CN113696891A

CN113696891A - Auxiliary driving system and method for adaptive cruise driving

Info

Publication number: CN113696891A
Application number: CN202010419907.7A
Authority: CN
Inventors: 胡耘浩; 戴冕; 胡蕴华
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2020-05-18
Filing date: 2020-05-18
Publication date: 2021-11-26

Abstract

The disclosure discloses an assistant driving system and method for adaptive cruise driving. The system comprises: a data set collection unit configured to collect data of vehicle cut-ins within an area, the data of vehicle cut-ins including a speed of a reference vehicle at the occurrence of a cut-in event and a cut-in distance between the reference vehicle and the cut-in vehicle; a calculation unit configured to fit the data of the vehicle plunge to obtain a function of a shortest plunge distance boundary value with respect to a reference vehicle speed; an execution unit configured to execute driving assistance based on a function of the shortest plunge distance boundary value with respect to a reference vehicle speed. The driving assistance system and the driving assistance method dynamically adjust the vehicle following distance by fitting the vehicle cut-in data in one area, so that the occurrence of vehicle cut-in events in the self-adaptive cruise driving process of the vehicle is reduced.

Description

Auxiliary driving system and method for adaptive cruise driving

Technical Field

The disclosure relates to the field of vehicle safety, in particular to an auxiliary driving system and method for adaptive cruise driving.

Background

An Adaptive Cruise Control (ACC) system is a new generation of driver-assisted driving system developed on the basis of conventional Cruise Control. ACC is an organic combination of a Cruise Control System (CCS) and a Forward Collision Warning System (FCWS). The ACC not only has all functions of automatic cruising, but also can monitor the road traffic environment in front of the automobile through sensors such as a vehicle-mounted radar and the like. When a vehicle is found to be running in front of the reference running lane, the longitudinal speed of the reference vehicle is controlled by controlling the accelerator and the brake of the vehicle according to information such as the relative distance and the relative speed between the reference vehicle and the vehicle (target vehicle) in front, so that the vehicle and the vehicle in front keep an appropriate safe distance. By adopting the system, the workload of a driver is reduced, the active safety of the automobile is greatly improved, and the cruising range is expanded.

However, with the existing ACC system, a vehicle traveling in a lane adjacent to the reference vehicle traveling lane is very likely to cut into the front of the reference vehicle. If the vehicles in the adjacent lanes are frequently inserted, the reference vehicle is forced to decelerate frequently, so that the driver of the reference vehicle is frequently uncomfortable and even dangerous. Furthermore, the frequent insertion of vehicles in adjacent lanes is a challenge for the braking system of the reference vehicle.

In addition, in a region where traffic is congested and/or a region where traffic conditions are special, discomfort of a driver with reference to a vehicle is more noticeable. If the driver referring to the vehicle is unfamiliar with the ACC system, frequent ACC intervention or even turning off the ACC instead of manual driving is possible.

Accordingly, there is a need for improved ACC systems and corresponding driving methods.

Disclosure of Invention

In order to solve the technical problem, the present disclosure aims to reduce the frequency of vehicle cut-in by dynamically adjusting the following distance to the target vehicle during adaptive cruise driving, thereby increasing the comfort level and safety of vehicle driving.

In a first aspect, the present disclosure provides a driver assistance system for adaptive cruise driving, the system comprising:

a data set collection unit configured to collect data of vehicle cut-ins within an area, the data of vehicle cut-ins including a speed of a reference vehicle at the occurrence of a cut-in event and a cut-in distance between the reference vehicle and the cut-in vehicle;

a calculation unit configured to fit the data of the vehicle plunge to obtain a function of a shortest plunge distance boundary value with respect to a reference vehicle speed;

an execution unit configured to execute driving assistance based on a function of the shortest plunge distance boundary value with respect to a reference vehicle speed.

In one embodiment, the driving assistance includes sending the fitted function to a vehicle in need thereof.

In a preferred embodiment, said vehicle in need performs an adaptive cruise driving of the vehicle in said region based on a function of said shortest cut-in distance boundary value with respect to a reference vehicle speed.

In a preferred embodiment, the data that the vehicle cuts into is acquired by sensors provided on the reference vehicle or on the road infrastructure.

In one embodiment, the sensor is any one or a combination of any plurality of: an imaging device, a laser radar, a millimeter wave radar, an ultrasonic sensor, preferably an imaging device.

In a more preferred embodiment, the vehicles and/or road infrastructure of the area upload their acquired vehicle cut-in data to an online server.

In a preferred embodiment, the data collection unit and the calculation unit are on an online server side, and vehicles in the area obtain the function of the shortest cutting distance boundary value with respect to a reference vehicle speed from the online server side through wireless communication.

In one embodiment, the computing unit obtains vehicle cut-in data stored at the online server, the vehicle cut-in data including a speed of a reference vehicle at the time of a cut-in event, and a cut-in distance between the reference vehicle and the cut-in vehicle.

In a preferred embodiment, the function fitted to the data is as follows:

y＝f(x)，

where x is the travel speed of the reference vehicle and y is the distance of the reference vehicle from the vehicle in front.

In a more preferred embodiment, the curve of the obtained function is non-linear.

In a second aspect, the present disclosure provides a method of driving assistance for adaptive cruise driving, the method comprising:

(1) collecting data for vehicle cut-ins within a zone, the data for vehicle cut-ins including a speed of a reference vehicle at the time of a cut-in event and a cut-in distance between the reference vehicle and the cut-in vehicle;

(2) fitting the data of the vehicle cut-in to obtain a function of the boundary value of the shortest cut-in distance relative to the reference vehicle speed;

(3) performing assisted driving based on a function of the shortest plunge distance boundary value with respect to a reference vehicle speed.

In one embodiment, in (3), the driving assistance includes sending the fitted function to a vehicle in need thereof.

In a preferred embodiment, in (1), the data that the vehicle cuts into is obtained by a sensor provided on the reference vehicle or on the road infrastructure.

In a preferred embodiment, (1) and (2) are performed at an online server, and vehicles within the area obtain the function of the shortest cutting distance boundary value with respect to a reference vehicle speed from the online server through wireless communication.

In one embodiment, in (1), data stored at the online server for a vehicle cut-in is obtained, the data for the vehicle cut-in including a speed of a reference vehicle at the time of the cut-in event, and a cut-in distance between the reference vehicle and the cut-in vehicle.

In a preferred embodiment, the function obtained by fitting the data in (2) is

y＝f(x)

Where x is the travel speed of the reference vehicle and y is the distance of the reference vehicle from the vehicle ahead.

In a more preferred embodiment, in (2), the function fitted with the data has a non-linear relationship between x and y.

According to a third aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method according to the second aspect of the present disclosure.

By the aid of the auxiliary driving system and the auxiliary driving method for the adaptive cruise driving, data of vehicle cut-in one area are fitted, a function of a shortest cut-in distance boundary value relative to a reference vehicle speed is obtained, and accordingly vehicle cut-in events in the adaptive cruise driving process of the vehicle are reduced.

Drawings

The present disclosure may be better understood from the following description of specific embodiments thereof taken in conjunction with the accompanying drawings, in which like reference numerals identify identical or functionally similar elements.

Fig. 1 shows a schematic diagram of an exemplary system according to the present disclosure.

FIG. 2 is an exemplary function curve fitted to vehicle cut-in data obtained by the system of the present disclosure for a region.

Fig. 3 illustrates a block flow diagram of an exemplary system method according to the present disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure are described with reference to the drawings. The following detailed description and drawings are included to illustrate the principles of the disclosure, which is not to be limited to the preferred embodiments described, but is to be defined by the claims. The disclosure will now be described in detail with reference to exemplary embodiments thereof, some of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like reference numerals refer to the same or similar elements in different drawings unless otherwise indicated. The aspects described in the following exemplary embodiments do not represent all aspects of the present disclosure. Rather, these aspects are merely examples of systems and methods according to various aspects of the present disclosure recited in the appended claims.

According to the system of the present disclosure, a function of the shortest plunge distance boundary value relative to a reference vehicle speed is obtained by fitting data of vehicle plunge within a region. Thus, the system may be applied to a vehicle, for example, where receiving means are provided for receiving the function, or where the function is received on the APP of the mobile device. The vehicle may be an internal combustion engine vehicle using an internal combustion engine as a drive source, an electric vehicle or a fuel cell vehicle using an electric motor as a drive source, a hybrid vehicle using both of the above as drive sources, or a vehicle having another drive source. The vehicle is preferably an autonomous vehicle that is not operated by the driver in the driver's seat, and therefore an autonomous vehicle is more likely to be equipped with a system according to the present disclosure.

The autonomous vehicles referred to herein include fully autonomous vehicles, as well as vehicles having autonomous driving modes. The automatic driving vehicle applicable to the present disclosure has the following basic features: for example, such vehicles are mounted with a plurality of sensors or positioning devices, such as an image pickup device, a laser radar, a millimeter wave radar, an ultrasonic sensor, a vehicle-mounted communication (V2X) device, a Highly Automated Driving (HAD) map, and the like, which are capable of detecting the environment around the vehicle such as surrounding objects, obstacles, infrastructure, and the like; these vehicles are able to detect the location of the current vehicle through Global Navigation Satellite System (GNSS) and one or a combination of sensor detection and HAD maps; the vehicles can obtain navigation paths through the online server; these vehicles are able to plan a route to be traveled based on the perception and location results; such vehicles can also send control commands to the powertrain, steering system, braking system, etc. based on the planned route.

Fig. 1 shows a schematic view of a driving assistance system 100 based on predicting a vehicle cut-in threshold level according to an embodiment of the present disclosure. As shown in FIG. 1, the system 100 includes a data set collection unit 110, a computation unit 120, and an execution unit 130.

In fig. 1, the data set collection unit 110 is configured to collect data for vehicle cut-ins within an area, including the speed of a reference vehicle at the time of a cut-in event, and the cut-in distance between the reference vehicle and the cut-in vehicle. In the present disclosure, the vehicle cut-in means that, in a case where a vehicle travels behind another lane, the vehicle is merged to the other lane. The reference vehicle refers to a vehicle in front of which another vehicle cuts. For example, the reference vehicle means a vehicle for evaluating driving comfort and safety with an ACC system. The data for vehicle cut-in may be obtained from a detection device, vehicle equipment, and/or other means. For example, data for a vehicle cut is acquired by an ultrasonic sensor provided on a reference vehicle or on the road infrastructure. The detection means may or may not be part of the data set collection unit 110. The detection means may be one or more and may be mounted on the reference vehicle or on the road infrastructure. For example, the detection device is any one or a combination of any plurality of the following detection devices mounted on the reference vehicle: an imaging device, a laser radar, a millimeter wave radar, an ultrasonic sensor, preferably an imaging device. When the road infrastructure is used for detection, the road infrastructure can count all vehicle cut-in events, so that more data volume can be obtained, and the training of a model at the back is more comprehensive. In one example, the speed of the reference vehicle may be obtained from a driving parameter of the vehicle or a navigation device. Alternatively, their speed may be detected by sensors mounted on the road infrastructure.

In one example, the data for the vehicle cut-in may be stored on the online server side. For example, vehicles and/or road infrastructure of the area upload their acquired vehicle cut-in data to the online server.

In the system of the present disclosure, a region may be a city, city block, or street. The system of the present disclosure is particularly suitable for areas with traffic congestion and complex geographical environments. In the disclosed system, the data set collection unit collects data that is a cut-in of a vehicle within an area including 1) a speed of a reference vehicle and 2) a cut-in distance between the reference vehicle and the cut-in vehicle at the time of the cut-in event.

In fig. 1, the calculation unit 120 is configured to fit the vehicle plunge data to obtain a function of the shortest plunge distance boundary value with respect to the reference vehicle speed. In one example, the computing unit obtains data stored at the online server for a data fit of a vehicle cut-in, wherein the data for the vehicle cut-in includes a speed of a reference vehicle at the time of a cut-in event, and a cut-in distance between the reference vehicle and the cut-in vehicle. In one example, Matlab or R may be used to fit a boundary curve of the scatter points, and the curve of the obtained function is generally non-linear. For example, the process of fitting is as follows: (a) extracting boundary scattered points; (b) the fitting function for which the parameter is to be determined is determined by observation, for example an elliptic curve is observed; (c) and fitting by using a least square method according to the boundary scatter points and the fitting function with undetermined parameters to determine all parameters of the fitting function. In one embodiment, the function fitted to the data may be expressed as:

y＝f(x)，

Fig. 2 exemplarily shows a fitting result curve obtained by fitting the boundary of the scatter points. The abscissa represents the speed (km/h) of the reference vehicle, and the ordinate represents the distance (m) from the cut-in vehicle when the cut-in event occurred. At different speeds, the distance the reference vehicle cuts into the vehicle is different for the comfort of the reference vehicle, and too short a distance of the reference vehicle cuts into the vehicle tends to cause discomfort to the reference vehicle. Comfort (indicated by grey dots) and discomfort (indicated by black dots) may be set to have no effect on normal travel of the reference vehicle, e.g. no braking action may be considered comfortable, otherwise it is uncomfortable. By fitting the collected distance data of the reference vehicle from the cut-in vehicle, the distance between the reference vehicle and the preceding vehicle is dynamically adjusted according to the fitted curve, so that an uncomfortable cut-in event cannot occur. As shown in fig. 2, at low vehicle speeds, for example less than 70km/h, preferably less than 30km/h, the occurrence of uncomfortable cut-in events is reduced by suitably shortening the following distance; at high speeds, for example greater than 70km/h, however, uncomfortable cut-in events occur very rarely due to too fast a vehicle speed, and it is not necessary to shorten the following distance without sacrificing safety.

In a preferred example, the data collection unit and the calculation unit are both on an online server side from which vehicles in the area obtain the function of the shortest cutting-in distance boundary value with respect to the reference vehicle speed by wireless communication. For example, the data for vehicle cut-ins according to the system of the present disclosure may be located on an online server side, such as the data set collection unit and the calculation unit, where the calculations are performed. Or the data of the vehicle cut-in is stored in an online server, and the data set collection unit obtains the data of the vehicle cut-in through the online server. For example, the acquired data for vehicle cut-in is uploaded to the online server.

In fig. 1, the execution unit 130 is configured to execute the adaptive cruise driving of the vehicle in the region based on a function of the shortest cutting distance boundary value with respect to a reference vehicle speed. In one example, the driving assistance includes sending the fitted function to a vehicle in need thereof. In a preferred example, the vehicle in need performs an adaptive cruise driving of the vehicle based on a function of the shortest plunge distance boundary value with respect to a reference vehicle speed within the region. In one embodiment, the following distance from the preceding vehicle is adjusted in real time as the driving speed changes according to the function of the boundary value of the shortest cutting-in distance relative to the reference vehicle speed during the driving process of the vehicle, and the cutting-in events of other vehicles are greatly reduced at the following distance.

Since different cities, city blocks or streets may have different functions of the shortest cut-in distance boundary value with respect to the reference vehicle speed, the vehicle may acquire the functions of the shortest cut-in distance boundary value with respect to the reference vehicle speed of the driving position and the position on the driving trajectory during driving to switch the functions according to the driving position during driving.

It will be understood by those skilled in the art that the functional division and association of the various units of the adaptive cruise drive assist of the present disclosure is illustrative only and not limiting, and that various omissions, additions, substitutions, modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as set forth in the appended claims and their equivalents.

A driving assist method of an adaptive cruise drive according to an embodiment of the present disclosure will be described below with reference to the accompanying drawings. Fig. 3 is a flowchart illustrating an assisted driving method S100 of adaptive cruise driving according to an embodiment of the present disclosure. The driving assistance method S100 for the adaptive cruise driving is performed by the driving assistance system 100 described above. For example, S110 may be performed by a data collection unit of the driving assistance system, S120 may be performed by a calculation unit of the driving assistance system, and S130 may be performed by an execution unit of the driving assistance system.

As shown in fig. 3, in S110, data for vehicle cut-in within a zone is collected, including the speed of the reference vehicle at the time of the cut-in event, and the cut-in distance between the reference vehicle and the cut-in vehicle. The data for vehicle cut-in may be obtained from a detection device, vehicle equipment, and/or other means. For example, data for a vehicle cut is acquired by an ultrasonic sensor provided on a reference vehicle or on the road infrastructure. The detection means may be one or more and may be mounted on the reference vehicle or on the road infrastructure. For example, the detection device is any one or a combination of any plurality of the following detection devices mounted on the reference vehicle: an imaging device, a laser radar, a millimeter wave radar, an ultrasonic sensor, preferably an imaging device. When the road infrastructure is used for detection, the road infrastructure can count all vehicle cut-in events, so that more data volume can be obtained, and the training of a model at the back is more comprehensive. In one example, the speed of the reference vehicle may be obtained from a driving parameter of the vehicle or a navigation device. Alternatively, the data for the vehicle cut-in may be stored on the online server side. For example, vehicles and/or road infrastructure of the area upload their acquired vehicle cut-in data to the online server.

In one embodiment, the data for vehicle cut-ins may be collected individually in units of cities, city blocks, or streets, particularly areas with traffic congestion and complex geographic environments.

As shown in fig. 3, in S120, the data of the vehicle cut is fitted to obtain a function of the shortest cutting distance boundary value with respect to the reference vehicle speed. In one example, Matlab or R may be used to fit a boundary curve of the scatter points, and the curve of the obtained function is generally non-linear. For example, the process of fitting is as follows: (a) extracting boundary scattered points; (b) the fitting function for which the parameter is to be determined is determined by observation, for example an elliptic curve is observed; (c) and fitting by using a least square method according to the boundary scatter points and the fitting function with undetermined parameters to determine all parameters of the fitting function.

Fig. 2 exemplarily shows a fitting result curve obtained by fitting the boundary of the scatter points. The abscissa represents the speed (m/s) of the reference vehicle, and the ordinate represents the distance (m) from the reference vehicle to cut into the vehicle when the cut-in event occurs. At different speeds, the distance the reference vehicle cuts into the vehicle is different for the comfort of the reference vehicle, and too short a distance of the reference vehicle cuts into the vehicle tends to cause discomfort to the reference vehicle. Comfort (indicated by grey dots) and discomfort (indicated by black dots) may be set to have no effect on normal travel of the reference vehicle, e.g. no braking action may be considered comfortable, otherwise it is uncomfortable. By fitting the collected distance data of the reference vehicle from the cut-in vehicle, the distance between the reference vehicle and the preceding vehicle is dynamically adjusted according to the fitted curve. As shown in fig. 2, at low vehicle speeds, for example less than 70km/h, preferably less than 30km/h, the occurrence of uncomfortable cut-in events is reduced by suitably shortening the following distance; at high speeds, for example greater than 70km/h, however, uncomfortable cut-in events occur very rarely due to too fast a vehicle speed, and it is not necessary to shorten the following distance without sacrificing safety.

In a preferred example, the data of the vehicle cut-in is stored at an online server, for example, the acquired data of the vehicle cut-in is uploaded to the online server. Data for the vehicle hand-in is obtained by the online server in S110. For example, the data for the vehicle cut-in may be located on the online server side where the calculations of S110 and S120 are performed. And the vehicle acquires a function of the shortest cut-in distance boundary value relative to a reference vehicle speed from the online server through wireless communication.

As shown in fig. 3, in S130, the driving assistance is performed based on a function of the shortest plunge distance boundary value with respect to the reference vehicle speed. In one example, the driving assistance includes sending the fitted function to a vehicle in need thereof. For example, the desired vehicle may perform an adaptive cruise driving of the vehicle within the region based on a function of the shortest plunge distance boundary value relative to a reference vehicle speed. In one embodiment, the following distance from the preceding vehicle is adjusted in real time as the driving speed changes according to the function of the boundary value of the shortest cutting-in distance relative to the reference vehicle speed during the driving process of the vehicle, and the cutting-in events of other vehicles are greatly reduced at the following distance.

The disclosed method may be implemented using a computer program that processes the data collected in step S110 for vehicle cut-in within a zone, fits the data for vehicle cut-in to obtain a function of a shortest cut-in distance boundary value with respect to a reference vehicle speed, and performs assisted driving based on the function of the shortest cut-in distance boundary value with respect to the reference vehicle speed. Accordingly, the present disclosure may also include a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method described in embodiments of the present disclosure.

It will be understood by those skilled in the art that the division and order of the various steps in the adaptive cruise drive assist method of the present disclosure is merely illustrative and not restrictive, and that various omissions, additions, substitutions, modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as set forth in the appended claims and their equivalents.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

While the present disclosure has been described in connection with embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the disclosure.

Claims

1. An adaptive cruise drive assist system, comprising:

2. The driver assistance system according to claim 1, wherein the driving assistance includes sending the fitted function to a vehicle in need thereof.

3. The driver assistance system according to claim 2, wherein the intended vehicle performs an adaptive cruise driving of the vehicle within the region based on a function of the shortest cut-in distance boundary value with respect to a reference vehicle speed.

4. The driver assistance system according to any one of claims 1 to 3, wherein the data for the vehicle cut-in is obtained by a sensor provided on the reference vehicle or on the road infrastructure.

5. The driving assistance system according to any one of claims 1 to 3, wherein the calculation unit acquires data of vehicle cut-in stored on an online server side.

6. The driver assistance system according to any one of claims 1 to 3, wherein the data collection unit and the calculation unit are on an online server side.

7. A method of driver assistance for adaptive cruise driving, the method comprising:

8. The method of claim 7, wherein in (3), the driving assistance comprises sending the fitted function to a vehicle in need thereof.

9. The method of claim 8, wherein the vehicle in need thereof performs an adaptive cruise driving of the vehicle within the region based on a function of the shortest plunge distance boundary value relative to a reference vehicle speed.

10. The method according to any one of claims 7-9, wherein in (1), the data for the vehicle cut-in is obtained by a sensor provided on the reference vehicle or on the road infrastructure.

11. The method according to any of claims 7-9, characterized in that in (1), data of vehicle cut-ins stored on the online server side is obtained.

12. The method of any one of claims 7-9, wherein (1) and (2) are performed at an online server.

13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 7-12.