CN115042784A - Control method and device for automobile adaptive cruise system, vehicle and storage medium - Google Patents
Control method and device for automobile adaptive cruise system, vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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Abstract
The application relates to a control method and device of an automobile adaptive cruise system, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring lane line information of a vehicle; judging whether the lane line information meets a preset credible condition or not; and if the lane line information meets the preset credible condition, planning a lane model based on the own track and the lane line information of the vehicle, otherwise planning the lane model based on the own track. According to the method and the device, normal operation of the self-adaptive cruise function can be guaranteed under the condition that lane line information is not credible, safety of self-adaptive cruise of the vehicle is improved, a driver does not need to adjust driving tracks by himself, and driving experience of the driver is improved.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a control method and device of an automobile adaptive cruise system, a vehicle and a storage medium.
Background
With the rise of the concept of automatic driving of automobiles, the active safety technology is also concerned more and more widely, and the self-adaptive cruise control is taken as a very important function in the field of the active safety technology, can replace the control of a driver on an accelerator and a brake pedal under a specific condition, effectively relieves the fatigue problem of long-term driving of the driver, and greatly improves the driving comfort.
In the related art, intelligent driving assistance can be realized by carrying a combination of a forward millimeter wave radar and a forward-looking camera, wherein the forward millimeter wave radar can perform lane model planning and vehicle following control according to lane line information, target vehicle attributes and the like output by the forward-looking camera.
However, in the related art, when the information output by the front view camera is lost or the confidence is low, the recognition accuracy of the adaptive cruise control on the current road is reduced, so that the adaptive cruise of the vehicle cannot be executed according to the expected track, which affects the driving safety and driving comfort.
Disclosure of Invention
The application provides a control method and device of an automobile adaptive cruise system, a vehicle and a storage medium, which are used for solving the technical problems that in the related art, when lane line information is lost or confidence is low, the recognition accuracy of adaptive cruise control on a current road is reduced, so that the adaptive cruise of the vehicle cannot be executed according to an expected track, and the driving safety and the driving experience are influenced.
The embodiment of the first aspect of the application provides a control method for an automobile adaptive cruise system, which comprises the following steps: acquiring lane line information of a vehicle; judging whether the lane line information meets a preset credible condition or not; and if the lane line information meets the preset credible condition, planning a lane model based on the own track of the vehicle and the lane line information, otherwise planning the lane model based on the own track.
According to the technical means, the lane model can be planned based on the vehicle track and the lane line information of the vehicle when the acquired lane line information is credible, and the lane model can be planned based on the vehicle track when the acquired lane line information is not credible, so that the normal operation of the self-adaptive cruise function is ensured, the safety of the self-adaptive cruise of the vehicle is improved, the driving track does not need to be adjusted by a driver, and the driving experience of the driver is improved.
Optionally, in an embodiment of the application, the determining whether the lane line information meets a preset trusted condition includes: detecting whether an image signal of the lane line information is lost or not, or calculating a confidence of the image signal; and when the image signal is detected to be lost or the confidence coefficient is smaller than the preset threshold value, judging that the lane line information does not meet the preset credibility condition.
According to the technical means, the embodiment of the application can judge and determine whether the lane line information is credible or not through a dual mode based on whether the image signal is lost or not and the confidence coefficient of the image signal, so that the accuracy of the judgment result is ensured.
Optionally, in an embodiment of the present application, the calculating the confidence of the image signal includes: and obtaining the confidence according to the comparison result of the lane line identification condition, the lane line type, the lane line curvature and the lane line continuity between the forward-looking camera and the forward millimeter wave radar.
According to the technical means, the image signal confidence coefficient can be confirmed through comparison based on the information between the forward-looking camera and the forward millimeter wave radar, and the accuracy of the confidence coefficient result is further guaranteed.
Optionally, in an embodiment of the present application, the method further includes: screening a plurality of moving targets; comparing the attributes of each moving target with the attributes of radar detection to obtain a fusion result, wherein when the fusion result is successful, the attributes of the fusion target and a first fusion zone bit are generated, otherwise, the attributes of the single radar target and a second fusion zone bit are generated; and executing a vehicle following control braking action based on the fusion target attribute and the first fusion zone bit or the single radar target attribute, the second fusion zone bit and the lane model.
According to the technical means, the moving target and the position of the moving target can be confirmed based on the first fusion zone bit, the single radar target attribute and the second fusion zone bit, and then the following control braking action is executed according to the lane model, so that the following safety of the vehicle and the driving safety of the vehicle are ensured.
Optionally, in an embodiment of the present application, the screening the plurality of moving objects includes: determining the plurality of moving targets based on target properties to a plurality of targets, wherein the target properties include at least one of a target angle, a target radial distance, and a target radial velocity.
According to the technical means, the vehicle can be controlled to be correspondingly adjusted according to the target attribute, and therefore the safety of the following vehicle is improved.
An embodiment of a second aspect of the present application provides an automobile adaptive cruise control device, including: the acquisition module is used for acquiring lane line information of the vehicle; the judging module is used for judging whether the lane line information meets a preset credible condition or not; and the planning module is used for planning a lane model based on the own track of the vehicle and the lane line information when the lane line information meets the preset credible condition, and planning the lane model based on the own track if the lane line information does not meet the preset credible condition.
Optionally, in an embodiment of the present application, the determining module includes: a detection unit for detecting whether an image signal of the lane line information is lost or not, or calculating a confidence of the image signal; and the judging unit is used for judging that the lane line information does not meet the preset credibility condition when the image signal is detected to be lost or the confidence coefficient is smaller than the preset threshold value.
Optionally, in an embodiment of the present application, the detection unit includes: and the comparison subunit is used for obtaining the confidence coefficient according to the lane line identification condition between the front-view camera and the forward millimeter wave radar, the lane line type, the lane line curvature and the lane line continuity comparison result.
Optionally, in an embodiment of the present application, the method further includes: the screening module is used for screening a plurality of moving targets; the fusion module is used for comparing the attributes of each moving target with the attributes of radar detection to obtain a fusion result, wherein the fusion result generates a fusion target attribute and a first fusion zone bit when the fusion result is successful, and otherwise generates a single radar target attribute and a second fusion zone bit; and the control module is used for executing the following control braking action based on the fusion target attribute and the first fusion zone bit or the single radar target attribute, the second fusion zone bit and the lane model.
Optionally, in an embodiment of the present application, the screening module includes: a determining unit for determining the plurality of moving objects according to object properties to a plurality of objects, wherein the object properties comprise at least one of an object angle, an object radial distance and an object radial velocity.
An embodiment of a third aspect of the present application provides a vehicle, comprising: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the control method of the automobile adaptive cruise system according to the embodiment.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the vehicle adaptive cruise system control method as above.
The beneficial effects of the embodiment of the application are as follows:
(1) according to the embodiment of the application, the lane model can be planned based on the self-vehicle track and the lane line information of the vehicle under the condition that the lane line information is credible, and the lane model is planned based on the self-vehicle track when the acquired lane line information is not credible, so that the normal operation of the self-adaptive cruise function is ensured, the safety of the self-adaptive cruise of the vehicle is improved, the driving track does not need to be adjusted by a driver, and the driving experience of the driver is improved;
(2) the embodiment of the application can compare the target attributes detected by the moving target and the radar, judge whether the target attributes can be fused or not, and then screen the target attributes of the moving target according to different results, so that the safety of the vehicle following is improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flowchart of a control method for an adaptive cruise control system of an automobile according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a lane model planning method for an adaptive cruise control system of a vehicle according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a method for controlling an adaptive cruise control system of a vehicle according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a control device of an adaptive cruise control system of an automobile according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
10-a control device of an automobile self-adaptive cruise system; 100-an acquisition module, 200-a judgment module and 300-a planning module.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
An automobile adaptive cruise control method, an apparatus, a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the accompanying drawings. In the method, when the acquired lane line information is credible, a lane model can be planned based on the self-vehicle track and the lane line information of the vehicle, and when the acquired lane line information is credible, a lane model is planned based on the self-vehicle track, so that the normal operation of the self-adaptive cruise function is ensured, the safety of the self-adaptive cruise of the vehicle is improved, the driving track does not need to be adjusted by a driver, and the driving experience of the driver is improved. Therefore, the problems that in the related art, when lane line information is lost or the confidence coefficient is low, the recognition accuracy of the adaptive cruise control on the current road is reduced, the adaptive cruise of the vehicle cannot be executed according to an expected track, and the driving safety and the driving experience are affected are solved.
Specifically, fig. 1 is a schematic flow chart of a control method of an adaptive cruise control system of an automobile according to an embodiment of the present application.
As shown in fig. 1, the control method of the automobile adaptive cruise system comprises the following steps:
in step S101, lane line information of the vehicle is acquired.
In an actual implementation process, the lane line information of the vehicle, including the horizontal distance between the lane line and the vehicle, the lane width, the curvature of the lane line, and the like, may be acquired through information acquisition equipment, such as a forward-looking camera and a millimeter wave radar.
In step S102, it is determined whether the lane line information satisfies a preset confidence condition.
It can be understood that when the forward-looking camera is used for acquiring lane line information, the acquired lane line information is prone to be inaccurate based on environmental factors or damage of the forward-looking camera and other factors, for example, under severe weather, such as dense fog, heavy rain and the like, under the condition that light is dark and street lamp illumination is lacked, the forward-looking camera is difficult to accurately capture the accurate position of the lane line, and therefore whether the lane line information is credible or not needs to be judged, and then the safety of self-adaptive cruising of a vehicle is guaranteed.
Optionally, in an embodiment of the present application, the determining whether the lane line information meets a preset trusted condition includes: detecting whether an image signal of the lane line information is lost or not, or calculating the confidence of the image signal; and when the image signal is detected to be lost or the confidence coefficient is smaller than a preset threshold value, judging that the lane line information does not meet the preset credibility condition.
As a possible implementation manner, when the forward-looking camera and the front millimeter wave radar are used to collect lane line information in the embodiment of the present application, the forward-looking camera may output the lane line information to the forward millimeter wave radar through a private CAN (Controller Area Network), and the forward millimeter wave radar determines a confidence level according to a lane line attribute.
Specifically, when the image signal of the detected lane line information is lost, it can be judged that the current lane line information is not credible when a line fault occurs or a front-view camera is damaged in the embodiment of the application; when the image signal of the detected lane line information is normal, the embodiment of the application can judge whether the current lane line information is credible by calculating the confidence degree of the image signal.
It should be noted that the preset threshold may be set by a person skilled in the art according to practical situations, and is not limited in particular.
Optionally, in an embodiment of the present application, calculating the confidence of the image signal includes: and obtaining confidence according to the lane line identification condition between the forward-looking camera and the forward millimeter wave radar, the type of the lane line, the curvature of the lane line and the continuity comparison result of the lane line.
In some embodiments, the confidence level may be obtained according to a comparison result of lane line identification between the forward-looking camera and the forward millimeter wave radar, lane line types, lane line curvatures, and lane line continuity, that is, based on comparison of detection results between the forward-looking camera and the forward millimeter wave radar, and according to a coincidence degree of the comparison result, the confidence level of the forward-looking camera is determined, thereby ensuring accuracy of the confidence level result.
In step S103, if the lane line information satisfies the preset credible condition, the lane model is planned based on the own trajectory of the vehicle and the lane line information, otherwise the lane model is planned based on the own trajectory.
In the actual implementation process, when the confidence coefficient of the lane line is judged to be higher than the preset threshold value, the forward millimeter wave radar can predict the self running track according to the steering wheel rotation angle of the vehicle and plan a lane model by combining lane line information; if the confidence of the lane line is judged to be lower than the preset threshold value, the forward millimeter wave radar judges that the lane line is not credible, and the self running track can be predicted according to the steering wheel rotation angle to serve as a lane model.
Optionally, in an embodiment of the present application, the method further includes: screening a plurality of moving objects; comparing the attributes of each moving target with the attributes detected by the radar to obtain a fusion result, wherein when the fusion result is successful, the fusion target attribute and a first fusion zone bit are generated, otherwise, a single radar target attribute and a second fusion zone bit are generated; and executing a following control braking action based on the fusion target attribute and the first fusion zone bit or the single radar target attribute and the second fusion zone bit and the lane model.
Specifically, the target CAN be captured by the forward-looking camera and transmitted to the forward millimeter wave radar through the private CAN, and the forward millimeter wave radar generates the moving target based on the target attribute screening of the forward-looking camera, further, the moving target and the target attribute detected by the radar CAN be compared and confirmed, and whether the target CAN be fused successfully or not is judged; if the fusion is successful, generating a fusion target, and sending out a fusion target attribute and a first fusion zone bit; and if the fusion fails, generating a single radar target, and sending out the attribute of the single radar target and a second fusion zone bit. The embodiment of the application can execute the vehicle following control action based on the fusion target attribute and the first fusion zone bit or the single radar target attribute, the second fusion zone bit and the lane model, and further execute the vehicle following control action according to the lane model, so that the safety of vehicle following and the safety of driving of the vehicle are ensured.
Optionally, in an embodiment of the present application, the screening the plurality of moving objects includes: a plurality of moving targets is determined based on target attributes to the plurality of targets, wherein the target attributes include at least one of a target angle, a target radial distance, and a target radial velocity.
As a possible implementation manner, in the embodiment of the present application, corresponding attribute screening may be performed according to the moving target obtained in the above step, where the attribute screening may include at least one of a target angle, a target radial distance, and a target radial speed, and then according to a screening result, a corresponding control policy is executed, and if the moving target is a fusion target, a fusion scheme adaptive cruise function triggering is performed based on a fusion target determination logic; and if the moving target is a single radar target, triggering the self-adaptive cruise function of the single radar scheme based on the single radar target judgment logic.
The control method of the adaptive cruise control system of the automobile according to the embodiment of the present application is described in detail with reference to fig. 2 and 3.
As shown in fig. 2, the lane model planning of the embodiment of the present application may include the following steps:
step S201: camera lane line information. In the actual implementation process, the lane line information of the vehicle, including the horizontal distance between the lane line and the vehicle, the lane width, the curvature of the lane line and the like, can be acquired through the information acquisition equipment, such as the forward-looking camera and the millimeter wave radar
Step S202: whether the lane line information is authentic. It can be understood that when the forward-looking camera is used for acquiring lane line information, the acquired lane line information is prone to be inaccurate based on environmental factors or damage of the forward-looking camera and other factors, for example, under severe weather, such as dense fog, heavy rain and the like, under the condition that light is dark and street lamp illumination is lacked, the forward-looking camera is difficult to accurately capture the accurate position of the lane line, and therefore whether the lane line information is credible or not needs to be judged, and then the safety of self-adaptive cruising of a vehicle is guaranteed.
As a possible implementation manner, when the forward-looking camera and the front millimeter wave radar are used to collect lane line information in the embodiment of the present application, the forward-looking camera may output the lane line information to the forward millimeter wave radar through a private CAN (Controller Area Network), and the forward millimeter wave radar determines a confidence level according to a lane line attribute.
Specifically, when the image signal of the detected lane line information is lost, it can be judged that the current lane line information is not credible when a line fault occurs or a front-view camera is damaged in the embodiment of the application; when the image signal of the detected lane line information is normal, the embodiment of the application can judge whether the current lane line information is credible by calculating the confidence degree of the image signal.
Furthermore, the confidence coefficient can be obtained according to the comparison result of the lane line identification condition, the lane line type, the lane line curvature and the lane line continuity between the forward-looking camera and the forward millimeter wave radar, namely, the confidence coefficient of the forward-looking camera is judged based on the comparison of the detection result between the forward-looking camera and the forward millimeter wave radar and according to the contact ratio of the comparison result, so that the accuracy of the confidence coefficient result is ensured.
It should be noted that the preset threshold may be set by a person skilled in the art according to practical situations, and is not limited in particular.
Step S203: and planning a lane model based on the own vehicle track and the lane line. When the confidence coefficient of the lane line is judged to be higher than the preset threshold value, the forward millimeter wave radar can predict the self running track according to the steering wheel rotation angle of the vehicle and plan the lane model by combining the lane line information.
Step S204: and planning a lane model based on the own vehicle track. When the confidence coefficient of the lane line is judged to be lower than the preset threshold value, the forward millimeter wave radar judges that the lane line is not credible, and the running track of the vehicle can be predicted according to the steering wheel rotation angle to serve as a lane model.
As shown in fig. 3, when the lane information is not trusted, an embodiment of the present application may include the following steps:
step S301: and capturing a camera target. The embodiment of the application CAN catch the target through the foresight camera to transmit to the forward millimeter wave radar through the private CAN, the forward millimeter wave radar is based on the target attribute of foresight camera input: and (4) screening and brushing the target angle, the target radial distance, the target radial speed and the like to generate a moving target.
Step S302: and (6) fusion judgment. The forward millimeter wave radar can compare the moving target and the target attributes detected by the radar to determine whether the fusion is successful, and the screening attributes comprise: target angle, target radial distance, target radial velocity, and the like.
Step S303: a fusion objective is obtained. If the fusion is successful, the embodiment of the application can generate the fusion target attribute and the first fusion zone bit.
Step S304: the fusion protocol function is executed. In the embodiment of the present application, corresponding target attribute screening is performed from a target list, and the attributes may include: the method and the device have the advantages that the existence probability, the calculation probability of the own lane, the distance between the target vehicle and the own vehicle, the movement probability and the like, and if the target is a fusion target, the self-adaptive cruise function triggering of the fusion scheme can be carried out based on fusion target judgment logic.
Step S305: a single radar target is obtained. If the fusion fails, the target attributes detected by the radar can be aggregated into a single radar target, and the single radar target attribute and the second fusion zone bit are sent out.
Step S306: a single radar scheme function is performed. If the single-radar target is adopted, the self-adaptive cruise function triggering of the single-radar scheme can be carried out based on the single-radar target judgment logic.
According to the control method of the automobile adaptive cruise system, when the acquired lane line information is credible, a lane model can be planned based on the self-vehicle track and the lane line information of the vehicle, and when the acquired lane line information is not credible, the lane model is planned based on the self-vehicle track, so that the normal operation of the adaptive cruise function is ensured, the safety of the automobile adaptive cruise is improved, the driving track does not need to be adjusted by a driver, and the driving experience of the driver is improved. Therefore, the problems that in the related art, when lane line information is lost or the confidence coefficient is low, the recognition accuracy of the adaptive cruise control on the current road is reduced, the adaptive cruise of the vehicle cannot be executed according to an expected track, and the driving safety and the driving experience are affected are solved.
Next, an adaptive cruise control system according to an embodiment of the present application will be described with reference to the drawings.
Fig. 4 is a block diagram schematically illustrating an apparatus for controlling an adaptive cruise control system of an automobile according to an embodiment of the present application.
As shown in fig. 4, the vehicle adaptive cruise control apparatus 10 includes: an acquisition module 100, a judgment module 200, and a planning module 300.
Specifically, the obtaining module 100 is configured to obtain lane line information of a vehicle.
The judging module 200 is configured to judge whether the lane line information meets a preset trusted condition.
And the planning module 300 is configured to plan a lane model based on the own vehicle track and the lane line information of the vehicle when the lane line information meets a preset credible condition, and otherwise plan the lane model based on the own vehicle track.
Optionally, in an embodiment of the present application, the determining module 200 includes: a detection unit and a judgment unit.
The detection unit is used for detecting whether the image signal of the lane line information is lost or not, or calculating the confidence of the image signal.
And the judging unit is used for judging that the lane line information does not meet the preset credible condition when the image signal is detected to be lost or the confidence coefficient is smaller than the preset threshold value.
Optionally, in an embodiment of the present application, the detection unit 100 includes: to the subunit.
The comparison subunit is used for obtaining confidence according to the lane line identification condition between the front-view camera and the forward millimeter wave radar, the lane line type, the lane line curvature and the comparison result of the lane line continuity.
Optionally, in an embodiment of the present application, the vehicle adaptive cruise control apparatus 10 further includes: screening module, fusion module and control module.
The screening module is used for screening a plurality of moving targets.
And the fusion module is used for comparing the attributes of each moving target with the attributes of radar detection to obtain a fusion result, wherein the fusion result generates the attributes of the fusion target and a first fusion zone bit when the fusion result is successful, and otherwise generates the attributes of the single radar target and a second fusion zone bit.
And the control module is used for executing the following control braking action based on the fusion target attribute and the first fusion zone bit or the single radar target attribute and the second fusion zone bit and the lane model.
Optionally, in an embodiment of the present application, the screening module includes: a determination unit.
The device comprises a determining unit and a processing unit, wherein the determining unit is used for determining a plurality of moving targets according to target attributes of the plurality of targets, and the target attributes comprise at least one of a target angle, a target radial distance and a target radial speed.
It should be noted that the foregoing explanation of the embodiment of the control method for the adaptive cruise system of the automobile is also applicable to the control device for the adaptive cruise system of the automobile in this embodiment, and details are not repeated herein.
According to the control device of the automobile self-adaptive cruise system, when the acquired lane line information is credible, a lane model can be planned based on the self-automobile track and the lane line information of the automobile, and when the acquired lane line information is not credible, the lane model is planned based on the self-automobile track, so that the normal operation of the self-adaptive cruise function is ensured, the safety of the automobile self-adaptive cruise is improved, the driving track is not required to be adjusted by the driver, and the driving experience of the driver is further improved. Therefore, the problems that in the related art, when lane line information is lost or the confidence coefficient is low, the recognition accuracy of the adaptive cruise control on the current road is reduced, the adaptive cruise of the vehicle cannot be executed according to an expected track, and the driving safety and the driving experience are affected are solved.
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.
The processor 502 executes the program to implement the control method of the automobile adaptive cruise system provided in the above-described embodiment.
Further, the vehicle further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
A memory 501 for storing computer programs that can be run on the processor 502.
The memory 501 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
Alternatively, in practical implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 may complete communication with each other through an internal interface.
The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle adaptive cruise system control method as above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A control method of an automobile adaptive cruise system is characterized by comprising the following steps:
acquiring lane line information of a vehicle;
judging whether the lane line information meets a preset credible condition or not; and
and if the lane line information meets the preset credible condition, planning a lane model based on the own track of the vehicle and the lane line information, otherwise planning the lane model based on the own track.
2. The method of claim 1, wherein the determining whether the lane line information meets a preset credible condition comprises:
detecting whether an image signal of the lane line information is lost or not, or calculating a confidence of the image signal;
and when the image signal is detected to be lost or the confidence coefficient is smaller than the preset threshold value, judging that the lane line information does not meet the preset credibility condition.
3. The method of claim 2, wherein said calculating a confidence level for the image signal comprises:
and obtaining the confidence according to the comparison result of the lane line identification condition, the lane line type, the lane line curvature and the lane line continuity between the forward-looking camera and the forward millimeter wave radar.
4. The method of claim 1, further comprising:
screening a plurality of moving targets;
comparing the attributes of each moving target with the attributes of radar detection to obtain a fusion result, wherein when the fusion result is successful, the attributes of the fusion target and a first fusion zone bit are generated, otherwise, the attributes of the single radar target and a second fusion zone bit are generated;
and executing a vehicle following control braking action based on the fusion target attribute and the first fusion zone bit or the single radar target attribute, the second fusion zone bit and the lane model.
5. The method of claim 4, wherein the screening the plurality of moving objects comprises:
determining the plurality of moving targets based on target properties to a plurality of targets, wherein the target properties include at least one of a target angle, a target radial distance, and a target radial velocity.
6. An automobile adaptive cruise control device, comprising:
the acquisition module is used for acquiring lane line information of the vehicle;
the judging module is used for judging whether the lane line information meets a preset credible condition or not; and
and the planning module is used for planning a lane model based on the own track of the vehicle and the lane line information when the lane line information meets the preset credible condition, and otherwise planning the lane model based on the own track.
7. The apparatus of claim 6, wherein the determining module comprises:
a detection unit for detecting whether an image signal of the lane line information is lost or not, or calculating a confidence of the image signal;
and the judging unit is used for judging that the lane line information does not meet the preset credibility condition when the image signal is detected to be lost or the confidence coefficient is smaller than the preset threshold value.
8. The apparatus of claim 6, further comprising:
the screening module is used for screening a plurality of moving targets;
the fusion module is used for comparing the attributes of each moving target with the attributes of radar detection to obtain a fusion result, wherein the fusion result generates a fusion target attribute and a first fusion zone bit when the fusion result is successful, and otherwise generates a single radar target attribute and a second fusion zone bit;
and the control module is used for executing a vehicle following control braking action based on the fusion target attribute and the first fusion zone bit or the single radar target attribute, the second fusion zone bit and the lane model.
9. A vehicle, characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor executing the program to implement the vehicle adaptive cruise system control method according to any of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the vehicle adaptive cruise system control method according to any of claims 1-5.
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