment is monitored in real time, and the real-time headway is infinitely close to the target headway of the same moment through proper acceleration or deceleration control. The specific speed variable value corresponding to acceleration or deceleration can be specifically set according to actual requirements, and is not limited herein.
In one embodiment, the target headstock distance can be further calculated according to the target headstock time distance, so that the speed of the vehicle can be correspondingly regulated and controlled through the target headstock distance.
Specifically, the vehicle head distance is the product of the vehicle head time distance and the speed of the vehicle; illustratively, in the present embodiment, the target headway is the product of the target headway and the own vehicle speed, which product is then summed with the preset minimum headway. That is, the target head pitch (d) is: d=t×v+d 0 Wherein t is the target headway, v is the speed of the vehicle, d 0 Is a preset minimum inter-vehicle distance.
Note that, in the present embodiment, the preset minimum inter-vehicle distance may be set according to actual requirements, which is not limited herein.
And further, the real-time headstock distance corresponding to the same moment is compared with the target headstock distance by acquiring the real-time headstock distance between the vehicle and the front vehicle, so that the real-time speed of the vehicle is controlled according to a comparison result. That is, if the real-time head space is not equal to the target head space, the vehicle is controlled to accelerate or decelerate correspondingly; specifically, if the real-time headstock distance is smaller than the target headstock distance, controlling the speed of the vehicle to be reduced; otherwise, if the real-time head space is larger than the target head space, the vehicle is controlled to accelerate.
In the embodiment of the application, the speed change condition of the front vehicle is predicted by introducing two parameters, namely the relative speed between the front vehicle and the acceleration of the front vehicle, the influence of the speed change condition on the vehicle distance between the two vehicles is analyzed, and then the target vehicle headway is determined based on the parameters, and then the control of the real-time vehicle headway and the real-time vehicle speed is realized through the target vehicle headway, so that the vehicle and the front vehicle are in a safe headway range, the traffic capacity is in a proper range, lane changing and cutting of vehicles on adjacent lanes are avoided, the anti-interference capability of the adaptive cruise control is improved, the dynamic performance of the real-time headway control is effectively improved, the complex and changeable driving environment can be better adapted, and the driving safety and the following performance under the complex environment are ensured.
As shown in fig. 4, an embodiment of the present application provides an adaptive cruise control apparatus including:
an obtaining module 110, configured to obtain a front vehicle speed and a host vehicle speed at a current time, and calculate a relative speed between two vehicles according to the front vehicle speed and the host vehicle speed;
a calculating module 120, configured to calculate a real-time headway and a target headway corresponding to the current moment respectively based on the relative speeds;
and the control module 130 is used for comparing the real-time headway with the target headway and controlling the real-time speed of the vehicle according to the comparison result.
It is to be understood that the adaptive cruise control device of the present embodiment corresponds to the adaptive cruise control method of the above embodiment, and the options in the above embodiment are equally applicable to the present embodiment, so that the description thereof will not be repeated here.
The embodiment of the application also provides a vehicle, which can be but is not limited to an automatic driving vehicle and the like, and the existence form of the vehicle is not limited, and mainly depends on whether the vehicle needs to support the interface display function of the browser webpage or not. The vehicle comprises a processor and a memory, wherein the memory stores a computer program, the processor being adapted to cause the vehicle to perform the adaptive cruise control method of the application by running said computer program, wherein the method comprises: acquiring the front vehicle speed and the own vehicle speed at the current moment, and calculating the relative speed between the two vehicles according to the front vehicle speed and the own vehicle speed; based on the relative speed, respectively calculating a real-time headway and a target headway corresponding to the current moment; comparing the real-time headway with the target headway, and correspondingly controlling the real-time speed of the vehicle according to the comparison result; furthermore, the embodiment of the application predicts the speed change condition of the front vehicle by introducing two parameters, namely the relative speed between the front vehicle and the acceleration of the front vehicle, analyzes the influence of the speed change condition on the vehicle distance between the two vehicles, and further realizes the control of the real-time vehicle head distance and the real-time vehicle speed based on the parameters so as to ensure that the vehicle and the front vehicle are in a safe distance range, further ensure that the traffic capacity is kept proper, avoid lane changing and cutting of vehicles in adjacent lanes, improve the anti-interference capability of the adaptive cruise control, effectively improve the dynamic performance of the real-time vehicle head time distance control, better adapt to complex and changeable driving environments and ensure the driving safety and the following performance under the complex environment.
The processor may be an integrated circuit chip with signal processing capabilities. The processor may be a general purpose processor including at least one of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) and a network processor (Network Processor, NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application.
The Memory may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory is used for storing a computer program, and the processor can correspondingly execute the computer program after receiving the execution instruction.
Furthermore, the present application provides a computer storage medium storing the computer program for use in the above vehicle, wherein the computer program, when executed on a processor, implements the adaptive cruise control method of the above embodiment, and the method includes: acquiring the front vehicle speed and the own vehicle speed at the current moment, and calculating the relative speed between the two vehicles according to the front vehicle speed and the own vehicle speed; based on the relative speed, respectively calculating a real-time headway and a target headway corresponding to the current moment; and comparing the real-time headway with the target headway, and correspondingly controlling the real-time speed of the vehicle according to the comparison result.
It will be appreciated that the options in the adaptive cruise control method of the above embodiment are equally applicable to this embodiment, and thus the description thereof will not be repeated here.
The computer storage medium may be a nonvolatile storage medium or a volatile storage medium. For example, the computer storage medium may include, but is not limited to,: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in various embodiments of the application may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a vehicle (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.

Claims (10)

1. An adaptive cruise control method, comprising:
acquiring the front vehicle speed and the own vehicle speed at the current moment, and calculating the relative speed between the two vehicles according to the front vehicle speed and the own vehicle speed;
based on the relative speed, respectively calculating a real-time headway and a target headway corresponding to the current moment;
and comparing the real-time headway with the target headway, and correspondingly controlling the real-time speed of the vehicle according to a comparison result.
2. The adaptive cruise control method according to claim 1, characterized in that said calculating a target headway corresponding to a current time based on said relative speed includes:
based on the relative speed, calculating to obtain an ideal headway corresponding to the current moment;
and comparing the ideal headway with a boundary value of a preset headway interval to determine a target headway.
3. The adaptive cruise control method according to claim 2, characterized in that the ideal headway is a difference between a preset minimum headway and a proportional value of the relative speed; the ratio value of the relative speed is the product of the relative speed and a preset first ratio parameter.
4. The adaptive cruise control method according to claim 1, characterized in that the method further comprises:
acquiring the acceleration of the vehicle in real time, and calculating to obtain the acceleration of the front vehicle according to the acceleration of the vehicle;
the calculating the target headway corresponding to the current moment based on the relative speed comprises the following steps:
and calculating an ideal headway corresponding to the current moment based on the relative speed and the acceleration of the front vehicle.
5. The adaptive cruise control method according to claim 4, characterized in that the ideal headway is a difference between a preset minimum headway, a proportional value of the relative speed, and a proportional value of the preceding vehicle acceleration; the ratio value of the front vehicle acceleration is the product of the front vehicle acceleration and a preset second ratio parameter.
6. An adaptive cruise control method according to any one of claims 2-5, characterized in that said comparing said ideal headway with a preset headway interval boundary value to determine a target headway comprises:
judging whether the ideal headway is in a preset headway interval or not;
if the ideal headway is within a preset headway interval, taking the ideal headway as a target headway;
if the ideal headway is not in the preset headway interval, and if the ideal headway is smaller than the minimum value of the headway interval, taking the minimum value of the headway interval as a target headway;
and if the ideal headway is not in the preset headway interval, and if the headway is larger than the maximum value of the headway interval, taking the maximum value of the headway interval as a target headway.
7. The adaptive cruise control method according to claim 1, wherein the corresponding control of the real-time vehicle speed of the host vehicle according to the comparison result includes:
if the real-time headway is smaller than the target headway, controlling the vehicle to decelerate;
and if the real-time headway is larger than the target headway, controlling the vehicle to accelerate.
8. An adaptive cruise control device, comprising:
the acquisition module is used for acquiring the front vehicle speed and the own vehicle speed at the current moment and calculating the relative speed between the two vehicles according to the front vehicle speed and the own vehicle speed;
the calculating module is used for respectively calculating the real-time headway and the target headway corresponding to the current moment based on the relative speed;
the control module is used for comparing the real-time headway with the target headway and correspondingly controlling the real-time speed of the vehicle according to the comparison result.
9. A vehicle comprising a memory and at least one processor, the memory storing a computer program, the processor for executing the computer program to implement the adaptive cruise control method of any one of claims 1-7.
10. A computer storage medium, characterized in that it stores a computer program which, when executed, implements the adaptive cruise control method according to any one of claims 1-7.
CN202311352220.6A 2023-10-18 2023-10-18 Adaptive cruise control method and device, vehicle and storage medium Pending CN117141480A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311352220.6A CN117141480A (en) 2023-10-18 2023-10-18 Adaptive cruise control method and device, vehicle and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311352220.6A CN117141480A (en) 2023-10-18 2023-10-18 Adaptive cruise control method and device, vehicle and storage medium

Publications (1)

Publication Number Publication Date
CN117141480A true CN117141480A (en) 2023-12-01

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Country Status (1)

Country Link
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