CN113428146A - Self-adaptive cruise driving method and equipment - Google Patents
Self-adaptive cruise driving method and equipment Download PDFInfo
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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
- B60W30/162—Speed limiting therefor
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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
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
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Abstract
The invention aims to provide a self-adaptive cruise driving method and equipment, which can establish a first corresponding relation between each current vehicle speed corresponding to the driving habits of each driver and a standard vehicle following time distance based on the historical driving data of the vehicle by collecting the historical driving data of the driver on the vehicle, establish a second corresponding relation between each vehicle speed parameter and a vehicle speed change parameter based on the historical driving data of the vehicle, and subsequently obtain the vehicle speed change parameter which accords with the driving habits of each driver based on the first corresponding relation and the second corresponding relation so as to enable the vehicle to be controlled to run subsequently to better accord with the individual driving requirements of the driver, thereby realizing the self-definition of the vehicle speed change parameter of a self-adaptive cruise system. The invention can automatically adjust the control parameters according to the weather conditions. The invention can diversify the control parameters of the adaptive cruise system, and a driver can define the control style by himself and can adjust the parameters according to the weather and the environment.
Description
Technical Field
The invention relates to a self-adaptive cruise driving method and equipment.
Background
The current adaptive cruise system is mature, more and more vehicles in the market are provided with the adaptive cruise system, but the adaptive cruise system solidifies system control parameters before leaving a factory, so that a driver feels too mechanical and the driving habit of each driver is not met.
Therefore, the control parameters of the existing adaptive cruise system are too single, and the requirements of different driving habits of drivers and different environments can not be met.
Disclosure of Invention
In view of the above problems in the prior art, it is an object of the present invention to provide an adaptive cruise driving method and apparatus.
According to one aspect of the invention, there is provided an adaptive cruise driving method, the method comprising:
collecting historical driving data of a vehicle;
establishing a first corresponding relation between each current vehicle speed and a standard vehicle-following time interval based on the historical driving data of the vehicle;
establishing a second corresponding relation between each vehicle speed parameter and a vehicle speed change parameter based on the historical driving data of the vehicle, wherein each vehicle speed parameter comprises: the method comprises the steps of obtaining a current vehicle speed and a vehicle speed change value, wherein the vehicle speed change value is the difference value of a target vehicle speed and the current vehicle speed; each vehicle speed variation parameter includes: an acceleration curve and a deceleration curve;
acquiring the current vehicle speed and the target vehicle speed of a vehicle, and acquiring the current actual vehicle following distance; obtaining a standard following time distance corresponding to the current speed of the vehicle based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation;
and controlling the vehicle to run according to the determined vehicle speed change parameter.
Further, in the method, the current vehicle speed and the target vehicle speed of the vehicle are obtained, and the current actual vehicle following distance is obtained; obtaining a standard following time distance corresponding to the current speed of the vehicle based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation, wherein the determining step comprises the following steps:
acquiring the current speed and the target speed of the vehicle;
if the current vehicle speed is less than or equal to the target vehicle speed, acquiring the current actual vehicle following distance, and acquiring a standard vehicle following time distance corresponding to the current vehicle speed of the vehicle based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation;
and if the current vehicle speed is larger than the target vehicle speed, determining a current corresponding deceleration curve based on the current vehicle speed, the target vehicle speed and the second corresponding relation.
Further, in the above method, determining a current corresponding deceleration curve based on the current vehicle speed, the target vehicle speed, and the second corresponding relationship includes:
obtaining a current vehicle speed change value based on the current vehicle speed and the target vehicle speed;
and obtaining a current corresponding deceleration curve from the second corresponding relation based on the current vehicle speed and the current vehicle speed change value.
Further, in the above method, a current actual following distance is obtained, and a standard following time distance corresponding to the current speed of the vehicle is obtained based on the first corresponding relationship; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation, wherein the determining step comprises the following steps:
if the actual vehicle following time distance is equal to the standard vehicle following time distance, keeping the current vehicle speed of the vehicle;
if the actual vehicle following time distance is larger than the standard vehicle following time distance, determining a current corresponding acceleration curve based on the current vehicle speed, the target vehicle speed and the second corresponding relation;
and if the actual following time distance is smaller than the standard following vehicle distance, subtracting a preset value from the target vehicle speed to obtain a new target vehicle speed, and determining a current corresponding deceleration curve based on the current vehicle speed, the new target vehicle speed and the second corresponding relation.
Further, in the above method, determining a current corresponding acceleration curve based on the current vehicle speed, the target vehicle speed, and the second corresponding relationship includes:
obtaining a current vehicle speed change value based on the current vehicle speed and the target vehicle speed;
and obtaining and determining a current corresponding acceleration curve from the second corresponding relation based on the current vehicle speed and the current vehicle speed change value.
Further, in the above method, determining a current corresponding deceleration curve based on the current vehicle speed, the new target vehicle speed, and the second correspondence includes:
obtaining a current vehicle speed change value based on the current vehicle speed and the new target vehicle speed;
and obtaining a current corresponding deceleration curve from the second corresponding relation based on the current vehicle speed and the current vehicle speed change value.
Further, in the above method, establishing a first corresponding relationship between each current vehicle speed and a standard vehicle-following time interval based on the historical driving data of the vehicle includes:
segmenting the current vehicle speed to obtain segmented speed values;
sampling the corresponding car following time distance value under each sectional speed value for preset times, and calculating the weighted average value of the car following time distance values of all times under each sectional speed value to obtain the corresponding standard car following time distance value under each sectional speed value.
Further, in the above method, in the calculation of the weighted average of the following vehicle distance values of all times under each sectional speed value,
setting the weight of the following vehicle distance value of each sampling which is greater than a first preset threshold value or less than a second preset threshold value as a first preset percentage; and setting the weight of the following vehicle distance value of each sampling within the range that the following vehicle distance value is less than or equal to the second preset threshold value and less than or equal to the first preset threshold value to be 100% -a first preset percentage, wherein the first preset threshold value is larger than the second preset threshold value.
Further, in the above method, after obtaining the standard following vehicle distance value corresponding to each segment speed value, the method further includes:
and if the corresponding standard vehicle following distance value under a certain subsection speed value is smaller than a third preset threshold value through calculation, taking the third preset threshold value as the corresponding standard vehicle following distance value under the subsection speed value.
Further, in the above method, establishing a second corresponding relationship between each vehicle speed parameter and a vehicle speed variation parameter based on the historical driving data of the vehicle includes:
segmenting the current vehicle speed to obtain segmented speed values;
determining each vehicle speed change value under each sectional speed value;
respectively sampling the acceleration value or the deceleration value of each vehicle speed change value under each sectional speed value for preset times, respectively calculating the weighted average value of the acceleration values or the weighted average values of the deceleration values corresponding to the respective subdivision degrees of each vehicle speed change value under each sectional speed value according to the preset subdivision degrees by using a weighted average method, obtaining a corresponding acceleration curve based on the weighted average value of the acceleration corresponding to each subdivision degree, and obtaining a corresponding deceleration curve based on the weighted average value of the deceleration corresponding to each subdivision degree.
Further, in the above method, in determining each vehicle speed variation value under each segment speed value,
the minimum value of each sectional speed value and one of the speed change values under each sectional speed value do not exceed the highest speed value in the highest sectional speed values;
the maximum value of each subsection speed value minus the speed change value is not lower than 0 km/h.
Further, in the above method, in calculating the weighted average of the acceleration or the weighted average of the deceleration corresponding to each subdivision degree of each vehicle speed variation value under each sectional speed value,
if the acceleration value or the acceleration change rate corresponding to a fine division of a certain speed change value under a certain subsection speed value obtained by sampling at a certain time exceeds a preset limit value range, taking the second preset percentage as the weight of the acceleration value;
if the acceleration value or the acceleration change rate corresponding to a fine division of a certain speed change value under a certain subsection speed value obtained by sampling at a certain time is within a preset limit value range, the weight of the acceleration value is =100% -a second preset percentage;
if the deceleration acceleration value or the deceleration change rate corresponding to a certain subdivision of a certain speed change value under a certain subsection speed value obtained by sampling at a certain time exceeds a preset limit range, taking the second preset percentage as the weight of the deceleration value;
and if the deceleration acceleration value or the deceleration change rate corresponding to a certain subdivision of a certain vehicle speed change value under a certain subsection speed value obtained by sampling at a certain time is within a preset limit value range, the weight of the deceleration value is =100% -a second preset percentage.
Further, in the above method, obtaining a corresponding acceleration curve based on a weighted average of the acceleration corresponding to each subdivision degree includes:
if the weighted average value of the calculated acceleration values exceeds the preset limit range, taking the maximum value in the preset limit range as the weighted average value of the final acceleration corresponding to the subdivision;
and obtaining a corresponding acceleration curve based on the weighted average of the final acceleration corresponding to each subdivision degree.
Further, in the above method, obtaining a corresponding deceleration curve based on a weighted average of the decelerations corresponding to each sub-division includes:
if the weighted average of the calculated deceleration values exceeds the preset limit range, taking the maximum value in the preset limit range as the final weighted average of the deceleration corresponding to the subdivision;
a corresponding deceleration profile is derived based on the weighted average of the final decelerations for each subdivision.
Further, in the above method, obtaining a standard following distance corresponding to the current vehicle speed of the vehicle based on the first corresponding relationship includes:
obtaining a standard following time distance corresponding to the current speed of the vehicle based on the first corresponding relation;
if the current environment of the vehicle is abnormal, the abnormal environment is rainy weather or night, the obtained standard vehicle following distance corresponding to the current vehicle speed of the vehicle is multiplied by a preset lengthening coefficient to serve as the final standard vehicle following time distance corresponding to the current vehicle speed of the vehicle, and the selection range of the preset lengthening coefficient is 1.1-1.9.
Further, in the above method, determining a current corresponding vehicle speed change parameter based on the actual vehicle following time interval, the standard vehicle following time interval, the current vehicle speed, the target vehicle speed, and the second corresponding relationship, includes:
determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the final standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation;
and multiplying each acceleration value or deceleration value in the determined current corresponding vehicle speed change parameter by a preset flat coefficient as a current corresponding final vehicle speed change parameter, wherein the selection range of the preset flat coefficient is 0.1-0.9.
According to another aspect of the present invention, there is also provided a computer readable medium having computer readable instructions stored thereon, the computer readable instructions being executable by a processor to implement the method of any one of the above.
According to another aspect of the present invention, there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform any of the methods described above.
Compared with the prior art, the method and the device have the advantages that the historical driving data of the driver on the vehicle is collected, the first corresponding relation between each current vehicle speed corresponding to the driving habits of each driver and the standard vehicle following time distance can be established based on the historical driving data of the vehicle, the second corresponding relation between each vehicle speed parameter and the vehicle speed change parameter is established based on the historical driving data of the vehicle, and the vehicle speed change parameter which accords with the driving habits of each driver can be obtained subsequently based on the first corresponding relation and the second corresponding relation, so that the vehicle is controlled to run subsequently to better accord with the individual driving requirements of the driver, and the self-definition of the vehicle speed change parameter of the self-adaptive cruise system is realized.
The invention can automatically adjust the control parameters according to the weather conditions. The invention can diversify the control parameters of the adaptive cruise system, and a driver can define the control style by himself and can adjust the parameters according to the weather and the environment.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1 illustrates a flow chart of an adaptive cruise driving method according to an embodiment of the present invention;
FIG. 2 illustrates a block diagram of an adaptive cruise control apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating acceleration curves sampled according to different speed variation values in the same vehicle speed range according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating acceleration curves sampled at different times for the same speed variation value in the same vehicle speed range according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating acceleration limit values in accordance with an embodiment of the present invention;
FIG. 6 is a diagram illustrating the limits of deceleration values according to an embodiment of the present invention;
fig. 7 is a diagram illustrating a limit of the acceleration/deceleration change rate according to an embodiment of the present invention.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
As shown in fig. 1, the present invention provides an adaptive cruise driving method, the method comprising:
step S1, collecting historical driving data of the vehicle;
specifically, the historical driving data may include: parameters such as acceleration and deceleration values, acceleration change rates, following time intervals and the like of a driver driving a vehicle;
the following distance represents the time difference of the front vehicle and the rear vehicle passing through the same place, and the following distance represents the maximum response time of a rear vehicle driver when the current vehicle brakes.
Following vehicle distance = two vehicle distance/rear vehicle speed.
For example, a driver enters an adaptive cruise driving style self-learning mode through button setting, then parameters such as an acceleration and deceleration value, an acceleration degree change rate and a vehicle following distance of a vehicle driven by the driver are collected according to the manual driving style of the driver, and subsequently, the parameters such as the collected acceleration and deceleration value, the collected acceleration degree change rate and the collected vehicle following distance can be solidified into corresponding vehicle speed change parameters of the adaptive cruise system;
step S2, establishing a first corresponding relation between each current vehicle speed and a standard vehicle-following time interval based on the historical driving data of the vehicle;
step S3, establishing a second corresponding relation between each vehicle speed parameter and the vehicle speed variation parameter based on the historical driving data of the vehicle, wherein each vehicle speed parameter comprises: the method comprises the steps of obtaining a current vehicle speed and a vehicle speed change value, wherein the vehicle speed change value is the difference value of a target vehicle speed and the current vehicle speed; each vehicle speed variation parameter includes: an acceleration curve and a deceleration curve;
specifically, each acceleration curve corresponds to a certain vehicle speed parameter, each acceleration curve is used for representing the acceleration value at each time point, and the slope of a connecting line between the acceleration values at each time point represents the acceleration change rate;
the vehicle speed change value = the target vehicle speed-current vehicle speed;
for example, an operation key can be provided for a driver on the whole vehicle, and after the driver presses the operation key, the vehicle system enters a learning mode of control parameters of adaptive cruise, namely an acceleration curve and a deceleration curve;
when the self-adaptive cruise control parameter learning mode is entered, the cruise controller starts to record the motion parameters of the driver driving by oneself, and the recorded motion parameters comprise acceleration and deceleration values, acceleration and deceleration change rates and standard vehicle following distance of a front target vehicle under different speed sections and different vehicle speeds;
step S4, acquiring the current vehicle speed and the target vehicle speed of the vehicle, and acquiring the current actual vehicle following distance; obtaining a standard following time distance corresponding to the current speed of the vehicle based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation;
and step S5, controlling the vehicle to run according to the determined vehicle speed variation parameter.
Here, as shown in fig. 2, in order to reduce the driving fatigue of the driver, the entire vehicle recognizes the target vehicle using a sensor, and controls the braking and power output of the entire vehicle through a cruise controller, thereby developing an adaptive cruise system. The self-adaptive cruise system can calibrate a set of fixed acceleration curve deceleration curve and a standard following time distance kept with a front vehicle in following passing according to information such as a target vehicle speed, a following time distance and a current vehicle speed set by the vehicle.
According to the invention, through collecting the historical driving data of the driver to the vehicle, a first corresponding relation between each current vehicle speed corresponding to the driving habit of each driver and the standard vehicle following time distance can be established based on the historical driving data of the vehicle, a second corresponding relation between each vehicle speed parameter and the vehicle speed variation parameter is established based on the historical driving data of the vehicle, and the vehicle speed variation parameter conforming to the driving habit of each driver can be obtained subsequently based on the first corresponding relation and the second corresponding relation, so that the vehicle is controlled to run subsequently to better meet the individual driving requirement of the driver, and the self-definition of the vehicle speed variation parameter of the self-adaptive cruise system is realized.
As shown in fig. 1, in an embodiment of the adaptive cruise driving method, in step S4, a current vehicle speed and a target vehicle speed of the vehicle are obtained, and a current actual following distance is obtained; obtaining a standard following time distance corresponding to the current speed of the vehicle based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation, wherein the determining step comprises the following steps:
step S41, acquiring the current vehicle speed and the target vehicle speed of the vehicle;
step S42, if the current vehicle speed is less than or equal to the target vehicle speed, the current actual vehicle following distance is obtained, and the standard vehicle following time distance corresponding to the current vehicle speed of the vehicle is obtained based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation;
and step S43, if the current vehicle speed is larger than the target vehicle speed, determining a current corresponding deceleration curve based on the current vehicle speed, the target vehicle speed and the second corresponding relation.
Specifically, step S43, determining a current corresponding deceleration curve based on the current vehicle speed, the target vehicle speed and the second corresponding relationship, includes:
step S431, obtaining a current vehicle speed change value based on the current vehicle speed and the target vehicle speed;
here, the vehicle speed variation value = current vehicle speed — target vehicle speed;
and step S432, obtaining a deceleration curve which is determined to be corresponding currently from the second corresponding relation based on the current vehicle speed and the current vehicle speed change value.
As shown in fig. 1, in an embodiment of the adaptive cruise driving method, in step S42, a current actual vehicle following distance is obtained, and a standard vehicle following time distance corresponding to a current vehicle speed of the vehicle is obtained based on the first corresponding relationship; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation, wherein the determining step comprises the following steps:
step S421, if the actual following time distance is equal to the standard following vehicle distance, maintaining the current vehicle speed of the vehicle;
step S422, if the actual following time interval is larger than the standard following time interval, determining a current corresponding acceleration curve based on the current vehicle speed, the target vehicle speed and the second corresponding relation;
specifically, step S422 is to determine a current corresponding acceleration curve based on the current vehicle speed, the target vehicle speed, and the second corresponding relationship, and includes:
step S4221, obtaining a current vehicle speed change value based on the current vehicle speed and the target vehicle speed;
here, the vehicle speed variation value = the target vehicle speed — current vehicle speed;
step S4222, obtaining and determining a current corresponding acceleration curve from the second corresponding relation based on the current vehicle speed and the current vehicle speed change value;
and step S423, if the actual following time interval is smaller than the standard following time interval, subtracting a preset value from the target vehicle speed to obtain a new target vehicle speed, and determining a current corresponding deceleration curve based on the current vehicle speed, the new target vehicle speed and the second corresponding relation.
Specifically, step S432 is to determine a current corresponding deceleration curve based on the current vehicle speed, the new target vehicle speed, and the second corresponding relationship, and includes:
step S4321, obtaining a current vehicle speed change value based on the current vehicle speed and the new target vehicle speed;
the vehicle speed change value = current vehicle speed-target vehicle speed;
and S4322, obtaining a deceleration curve which is determined to be corresponding currently from the second corresponding relation based on the current vehicle speed and the current vehicle speed change value.
Preferably, step S1, establishing a first corresponding relationship between each current vehicle speed and a standard following time interval based on the historical driving data of the vehicle, includes:
step S11, segmenting the current vehicle speed to obtain segmented speed values;
and step S12, sampling the corresponding following time distance value under each sectional speed value for preset times, and calculating the weighted average value of the following time distance values of all times under each sectional speed value to obtain the corresponding standard following time distance value under each sectional speed value.
In the self-learning process, the acquired acceleration and deceleration values, acceleration and deceleration change rates and the number of samples of the vehicle following distance of the front target vehicle under different speed sections are not less than 10 times. And then, carrying out weighted average calculation on the parameters, and recording and solidifying the parameters into a cruise controller to be used as the control parameters of the learning adaptive system.
Preferably, in step S12, the weight of the following vehicle distance value of each sample with the following vehicle distance value being greater than the first preset threshold value or less than the second preset threshold value is set as a first preset percentage; setting the weight of the following vehicle distance value of each sampling within the range that the following vehicle distance value is less than or equal to the second preset threshold value and less than or equal to the first preset threshold value to be 100% -a first preset percentage, wherein the first preset threshold value is larger than the second preset threshold value;
preferably, in step S12, if the calculated standard following vehicle distance value corresponding to a certain segment speed value is less than a third preset threshold, the third preset threshold is used as the standard following vehicle distance value corresponding to the segment speed value.
For example, a standard following distance learning scheme may be as follows:
11) dividing the current vehicle speed value from 0-120km/h into 12 sections, 0-10km/h, 10-20km/h … … 100-110km/h and 110-120km/h;
12) the system records the following distance with the front vehicle and converts the following distance into the following time distance when the vehicle reaches the stable speed and the deviation between the speed of the vehicle and the speed of the front target vehicle is less than 5km/h through the distance between the vehicle and the front vehicle and the speed information detected by the radar and the camera. Wherein the stable vehicle speed refers to the vehicle speed when the deviation is more than 3s within +/-4 km/h according to a rounding method for stable vehicle speed value; following distance = distance between two vehicles/speed of the vehicle;
13) as in the above 11), 12), the following vehicle distance value and the number of data samples are recorded not less than 10 times in the same speed segment, and then calculated according to the method of weighted average as in the formula (1). The weights of the samples which can be recorded for the following interval values > 3s and < 1s are 10%, and the weights of the samples in the range from 1s to 3s are 90%. In order to ensure safety, if the average value is finally calculated to be less than 1s, the value is 1 s.
At this time, in the formula (1),
representing the corresponding standard following vehicle distance value under a certain subsection speed value, k representing the sampling times,
the weight of the ith sample is represented,
representing the trailing separation value of the kth sample.
14) And recording corresponding standard following vehicle distance values under all different sectional speed values according to the methods of 11), 12) and 13).
Optionally, in an embodiment of the adaptive cruise driving method, in step S2, a second corresponding relationship between each vehicle speed parameter and a vehicle speed variation parameter is established based on historical driving data of the vehicle, where each vehicle speed parameter includes: the vehicle speed control method comprises the steps of obtaining a current vehicle speed and a vehicle speed change value, wherein the vehicle speed change value is determined based on a target vehicle speed and the current vehicle speed; each vehicle speed variation parameter includes: an acceleration profile and a deceleration profile, comprising:
step S21, segmenting the current vehicle speed to obtain segmented speed values;
step S22, determining each vehicle speed variation value under each sectional speed value;
preferably, the minimum value of each segment speed value and one of the speed change values under each segment speed value do not exceed the highest speed value in the highest segment speed values;
the maximum value of each sectional speed value minus the speed change value is not less than 0km/h;
step S23, respectively sampling the acceleration value or deceleration value of each vehicle speed change value under each sectional speed value for a preset number of times, respectively calculating the weighted average value of the acceleration values or the weighted average values of the deceleration values corresponding to the respective subdivision degrees of each vehicle speed change value under each sectional speed value according to the preset subdivision degrees by using a weighted average method, obtaining the corresponding acceleration curve based on the weighted average value of the acceleration corresponding to each subdivision degree, and obtaining the corresponding deceleration curve based on the weighted average value of the deceleration corresponding to each subdivision degree.
Further, a weighted average of the acceleration or a weighted average of the deceleration corresponding to each subdivision degree of each vehicle speed variation value under each sectional speed value is calculated:
if the acceleration value or the acceleration change rate corresponding to a fine division of a certain speed change value under a certain subsection speed value obtained by sampling at a certain time exceeds a preset limit value range, taking the second preset percentage as the weight of the acceleration value;
if the acceleration value or the acceleration change rate corresponding to a fine division of a certain speed change value under a certain subsection speed value obtained by sampling at a certain time is within a preset limit value range, the weight of the acceleration value is =100% -a second preset percentage;
if the deceleration acceleration value or the deceleration change rate corresponding to a certain subdivision of a certain speed change value under a certain subsection speed value obtained by sampling at a certain time exceeds a preset limit range, taking the second preset percentage as the weight of the deceleration value;
and if the deceleration acceleration value or the deceleration change rate corresponding to a certain subdivision of a certain vehicle speed change value under a certain subsection speed value obtained by sampling at a certain time is within a preset limit value range, the weight of the deceleration value is =100% -a second preset percentage.
Preferably, the obtaining of the corresponding acceleration curve based on the weighted average of the acceleration corresponding to each subdivision degree includes:
if the weighted average value of the calculated acceleration values exceeds the preset limit range, taking the maximum value in the preset limit range as the weighted average value of the final acceleration corresponding to the subdivision;
and obtaining a corresponding acceleration curve based on the weighted average of the final acceleration corresponding to each subdivision degree.
Preferably, the corresponding deceleration curve is obtained based on a weighted average of the decelerations corresponding to each subdivision degree, and includes:
if the weighted average of the calculated deceleration values exceeds the preset limit range, taking the maximum value in the preset limit range as the final weighted average of the deceleration corresponding to the subdivision;
a corresponding deceleration profile is derived based on the weighted average of the final decelerations for each subdivision.
For example, the self-learning scheme for the acceleration and deceleration curves is as follows:
21) dividing the current vehicle speed value from 0-120km/h into 12 sections, 0-10km/h, 10-20km/h … … 100-110km/h and 110-120km/h;
22) under different speed sections, the speed variation values are divided into delta 10km/h, delta 20km/h and delta 30km/h … …. When the scene is accelerated, the minimum value of the current speed subsection and the vehicle speed change value are not more than 120km/h; in a deceleration scene, the maximum value of the current speed segment minus the vehicle speed change value is not lower than 0km/h, for example: the speed range is 30-40km/h, and the speed change value is only defined to delta 90km/h in an acceleration scene; under a deceleration scene, the vehicle speed change value is only defined to delta 40 km/h;
23) the calculation method of the vehicle speed change value is that the speed difference when the current stable vehicle speed changes to the next stable vehicle speed, the stable vehicle speed value is rounded, and the vehicle speed when the deviation is plus or minus 4km/h time is more than 3 s; for example: the current speed of the self-vehicle is 37km/h, the value is 40km/h according to a rounding method, and if the time of the vehicle speed is more than 3s within 40 +/-4 km/h, the 40km/h is regarded as the current stable vehicle speed; similarly, the vehicle speed is accelerated to 73km/h, and when the target vehicle speed is 70km/h +/-4 km/h for more than 3s, 70km/h is the next stable vehicle speed, and the vehicle speed change value is 70-40= delta 30km/h
24) Through the speed of a motor vehicle and acceleration sensor of whole car, record driver's own driving vehicle in-process respectively, under the different speed of a motor vehicle section, the acceleration and deceleration change curve when different speed of a motor vehicle change value:
the acceleration curves of the driver during driving with the vehicle speed change values respectively of delta 10km/h, delta 20km/h … … delta 110km/h and 120km/h when the vehicle speed is 0-10km/h are shown in fig. 3, and the acceleration curves are recorded when the vehicle speed change values delta 10km/h, delta 20km/h … … delta 110km/h and 120km/h are different in an acceleration scene when the current vehicle speed is 0-10 km/h:
recording the same vehicle speed change value under the same sectional speed value as delta 70km/h shown in figure 4 according to the method, sampling the corresponding acceleration curve and deceleration curve each time, collecting data for not less than 10 times, and then calculating the acceleration and deceleration curve by using a weighted average method according to the subdivision degree of delta 1 km/h:
at this time, in the formula (1),
the speed change value corresponding to a certain speed change value under a certain subsection speed value is shown, k represents the sampling frequency,
the weight of the ith sample is represented,
and the acceleration or deceleration corresponding to each subdivision of a certain vehicle speed change value under a certain subsection speed value of the kth sampling is shown.
The obtained acceleration curve and deceleration curve include the acceleration change rate (the gradient of the acceleration and deceleration is the acceleration and deceleration change rate),
preferably, if the acceleration value, the deceleration value, the acceleration change rate or the deceleration change rate obtained by sampling at a certain time exceeds the preset limit range, the weight of the acceleration or the deceleration is correspondingly set to be 10 percent; and if the acceleration value, the deceleration value, the acceleration change rate or the deceleration change rate obtained by sampling at a certain time is within the limit value range, correspondingly setting the weight of the acceleration value or the deceleration value to be 90 percent. And if the final weighted average calculation result still exceeds the preset limit range, taking the maximum value in the preset limit range as the weighted average of the final acceleration value or the weighted average of the deceleration value.
Recording the variation curves of the acceleration and the deceleration of different vehicle speed variation values under all the sectional speed values according to the first mode and the second mode.
In addition, the learning progress can be displayed through a meter as shown in fig. 2 in the learning process of the acceleration and deceleration change curve, and the driver is prompted to be guided how to drive, for example, the driver can be informed that the driver tries to drive under the condition that the vehicle speed is 100km/h is met in the absence of corresponding parameters under the current vehicle speed value of 100 km/h. And prompting the driver to complete the self-learning after the parameters are enough.
During the learning process, the learning progress is displayed through the instrument, and the instrument prompts the driver to guide how to drive, such as the lack of corresponding parameters for accelerating from 60km/h to 100km/h, so that the driver can be informed of trying to drive under the condition of meeting the vehicle speed of 100 km/h. And prompting the driver to complete the self-learning after the parameters are enough. After the driver again uses the cruise, the system may control the adaptive cruise system according to the learned parameters.
According to the scheme, the self-learning of the acceleration and deceleration change curves and the standard vehicle following distance parameters of the adaptive cruise system is completed, after the adaptive cruise system is activated, the control can be performed according to the learned acceleration and deceleration change curves and the standard vehicle following distance according to the current vehicle speed and the target stable vehicle speed value, and the control logic is shown in fig. 1.
Optionally, in order to ensure safety and comfort, the limit ranges of the acceleration value, the deceleration value, the acceleration rate, or the deceleration rate may be as follows:
as shown in FIG. 5, the X-axis is the vehicle speed m/s, the Y-axis is the acceleration m/s,
as shown in fig. 5, when the vehicle speed is higher than 20m/s, the average acceleration in 2s must not exceed 2 m/s;
as shown in fig. 5, when the vehicle speed is lower than 5m/s, the average acceleration in 2s must not exceed 4 m/s;
as shown in FIG. 6, the X-axis is the vehicle speed m/s, the Y-axis is the deceleration m/s,
as shown in fig. 6, when the vehicle speed < 20m/s, the average deceleration in 2s must not exceed 3.5 m/s;
as shown in fig. 6, when the vehicle speed < 5m/s, the average deceleration within 2s must not exceed 5 m/s;
as shown in FIG. 7, speed m/s on the X-axis and brake rate m/s on the Y-axis are taken during a thin-film break,
as shown in FIG. 7, when the vehicle speed exceeds 20m/s, the average braking change rate within 1s time cannot exceed 2.5m/s for carrying out the thin-wall steel ingot;
as shown in FIG. 7, when the vehicle speed is less than 5m/s, the average brake rate of change over the period of 1s should not exceed 5 m/s.
Optionally, in step S4, obtaining a standard following distance corresponding to the current vehicle speed of the vehicle based on the first corresponding relationship includes:
obtaining a standard following time distance corresponding to the current speed of the vehicle based on the first corresponding relation;
if the current environment of the vehicle is abnormal, the abnormal environment is rainy day or night, multiplying the standard vehicle following distance corresponding to the obtained current vehicle speed of the vehicle by a preset lengthening coefficient, and taking the obtained product as the final standard vehicle following time distance corresponding to the current vehicle speed of the vehicle, wherein the selection range of the preset lengthening coefficient is 1.1-1.9;
preferably, in step S4, determining a current corresponding vehicle speed variation parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed, and the second corresponding relationship, includes:
determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the final standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation;
and multiplying each acceleration value or deceleration value in the determined current corresponding vehicle speed change parameter by a preset flat coefficient as a current corresponding final vehicle speed change parameter, wherein the selection range of the preset flat coefficient is 0.1-0.9.
Specifically, as shown in fig. 2, with the development of automobile intelligence, a camera, a radar, a rainfall sensor, and a vehicle speed and acceleration sensor may be disposed on the automobile.
When the system identifies that the current environment is an abnormal environment through a rainfall sensor and a camera, the abnormal environment is rainy weather or at night, parameter adjustment is carried out on the basis of the self-learned acceleration and deceleration, acceleration and deceleration change rate and the standard vehicle following distance, so that the self-adaptive cruise system is controlled more smoothly and safely:
1) when the system detects abnormal environment, all the gradual coefficients of the acceleration value, the deceleration value and the acceleration and deceleration degree change rate parameter 0.8 are learned, so that the acceleration of the vehicle is more gradual;
2) when the system detects abnormal environment, the vehicle following distance parameter 1.5 of all the learned vehicle following distance parameters in the above method prolongs the vehicle following distance of the self-adaptive cruise system, and improves the safety of the system.
Whether it is raining at present can be discerned according to the rainfall sensor to and judge whether the current environment is night according to the camera, under the rainy or night condition, multiply the correlation coefficient on the acceleration and deceleration value, acceleration and deceleration rate of change, the standard vehicle-following distance basis of studying, make the vehicle-following distance farther, the acceleration is gentler, acceleration rate of change is gentler, make the system safer.
Through the embodiment, the invention can automatically adjust the control parameters according to the weather conditions. The invention can diversify the control parameters of the adaptive cruise system, and a driver can define the control style by himself and can adjust the parameters according to the weather and the environment.
Preferably, the system of the present invention is composed as shown in fig. 2:
firstly, the system is triggered to enter a learning mode by a driver pressing a switch;
acquiring the current speed, acceleration and deceleration values of the vehicle by the cruise controller through a speed and acceleration sensor;
thirdly, the cruise controller obtains the speed and the distance of the target vehicle through a camera and a radar;
acquiring the current abnormal environment condition according to the rainfall sensor and the camera;
and fifthly, informing the current self-learning progress and the lacking data content through the meter.
According to another aspect of the present invention, there is also provided a computer readable medium having computer readable instructions stored thereon, the computer readable instructions being executable by a processor to implement the method of any one of the above.
According to another aspect of the present invention, there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform any of the methods described above.
The details of each device embodiment of the present invention may specifically refer to the corresponding parts of each method embodiment, and are not described herein again.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It should be noted that the present invention may be implemented in software and/or in a combination of software and hardware, for example, as an Application Specific Integrated Circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Also, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present invention can be applied as a computer program product, such as computer program instructions, which when executed by a computer, can invoke or provide the method and/or technical solution according to the present invention through the operation of the computer. Program instructions which invoke the methods of the present invention may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the invention herein comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or solution according to embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (18)
1. An adaptive cruise driving method, wherein the method comprises:
collecting historical driving data of a vehicle;
establishing a first corresponding relation between each current vehicle speed and a standard vehicle-following time interval based on the historical driving data of the vehicle;
establishing a second corresponding relation between each vehicle speed parameter and a vehicle speed change parameter based on the historical driving data of the vehicle, wherein each vehicle speed parameter comprises: the method comprises the steps of obtaining a current vehicle speed and a vehicle speed change value, wherein the vehicle speed change value is the difference value of a target vehicle speed and the current vehicle speed; each vehicle speed variation parameter includes: an acceleration curve and a deceleration curve;
acquiring the current vehicle speed and the target vehicle speed of a vehicle, and acquiring the current actual vehicle following distance; obtaining a standard following time distance corresponding to the current speed of the vehicle based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation;
and controlling the vehicle to run according to the determined vehicle speed change parameter.
2. The method according to claim 1, wherein a current vehicle speed and a target vehicle speed of the vehicle are obtained, and a current actual following distance is obtained; obtaining a standard following time distance corresponding to the current speed of the vehicle based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation, wherein the determining step comprises the following steps:
acquiring the current speed and the target speed of the vehicle;
if the current vehicle speed is less than or equal to the target vehicle speed, acquiring the current actual vehicle following distance, and acquiring a standard vehicle following time distance corresponding to the current vehicle speed of the vehicle based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation;
and if the current vehicle speed is larger than the target vehicle speed, determining a current corresponding deceleration curve based on the current vehicle speed, the target vehicle speed and the second corresponding relation.
3. The method of claim 2, wherein determining a current corresponding deceleration profile based on the current vehicle speed, the target vehicle speed, and the second correspondence comprises:
obtaining a current vehicle speed change value based on the current vehicle speed and the target vehicle speed;
and obtaining a current corresponding deceleration curve from the second corresponding relation based on the current vehicle speed and the current vehicle speed change value.
4. The method according to claim 2, wherein a current actual vehicle following distance is obtained, and a standard vehicle following time distance corresponding to the current vehicle speed of the vehicle is obtained based on the first corresponding relation; determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation, wherein the determining step comprises the following steps:
if the actual vehicle following time distance is equal to the standard vehicle following time distance, keeping the current vehicle speed of the vehicle;
if the actual vehicle following time distance is larger than the standard vehicle following time distance, determining a current corresponding acceleration curve based on the current vehicle speed, the target vehicle speed and the second corresponding relation;
and if the actual following time distance is smaller than the standard following vehicle distance, subtracting a preset value from the target vehicle speed to obtain a new target vehicle speed, and determining a current corresponding deceleration curve based on the current vehicle speed, the new target vehicle speed and the second corresponding relation.
5. The method of claim 4, wherein determining a current corresponding acceleration profile based on the current vehicle speed, the target vehicle speed, and the second correspondence comprises:
obtaining a current vehicle speed change value based on the current vehicle speed and the target vehicle speed;
and obtaining and determining a current corresponding acceleration curve from the second corresponding relation based on the current vehicle speed and the current vehicle speed change value.
6. The method of claim 4, wherein determining a current corresponding deceleration profile based on the current vehicle speed, the new target vehicle speed, and the second correspondence comprises:
obtaining a current vehicle speed change value based on the current vehicle speed and the new target vehicle speed;
and obtaining a current corresponding deceleration curve from the second corresponding relation based on the current vehicle speed and the current vehicle speed change value.
7. The method of claim 1, wherein establishing a first correspondence of each current vehicle speed to a standard following time distance based on historical driving data of the vehicle comprises:
segmenting the current vehicle speed to obtain segmented speed values;
sampling the corresponding car following time distance value under each sectional speed value for preset times, and calculating the weighted average value of the car following time distance values of all times under each sectional speed value to obtain the corresponding standard car following time distance value under each sectional speed value.
8. The method according to claim 7, wherein in the calculation of the weighted average of the following vehicle distance values of all times under each sectional speed value,
setting the weight of the following vehicle distance value of each sampling which is greater than a first preset threshold value or less than a second preset threshold value as a first preset percentage; and setting the weight of the following vehicle distance value of each sampling within the range that the following vehicle distance value is less than or equal to the second preset threshold value and less than or equal to the first preset threshold value to be 100% -a first preset percentage, wherein the first preset threshold value is larger than the second preset threshold value.
9. The method according to claim 7, wherein after obtaining the corresponding standard following vehicle distance value at each segment speed value, further comprising:
and if the corresponding standard vehicle following distance value under a certain subsection speed value is smaller than a third preset threshold value through calculation, taking the third preset threshold value as the corresponding standard vehicle following distance value under the subsection speed value.
10. The method of claim 1, wherein establishing a second correspondence of each vehicle speed parameter to a vehicle speed variation parameter based on historical driving data of the vehicle comprises:
segmenting the current vehicle speed to obtain segmented speed values;
determining each vehicle speed change value under each sectional speed value;
respectively sampling the acceleration value or the deceleration value of each vehicle speed change value under each sectional speed value for preset times, respectively calculating the weighted average value of the acceleration values or the weighted average values of the deceleration values corresponding to the respective subdivision degrees of each vehicle speed change value under each sectional speed value according to the preset subdivision degrees by using a weighted average method, obtaining a corresponding acceleration curve based on the weighted average value of the acceleration corresponding to each subdivision degree, and obtaining a corresponding deceleration curve based on the weighted average value of the deceleration corresponding to each subdivision degree.
11. A method according to claim 10 wherein, of the respective vehicle speed variation values determined at each segment speed value,
the minimum value of each sectional speed value and one of the speed change values under each sectional speed value do not exceed the highest speed value in the highest sectional speed values;
the maximum value of each subsection speed value minus the speed change value is not lower than 0 km/h.
12. The method according to claim 10, wherein in calculating the weighted average of the acceleration or the weighted average of the deceleration corresponding to the respective subdivisions of each vehicle speed variation value at each sectional speed value,
if the acceleration value or the acceleration change rate corresponding to a fine division of a certain speed change value under a certain subsection speed value obtained by sampling at a certain time exceeds a preset limit value range, taking the second preset percentage as the weight of the acceleration value;
if the acceleration value or the acceleration change rate corresponding to a fine division of a certain speed change value under a certain subsection speed value obtained by sampling at a certain time is within a preset limit value range, the weight of the acceleration value is =100% -a second preset percentage;
if the deceleration acceleration value or the deceleration change rate corresponding to a certain subdivision of a certain speed change value under a certain subsection speed value obtained by sampling at a certain time exceeds a preset limit range, taking the second preset percentage as the weight of the deceleration value;
and if the deceleration acceleration value or the deceleration change rate corresponding to a certain subdivision of a certain vehicle speed change value under a certain subsection speed value obtained by sampling at a certain time is within a preset limit value range, the weight of the deceleration value is =100% -a second preset percentage.
13. The method of claim 10, wherein deriving the corresponding acceleration profile based on a weighted average of the acceleration corresponding to each subdivision degree comprises:
if the weighted average value of the calculated acceleration values exceeds the preset limit range, taking the maximum value in the preset limit range as the weighted average value of the final acceleration corresponding to the subdivision;
and obtaining a corresponding acceleration curve based on the weighted average of the final acceleration corresponding to each subdivision degree.
14. The method of claim 10, wherein deriving a corresponding deceleration profile based on a weighted average of the decelerations corresponding to each fine division comprises:
if the weighted average of the calculated deceleration values exceeds the preset limit range, taking the maximum value in the preset limit range as the final weighted average of the deceleration corresponding to the subdivision;
a corresponding deceleration profile is derived based on the weighted average of the final decelerations for each subdivision.
15. The method of claim 1, wherein obtaining a standard following distance corresponding to the current vehicle speed of the vehicle based on the first corresponding relation comprises:
obtaining a standard following time distance corresponding to the current speed of the vehicle based on the first corresponding relation;
if the current environment of the vehicle is abnormal, the abnormal environment is rainy weather or night, the standard vehicle following distance corresponding to the obtained current vehicle speed of the vehicle is multiplied by a preset lengthening coefficient to serve as the final standard vehicle following time distance corresponding to the current vehicle speed of the vehicle, and the selection range of the preset lengthening coefficient is 1.1-1.9.
16. The method of claim 15, wherein determining a current corresponding vehicle speed change parameter based on the actual vehicle following distance, the standard vehicle following distance, the current vehicle speed, the target vehicle speed, and the second correspondence comprises:
determining a current corresponding vehicle speed change parameter based on the actual vehicle following time distance, the final standard vehicle following time distance, the current vehicle speed, the target vehicle speed and the second corresponding relation;
and multiplying each acceleration value or deceleration value in the determined current corresponding vehicle speed change parameter by a preset flat coefficient as a current corresponding final vehicle speed change parameter, wherein the selection range of the preset flat coefficient is 0.1-0.9.
17. A computer readable medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 1 to 16.
18. An apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any one of claims 1 to 16.
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| CN114132334A (en) * | 2021-12-02 | 2022-03-04 | 智己汽车科技有限公司 | Method and equipment for acquiring hundred-kilometer acceleration time of vehicle |
| CN114030472A (en) * | 2022-01-10 | 2022-02-11 | 智道网联科技(北京)有限公司 | Control method, device and equipment for adaptive cruise and readable storage medium |
| CN115195728A (en) * | 2022-08-30 | 2022-10-18 | 重庆长安汽车股份有限公司 | Vehicle following control method, system, equipment and storage medium |
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