CN110576856A - Speed determination method and device under self-adaptive cruise state and automobile - Google Patents
Speed determination method and device under self-adaptive cruise state and automobile Download PDFInfo
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- CN110576856A CN110576856A CN201910870734.8A CN201910870734A CN110576856A CN 110576856 A CN110576856 A CN 110576856A CN 201910870734 A CN201910870734 A CN 201910870734A CN 110576856 A CN110576856 A CN 110576856A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Abstract
the invention discloses a speed determination method and device under a self-adaptive cruise state and an automobile, wherein the speed determination method comprises the following steps: acquiring the position information, the current speed value and the speed limit value corresponding to the position information of the vehicle, wherein the position information comprises: lane information; judging whether a vehicle exists in a preset distance in front of the vehicle according to the lane information; if a vehicle exists in the preset distance in front of the vehicle, acquiring a speed value of the vehicle in front and distance information of the vehicle from the vehicle in front; and re-determining the traveling speed of the vehicle according to the speed limit value, the current speed value, the speed value and the distance information. The invention can acquire the speed limit value of the current road section in real time, thereby dynamically adjusting the set speed in the self-adaptive cruise state, ensuring that no overspeed phenomenon occurs no matter there is a vehicle or there is no vehicle in front of the vehicle, and improving the driving comfort level.
Description
Technical Field
the invention relates to the field of automobile safety monitoring, in particular to a speed determination method and device under a self-adaptive cruise state and an automobile.
background
adaptive cruise, which is an automatic driving function at the level of L2, is similar to conventional cruise control in that the system uses radar to determine the exact position of the leading vehicle, and if it is found that the leading vehicle is slowing down or a new target is detected, the system sends a signal to the engine or brake system to slow down the vehicle, thereby keeping the vehicle and leading vehicle at a safe distance. When the front road obstacle is cleared, the speed is accelerated to return to the set speed, and the radar system automatically detects the next target. The self-adaptive cruise system replaces a driver to control the speed of the vehicle, and provides a more relaxed driving mode for the driver
In the current Adaptive Cruise, information such as a position and a speed of a leading vehicle is acquired by a radar, and then a safe distance to the leading vehicle is maintained by an Adaptive Cruise Control (ACC), so that the leading vehicle accelerates, the own vehicle also accelerates, and the leading vehicle decelerates. When there is no other vehicle in front of the vehicle, the vehicle will return to the previously set vehicle speed, but the previously set vehicle speed cannot adapt to all road conditions, for example, if the previously set vehicle speed is 100 km/hour, when the vehicle travels to the section of the speed limit 80, there is no vehicle in front, the vehicle will run at an excessive speed, and the driver is required to actively reduce the vehicle speed. Therefore, during the adaptive cruise process, the driver continuously pays attention to the current vehicle speed and the speed limit of the current road section. A great deal of energy of the driver is consumed, and the experience of automatic driving is reduced.
therefore, it is urgently needed to provide a speed determination method and device in an adaptive cruise state and a technical scheme of an automobile, which can obtain a speed limit value of a current road section in real time, so that a set speed in the adaptive cruise state can be dynamically adjusted, an overspeed phenomenon cannot occur in front of the automobile no matter the automobile exists or does not exist in front of the automobile, and driving comfort is improved.
disclosure of Invention
the invention provides a speed determination method under a self-adaptive cruise state, which comprises the following steps:
acquiring the position information, the current speed value and the speed limit value corresponding to the position information of the vehicle, wherein the position information comprises: lane information;
judging whether a vehicle exists in a preset distance in front of the vehicle according to the lane information;
If the vehicle exists in front of the vehicle within the preset distance, acquiring a speed value of the vehicle in front and distance information of the vehicle from the vehicle in front;
and re-determining the traveling speed of the vehicle according to the speed limit value, the current speed value, the speed value and the distance information.
Further, the step of determining the traveling speed of the vehicle again according to the speed limit value, the current speed value, the speed value and the distance information includes:
determining time distance information of the vehicle and the front vehicle according to the current speed value, the speed value and the distance information;
judging whether the time distance information is less than a preset first time or not;
If the time distance information is less than the preset first time, judging whether the speed value is greater than the speed limit value;
If the speed value is larger than the speed limit value, setting the speed information as the speed limit value + N, wherein N is larger than or equal to 10km/h and larger than or equal to-5 km/h;
and if the speed value is smaller than the speed limit value, setting the speed information as the speed value a, wherein a < 1.
further, the re-determining the traveling speed of the vehicle according to the speed limit value, the current speed value, the speed value and the distance information further includes:
If the time distance information is greater than the preset first time, judging whether the time distance information is greater than a preset second time;
if the time distance information is greater than the preset second time, judging whether the speed value is greater than the speed limit value;
If the speed value is larger than the speed limit value, setting the speed information as the speed limit value + N, wherein N is larger than or equal to 10km/h and larger than or equal to-5 km/h;
And if the speed value is smaller than the speed limit value, setting the speed information as the speed value b, wherein b is greater than 1, and the speed value b < (the speed limit value + N).
further, the re-determining the traveling speed of the vehicle according to the speed limit value, the current speed value, the speed value and the distance information further includes:
If the time distance information is less than the preset second time, judging whether the speed value is greater than the speed limit value;
if the speed value is larger than the speed limit value, setting the speed information as the speed limit value + N, wherein N is larger than or equal to 10km/h and larger than or equal to-5 km/h;
And if the speed value is smaller than the speed limit value, setting the speed information as the speed value.
Further, still include:
and if no vehicle exists in the preset distance in front of the vehicle, setting the vehicle speed information as the speed limit numerical value + N, wherein N is more than or equal to 10km/h and more than or equal to-5 km/h.
in another aspect, the present invention provides an apparatus for a method for determining a speed in an adaptive cruise condition, comprising:
the position information and speed limit value acquisition module is used for acquiring the position information, the current speed value and the speed limit value corresponding to the position information of the vehicle, wherein the position information comprises: lane information;
the judging module is used for judging whether a vehicle exists in a preset distance in front of the vehicle according to the lane information;
the speed value and distance information acquisition module is used for acquiring the speed value of the front vehicle and the distance information of the front vehicle from the vehicle if the vehicle is in front of the vehicle within the preset distance;
And the vehicle speed information determining module is used for re-determining the traveling speed of the vehicle according to the speed limit value, the current speed value, the speed value and the distance information.
further, the vehicle speed information determination module includes:
The time and distance information determining module is used for determining the time and distance information between the vehicle and the front vehicle according to the current speed value, the speed value and the distance information;
the first distance judging unit is used for judging whether the time distance information is smaller than preset first time or not;
The speed limit value judging unit is used for judging whether the speed value is greater than the speed limit value or not if the time distance information is less than the preset first time;
The first vehicle speed information determining unit is used for setting the vehicle speed information as the speed limit value + N if the speed value is greater than the speed limit value, wherein N is greater than or equal to 10km/h and greater than or equal to-5 km/h;
And the second vehicle speed information determining unit is used for setting the vehicle speed information as the speed value x a if the speed value is smaller than the speed limit value, wherein a < 1.
in another aspect, the invention provides a computer readable storage medium having stored therein at least one instruction, at least one program, set of codes or set of instructions which, when loaded and executed by a processor, carries out the steps of the method for speed determination in an adaptive cruise condition as described above.
in another aspect, the present invention provides an electronic device for a speed determination method in an adaptive cruise state, including: a memory for storing a computer program; a processor for implementing the steps of the method for determining speed in an adaptive cruise condition as described above when executing said computer program.
in another aspect, the present invention provides an automobile provided with an automatic driving system, the automatic driving system including: the device comprises a position information and speed limit value acquisition module, a judgment module, a speed value and distance information acquisition module and a vehicle speed information determination module.
By adopting the technical scheme, the method, the device and the automobile for determining the speed in the self-adaptive cruise state have the following beneficial effects that:
the speed determining method under the self-adaptive cruise state provided by the invention has the advantages that the traveling speed of the vehicle is determined again by judging the speed value and the time distance information of the front vehicle, the scheme is simple and effective, when the vehicle is close to the front vehicle, the vehicle speed information of the vehicle is set to be the front speed value a, the safe driving of the vehicle can be ensured, and the good sensitivity of a driver is improved. When the distance between the vehicle and the front vehicle is far, the vehicle speed information of the vehicle is set to be the front speed value b, so that the safe driving of the vehicle can be guaranteed, the efficiency of the ACC function is improved by shortening the distance between the vehicle and the front vehicle, and the energy consumption of the vehicle is reduced. When the distance between the vehicle and the front vehicle is within the safe distance, the vehicle speed information of the vehicle is set to be the front speed value, the safe driving of the vehicle can be guaranteed, the efficiency of the ACC function is improved by shortening the distance between the vehicle and the front vehicle, and the energy consumption of the vehicle is reduced.
Drawings
in order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a method for determining speed in an adaptive cruise condition according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for determining speed at an adaptive cruise condition according to an embodiment of the present invention;
FIG. 3 is a flow chart of yet another method for determining speed at an adaptive cruise condition in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart of a method for determining speed in an adaptive cruise condition according to another embodiment of the present invention;
Fig. 5 is a schematic structural diagram of an apparatus of a speed determination method in an adaptive cruise state according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an apparatus structure of another method for determining a speed in an adaptive cruise condition according to an embodiment of the present invention;
fig. 7 is a block diagram of an electronic device that provides a method for determining speed in an adaptive cruise condition according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
fig. 1 is a flowchart of a speed determination method in an adaptive cruise state according to an embodiment of the present invention, and as shown in fig. 1, the present invention provides a speed determination method in an adaptive cruise state, including:
s102, obtaining position information, a current speed value and a speed limit value corresponding to the position information of the vehicle, wherein the position information comprises: lane information;
Specifically, the position information of the vehicle can be obtained in real time through a navigation system, a positioning system, a satellite positioning terminal or the like;
the location information may include at least: lane information, a city where the vehicle is located, a county area where the vehicle is located, a vehicle accident location, longitude coordinates, latitude coordinates, and the like.
The current speed value can directly reflect the current running speed of the vehicle, and can be determined in real time through the rotating speed of the engine or a navigation system and the like.
the speed limit value can be a speed limit value of a current Road section broadcasted by a Road Side Unit (RSU) in real time; the speed limit value can also be the speed limit value of the current road section read from the navigation map in real time according to the positioning information of the vehicle; and the speed limit value is stored in the set speed of the ACC unit. The speed limit value can be ramp speed limit, high speed limit, city expressway speed limit or other road speed limit.
it should be noted that the real time may be a preset time threshold, and the preset time threshold is, for example, 1s to 100 s.
s104, judging whether a vehicle exists in a preset distance in front of the vehicle according to the lane information;
Specifically, the front vehicle may be determined by a radar device provided on the vehicle; the preset distance can be determined according to an empirical value or through a plurality of experimental tests. Of course, the preset distance may be set according to actual needs, and is not specifically limited in this specification.
It should be noted that the speed of the vehicle in front should be greater than zero.
s106, if a vehicle exists in front of the vehicle within the preset distance, acquiring a speed value of the vehicle in front and time distance information of the vehicle from the vehicle in front;
Specifically, the speed value of the front vehicle can continuously receive the information of the far vehicle (V2V) through a speed setting module arranged on the vehicle or a vehicle-mounted V2X module, and the speed limit value is stored in the set speed of the ACC unit. The time-distance information and the speed value may also be determined by the camera device and/or the radar device.
For example, the radar device may determine a second coordinate of the front vehicle, and fuse the first coordinate and the second coordinate to obtain time and distance information of the front vehicle. Or the shooting device determines the third coordinate of the front vehicle, and the radar device can determine the fourth coordinate of the front vehicle; the first time post-shooting device is preset to determine a fifth coordinate of the front vehicle, the radar device can determine a sixth coordinate of the front vehicle, and the speed value and the time distance information of the front vehicle are calculated through weighted average according to the speed information of the vehicle. The camera device may be a vehicle data recorder or a 360-degree omni-directional camera device.
S108, re-determining the traveling speed of the vehicle according to the speed limit value, the current speed value, the speed value and the time distance information;
specifically, the vehicle speed information may be determined according to the speed limit value, the current speed value, the speed value, and the time distance information. The vehicle speed information can directly reflect the running speed of the vehicle.
In some possible embodiments, fig. 2 is a flow chart of another method for determining a speed in an adaptive cruise condition according to an embodiment of the present invention; as shown in fig. 2, the re-determining the traveling speed of the vehicle according to the speed limit value, the speed value and the time distance information includes:
S10802, determining time distance information between the vehicle and a front vehicle according to the current speed value, the speed value and the time distance information;
specifically, the time-distance information may directly reflect the time of collision between the own vehicle and the preceding vehicle.
S10804, judging whether the time distance information is smaller than a preset first time;
Specifically, the preset first time may be set according to actual needs, and is not specifically limited in the embodiment of the present specification, and the preset first time may be a lower limit of a collision time of the host vehicle from the front vehicle or a lower limit of a safe distance from the host vehicle to the front vehicle.
s10806, if the time distance information is less than the preset first time, judging whether the speed value is greater than the speed limit value;
specifically, when the distance between the vehicle and the front vehicle is smaller than the safety distance or the time distance information is smaller than the preset first time, the ACC may determine whether the speed value of the front vehicle is greater than the speed limit value.
S10808, if the speed numerical value is larger than the speed limit numerical value, setting the speed information as the speed limit numerical value + N, wherein N is larger than or equal to 10km/h and larger than or equal to-5 km/h;
Specifically, when the speed value of the vehicle in front exceeds the speed limit value (i.e. the vehicle in front is overspeed), the ACC may control the speed of the vehicle to be below the speed limit speed to the engine or the braking system of the vehicle, or, of course, may control the speed of the vehicle to be within the range of the speed limit value + N, where 10km/h is greater than or equal to N is greater than or equal to-5 km/h.
and S10810, if the speed value is smaller than the speed limit value, setting the vehicle speed information as the speed value a, wherein a is less than 1.
specifically, when the speed value of the vehicle in front is less than the speed limit value (i.e. the vehicle in front is not over-speed), the ACC may control the speed of the vehicle to the engine or the brake system of the vehicle to be the speed value a, where a < 1. The size of a is not particularly limited in this specification, and may be set according to actual needs. The function of a is to control the distance between the vehicle and the front vehicle to be kept at a safe distance. Since the distance between the vehicle and the front vehicle is less than the second preset time distance information, the distance between the vehicle and the front vehicle needs to be pulled, and therefore a is less than 1.
According to the speed determining method under the self-adaptive cruise state, the travelling speed of the vehicle is determined again by judging the speed value and the time distance information of the front vehicle, the scheme is simple and effective, the speed information of the vehicle can be determined according to the speed value of the front vehicle when the distance between the vehicle and the front vehicle is too short, the safe driving of the vehicle can be guaranteed, and the good feeling of a driver is improved.
in some possible embodiments, fig. 3 is a flowchart of a speed determination method in an adaptive cruise state according to another embodiment of the present invention, and as shown in fig. 3, the re-determining the traveling speed of the vehicle according to the speed limit value, the speed value, and the time distance information further includes:
S10822, if the time distance information is greater than the preset first time, determining whether the time distance information is greater than a preset second time;
Specifically, when the distance between the vehicle and the front vehicle is greater than the preset first time, the ACC may determine whether the time distance information of the front vehicle is greater than the preset second time. The preset second time may be an upper limit of a safety distance or a collision time of the vehicle from the front vehicle, that is, the preset second time is greater than the preset first time. The preset second time may be set according to actual needs, and is not specifically limited in this specification. For example, the preset second time may be calculated according to experience, national traffic law regulations, or through a large number of experiments.
S10824, if the time distance information is greater than the preset second time, judging whether the speed value is greater than the speed limit value;
Specifically, when the inter-vehicle distance information is greater than the preset second time (that is, the distance between the vehicle and the vehicle ahead exceeds the upper limit of the safe distance), the ACC may determine whether the speed value of the vehicle ahead is greater than the speed limit value.
s10826, if the speed value is larger than the speed limit value, setting the speed information as the speed limit value + N, wherein N is larger than or equal to 10km/h and larger than or equal to-5 km/h;
specifically, when the speed value of the front vehicle exceeds the speed limit value (i.e. the front vehicle is overspeed), the speed of the vehicle can be controlled to be below the speed limit speed by an engine or a brake system of the vehicle, and of course, the speed of the vehicle can also be controlled to be within the range of the speed limit value + N, wherein the speed is 10km/h or more and more than N or more than-5 km/h.
And S10828, if the speed value is smaller than the speed limit value, setting the vehicle speed information as the speed value b, wherein b is greater than 1, and the speed value b < (the speed limit value + N).
specifically, when the speed value of the vehicle in front is less than the speed limit value (i.e. the vehicle in front is not overspeed), the speed of the vehicle can be controlled to the engine or the brake system of the vehicle to be the speed value b, wherein b < 1. The size of b is not particularly limited in this specification, and may be set according to actual needs. b is used for controlling the distance between the vehicle and the front vehicle to be kept within a safe distance. Since the distance between the vehicle and the front vehicle is less than the second preset time distance information, the distance between the vehicle and the front vehicle needs to be shortened, and therefore b is less than 1.
according to the speed determining method under the self-adaptive cruise state, the travelling speed of the vehicle is determined again by judging the speed value and the time distance information of the front vehicle, the scheme is simple and effective, the speed information of the vehicle can be determined according to the speed value of the front vehicle when the distance between the vehicle and the front vehicle is too short, the vehicle can be ensured to run safely, the efficiency of an ACC function is improved by shortening the distance between the vehicle and the front vehicle, and the energy consumption of the vehicle is reduced.
in some possible embodiments, fig. 4 is a flowchart of a speed determination method in an adaptive cruise state according to another embodiment of the present invention, and as shown in fig. 4, the re-determining the traveling speed of the vehicle according to the speed limit value, the speed value, and the time distance information further includes:
s10842, judging whether the time distance information is less than a preset first time;
Specifically, the preset first time may be set according to actual needs, and is not specifically limited in the embodiment of the present specification, and the preset first time may be a lower limit of a safety distance between the host vehicle and a vehicle ahead.
s10844, if the time distance information is greater than the preset first time, determining whether the time distance information is greater than a preset second time;
Specifically, when the distance between the vehicle and the front vehicle is greater than the preset first time, the ACC may determine whether the time distance information of the front vehicle is greater than the preset second time. The preset second time may be an upper limit of a safety distance or a collision time of the vehicle from the front vehicle, that is, the preset second time is greater than the preset first time. The preset second time may be set according to actual needs, and is not specifically limited in this specification. For example, the preset second time may be calculated according to experience, national traffic law regulations, or through a large number of experiments.
S10846, if the time distance information is less than the preset second time, judging whether the speed value is greater than the speed limit value;
specifically, when the inter-distance information is smaller than the preset second time (that is, the distance between the vehicle and the front vehicle is within the safe distance), the ACC may determine whether the speed value of the front vehicle is greater than the speed limit value.
s10848, if the speed value is larger than the speed limit value, setting the speed information as the speed limit value + N, wherein N is larger than or equal to 10km/h and larger than or equal to-5 km/h;
specifically, when the speed value of the front vehicle exceeds the speed limit value (i.e. the front vehicle is overspeed), the speed of the vehicle can be controlled to be below the speed limit speed by an engine or a brake system of the vehicle, and of course, the speed of the vehicle can also be controlled to be within the range of the speed limit value + N, wherein the speed is 10km/h or more and more than N or more than-5 km/h.
And S10850, if the speed value is smaller than the speed limit value, setting the speed information as the speed value.
specifically, when the speed value of the vehicle in front is smaller than the speed limit value (i.e. the vehicle in front does not overspeed), the speed of the vehicle may be controlled to the speed value to the engine or the brake system of the vehicle (i.e. the vehicle runs following the vehicle in front).
according to the speed determining method under the self-adaptive cruise state, the travelling speed of the vehicle is determined again by judging the speed value and the time distance information of the front vehicle, the scheme is simple and effective, the speed information of the vehicle can be determined according to the speed value of the front vehicle when the distance between the vehicle and the front vehicle is too short, the vehicle can be ensured to run safely, the efficiency of an ACC function is improved by shortening the distance between the vehicle and the front vehicle, and the energy consumption of the vehicle is reduced.
the speed determining method under the self-adaptive cruise state provided by the invention has the advantages that the traveling speed of the vehicle is determined again by judging the speed value and the time distance information of the front vehicle, the scheme is simple and effective, when the vehicle is close to the front vehicle, the vehicle speed information of the vehicle is set to be the front speed value a, the safe driving of the vehicle can be ensured, and the good sensitivity of a driver is improved. When the distance between the vehicle and the front vehicle is far, the vehicle speed information of the vehicle is set to be the front speed value b, so that the safe driving of the vehicle can be guaranteed, the efficiency of the ACC function is improved by shortening the distance between the vehicle and the front vehicle, and the energy consumption of the vehicle is reduced. When the distance between the vehicle and the front vehicle is within the safe distance, the vehicle speed information of the vehicle is set to be the front speed value, the safe driving of the vehicle can be guaranteed, the efficiency of the ACC function is improved by shortening the distance between the vehicle and the front vehicle, and the energy consumption of the vehicle is reduced.
On the basis of the above embodiment, in an embodiment of the present specification, the method further includes: and if no vehicle exists in the preset distance in front of the vehicle, setting the vehicle speed information as the speed limit numerical value + N, wherein N is more than or equal to 10km/h and more than or equal to-5 km/h.
correspondingly, an embodiment of the present invention provides a device for determining a speed in an adaptive cruise state, fig. 5 is a schematic structural diagram of the device for determining a speed in an adaptive cruise state, which is provided by the embodiment of the present invention, and as shown in fig. 5, the device may include:
the position information and speed limit value acquisition module is used for acquiring the position information, the current speed value and the speed limit value corresponding to the position information of the vehicle, wherein the position information comprises: lane information;
Specifically, the location information and speed limit value obtaining module may include: the system comprises a position information acquisition unit, a current speed value acquisition unit and a speed limit value acquisition unit, wherein the position information acquisition unit is used for acquiring the position information of the vehicle, the current speed value acquisition unit is used for acquiring the current speed value, the speed limit value acquisition unit is used for acquiring the speed limit value corresponding to the position information,
the judging module is used for judging whether a vehicle exists in a preset distance in front of the vehicle according to the lane information;
The speed value and distance information acquisition module is used for acquiring the speed value of the front vehicle and the distance information of the front vehicle from the vehicle if the vehicle is in front of the vehicle within the preset distance;
specifically, the speed value and distance information obtaining module may include a speed value obtaining unit configured to obtain a speed value of a vehicle ahead, and a distance information obtaining unit configured to obtain distance information of the vehicle from the vehicle ahead.
And the vehicle speed information determining module is used for re-determining the traveling speed of the vehicle according to the speed limit value, the current speed value, the speed value and the distance information.
on the basis of the foregoing embodiments, in an embodiment of the present disclosure, fig. 6 is a device for providing a speed determination method in an adaptive cruise state according to an embodiment of the present disclosure, and as shown in fig. 6, the vehicle speed information determination module includes:
The time distance information determining unit is used for determining the time distance information between the vehicle and the front vehicle according to the current speed value, the speed value and the distance information;
the first distance judging unit is used for judging whether the time distance information is smaller than preset first time or not;
The speed limit value judging unit is used for judging whether the speed value is greater than the speed limit value or not if the time distance information is less than the preset first time;
The first vehicle speed information determining unit is used for setting the vehicle speed information as the speed limit value + N if the speed value is greater than the speed limit value, wherein N is greater than or equal to 10km/h and greater than or equal to-5 km/h;
And the second vehicle speed information determining unit is used for setting the vehicle speed information as the speed value x a if the speed value is smaller than the speed limit value, wherein a < 1.
On the basis of the foregoing embodiments, in an embodiment of the present specification, the vehicle speed information determination module further includes:
A first distance determining unit, configured to determine whether the time distance information is greater than a preset second time if the time distance information is greater than the preset first time;
and the third vehicle speed information determining unit is used for setting the vehicle speed information as the speed value b if the speed value is smaller than the speed limit value, wherein b is greater than 1, and the speed value b < (the speed limit value + N).
on the basis of the foregoing embodiments, in an embodiment of the present specification, the vehicle speed information determination module further includes:
and the vehicle speed information fourth determining unit is used for setting the vehicle speed information as the speed value if the speed value is smaller than the speed limit value.
on the basis of the foregoing embodiment, in an embodiment of the present specification, the vehicle speed information first determining unit is further configured to set the vehicle speed information as the speed limit value + N if there is no vehicle in front of the vehicle by the preset distance, where N is greater than or equal to 10km/h and greater than or equal to-5 km/h.
The device and method embodiments in the device embodiment described are based on the same inventive concept. And will not be described in detail herein.
accordingly, the present invention provides a computer readable storage medium having stored therein at least one instruction, at least one program, set of codes or set of instructions which, when loaded and executed by a processor, carries out the steps of the method for determining speed in an adaptive cruise condition as described hereinbefore.
Correspondingly, the present invention further discloses an electronic device of a speed determination method in an adaptive cruise state, and fig. 7 is a structural diagram of an electronic device of a speed determination method in an adaptive cruise state, which is provided by the embodiment of the present invention, and as shown in fig. 7, the electronic device includes:
a memory for storing a computer program;
A processor for implementing the steps of a method for speed determination in an adaptive cruise condition as disclosed in the foregoing when executing said computer program.
in another aspect, the present invention provides an automobile provided with an automatic driving system, the automatic driving system including: the device comprises a position information and speed limit value acquisition module, a judgment module, a speed value and distance information acquisition module and a vehicle speed information determination module.
the embodiments in the present specification are described in a progressive manner, and the same and similar parts in the embodiments may be joined together, and each embodiment focuses on the differences from the other embodiments. In particular, for the hardware + program class embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and relevant points may be referred to as part of the description of the method embodiment.
The embodiments of this specification are not limited to what must be in compliance with industry communication standards, standard computer data processing and data storage rules, or the description of one or more embodiments of this specification. Certain industry standards, or implementations modified slightly from those described using custom modes or examples, may also achieve the same, equivalent, or similar, or other, contemplated implementations of the above-described examples. The embodiments using the modified or transformed data acquisition, storage, judgment, processing and the like can still fall within the scope of the alternative embodiments of the embodiments in this specification. In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent 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 invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
the above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for determining speed in an adaptive cruise condition, comprising:
Acquiring the position information, the current speed value and the speed limit value corresponding to the position information of the vehicle, wherein the position information comprises: lane information;
judging whether a vehicle exists in a preset distance in front of the vehicle according to the lane information;
If the vehicle exists in front of the vehicle within the preset distance, acquiring a speed value of the vehicle in front and distance information of the vehicle from the vehicle in front;
And re-determining the traveling speed of the vehicle according to the speed limit value, the current speed value, the speed value and the distance information.
2. The method of claim 1, wherein said re-determining the travel speed of the vehicle based on the speed limit value, the current speed value, the speed value, and the distance information comprises:
Determining time distance information of the vehicle and the front vehicle according to the current speed value, the speed value and the distance information;
judging whether the time distance information is less than a preset first time or not;
if the time distance information is less than the preset first time, judging whether the speed value is greater than the speed limit value;
If the speed value is larger than the speed limit value, setting the speed information as the speed limit value + N, wherein N is larger than or equal to 10km/h and larger than or equal to-5 km/h;
And if the speed value is smaller than the speed limit value, setting the speed information as the speed value a, wherein a < 1.
3. the method of claim 2, wherein said re-determining the travel speed of the vehicle based on said speed limit value, said current speed value, said speed value, and said distance information further comprises:
if the time distance information is greater than the preset first time, judging whether the time distance information is greater than a preset second time;
if the time distance information is greater than the preset second time, judging whether the speed value is greater than the speed limit value;
if the speed value is larger than the speed limit value, setting the speed information as the speed limit value + N, wherein N is larger than or equal to 10km/h and larger than or equal to-5 km/h;
and if the speed value is smaller than the speed limit value, setting the speed information as the speed value b, wherein b is greater than 1, and the speed value b < (the speed limit value + N).
4. the method of claim 3, wherein said re-determining the travel speed of the vehicle based on said speed limit value, said current speed value, said speed value, and said distance information further comprises:
If the time distance information is less than the preset second time, judging whether the speed value is greater than the speed limit value;
If the speed value is larger than the speed limit value, setting the speed information as the speed limit value + N, wherein N is larger than or equal to 10km/h and larger than or equal to-5 km/h;
And if the speed value is smaller than the speed limit value, setting the speed information as the speed value.
5. the method of claim 1, further comprising:
And if no vehicle exists in the preset distance in front of the vehicle, setting the vehicle speed information as the speed limit value.
6. An apparatus for a method of determining speed in an adaptive cruise condition, comprising:
the position information and speed limit value acquisition module is used for acquiring the position information, the current speed value and the speed limit value corresponding to the position information of the vehicle, wherein the position information comprises: lane information;
The judging module is used for judging whether a vehicle exists in a preset distance in front of the vehicle according to the lane information;
The speed value and distance information acquisition module is used for acquiring the speed value of the front vehicle and the distance information of the front vehicle from the vehicle if the vehicle is in front of the vehicle within the preset distance;
And the vehicle speed information determining module is used for re-determining the traveling speed of the vehicle according to the speed limit value, the current speed value, the speed value and the distance information.
7. The apparatus of claim 6, wherein the vehicle speed information determination module comprises:
the time distance information determining unit is used for determining the time distance information between the vehicle and the front vehicle according to the current speed value, the speed value and the distance information;
the first distance judging unit is used for judging whether the time distance information is smaller than preset first time or not;
the speed limit value judging unit is used for judging whether the speed value is greater than the speed limit value or not if the time distance information is less than the preset first time;
The first vehicle speed information determining unit is used for setting the vehicle speed information as the speed limit value + N if the speed value is greater than the speed limit value, wherein N is greater than or equal to 10km/h and greater than or equal to-5 km/h;
and the second vehicle speed information determining unit is used for setting the vehicle speed information as the speed value x a if the speed value is smaller than the speed limit value, wherein a < 1.
8. a computer readable storage medium, characterized in that at least one instruction, at least one program, a set of codes or a set of instructions is stored in the storage medium, which at least one instruction, at least one program, the set of codes or the set of instructions, when loaded and executed by a processor, carries out the steps of the method for speed determination in an adaptive cruise state according to any of the claims 1-5.
9. An electronic device for a method of determining speed in an adaptive cruise condition, comprising:
A memory for storing a computer program;
a processor for implementing the steps of the method for speed determination in an adaptive cruise condition according to any of claims 1-5 when executing said computer program.
10. an automobile, characterized in that the automobile is provided with an autopilot system, which autopilot system comprises: the device comprises a position information and speed limit value acquisition module, a judgment module, a speed value and distance information acquisition module and a vehicle speed information determination module.
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