CN114394095B - ACC control method and device based on lane change intention recognition of side front vehicle - Google Patents
ACC control method and device based on lane change intention recognition of side front vehicle Download PDFInfo
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- CN114394095B CN114394095B CN202210077412.XA CN202210077412A CN114394095B CN 114394095 B CN114394095 B CN 114394095B CN 202210077412 A CN202210077412 A CN 202210077412A CN 114394095 B CN114394095 B CN 114394095B
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- 238000001514 detection method Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 abstract 1
- 230000003044 adaptive effect Effects 0.000 description 3
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Classifications
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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
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4045—Intention, e.g. lane change or imminent movement
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an ACC control method and device based on the recognition of lane change intention of a side front vehicle, wherein the method comprises the steps of detecting a barrier in front of the side of the vehicle through a radar sensor, judging whether a target vehicle exists in front of the side of the vehicle, and shooting a side front image of the vehicle when the target vehicle exists in front of the side of the vehicle; judging whether a turn signal lamp of a target vehicle close to a lane is on or not or whether the number of frames of continuous tracking of the target vehicle reaches a set number of frames or not through a vehicle side front image; if yes, the target vehicle is defined as a stable tracking target. According to the invention, the radar sensor is used for detecting the obstacle in front of the vehicle side, so that the image in front of the vehicle side is shot, the real lane changing intention is identified by monitoring the movement state information and the state of the steering lamp of the different-lane vehicle, the vehicle speed of the vehicle is planned in advance by combining the target vehicle speed, the excessive dependence on the experience and the driving state of the driver is avoided, more accurate and reliable lane changing prediction is carried out, the safe distance is kept between the vehicle and the front vehicle, and the driving safety is improved.
Description
Technical Field
The invention belongs to the field of adaptive cruise control, and particularly relates to an ACC control method and device based on lane change intention recognition of a side front vehicle.
Background
With the development of automobiles becoming more intelligent, the automatic driving function is gradually increased on various types of vehicles at home and abroad, and the self-adaptive cruise control (Adaptive Cruise Control, abbreviated as ACC) of the vehicle makes wheels brake properly and the output power of the engine is reduced by coordinating with an electronic stability control system and an engine control system so as to keep a safe distance between the vehicle and a front vehicle all the time.
However, the real-time traffic situation is complex, the motion state of the different-road vehicle and the state of the steering lamp are changed instantaneously, and how to improve the safety of the ACC is a problem.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an ACC control method and device based on the recognition of the lane changing intention of a side front vehicle, and the driving safety is improved by recognizing the lane changing intention of the side front vehicle.
In order to achieve the above purpose, the invention provides an ACC control method based on the identification of the lane change intention of a side front vehicle, which comprises the following steps:
when receiving the self-adaptive cruise control request, detecting a front obstacle at the side of the vehicle through a radar sensor; judging whether a target vehicle exists in front of the side of the vehicle according to the information transmitted by the radar sensor, and shooting a front image of the side of the vehicle when the target vehicle exists in front of the side of the vehicle; judging whether a turn signal lamp of a target vehicle close to a lane is on or not or whether the number of frames of continuous tracking of the target vehicle reaches a set number of frames or not through a vehicle side front image; if yes, defining the target vehicle as a stable tracking target;
judging whether the distance between the stable tracking target and the lane line at the side of the vehicle is greater than the safety distance; if yes, warning the driver, and judging that the stable tracking target has no lane change intention temporarily; if not, judging whether the transverse moving speed of the stable tracking target is greater than a threshold value; if the transverse moving speed of the stable tracking target is greater than the threshold value, warning the driver, and judging that the stable tracking target has a lane change intention; if the transverse moving speed of the stable tracking target is not greater than the threshold value, warning the driver, and judging that the stable tracking target has no lane change intention temporarily;
if the stable tracking target has the lane changing intention, the motion state information of the stable tracking target and the vehicle is sent to the controller, and the required braking deceleration is calculated.
Further, when the target vehicle does not exist in front of the vehicle side, the radar sensor continues to detect the obstacle in front of the vehicle side until the target vehicle exists in front of the vehicle side.
Further, the set frame number m in which the target vehicle is continuously tracked is calculated as follows:
m＝fs/v x
wherein s is a safe driving distance, namely the distance between the head of the target vehicle and the lane line at the side of the vehicle; f is the image sampling frame rate, v x Is the longitudinal speed of the vehicle.
Further, if the turn signal lamp of the target vehicle approaching the own lane is not turned on and the number of frames in which the target vehicle is continuously tracked does not reach the set number of frames, the radar sensor is continuously used to continuously detect the obstacle ahead of the vehicle side.
Further, if it is determined that the steady tracking target is not expected to have a lane change temporarily, it is continuously determined whether or not the distance between the steady tracking target and the lane line on the vehicle side is greater than a safe distance.
The invention also provides an ACC control device based on the lane change intention recognition of the side front vehicle, which comprises the following components: the device comprises an obstacle detection module, a side front vehicle lane change intention recognition module and a cruising speed reduction control module;
the obstacle detection module is used for detecting the obstacle in front of the side of the vehicle through the radar sensor when receiving the self-adaptive cruise control request; judging whether a target vehicle exists in front of the side of the vehicle according to the information transmitted by the radar sensor, and shooting a front image of the side of the vehicle when the target vehicle exists in front of the side of the vehicle; judging whether a turn signal lamp of a target vehicle close to a lane is on or not or whether the number of frames of continuous tracking of the target vehicle reaches a set number of frames or not through a vehicle side front image; if yes, defining the target vehicle as a stable tracking target;
the lane change intention recognition module of the side front vehicle is used for judging whether the distance between the stable tracking target and the lane line of the side of the vehicle is greater than a safe distance; if yes, warning the driver, and judging that the stable tracking target has no lane change intention temporarily; if not, judging whether the transverse moving speed of the stable tracking target is greater than a threshold value; if the transverse moving speed of the stable tracking target is greater than the threshold value, warning the driver, and judging that the stable tracking target has a lane change intention; if the transverse moving speed of the stable tracking target is not greater than the threshold value, warning the driver, and judging that the stable tracking target has no lane change intention temporarily;
the cruise deceleration control module is used for sending the motion state information of the stable tracking target and the vehicle to the controller when the stable tracking target has the lane changing intention, and calculating the required braking deceleration.
Further, when the target vehicle does not exist in front of the vehicle side, the radar sensor continues to detect the obstacle in front of the vehicle side until the target vehicle exists in front of the vehicle side.
Further, the set frame number m in which the target vehicle is continuously tracked is calculated as follows:
m＝fs/v x
wherein s is a safe driving distance, namely the distance between the head of the target vehicle and the lane line at the side of the vehicle; f is the image sampling frame rate, v x Is the longitudinal speed of the vehicle.
Further, if the turn signal lamp of the target vehicle approaching the own lane is not turned on and the number of frames in which the target vehicle is continuously tracked does not reach the set number of frames, the radar sensor is continuously used to continuously detect the obstacle ahead of the vehicle side.
Further, if it is determined that the steady tracking target is not expected to have a lane change temporarily, it is continuously determined whether or not the distance between the steady tracking target and the lane line on the vehicle side is greater than a safe distance.
Compared with the prior art, the invention has the following advantages:
according to the invention, the radar sensor is used for detecting the obstacle in front of the vehicle side, so that the image in front of the vehicle side is shot, the real lane changing intention is identified by monitoring the movement state information and the state of the steering lamp of the different-lane vehicle, the vehicle speed of the vehicle is planned in advance by combining the target vehicle speed, the excessive dependence on the experience and the driving state of the driver is avoided, more accurate and reliable lane changing prediction is carried out, the safe distance is kept between the vehicle and the front vehicle, and the driving safety is improved.
Drawings
FIG. 1 is a flow chart of an obstacle detection module provided by the invention;
FIG. 2 is a flow chart of a lane change intention recognition module for a side front vehicle provided by the invention;
FIG. 3 is a flow chart of a cruise control module provided by the present invention;
FIG. 4 is a schematic diagram of a lane change process of a vehicle according to the present invention;
fig. 5 is a schematic diagram of a safe distance provided by the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention provides an ACC control method based on the recognition of lane change intention of a side front vehicle, which comprises the following steps:
when receiving the self-adaptive cruise control request, detecting a front obstacle at the side of the vehicle through a radar sensor; judging whether a target vehicle exists in front of the side of the vehicle according to the information transmitted by the radar sensor, and shooting a front image of the side of the vehicle when the target vehicle exists in front of the side of the vehicle; when the target vehicle does not exist in front of the vehicle side, the radar sensor continuously detects the obstacle in front of the vehicle side until the target vehicle exists in front of the vehicle side.
Judging whether a turn signal lamp of a target vehicle close to a lane is on or not or whether the number of frames of continuous tracking of the target vehicle reaches a set number of frames or not through a vehicle side front image; if yes, the target vehicle is defined as a stable tracking target. If the turn signal lamp of the target vehicle approaching the lane is not turned on and the number of frames in which the target vehicle is continuously tracked does not reach the set number of frames, the radar sensor is continuously utilized to continuously detect the obstacle ahead of the vehicle side.
Judging whether the distance between the stable tracking target and the lane line at the side of the vehicle is greater than the safety distance; if yes, warning the driver, and judging that the stable tracking target has no lane change intention temporarily; if not, judging whether the transverse moving speed of the stable tracking target is greater than a threshold value; if the transverse moving speed of the stable tracking target is greater than the threshold value, warning the driver, and judging that the stable tracking target has a lane change intention; and if the transverse moving speed of the stable tracking target is not greater than the threshold value, warning the driver, and judging that the stable tracking target has no lane change intention temporarily. If the stable tracking target is judged to have no lane changing intention temporarily, continuing to judge whether the distance between the stable tracking target and the lane line at the side of the vehicle is larger than the safety distance.
If the stable tracking target has the lane changing intention, the motion state information of the stable tracking target and the vehicle is sent to the controller, and the required braking deceleration is calculated. The invention has the advantages that the vehicle function is added under the condition of not adding extra hardware, the lane change intention of the vehicle in front of the side can be recognized in advance, and the phenomenon that the driver reacts untimely and rear-end collision is generated is avoided.
The invention also provides an ACC control device based on the side front vehicle lane change intention recognition, wherein a controller of the device performs own vehicle speed planning so as to control acceleration or braking, and a whole vehicle CAN bus provides an ignition switch signal and a real-time vehicle speed signal for the controller; the lane change intention recognition module of the side front vehicle judges the movement state information and the steering lamp state of the side front vehicle based on the radar sensor and the camera, outputs the lane change intention of the side front vehicle, transmits the distance signal of the side front vehicle and the real-time state information of the vehicle to the controller, and executes a preset cruising and decelerating strategy under the condition that the braking control system is activated until the lane change of the side front vehicle is completed, keeps a safe distance and improves driving safety.
The device comprises: an obstacle detection module S1, a side front vehicle lane change intention recognition module S2 and a cruise deceleration control module S3.
Wherein the obstacle detection module comprises: radar sensor, target vehicle, camera, controller. The specific steps are as shown in fig. 1:
s101, when an adaptive cruise control request is received, detecting a vehicle side front obstacle through a radar sensor.
S102, judging whether a target vehicle exists in front of the side of the vehicle according to information transmitted by the radar sensor.
S103, when the fact that the target vehicle exists in front of the side of the vehicle is judged, executing the follow-up steps; otherwise, continuing to monitor the radar sensor information.
S104, starting the camera device to shoot the front image of the vehicle side.
S105, defining a front image of the vehicle side as a current frame target, performing image preprocessing and ROI region extraction, and extracting the target.
S106, when the target vehicle is judged to be close to a target with the turn light of the lane and is turned on or continuously tracked for more than a set frame number (related to a set vehicle speed), defining the target vehicle as a stable tracking target, and entering a lane change intention recognition module of the front side vehicle; otherwise, the process returns to step S102.
The relationship between the set number of frames m in which the target vehicle is continuously tracked and the own vehicle speed is as follows:
m＝fs/v x
wherein s is a safe driving distance, f is a sampling frame rate of the camera, v x And setting the continuous tracking frame number m for the longitudinal speed of the vehicle, and judging that the target vehicle is always in the ROI area, and judging that the target vehicle is a stable tracking target. As shown in fig. 5, the vehicle a is the host vehicle, the vehicle b is the target vehicle, and the distance between the vehicle head and the lane line b is the safe driving distance s.
The side front lane change intention recognition module S2 includes: controller, instrument, whole car CAN bus. The lane change intention recognition flow is as shown in fig. 2:
s201, judging whether the distance between the stable tracking target and the lane line at the side of the vehicle is larger than a safe distance; if yes, warning the driver, and judging that the stable tracking target has no lane change intention temporarily; if not, judging whether the transverse moving speed of the stable tracking target is greater than a threshold value;
s202, if the transverse moving speed of the stable tracking target is greater than a threshold value, warning a driver, and judging that the stable tracking target has a lane change intention; and if the transverse moving speed of the stable tracking target is not greater than the threshold value, warning the driver, and judging that the stable tracking target has no lane change intention temporarily.
The lane change of the vehicle may be divided into three phases, as shown in fig. 4, the first phase: the driver of the vehicle adjusts the steering target lane of the steering wheel until the vehicle passes through the lane boundary, and the driver adjusts the steering of the steering wheel according to the vehicle speed; and a second stage: a vehicle reverse adjustment stage, wherein a driver adjusts a steering wheel to prevent the vehicle from driving away from a target lane; and a third stage: after the vehicle enters the target lane, the steering wheel is finely adjusted to ensure that the vehicle safely runs on the target lane. The whole process of lane changing of the vehicle can show that the change of the transverse moving speed of the lane changing vehicle is obvious, and the transverse moving speed is changed from small to large and then is changed to small, so that the lane changing intention is judged according to the transverse moving speed.
And S203, if the stable tracking target is judged to have no lane change intention, continuously judging whether the distance between the stable tracking target and the lane line at the side of the vehicle is larger than the safety distance.
The cruise deceleration control module S3 includes: the system comprises a controller, an instrument, a whole vehicle CAN bus and a braking system. The specific steps are shown in fig. 3:
s301, outputting a result by a receiving side front vehicle lane change intention recognition module S2, sending motion state information of a vehicle and a target vehicle to a controller through a whole vehicle CAN bus, and calculating required braking deceleration.
S302, the controller provides a deceleration request to the braking system.
And S303, returning to the obstacle detection module S1 after the set safety distance is kept between the vehicle and the target vehicle.
The invention utilizes the radar sensor for detecting the side obstacle of the vehicle and the camera device for shooting the front image of the vehicle, and the real lane changing intention and the target speed are identified by monitoring the movement state information and the steering lamp state of the different-lane vehicle to plan the speed of the vehicle in advance, so that the excessive dependence on the experience and the driving state of the driver is avoided, the more accurate and reliable lane changing prediction is carried out, the safe distance is kept with the front vehicle, and the driving safety is improved.
It will be readily appreciated by those skilled in the art that the foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. The ACC control method based on the lane change intention recognition of the side front vehicle is characterized by comprising the following steps of:
when receiving the self-adaptive cruise control request, detecting a front obstacle at the side of the vehicle through a radar sensor; judging whether a target vehicle exists in front of the side of the vehicle according to the information transmitted by the radar sensor, and shooting a front image of the side of the vehicle when the target vehicle exists in front of the side of the vehicle; judging whether a turn signal lamp of a target vehicle close to a lane is on or not or whether the number of frames of continuous tracking of the target vehicle reaches a set number of frames or not through a vehicle side front image; if yes, defining the target vehicle as a stable tracking target; the set frame number m of the target vehicle to be continuously tracked is calculated as follows:
m＝fs/v x
wherein s is a safe driving distance, namely the distance between the head of the target vehicle and the lane line at the side of the vehicle; f is the image sampling frame rate, v x The longitudinal speed of the vehicle is the longitudinal speed of the vehicle;
judging whether the distance between the stable tracking target and the lane line at the side of the vehicle is greater than the safety distance; if yes, warning the driver, and judging that the stable tracking target has no lane change intention temporarily; if not, judging whether the transverse moving speed of the stable tracking target is greater than a threshold value; if the transverse moving speed of the stable tracking target is greater than the threshold value, warning the driver, and judging that the stable tracking target has a lane change intention; if the transverse moving speed of the stable tracking target is not greater than the threshold value, warning the driver, and judging that the stable tracking target has no lane change intention temporarily;
if the stable tracking target has the lane changing intention, the motion state information of the stable tracking target and the vehicle is sent to the controller, and the required braking deceleration is calculated.
2. The ACC control method according to claim 1, wherein when there is no target vehicle in front of the vehicle side, the radar sensor continues to detect the vehicle side front obstacle until there is the target vehicle in front of the vehicle side.
3. The ACC control method according to claim 1, wherein if the turn signal lamp of the target vehicle approaching the host lane is not on and the number of frames the target vehicle is continuously tracked does not reach the set number of frames, the radar sensor is continuously used to detect the obstacle ahead of the vehicle.
4. The ACC control method according to claim 1, wherein if it is determined that the steady tracking target has no lane change intention, it is continuously determined whether or not the distance between the steady tracking target and the host vehicle lane line is greater than a safe distance.
5. An ACC control device based on a lane change intention recognition of a side front vehicle, comprising: the device comprises an obstacle detection module, a side front vehicle lane change intention recognition module and a cruising speed reduction control module;
the obstacle detection module is used for detecting the obstacle in front of the side of the vehicle through the radar sensor when receiving the self-adaptive cruise control request; judging whether a target vehicle exists in front of the side of the vehicle according to the information transmitted by the radar sensor, and shooting a front image of the side of the vehicle when the target vehicle exists in front of the side of the vehicle; judging whether a turn signal lamp of a target vehicle close to a lane is on or not or whether the number of frames of continuous tracking of the target vehicle reaches a set number of frames or not through a vehicle side front image; if yes, defining the target vehicle as a stable tracking target; the set frame number m of the target vehicle to be continuously tracked is calculated as follows:
m＝fs/v x
wherein s is a safe driving distance, namely the distance between the head of the target vehicle and the lane line at the side of the vehicle; f is the image sampling frame rate, v x The longitudinal speed of the vehicle is the longitudinal speed of the vehicle;
the lane change intention recognition module of the side front vehicle is used for judging whether the distance between the stable tracking target and the lane line of the side of the vehicle is greater than a safe distance; if yes, warning the driver, and judging that the stable tracking target has no lane change intention temporarily; if not, judging whether the transverse moving speed of the stable tracking target is greater than a threshold value; if the transverse moving speed of the stable tracking target is greater than the threshold value, warning the driver, and judging that the stable tracking target has a lane change intention; if the transverse moving speed of the stable tracking target is not greater than the threshold value, warning the driver, and judging that the stable tracking target has no lane change intention temporarily;
the cruise deceleration control module is used for sending the motion state information of the stable tracking target and the vehicle to the controller when the stable tracking target has the lane changing intention, and calculating the required braking deceleration.
6. The ACC control device according to claim 5, wherein when there is no target vehicle in front of the vehicle side, the radar sensor continues to detect the obstacle in front of the vehicle side until there is the target vehicle in front of the vehicle side.
7. The ACC control device according to claim 5, wherein if the turn signal lamp of the target vehicle approaching the host lane is not on and the number of frames in which the target vehicle is continuously tracked does not reach the set number of frames, the radar sensor is continuously used to detect the obstacle ahead of the vehicle.
8. The ACC control device according to claim 5, wherein if it is determined that the steady tracking target has no lane change intention, it is continuously determined whether or not the distance between the steady tracking target and the host vehicle lane line is greater than a safe distance.
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| CN115230692B (en) * | 2022-08-11 | 2024-03-26 | 小米汽车科技有限公司 | Vehicle control method and device, vehicle and readable storage medium |
| FR3141667A1 (en) * | 2022-11-07 | 2024-05-10 | Psa Automobiles Sa | Method and device for controlling an adaptive speed regulation system of a vehicle following detection of flashing activation |
| CN115995163B (en) * | 2023-03-23 | 2023-06-27 | 江西通慧科技集团股份有限公司 | Vehicle collision early warning method and system |
| CN116524473A (en) * | 2023-07-03 | 2023-08-01 | 深圳安智杰科技有限公司 | Obstacle target track prediction system and method in lane line defect scene |
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