CN114030472A

CN114030472A - Control method, device and equipment for adaptive cruise and readable storage medium

Info

Publication number: CN114030472A
Application number: CN202210020206.5A
Authority: CN
Inventors: 荣志刚; 李成军; 张海强; 邹李兵
Original assignee: Zhidao Network Technology Beijing Co Ltd
Current assignee: Zhidao Network Technology Beijing Co Ltd
Priority date: 2022-01-10
Filing date: 2022-01-10
Publication date: 2022-02-11
Anticipated expiration: 2042-01-10
Also published as: CN114030472B

Abstract

The invention provides a control method, a device and equipment for adaptive cruise and a readable storage medium, which relate to the technical field of vehicle control, and the method comprises the following steps: acquiring an adaptive cruise following request of a driver; acquiring identity information of a driver, and calling a control parameter corresponding to the identity information from a preset driving style library based on the identity information; controlling the vehicle to follow the vehicle to run based on the control parameter; the vehicle following method comprises the steps that the vehicle following speed is adjusted based on a first acceleration and a second acceleration in the vehicle following running process; the first acceleration is generated based on the following distance and the relative distance between the own vehicle and the front vehicle; the second acceleration is generated based on the own vehicle speed, the preceding vehicle speed, and the following distance. The method and the device control the ACC according to the driving style of the driver, so that the driving experience of the driver using the ACC is better, and the individual requirements of the driver can be met.

Description

Control method, device and equipment for adaptive cruise and readable storage medium

Technical Field

The invention relates to the technical field of vehicle control, in particular to a control method, a control device, control equipment and a readable storage medium for adaptive cruise.

Background

An Adaptive Cruise Control (ACC) is an important component of an advanced assistant driving system of an automobile, and the ACC is a new generation assistant driving system of an automobile driver developed on the basis of the traditional Cruise Control. The Cruise Control System (CCS) and the front vehicle anti-Collision early Warning System (FCWS) are organically combined, the ACC can Control the vehicle to automatically follow the front vehicle, the driving burden of a driver can be reduced to a great extent, and the driving safety of the driver can be improved. The current ACC is generally designed and developed according to the own calibration standards of a host factory or a supplier, so the ACC has only one fixed control mode, the whole driving behavior feeling is independent of a driver, but because different drivers have different driving styles, the control behavior of the ACC may deviate from the expectation of the driver when the ACC is started, and thus the driver may feel uncomfortable about the ACC function, so that the ACC can only meet the average requirement of the driver, but cannot meet the personalized requirement of the driver.

Disclosure of Invention

The invention provides a control method, a control device, control equipment and a readable storage medium for adaptive cruise, which are used for solving the defect that the individualized requirements of a driver cannot be met during ACC control in the prior art, realizing the control of the ACC according to the driving style of the driver, ensuring better driving experience when the driver uses the ACC and meeting the individualized requirements of the driver.

The invention provides a control method of adaptive cruise, which comprises the following steps:

acquiring an adaptive cruise following request of a driver;

acquiring identity information of a driver, and calling a control parameter corresponding to the identity information from a preset driving style library based on the identity information; the preset driving style library is stored with a plurality of driving styles, the driving styles correspond to the identity information one by one, the control parameters corresponding to each driving style are different, and the control parameters comprise the following distance and the relative speed in the self-adaptive cruise following mode;

controlling the vehicle to follow the vehicle to run based on the control parameter; the vehicle following method comprises the steps that the vehicle following speed is adjusted based on a first acceleration and a second acceleration in the vehicle following running process; the first acceleration is generated based on the following distance and the relative distance between the own vehicle and the front vehicle; the second acceleration is generated based on the own vehicle speed, the preceding vehicle speed, and the following distance.

According to the adaptive cruise control method provided by the invention, the driving style in the preset driving style library is obtained by the following steps:

acquiring car following data and identity information of a driver; the following data comprises following distance in a driver mode and relative speed of a current vehicle and a previous vehicle;

and fitting the car following data to obtain control parameters, binding the control parameters with the corresponding identity information, and generating the driving style corresponding to the driver.

According to the control method of the adaptive cruise, provided by the invention, the control of the following running of the vehicle based on the control parameters specifically comprises the following steps:

judging whether preset conditions for following vehicle running are met, and if the preset conditions are met, controlling the following vehicle running of the vehicle based on the control parameters; the preset condition is that the front vehicle is in a vehicle following range.

According to the control method of the adaptive cruise, provided by the invention, whether a preset condition of following vehicle running is met or not is judged, and if the preset condition is met, the following vehicle running of the vehicle is controlled based on the control parameter, and the control method specifically comprises the following steps:

judging whether a preset condition is met;

if a preset condition is met, generating the first acceleration based on the following distance and the relative distance, and generating the second acceleration based on the own vehicle speed, the preceding vehicle speed and the following distance;

judging the relation between the second acceleration and a preset acceleration;

and if the acceleration does not exceed the preset acceleration, the speed of the self-vehicle is adjusted based on the second acceleration.

According to the control method of the adaptive cruise provided by the invention, if the preset acceleration is exceeded, the speed of the self-vehicle is adjusted based on the first acceleration, and if the preset acceleration is not exceeded, the speed of the self-vehicle is adjusted based on the second acceleration, specifically, the control method comprises the following steps:

adjusting the speed of the vehicle based on the first acceleration within a first adjustment time; the first adjustment time is from the starting moment of following vehicle running to the critical moment when the second acceleration does not exceed the preset acceleration;

adjusting the speed of the vehicle based on the second acceleration within a second adjustment time; the second adjustment time is from a critical moment when the second acceleration does not exceed the preset acceleration to a starting moment when the relative vehicle speed is adjusted to 0, and the starting moment of the second adjustment time is an ending moment of the first adjustment time.

adjusting the speed of the vehicle based on the first acceleration and the second acceleration within a third adjustment time; the starting time of the third adjustment time is the ending time of the first adjustment time, and in the third adjustment time, the weight adjusted based on the first acceleration is gradually reduced, and the weight adjusted based on the second acceleration is gradually increased;

adjusting the speed of the vehicle based on the second acceleration within a second adjustment time; and the starting time of the second adjusting time is the ending time of the third adjusting time, and the second adjusting time is from the ending time of the third adjusting time to the starting time of adjusting the relative vehicle speed to 0.

According to the control method of the adaptive cruise, provided by the invention, before the step of controlling the following running of the vehicle based on the control parameters, the method further comprises the following steps:

acquiring a preset vehicle following distance of a driver, and adjusting the control parameter based on the preset vehicle following distance; when the control parameters are adjusted, the first acceleration is generated based on a preset vehicle following time interval, a preset vehicle following distance and the relative vehicle distance, and the second acceleration is generated based on the speed of the self vehicle, the speed of the front vehicle and the preset vehicle following distance.

The present invention also provides a control device for adaptive cruise, comprising:

the vehicle following request module is used for acquiring an adaptive cruise vehicle following request of a driver;

the parameter determining module is used for acquiring the identity information of a driver and calling a control parameter corresponding to the identity information from a preset driving style library based on the identity information; the preset driving style library is stored with a plurality of driving styles, the driving styles correspond to the identity information one by one, the control parameters corresponding to each driving style are different, and the control parameters comprise the following distance and the relative speed in the self-adaptive cruise following mode;

the following control module is used for controlling the following running of the vehicle based on the control parameters; the vehicle following method comprises the steps that the vehicle following speed is adjusted based on a first acceleration and a second acceleration in the vehicle following running process; the first acceleration is generated based on the following distance and the relative distance between the own vehicle and the front vehicle; the second acceleration is generated based on the own vehicle speed, the preceding vehicle speed, and the following distance.

The present invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the adaptive cruise control method according to any of the above aspects when executing the program.

The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the control method of adaptive cruise as described in any one of the above.

According to the control method, the control device, the control equipment and the readable storage medium for the adaptive cruise, the driving style corresponding to the driver is generated by obtaining the following distance and the relative speed of the driver in the daily driver mode, when the adaptive cruise system is started based on the adaptive cruise following request, the ACC can determine corresponding control parameters based on the driving style of the driver, and control the vehicle to follow the vehicle to run based on the control parameters, and meanwhile, in order to ensure that the driver and passengers are prevented from discomfort when the self vehicle approaches the front vehicle, the ACC is determined based on the first acceleration and the second acceleration when the speed of the self vehicle is adjusted.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a flow chart of an adaptive cruise control method according to the present invention;

FIG. 2 is a schematic diagram of a fitted following distance-relative speed characteristic curve in the adaptive cruise control method provided by the present invention;

fig. 3 is a specific flowchart of step S400 in the adaptive cruise control method according to the present invention;

fig. 4 is a schematic flow chart of step S440 in the adaptive cruise control method according to the present invention;

fig. 5 is a second flowchart illustrating a specific step S440 of the adaptive cruise control method according to the present invention;

FIG. 6 is a schematic diagram illustrating the adjustment of the vehicle speed during a third adjustment time in the control method of adaptive cruise according to the present invention;

FIG. 7 is a second flowchart of the adaptive cruise control method according to the present invention;

FIG. 8 is a schematic structural diagram of an adaptive cruise control apparatus provided in the present invention;

fig. 9 is a specific structural schematic diagram of a car following control module in the adaptive cruise control device provided by the invention;

fig. 10 is one of specific structural schematic diagrams of a following control unit in the adaptive cruise control device provided by the invention;

fig. 11 is a second specific structural diagram of a following control unit in the adaptive cruise control apparatus according to the present invention;

fig. 12 is a second schematic structural diagram of the adaptive cruise control apparatus provided in the present invention;

fig. 13 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The control method of adaptive cruise according to the invention is described below with reference to fig. 1, comprising the following steps:

s100, obtaining an adaptive cruise and vehicle following request of a driver.

In some possible embodiments, the driver may generate its adaptive cruise following request by pressing a button at a position of a console, a steering wheel, a seat, a door, etc. of the vehicle, or by gestures, or by voice, or by body language, or by APP and an intelligent terminal that establish a connection with the vehicle, etc.

S200, acquiring the identity information of the driver, and calling the control parameters corresponding to the identity information from a preset driving style library based on the identity information.

In the method, a plurality of driving styles are stored in a preset driving style library, the driving styles correspond to identity information one by one, control parameters corresponding to each driving style are different, and the control parameters comprise a following distance and a relative speed in a self-adaptive cruise following mode.

Therefore, after the vehicle acquires the identity information of the driver, the identity information can be verified, and the control parameters matched with the identity information, namely the driver, are called.

In some possible embodiments, the driver may select and confirm the identity by pressing a button at a position of a console, a steering wheel, a seat, a door, or the like of the vehicle, or by a gesture, or by voice, or by a body language, or by facial recognition, or iris recognition, or by an APP and an intelligent terminal that establish a connection with the vehicle, or the like, so as to generate the corresponding identity information.

In this embodiment, the difference in the control parameter for each driving style means that one or both of the following distance and the relative vehicle speed are different.

The driving style in the preset driving style library in the method is obtained through the following steps:

acquiring vehicle following data and identity information of a driver, wherein in the method, the vehicle following data comprises a vehicle following distance in a driver mode and a relative speed of a current vehicle and a previous vehicle;

and fitting the following vehicle data to obtain control parameters, binding the control parameters with corresponding identity information, generating a driving style corresponding to the driver, and storing the generated driving style into a preset driving style library. It should be noted that, each time the driver drives the vehicle through the driver mode, the corresponding following data is continuously collected, and the previously stored following data is updated, so that the driving style of the driver is also updated in each driving process.

Referring to fig. 2, each driver's corresponding driving style fits the collected relative vehicle speed and vehicle following distance corresponding to the driving style to obtain a characteristic curve of vehicle following distance-relative vehicle speed corresponding to the driving style, where the horizontal axis is the vehicle following distance and the vertical axis is the relative vehicle speed, and finally when a certain target distance Dis exists, the relative vehicle speed is 0.

And S400, controlling the following running of the vehicle based on the control parameters.

In some possible embodiments, step S400 specifically includes:

and judging whether a preset condition for following vehicle running is met, and if the preset condition is met, controlling the following vehicle running of the vehicle based on the control parameters. In the method, the preset condition is that the front vehicle is in the following range.

In the method, in the ACC following driving mode, the vehicle may follow the vehicle by accelerating to a relative vehicle speed of 0 or decelerating to a relative vehicle speed of 0 without the vehicle speed of the vehicle being greater than the vehicle speed of the preceding vehicle.

In this method, the final objective is to make the relative speed between the own vehicle and the preceding vehicle of the following vehicle 0, and to adjust the speed of the own vehicle accordingly as the speed of the preceding vehicle changes, so as to maintain the relative speed at 0. It should be noted that the speed of the vehicle from the vehicle will be changed and adjusted in real time according to the real-time relative vehicle distance and the vehicle speed of the vehicle ahead, i.e. the cruising speed at each moment may be changed.

In the method, the speed of the vehicle is adjusted based on a first acceleration and a second acceleration during the following driving process; the first acceleration is generated based on the following distance and the relative distance between the own vehicle and the front vehicle; the second acceleration is generated based on the own vehicle speed, the preceding vehicle speed, and the following distance.

The main working condition of the ACC is constant-speed cruising, the automatic following and immediate following control of a front vehicle, the following control is divided into following stopping and following driving, the following stopping and following driving are basically the same in control process, the following stopping and following driving are both processes of converting a certain relative speed into a relative speed of 0, and the difference is only that the absolute speed is different.

In the method, after the vehicle enters the ACC following mode based on the adaptive cruise following request of the driver, the following distance and the relative speed during following can be automatically adjusted according to the driving behavior and the driving habit of the driver in the daily following driving environment. In the present embodiment, the driving behavior and the driving habit are obtained based on two characteristic values of the relative vehicle speed and the following distance to which the driver is accustomed in following vehicle traveling, and these characteristic values can be directly calculated from the vehicle steering information and the road state information.

In the above embodiment, the Vehicle operation information and the Road state information may be acquired by a Vehicle to electrical engineering (V2X) technology, and preferably, the Vehicle operation information and the Road state information related to the Vehicle ahead may be acquired by a Road-Side Unit (RSU) or a cloud Side, and the Vehicle operation information related to the Vehicle itself may be acquired by an On-Board Unit (OBU).

According to the control method of the adaptive cruise, the driving style corresponding to the driver is generated by obtaining the following distance and the relative speed of the driver in the daily driver mode, when the adaptive cruise system is started based on the adaptive cruise following request, the ACC can determine the corresponding control parameters based on the driving style of the driver, and control the vehicle to follow the vehicle based on the control parameters, and meanwhile, in order to ensure that the vehicle is fast close to the front vehicle, discomfort of the driver and passengers is avoided, when the speed of the vehicle is adjusted, the ACC is determined based on the first acceleration and the second acceleration together.

The following describes the adaptive cruise control method according to the present invention with reference to fig. 3, where step S400 specifically includes the following steps:

and S410, judging whether a preset condition is met.

And S420, if the preset condition is met, generating a first acceleration based on the following distance and the relative distance, and generating a second acceleration based on the speed of the vehicle, the speed of the front vehicle and the following distance.

The first acceleration is generated in the method based on a following distance-relative vehicle speed characteristic curve. According to the following distance-relative speed characteristic curve, the ACC can output a real-time expected relative speed according to the real-time relative distance in the following driving process. When the expected relative speed output at a certain moment is greater than the actual relative speed of the vehicle, the fact that the vehicle needs to run in an accelerated mode is indicated, when the expected relative speed output at a certain moment is less than the actual relative speed of the vehicle, the fact that the vehicle needs to run in a decelerated mode is indicated, and when the expected relative speed output at a certain moment is equal to the actual relative speed of the vehicle, the fact that the vehicle continues to run according to the actual relative speed is indicated. The first acceleration can be obtained from a deviation value between the expected relative vehicle speed and the actual relative vehicle speed at a certain time, for example, when the first acceleration is generated based on a pid (proportion integration differential) mode, the difference between the expected relative vehicle speed and the actual relative vehicle speed is multiplied by a P parameter to generate the first acceleration, when the first acceleration is a positive value, the vehicle needs to be accelerated, and when the first acceleration is a negative value, the vehicle needs to be decelerated.

In the embodiment, the P parameter is in inverse proportion to the expected collision time, when the expected collision time is longer, the P parameter is smaller, and when the collision time is shorter, the P parameter is larger, so that the comfort and the safety when the speed of the vehicle is adjusted are ensured.

Meanwhile, in order to ensure that when the self-vehicle approaches the front vehicle quickly, the condition that the ACC responds slowly to cause overlarge later-stage sudden deceleration so as to cause discomfort of a driver and passengers is avoided, the self-vehicle speed is adjusted based on the second speed in the self-adaptive cruise control method.

When the self-vehicle approaches the front vehicle quickly, another deceleration value is calculated, namely a second acceleration, the second acceleration is characterized in that when the self-vehicle is braked to the relative vehicle speed of 0, the target distance Dis is just reached, and a specific calculation formula is as follows:

wherein the content of the first and second substances,

the speed of the vehicle is shown as the speed of the vehicle,

indicating the vehicle speed of the preceding vehicle. The other acceleration value can be obtained through the formula, and the acceleration value obtained through calculation of the formula is the second acceleration. It should be noted that the second acceleration is used for the deceleration process of the vehicle, and the vehicle speed of the host vehicle is adjusted based on the second acceleration only in the deceleration stage of the vehicle.

And S430, judging the relation between the second acceleration and the preset acceleration.

And S440, if the preset acceleration is exceeded, adjusting the speed of the vehicle based on the first acceleration, and if the preset acceleration is not exceeded, adjusting the speed of the vehicle based on the second acceleration.

The control method of adaptive cruise according to the present invention is described below with reference to fig. 4, and in some possible embodiments, step S440 specifically includes the following steps:

and S441, adjusting the speed of the vehicle based on the first acceleration within the first adjustment time. In this embodiment, the predetermined acceleration is a negative value, and the speed of the vehicle is adjusted based on the second acceleration only when the second acceleration is smaller than the predetermined acceleration. The second acceleration is gradually decreased when the relative vehicle distance is gradually decreased, that is, the vehicle gradually approaches the front vehicle, so that the second acceleration may be always smaller than the preset acceleration from a certain time, and the first adjustment time is from the starting time of the following vehicle to a critical time when the second acceleration does not exceed the preset acceleration.

And S442, adjusting the speed of the vehicle based on the second acceleration within the second adjustment time. In the method, the second adjustment time is from a critical time when the second acceleration does not exceed the preset acceleration to a starting time when the relative vehicle speed is adjusted to 0, and the starting time of the second adjustment time is an ending time of the first adjustment time.

It should be noted that, when the second acceleration exceeds the preset acceleration all the time, the first adjustment time is the time of the entire following vehicle, and at this time, the second adjustment time does not exist, that is, the vehicle speed of the vehicle is not adjusted based on the second acceleration.

The control method of adaptive cruise according to the present invention is described below with reference to fig. 5, and in other possible embodiments, step S440 specifically includes the following steps:

and S441, adjusting the speed of the vehicle based on the first acceleration within the first adjustment time. In the method, the first adjustment time is from the starting time of following vehicle running to the critical time when the second acceleration does not exceed the preset acceleration.

And S442, adjusting the speed of the vehicle based on the first acceleration and the second acceleration within the third adjustment time. In the method, the starting time of the third adjustment time is the ending time of the first adjustment time.

And S443, adjusting the vehicle speed of the vehicle based on the second acceleration within the second adjustment time. In the method, the starting time of the second adjusting time is the ending time of the third adjusting time, and the second adjusting time is from the ending time of the third adjusting time to the starting time of adjusting the relative vehicle speed to 0.

It should be noted that, when the second acceleration exceeds the preset acceleration all the time, the first adjustment time is the time of the entire following vehicle, and at this time, the second adjustment time and the third adjustment time do not exist, that is, the speed of the own vehicle is not adjusted based on the second acceleration.

Referring to fig. 6, t is a third adjustment time, the line a1 represents the first acceleration, and the line a2 represents the second acceleration, which are different from the previous embodiments, in these embodiments shown in fig. 5, the third adjustment time is introduced to perform the step-down adjustment of the relative vehicle speed in consideration of the smoothness when the first acceleration is switched to the second acceleration so as to avoid the poor driving experience for the driver when the vehicle speed changes abruptly in a short time. In the third adjustment time, the weight adjusted based on the first acceleration is gradually reduced, the weight adjusted based on the second acceleration is gradually increased, and the relative speed, namely the speed of the bicycle, is smoother when being adjusted through the transition of the third adjustment time.

The control method of the adaptive cruise according to the present invention is described below with reference to fig. 7, and before step S400, the method further includes the following steps:

s300, acquiring a preset vehicle following distance of a driver, adjusting control parameters based on the preset vehicle following distance, and correspondingly, when adjusting the control parameters, generating a first acceleration based on the preset vehicle following time distance, the vehicle following distance and the relative vehicle distance, and generating a second acceleration based on the current vehicle speed, the previous vehicle speed and the preset vehicle following distance.

Through the preset vehicle following distance that sets up of driver oneself, can obtain the preset vehicle following distance that driver oneself likes, it is specific, predetermine the vehicle following distance and multiply the vehicle speed by predetermineeing the vehicle following distance and obtain from the car speed, when the vehicle speed is fast like this, predetermine the corresponding grow of vehicle following distance meeting.

It should be noted that each driver can set the favorite preset following distance, and the preset following distance can be obtained by presetting the following distance, namely the favorite target distance Dis of the driver. Specifically, the following distance-relative speed characteristic curve performs related translation operations on the characteristic curve according to different following distances set by a driver, for example, in the control method of adaptive cruise according to the present invention, after a preset driving style library acquires a driving style of a driver or after the driving style of the driver is updated, the matching of the relative speed and the following distance is performed according to the driving style of the driver, so as to obtain an initial target distance Dis that makes the relative speed 0, after the driver inputs a preset following distance and calculates the preset following distance, the preset following distance is compared with the target distance Dis, when the preset following distance is greater than the initial target distance Dis, the fitted following distance-relative speed characteristic curve is moved to the right, and the preset following distance is used as a new target distance Dis, and when the preset following distance is smaller than the initial target distance Dis, moving the characteristic curve of the following distance and the relative speed obtained by fitting to the left, taking the preset following distance as a new target distance Dis, and when the preset following distance is equal to the initial target distance Dis, not changing.

After the following distance-relative speed characteristic curve is translated, the ACC can output a real-time expected relative speed according to the real-time relative distance during following driving according to the adjusted following distance-relative speed characteristic curve. When the expected relative speed output at a certain moment is greater than the actual relative speed of the vehicle, the fact that the vehicle needs to run in an accelerated mode is indicated, when the expected relative speed output at a certain moment is less than the actual relative speed of the vehicle, the fact that the vehicle needs to run in a decelerated mode is indicated, and when the expected relative speed output at a certain moment is equal to the actual relative speed of the vehicle, the fact that the vehicle continues to run according to the actual relative speed is indicated. The first acceleration can be obtained from a deviation value between the expected relative vehicle speed and the actual relative vehicle speed at a certain time, for example, when the first acceleration is generated based on a PID mode, the difference between the expected relative vehicle speed and the actual relative vehicle speed is multiplied by a P parameter to generate the first acceleration, when the first acceleration is a positive value, the vehicle needs to be accelerated, and when the first acceleration is a negative value, the vehicle needs to be decelerated.

The following describes the control device for adaptive cruise provided by the present invention, and the control device for adaptive cruise described below and the control method for adaptive cruise described above may be referred to in correspondence with each other.

The adaptive cruise control device of the present invention is described below with reference to fig. 8, and includes the steps of:

and the vehicle following request module 100 is used for acquiring an adaptive cruise vehicle following request of a driver.

The parameter determining module 200 is configured to obtain identity information of a driver, and retrieve, based on the identity information, a control parameter corresponding to the identity information from a preset driving style library.

In the device, a plurality of driving styles are stored in a preset driving style library, the driving styles correspond to identity information one by one, control parameters corresponding to each driving style are different, and the control parameters comprise a following distance and a relative speed in a self-adaptive cruise following mode.

And the following control module 400 is used for controlling the following running of the vehicle based on the control parameters.

In some possible embodiments, the following control module 400 specifically includes:

and judging whether a preset condition for following vehicle running is met, and if the preset condition is met, controlling the following vehicle running of the vehicle based on the control parameters. In the device, the preset condition is that the front vehicle is in the following range.

In the device, unlike other ACC accompanying travel modes, in the ACC accompanying travel mode, the vehicle can follow the vehicle by accelerating to a relative vehicle speed of 0 or decelerating to a relative vehicle speed of 0 without the vehicle speed of the own vehicle being greater than that of the preceding vehicle.

In this apparatus, the final object is to make the relative vehicle speed between the own vehicle and the preceding vehicle of the following vehicle 0, and to adjust the own vehicle speed accordingly as the preceding vehicle speed changes, so as to maintain the relative vehicle speed at 0. It should be noted that the speed of the vehicle from the vehicle will be changed and adjusted in real time according to the real-time relative vehicle distance and the vehicle speed of the vehicle ahead, i.e. the cruising speed at each moment may be changed.

In the device, the speed of the vehicle is adjusted based on the first acceleration and the second acceleration during the following running process; the first acceleration is generated based on the following distance and the relative distance between the own vehicle and the front vehicle; the second acceleration is generated based on the own vehicle speed, the preceding vehicle speed, and the following distance.

In the device, after the vehicle enters an ACC vehicle following mode based on the self-adaptive cruise vehicle following request of the driver, the vehicle following distance and the relative speed can be automatically adjusted according to the driving behavior and driving habits of the driver in the daily vehicle following driving environment. In the present embodiment, the driving behavior and the driving habit are obtained based on two characteristic values of the relative vehicle speed and the following distance to which the driver is accustomed in following vehicle traveling, and these characteristic values can be directly calculated from the vehicle steering information and the road state information.

In the above embodiment, the vehicle operation information and the road state information may be acquired by using a V2X technology, and preferably, the vehicle operation information and the road state information related to the vehicle ahead may be acquired by using an RSU or a cloud, and the vehicle operation information related to the vehicle from the vehicle may be acquired by using an OBU.

According to the control device for the adaptive cruise, the driving style corresponding to the driver is generated by acquiring the following distance and the relative speed of the driver in the daily driver mode, when the adaptive cruise system is started based on the adaptive cruise following request, the ACC can determine the corresponding control parameters based on the driving style of the driver, and control the vehicle to follow the vehicle based on the control parameters.

In the following, the adaptive cruise control apparatus according to the present invention is described with reference to fig. 9, and the following control module 400 specifically includes:

the first determining unit 410 is configured to determine whether a preset condition is satisfied.

The generating unit 420 is configured to generate a first acceleration based on the following distance and the relative distance if a preset condition is satisfied, and generate a second acceleration based on the vehicle speed of the vehicle, the vehicle speed of the preceding vehicle, and the following distance.

The first acceleration is generated in the device based on a following distance-relative vehicle speed characteristic curve. According to the following distance-relative speed characteristic curve, the ACC can output a real-time expected relative speed according to the real-time relative distance in the following driving process. When the expected relative speed output at a certain moment is greater than the actual relative speed of the vehicle, the fact that the vehicle needs to run in an accelerated mode is indicated, when the expected relative speed output at a certain moment is less than the actual relative speed of the vehicle, the fact that the vehicle needs to run in a decelerated mode is indicated, and when the expected relative speed output at a certain moment is equal to the actual relative speed of the vehicle, the fact that the vehicle continues to run according to the actual relative speed is indicated. The first acceleration can be obtained from a deviation value between the expected relative vehicle speed and the actual relative vehicle speed at a certain time, for example, when the first acceleration is generated based on a PID mode, the difference between the expected relative vehicle speed and the actual relative vehicle speed is multiplied by a P parameter to generate the first acceleration, when the first acceleration is a positive value, the vehicle needs to be accelerated, and when the first acceleration is a negative value, the vehicle needs to be decelerated.

Meanwhile, in order to ensure that when the self-vehicle approaches the front vehicle quickly, the condition that the ACC responds slowly to cause overlarge later-stage sudden deceleration so as to cause discomfort of a driver and passengers is avoided, the self-adaptive cruise control device also adjusts the speed of the self-vehicle based on the second speed.

When the self-vehicle approaches the front vehicle quickly, another deceleration value, namely a second acceleration value is calculated, and the second acceleration value is characterized in that the target distance Dis is just reached when the self-vehicle is braked to the relative vehicle speed of 0.

The second determining unit S430 is configured to determine a relationship between the second acceleration and the preset acceleration.

And a following control unit 440, configured to adjust the speed of the vehicle based on the first acceleration if the preset acceleration is exceeded, and adjust the speed of the vehicle based on the second acceleration if the preset acceleration is not exceeded.

The adaptive cruise control device according to the present invention is described below with reference to fig. 10, and in some possible embodiments, the following control unit 440 specifically includes:

and the first control unit 441 is used for adjusting the speed of the self-vehicle based on the first acceleration within the first adjustment time. In this embodiment, the predetermined acceleration is a negative value, and the speed of the vehicle is adjusted based on the second acceleration only when the second acceleration is smaller than the predetermined acceleration. The second acceleration is gradually decreased when the relative vehicle distance is gradually decreased, that is, the vehicle gradually approaches the front vehicle, so that the second acceleration may be always smaller than the preset acceleration from a certain time, and the first adjustment time is from the starting time of the following vehicle to a critical time when the second acceleration does not exceed the preset acceleration.

And a second control unit 442 for adjusting the speed of the vehicle based on the second acceleration during a second adjustment time. In the device, the second adjusting time is from the critical moment that the second acceleration does not exceed the preset acceleration to the starting moment that the relative vehicle speed is adjusted to 0, and the starting moment of the second adjusting time is the ending moment of the first adjusting time.

The adaptive cruise control apparatus according to the present invention is described below with reference to fig. 11, and in other possible embodiments, the following control unit 440 specifically includes:

the third control unit 443 is configured to adjust the vehicle speed of the host vehicle based on the first acceleration during the first adjustment time. In the device, the first adjustment time is from the starting time of following vehicle running to the critical time when the second acceleration does not exceed the preset acceleration.

And a fourth control unit 444 for adjusting the vehicle speed of the host vehicle based on the first acceleration and the second acceleration during the third adjustment time. In the apparatus, the start time of the third adjustment time is the end time of the first adjustment time.

And a fifth control unit 445 for adjusting the vehicle speed of the host vehicle based on the second acceleration during the second adjustment time. In the device, the starting time of the second adjustment time is the ending time of the third adjustment time, and the second adjustment time is from the ending time of the third adjustment time to the starting time of the adjustment of the relative vehicle speed to 0.

Unlike the previous embodiments, in the embodiments shown in fig. 11, the third adjustment time is introduced to perform the folding type relative speed adjustment in consideration of the smoothness when the first acceleration is switched to the second acceleration, so as to avoid the poor driving experience for the driver when the relative speed is suddenly changed within a short time. In the third adjustment time, the weight adjusted based on the first acceleration is gradually reduced, the weight adjusted based on the second acceleration is gradually increased, and the relative speed, namely the speed of the bicycle, is smoother when being adjusted through the transition of the third adjustment time.

The adaptive cruise control apparatus of the present invention is described below with reference to fig. 12, and further includes:

the acquisition module 300 is used for acquiring the preset following distance of the driver, adjusting the control parameters based on the preset following distance, and correspondingly, when the control parameters are adjusted, the first acceleration is generated based on the preset following time distance, the following distance and the relative distance, and the second acceleration is generated based on the current vehicle speed, the previous vehicle speed and the preset following distance.

Fig. 13 illustrates a physical structure diagram of an electronic device, and as shown in fig. 13, the electronic device may include: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. Processor 810 may invoke logic instructions in memory 830 to perform a method of controlling adaptive cruise, the method comprising the steps of:

s100, obtaining an adaptive cruise and car following request of a driver;

s200, acquiring identity information of a driver, and calling a control parameter corresponding to the identity information from a preset driving style library based on the identity information; the preset driving style library is stored with a plurality of driving styles, the driving styles correspond to the identity information one by one, the control parameters corresponding to each driving style are different, and the control parameters comprise the following distance and the relative speed in the self-adaptive cruise following mode;

s400, controlling the following running of the vehicle based on the control parameters; the vehicle following method comprises the steps that the vehicle following speed is adjusted based on a first acceleration and a second acceleration in the vehicle following running process; the first acceleration is generated based on the following distance and the relative distance between the own vehicle and the front vehicle; the second acceleration is generated based on the own vehicle speed, the preceding vehicle speed, and the following distance.

In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer-readable storage medium, the computer program, when being executed by a processor, being capable of executing the method for controlling adaptive cruise provided by the above methods, the method comprising the steps of:

s100, obtaining an adaptive cruise and car following request of a driver;

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling adaptive cruise provided by the above-mentioned methods, the method comprising the steps of:

s100, obtaining an adaptive cruise and car following request of a driver;

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A control method for adaptive cruise, comprising the steps of:

acquiring an adaptive cruise following request of a driver;

2. The adaptive cruise control method according to claim 1, characterized in that said driving style in said preset driving style library is obtained by:

3. The adaptive cruise control method according to claim 2, wherein said controlling the vehicle to follow the vehicle based on said control parameters specifically comprises:

4. The adaptive cruise control method according to claim 3, wherein said determining whether a preset condition for following vehicle driving is met, and if the preset condition is met, controlling the vehicle to follow the vehicle based on the control parameter, specifically comprises the steps of:

judging whether a preset condition is met;

judging the relation between the second acceleration and a preset acceleration;

5. The adaptive cruise control method according to claim 4, wherein if the preset acceleration is exceeded, the speed of the vehicle is adjusted based on the first acceleration, and if the preset acceleration is not exceeded, the speed of the vehicle is adjusted based on the second acceleration, specifically comprising the steps of:

6. The adaptive cruise control method according to claim 4, wherein if the preset acceleration is exceeded, the speed of the vehicle is adjusted based on the first acceleration, and if the preset acceleration is not exceeded, the speed of the vehicle is adjusted based on the second acceleration, specifically comprising the steps of:

7. The adaptive cruise control method according to claim 1, characterized in that it further comprises, before said step of controlling the vehicle to follow the vehicle based on said control parameters, the steps of:

8. An adaptive cruise control, comprising:

9. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor, when executing said program, carries out the steps of the control method of adaptive cruise according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the control method for adaptive cruise according to any one of claims 1 to 7.