CN115107787A - Adaptive cruise offset control method and device for vehicle, vehicle and storage medium - Google Patents
Adaptive cruise offset control method and device for vehicle, 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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Abstract
The application relates to the technical field of automobile adaptive cruise, in particular to an adaptive cruise offset control method and device for a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: acquiring the longitudinal distance and the transverse distance between the vehicle and the adjacent lane vehicle; when the longitudinal distance and the transverse distance are both smaller than the corresponding preset safety threshold values, calculating the target offset transverse distance of the vehicle according to the expected transverse vehicle speed and the expected acceleration; and calculating the target offset duration of the vehicle according to the actual longitudinal speed and the actual longitudinal acceleration of the vehicle and the adjacent lane vehicle, and controlling the vehicle to offset the target offset transverse distance in the target offset duration. Therefore, the problems that the integrated self-adaptive cruise system in the related technology does not consider the transverse offset duration, the actual longitudinal distance and the longitudinal acceleration, the offset time is long, the user can not return to the original position, the vehicle using safety of the user is reduced, the driving experience is reduced and the like are solved.
Description
Technical Field
The present disclosure relates to the field of adaptive cruise control technologies, and in particular, to an adaptive cruise offset control method and apparatus for a vehicle, and a storage medium.
Background
At present, an intelligent driving assistance system represented by an integrated adaptive cruise technology is widely applied to various vehicle types, and when a passenger uses a driving assistance function, namely, the vehicle enters an integrated adaptive cruise state, safety is ensured, and a comfortable experience feeling is pursued.
In the related art, the intelligent offset control of the integrated adaptive cruise system mainly focuses on the lateral distance and the lateral offset acceleration between the vehicle and the adjacent lane vehicle, and the vehicle may not be aligned in time due to long or short offset time because the vehicle has different offset time under different speed conditions, thereby reducing the vehicle safety and driving experience of a user.
Disclosure of Invention
The application provides a method and a device for controlling adaptive cruise offset of a vehicle, the vehicle and a storage medium, which are used for solving the problems that an integrated adaptive cruise system in the related art does not consider transverse offset duration, actual longitudinal distance and longitudinal acceleration, so that the offset time is long and cannot be corrected, and the vehicle using safety and driving experience of a user are reduced.
An embodiment of a first aspect of the present application provides an adaptive cruise offset control method for a vehicle, including the following steps: acquiring the longitudinal distance and the transverse distance between the vehicle and the adjacent lane vehicle; when the longitudinal distance and the transverse distance are both smaller than the corresponding preset safety threshold value, calculating the target offset transverse distance of the vehicle according to the expected transverse vehicle speed and the expected acceleration; calculating the target offset duration of the vehicle according to the actual longitudinal speed and the actual longitudinal acceleration corresponding to the vehicle and the adjacent lane vehicle, and controlling the vehicle to reversely offset the target offset transverse distance after the vehicle is controlled to offset the target offset transverse distance within the target offset duration.
According to the technical means, the vehicle offset distance and the vehicle offset time can be accurately controlled according to the actual distance between the vehicle and the vehicle which is likely to collide, and the vehicle offset is timely corrected after the vehicle offset is completed, so that the safety problem of driving caused by excessive offset or insufficient offset is avoided, the vehicle using safety of a user can be effectively ensured, the safety sense and comfortable driving experience of the user during overtaking are improved, and the confidence sense of using integrated self-adaptive cruise is improved.
Optionally, the controlling the host vehicle to shift by the target shift lateral distance within the target shift duration includes: detecting whether the transverse distance is reduced in sequence in a plurality of detection periods; if the transverse distance is reduced in a plurality of detection periods in sequence, judging whether the transverse distance is smaller than a preset collision threshold value; and when the transverse distance is smaller than the preset collision threshold value, controlling the vehicle to execute a deceleration deviation action, otherwise, continuously controlling the vehicle to deviate from the target deviation transverse distance within the target deviation duration.
According to the technical means, in the embodiment of the application, the offset target offset transverse distance of the vehicle in the target offset duration is sequentially reduced in a plurality of detection periods, and the transverse distance is smaller than the preset collision threshold, so that the possibility of collision exists at the moment, the vehicle controls the vehicle to execute the deceleration offset action, otherwise, the vehicle offset can be continuously controlled, the vehicle using safety of a user is ensured, and the driving experience of the user is improved.
Optionally, the controlling the host vehicle to perform a deceleration offset action includes: controlling the vehicle to decelerate at a preset first acceleration value, and controlling the vehicle to laterally shift so that the lateral distance between the vehicle and the adjacent lane vehicle is a first distance; in the process of controlling the lateral deviation of the vehicle, when the fact that the lateral distance between the vehicle and a lane line far away from one side of the adjacent lane vehicle is smaller than a second distance is detected, the vehicle is controlled to decelerate by a preset second acceleration value, and the vehicle deviation is controlled so that the lateral distance between the vehicle and the lane line is larger than or equal to the second distance.
According to the technical means, when the host vehicle is controlled to perform the deceleration deviation action, the lateral distance between the host vehicle and the adjacent lane vehicle and the lateral distance between the host vehicle and the lane line on the side far away from the adjacent lane vehicle are controlled, so that the host vehicle is controlled to perform the deviation deceleration control on the distance between the host vehicle and the target vehicle and also controlled to keep running in the lane when avoiding the collision of the target vehicle, and the driving safety of a user is ensured.
Optionally, the calculation formula of the target offset duration is:
t＝(1.5L 1 +L 2 )/(v 1 t+1/2a 1 t-v 2 t-1/2a 2 t)，
wherein L is 1 Is that it isLength of the vehicle, L 2 Is the length of the adjacent lane vehicle, v 1 Is the actual longitudinal speed, a, of the host vehicle 1 For actual longitudinal acceleration of the vehicle, v 2 Is the actual longitudinal speed, a, of the adjacent lane vehicle 2 Is the actual longitudinal acceleration of the adjacent lane vehicle.
An embodiment of a second aspect of the present application provides an adaptive cruise offset control apparatus for a vehicle, including: the acquisition module is used for acquiring the longitudinal distance and the transverse distance between the vehicle and the adjacent lane vehicle; the calculation module is used for calculating the target offset transverse distance of the vehicle according to the expected transverse vehicle speed and the expected acceleration when the longitudinal distance and the transverse distance are both smaller than the corresponding preset safety threshold; and the control module is used for calculating the target offset duration of the vehicle according to the actual longitudinal speed and the actual longitudinal acceleration corresponding to the vehicle and the adjacent lane vehicle, and controlling the vehicle to reversely offset the target offset transverse distance after the vehicle is offset the target offset transverse distance in the target offset duration.
Optionally, the control module is configured to: detecting whether the transverse distance is reduced in sequence in a plurality of detection periods; if the transverse distance is reduced in a plurality of detection periods in sequence, judging whether the transverse distance is smaller than a preset collision threshold value; and when the transverse distance is smaller than the preset collision threshold value, controlling the vehicle to execute a deceleration deviation action, otherwise, continuously controlling the vehicle to deviate from the target deviation transverse distance within the target deviation duration.
Optionally, the control module is further configured to: controlling the vehicle to decelerate by a preset first acceleration value, and controlling the vehicle to laterally shift so that the lateral distance between the vehicle and the adjacent lane vehicle is a first distance; in the process of controlling the lateral deviation of the vehicle, when the fact that the lateral distance between the vehicle and a lane line far away from one side of the adjacent lane vehicle is smaller than a second distance is detected, the vehicle is controlled to decelerate by a preset second acceleration value, and the vehicle deviation is controlled so that the lateral distance between the vehicle and the lane line is larger than or equal to the second distance.
Optionally, the calculation formula of the target offset duration is:
t＝(1.5L 1 +L 2 )/(v 1 t+1/2a 1 t-v 2 t-1/2a 2 t)，
wherein L is 1 Is the length of the vehicle, L 2 Is the length of the adjacent lane vehicle, v 1 Is the actual longitudinal speed, a, of the host vehicle 1 For actual longitudinal acceleration of the vehicle, v 2 Is the actual longitudinal speed, a, of the adjacent lane vehicle 2 Is the actual longitudinal acceleration of the adjacent lane vehicle.
An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the adaptive cruise offset control method of a vehicle as described in the above embodiments.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program for execution by a processor for implementing an adaptive cruise offset control method for a vehicle as described in the above embodiments.
Therefore, the application has at least the following beneficial effects:
(1) the embodiment of the application can accurately control the vehicle offset distance and time according to the actual distance between the vehicle and the vehicle which is likely to collide, and timely aligning after the offset is completed, so that the safety problem of driving caused by excessive offset or insufficient offset is avoided, the vehicle safety of a user can be effectively ensured, the safety sense and comfortable driving experience of the user during overtaking are improved, and the confidence sense of using integrated self-adaptive cruise is improved.
(2) In the embodiment of the application, the offset target offset transverse distance of the vehicle in the target offset duration is sequentially reduced in a plurality of detection periods, and the transverse distance is smaller than a preset collision threshold, so that the possibility of collision exists at the moment, the vehicle controls the vehicle to execute a deceleration offset action, otherwise, the vehicle offset can be continuously controlled, the vehicle using safety of a user is ensured, and the driving and riding experience of the user is improved;
(3) when the vehicle is controlled to execute the deceleration deviation action, the transverse distance between the vehicle and the adjacent lane vehicle and the transverse distance between the vehicle and the lane line far away from one side of the adjacent lane vehicle are controlled, so that the vehicle is controlled to not only execute the deviation deceleration control on the distance between the vehicle and the target vehicle, but also keep the vehicle running in the lane when avoiding the collision of the target vehicle, and the driving safety of a user is ensured.
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 flow chart of an adaptive cruise offset control method of a vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart of an adaptive cruise offset control apparatus for a vehicle according to one embodiment of the present application;
FIG. 3 is an exemplary diagram of an adaptive cruise offset control of a vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
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.
The integrated adaptive cruise system has been widely used in various passenger vehicles, and passengers seek a comfortable experience while ensuring safety when using a driving assistance function, and the related technologies are as follows:
(1) an auxiliary driving system for actively avoiding a large-scale vehicle in a lane relates to a control scheme for actively avoiding the large-scale vehicle, and effectively avoids collision risks by judging the longitudinal collision time and the transverse relative distance between a vehicle and an adjacent target vehicle and the distance state of the vehicle relative to a lane line and adopting an active intelligent offset mode.
(2) An intelligent offset control method, a system, a vehicle and a storage medium of an integrated adaptive cruise system relate to an intelligent offset transverse control strategy which is optimized by sending an instruction to a controller to reasonably control the transverse speed and the transverse acceleration of the vehicle in the intelligent offset process.
The intelligent offset control strategy of the integrated adaptive cruise system mentioned above is used for homopolymerizing the transverse distance between the vehicle and a side cart and the transverse offset acceleration, and does not relate to the transverse offset duration time, so that the situation that the vehicle starts to drive back to the center of a lane after exceeding a cart needing to be dodged by the side for a long distance exists in the real vehicle experience, the intelligent offset time is long, the vehicle leaves the longitudinal distance needing to be offset but does not return to the right, the vehicle still drives along one side of the lane line and is more obvious in high-speed driving, and the situation can cause a user to think that the vehicle centering performance is unstable when the integrated adaptive cruise system is driven, the intelligent offset timeliness is poor when the vehicle meets the cart, and the user lacks confidence when the integrated adaptive cruise system is used.
An adaptive cruise offset control method, apparatus, vehicle, and storage medium for a vehicle according to an embodiment of the present application are described below with reference to the accompanying drawings.
Specifically, fig. 1 is a schematic flowchart of an adaptive cruise offset control method for a vehicle according to an embodiment of the present application.
As shown in fig. 1, the adaptive cruise offset control method of the vehicle includes the steps of:
in step S101, the longitudinal distance and the lateral distance between the host vehicle and the adjacent lane vehicle are acquired.
The longitudinal distance refers to the longitudinal inter-vehicle distance between the front vehicle and the rear vehicle, and the transverse distance refers to the transverse inter-vehicle distance between the left vehicle and the right vehicle.
It can be understood that, in a scenario that a vehicle needs to be subjected to offset control, such as overtaking, the embodiments of the present application may acquire the longitudinal distance and the lateral distance between the host vehicle and a vehicle in an adjacent lane.
Specifically, the information acquisition mainly includes acquiring the surrounding environment state in real time through sensors such as a camera, a millimeter wave radar and a laser radar in the vehicle, a steering wheel rotation angle sensor and an accelerator pedal brake pedal sensor, outputting the ID (Identity), the type, the relative distance, the relative speed, the left and right lane line information, the steering wheel rotation angle, the accelerator pedal opening degree and the like of the target object, and acquiring the position information of the vehicle.
In step S102, when the longitudinal distance and the lateral distance are both less than the corresponding preset safety threshold, a target offset lateral distance of the host vehicle is calculated from the desired lateral vehicle speed and the desired acceleration.
The preset safety threshold may be preset by a user, or may be obtained through big data, that is, the longitudinal distance may be 1.5 vehicle lengths of the vehicle head where the vehicle exceeds the target vehicle and the vehicle tail distance exceeds the target vehicle, or may be within 10m of the vehicle and the target vehicle, and the lateral distance may be within 0.5m or 0.8m, which is not specifically limited herein.
The desired lateral vehicle speed is a desired vehicle speed of the host vehicle relative to the target vehicle, and may be 0.5m/s, and the desired acceleration may be 0.5m/s2, which is not specifically limited herein.
It can be understood that, according to the embodiment of the application, when the longitudinal distance and the lateral distance are both smaller than the corresponding preset safety threshold, it is determined that the vehicle needs to perform the offset action, and there is an offset requirement, so that the target offset lateral distance of the vehicle can be calculated according to the expected lateral vehicle speed and the expected acceleration for subsequent offset control.
In step S103, a target offset duration of the host vehicle is calculated according to the actual longitudinal speed and the actual longitudinal acceleration of the host vehicle and the vehicle in the adjacent lane, and after the host vehicle is controlled to offset the target offset lateral distance within the target offset duration, the host vehicle is controlled to offset the target offset lateral distance in the opposite direction.
The target offset duration may be time of the target vehicle deviating from a normal driving route, and the calculation formula of the target offset duration is as follows:
t＝(1.5L 1 +L 2 )/(v 1 t+1/2a 1 t-v 2 t-1/2a 2 t)，
wherein L is 1 The length of the vehicle, L 2 Length of adjacent lane vehicle, v 1 Is the actual longitudinal speed, a, of the host vehicle 1 For actual longitudinal acceleration of the vehicle, v 2 As actual longitudinal speed, a, of adjacent lane vehicles 2 Is the actual longitudinal acceleration of the vehicle in the adjacent lane.
The target offset transverse distance may be a transverse distance between the target vehicle and the vehicle, and the offset transverse distance may be set to 0.5 × lane width of the vehicle-0.5 vehicle width-0.45, and the upper limit of the transverse offset is defined to be 0.3m, and the lower limit of the transverse offset is defined to be 0 m.
It can be understood that, in the embodiment of the application, the target offset duration of the vehicle can be calculated according to the actual longitudinal speed and the actual longitudinal acceleration of the vehicle corresponding to the vehicle and the adjacent lane, the vehicle is controlled to run stably according to the calculation formula of the target offset duration, the driving safety problem caused by excessive offset or insufficient offset is avoided, the vehicle using safety of a user can be effectively ensured, the safety and comfortable driving experience of the user during overtaking are improved, and the confidence of using integrated adaptive cruise is improved.
In the embodiment of the present application, controlling the host vehicle to shift by the target shift lateral distance within the target shift duration includes: detecting whether the transverse distance is reduced in sequence in a plurality of detection periods; if the transverse distance is reduced in a plurality of detection periods in sequence, judging whether the transverse distance is smaller than a preset collision threshold value; and when the transverse distance is smaller than a preset collision threshold value, controlling the vehicle to execute a deceleration deviation action, otherwise, continuously controlling the vehicle to deviate from the target deviation transverse distance within the target deviation duration.
The detection period may be cycled for 5 periods, and one period may be 2s or 5s, which is not limited herein.
The preset collision threshold may be a range of a lateral distance between the host vehicle and an adjacent target vehicle of about 0.5m, and is not specifically limited herein.
Wherein the deceleration shift action may be a holding deceleration action during the vehicle shift.
It can be understood that, in the embodiment of the application, the offset target offset lateral distance of the host vehicle within the target offset duration is sequentially reduced in the multiple detection cycles, and the lateral distance is smaller than the preset collision threshold, then there is a possibility of collision at this time, and the host vehicle is controlled by the vehicle to perform a deceleration offset action, otherwise, the host vehicle offset can be continuously controlled, so that the vehicle using safety of the user is ensured, and the driving experience of the user is improved.
Specifically, the logic for judging whether the target vehicle and the vehicle have a continuous approaching trend is that the continuous decrease of the transverse distance between the target vehicle and the vehicle in 5 continuous monitoring periods is regarded as the approaching trend, the logic for judging whether the vehicle has a collision risk is that the collision risk is regarded as the collision risk when the transverse distance between the vehicle and the adjacent target vehicle is less than 0.5m, and if the transverse distance is not less than the preset collision threshold value of 0.5m, the vehicle continues to run in the current lane pair; and if the speed is smaller than the preset collision threshold value, controlling the vehicle to decelerate.
In the embodiment of the present application, controlling the host vehicle to perform the deceleration shift action includes: controlling the vehicle to decelerate by a preset first acceleration value, and controlling the vehicle to laterally shift so that the lateral distance between the vehicle and the adjacent lane vehicle is a first distance; in the process of controlling the lateral deviation of the vehicle, when the lateral distance between the vehicle and the lane line on the side far away from the adjacent lane vehicle is detected to be smaller than the second distance, the vehicle is controlled to decelerate by a preset second acceleration value, and the vehicle is controlled to deviate so that the lateral distance between the vehicle and the lane line is larger than or equal to the second distance.
Wherein the preset first acceleration value may be-2 m/s 2 <a<0m/s 2 The preset second acceleration value may be-4 m/s 2 <a<0m/s 2 And is not particularly limited herein.
The first distance is a lateral distance between the host vehicle and a vehicle in an adjacent lane, and may be 80cm or 70cm, and the second distance is a lateral distance between the host vehicle and a lane line on a side away from the vehicle in the adjacent lane, and may be 30cm or 40cm, which is not limited herein.
It can be understood that, in the embodiment of the present application, when the host vehicle is controlled to perform the deceleration deviation action, not only the lateral distance between the host vehicle and the adjacent lane vehicle but also the lateral distance between the host vehicle and the lane line on the side away from the adjacent lane vehicle are controlled, so that when the host vehicle avoids the collision with the target vehicle, the host vehicle is controlled to perform the deviation deceleration control on the distance between the host vehicle and the target vehicle and also to keep the vehicle running in the lane, thereby ensuring the driving safety of the user.
The following describes an adaptive cruise offset control method for a vehicle according to an embodiment, as shown in fig. 2, including the following steps:
step 1: the vehicle runs normally, the longitudinal collision possibility between the vehicle and the target vehicle of the adjacent lane is judged, the collision possibility is determined, and the step 2 is carried out;
step 2: setting a transverse distance by the vehicle to a direction far away from a target vehicle according to a set comfortable vehicle speed and a set comfortable transverse acceleration offset;
and step 3: presetting offset time by monitoring the longitudinal speed and the longitudinal acceleration of a target vehicle of an adjacent lane and the longitudinal speed and the longitudinal acceleration of the vehicle;
and 4, step 4: whether the target vehicle and the vehicle have a continuous approaching trend or not is judged by monitoring the transverse deviation speed and the transverse deviation acceleration of the target vehicle of the adjacent lanes and the transverse distance between the target vehicle and the vehicle; if yes, entering step 5;
and 5: and (6) monitoring whether the vehicle and the target vehicle have collision risks, and if so, entering step 6.
Step 6: decelerating the host vehicle at a set longitudinal first acceleration value; continuously and transversely offsetting the vehicle, and maintaining a first distance transversely set with a target vehicle; in the process of transverse deviation, when the transverse distance between the vehicle and the lane line on the other side is continuously monitored to be smaller than a set second distance, the vehicle is decelerated at a set longitudinal second acceleration value, and the vehicle is driven by keeping the transverse distance between the vehicle and the lane line on the other side to be larger than the set distance;
and 7: and continuously monitoring whether the vehicle and the target vehicle have no collision risk, if so, offsetting the side vehicle by preset offset action time, and after the preset time is over, deflecting the vehicle transversely close to the central line of the vehicle channel.
Wherein, the following conditions in step 1 are judged as the possibility of longitudinal collision between the vehicle and the target vehicle of the adjacent lane: 1) the radius of the driving lane of the vehicle is more than 1800 m; 2) the type of the vehicle with the closest longitudinal distance identified by the left/right lane in front of the vehicle is bus or truck; 3) the longitudinal distance of the nearest vehicle identified by the left lane/right lane in front of the vehicle is more than 10 m; 4) the distance between the side edge of the target vehicle and the side edge of the vehicle is less than 0.8 m.
In step 2, the transverse speed is 0.5m/s, and the transverse acceleration is 0.5m/s 2 The offset lateral distance is set to be 0.5 × lane width of the vehicle-0.5 vehicle width-0.45, and the upper limit of the lateral offset is defined to be 0.3m and the lower limit of the lateral offset is defined to be 0 m.
And 3, calculating the intelligent offset action time in the step 3 in a mode that when the head of the vehicle is level with the tail of the target vehicle to be avoided, the longitudinal speed of the vehicle is recorded as v 1 Longitudinal acceleration of a 1 The longitudinal speed of the target vehicle to be avoided is v 2 Longitudinal acceleration of a 2 . The length of the vehicle is L 1 When two vehicles run, the vehicle exceeds the target vehicle and the distance between the tails of the vehicles exceeds the head of the target vehicle by 1.5 vehicle lengths of the target vehicle, the vehicle is considered to exceed the target vehicle of the adjacent track, no collision risk exists, the vehicle stops offsetting and begins to deflect back to the center of the lane line, the offset action time is recorded as t, and the vehicle runs according to the longitudinal distance relation v 1 t+1/2a 1 t＝v 2 t+1/2a 2 t+1.5L 1 +L 2 The offset exposure time t can be calculated as (1.5L) 1 +L 2 )/(v 1 t+1/2a 1 t-v 2 t-1/2a 2 t)。
In step 4, the logic for judging whether the target vehicle and the vehicle have the continuous approaching trend is that the continuous decrease of the lateral distance between the target vehicle and the vehicle in 5 continuous monitoring periods is regarded as the approaching trend.
And 5, judging whether the vehicle and the target vehicle have the collision risk or not according to the logic that the vehicle and the target vehicle have the collision risk, and determining that the vehicle has the collision risk when the transverse distance between the vehicle and the adjacent target vehicle is less than 0.5 m.
Setting a longitudinal first acceleration value of-2 m/s in step 6 2 <a<0m/s 2 (ii) a Continuously and transversely offsetting the vehicle, and maintaining a first distance of 80cm from the target vehicle; in the process of transverse deviation, when the transverse distance between the vehicle and the lane line on the other side is continuously monitored to be less than the set second distance of 30cm, the longitudinal second acceleration value is set to be-4 m/s 2 <a<0m/s 2 And decelerating and keeping the transverse distance from the lane line on the other side to be more than the set second distance for 30cm to drive.
In step 7, the transverse speed of the vehicle transversely approaching the central line of the lane is 0.5m/s, and the transverse acceleration is 0.5m/s 2 If the intelligent deviation logic for other vehicles is triggered in the deviation returning process, the deviation returning is finished; and 6, continuously monitoring whether the vehicle and the target vehicle have no collision risk or not, wherein logic of continuously monitoring whether the transverse distance between the vehicle and the target vehicle is smaller than a set value within a certain time or not is judged, and if yes, longitudinal collision possibility is judged.
In summary, the embodiment of the application judges whether the collision time and the transverse distance between the adjacent target vehicle and the vehicle are smaller than the safe distance threshold value triggered by the logic; if the distance is not less than the safety distance threshold value, continuing to drive in the current lane pair; if the distance is smaller than the safe distance, the vehicle deviates a certain distance in the transverse direction away from the adjacent target vehicle, when the vehicle exceeds the adjacent target vehicle and the vehicle head is 1.5 times the length of the vehicle away from the target vehicle head, the two vehicles are considered to have no collision risk, the vehicle deviates back to the center of the lane, and the transverse speed and the transverse acceleration of the vehicle are reasonably controlled by sending an instruction to the controller in the deviation process, so that the comfort and the safety in the intelligent deviation process are ensured, and the transverse control strategy of the integrated adaptive cruise system can effectively improve the safety in the driving process and avoid the collision risk in an intelligent deviation mode.
According to the adaptive cruise offset control method for the vehicles, the transverse states of the adjacent-channel vehicles and the vehicle can be monitored, when the two vehicles are judged to have collision risks, the integrated adaptive cruise system acquires relative position information in real time according to the two vehicles, a smart offset strategy is adopted, the safety risks in the driving process are avoided as much as possible, the speed and the acceleration of the vehicle and the adjacent-channel vehicles are detected, different offset time is provided under different speed conditions, the situation that the offset time is too long is avoided, safe and comfortable driving experience is provided for users, and the reliability and the safety of the integrated adaptive cruise system are improved. Therefore, the problems that the integrated self-adaptive cruise system in the related technology does not consider the transverse offset duration, the actual longitudinal distance and the longitudinal acceleration, the offset time is long, the user can not return to the original position, the vehicle using safety of the user is reduced, the driving experience is reduced and the like are solved.
Next, an adaptive cruise offset control apparatus for a vehicle according to an embodiment of the present application will be described with reference to the drawings.
Fig. 3 is a block schematic diagram of an adaptive cruise offset control apparatus of a vehicle according to an embodiment of the present application.
As shown in fig. 3, the adaptive cruise offset control apparatus 10 for a vehicle includes: an acquisition module 100, a calculation module 200 and a control module 300.
The acquiring module 100 is configured to acquire a longitudinal distance and a transverse distance between a vehicle and a vehicle in an adjacent lane; the calculation module 200 is configured to calculate a target offset lateral distance of the vehicle according to the expected lateral vehicle speed and the expected acceleration when the longitudinal distance and the lateral distance are both smaller than the corresponding preset safety threshold; the control module 300 is configured to calculate a target offset duration of the host vehicle according to an actual longitudinal speed and an actual longitudinal acceleration of the host vehicle and an adjacent lane vehicle, and control the host vehicle to offset a target offset lateral distance in the target offset duration, and then control the host vehicle to offset the target offset lateral distance in a reverse direction.
The acquisition module 100 comprises a sensing module and a positioning module, wherein the sensing module mainly comprises a camera, a millimeter wave radar, a laser radar and other sensors, a steering wheel corner sensor, an accelerator pedal brake pedal sensor and the like, and is used for acquiring the surrounding environment state in real time and outputting a target object ID (Identity), type, relative distance, relative speed, left and right lane line information, a steering wheel corner, an accelerator pedal opening and the like; and the positioning module is mainly used for acquiring the position information of the vehicle.
In the embodiment of the present application, the control module 300 is configured to: detecting whether the transverse distance is reduced in sequence in a plurality of detection periods; if the transverse distance is reduced in a plurality of detection periods in sequence, judging whether the transverse distance is smaller than a preset collision threshold value; and when the transverse distance is smaller than a preset collision threshold value, controlling the vehicle to execute a deceleration deviation action, otherwise, continuously controlling the vehicle to deviate from the target deviation transverse distance within the target deviation duration.
In this embodiment, the control module 300 is further configured to: controlling the vehicle to decelerate at a preset first acceleration value, and controlling the vehicle to laterally shift so that the lateral distance between the vehicle and the adjacent lane vehicle is a first distance; in the process of controlling the lateral deviation of the vehicle, when the lateral distance between the vehicle and the lane line on the side far away from the adjacent lane vehicle is detected to be smaller than the second distance, the vehicle is controlled to decelerate by a preset second acceleration value, and the vehicle is controlled to deviate so that the lateral distance between the vehicle and the lane line is larger than or equal to the second distance.
The control module can calculate the lateral offset distance and the lateral offset action time required by the automatic driving vehicle according to the information such as the running speed and the acceleration of the vehicle, such as the vehicle of the lane beside the automatic driving vehicle and the vehicle, acquired by the sensing module, so as to realize the automatic offset when the vehicle encounters a large vehicle.
In the embodiment of the present application, the calculation formula of the target offset duration is as follows:
t＝(1.5L 1 +L 2 )/(v 1 t+1/2a 1 t-v 2 t-1/2a 2 t)，
wherein L is 1 The length of the vehicle, L 2 Length of adjacent lane vehicle, v 1 Is the actual longitudinal speed, a, of the host vehicle 1 For actual longitudinal acceleration of the vehicle, v 2 As actual longitudinal speed, a, of adjacent lane vehicles 2 Is the actual longitudinal acceleration of the vehicle in the adjacent lane.
It should be noted that the foregoing explanation of the embodiment of the adaptive cruise offset control method for a vehicle also applies to the adaptive cruise offset control device for a vehicle according to this embodiment, and details thereof are not repeated herein.
According to the adaptive cruise offset control device for the vehicles, the transverse states of the adjacent-channel vehicles and the vehicle can be monitored, when the two vehicles are judged to have collision risks, the integrated adaptive cruise system acquires relative position information in real time according to the two vehicles, a smart offset strategy is adopted, the safety risks in the driving process are avoided as much as possible, the speed and the acceleration of the vehicle and the adjacent-channel vehicles are detected, different offset time is achieved under different speed conditions, the situation that the offset time is too long is avoided, safe and comfortable driving experience is provided for users, and the reliability and the safety of the integrated adaptive cruise system are improved. Therefore, the problems that the integrated self-adaptive cruise system in the related technology does not consider the transverse offset duration, the actual longitudinal distance and the longitudinal acceleration, the offset time is long, the user can not return to the original position, the vehicle using safety of the user is reduced, the driving experience is reduced and the like are solved.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
The processor 402, when executing a program, implements the adaptive cruise offset control method for a vehicle provided in the above-described embodiments.
Optionally, the vehicle further comprises:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing computer programs executable on the processor 402.
The Memory 401 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.
If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) 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. 4, but this does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may complete mutual communication through an internal interface.
Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the adaptive cruise offset control method of a vehicle 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 such 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 more 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 implementing the embodiments of the present application.
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, a field programmable gate array, 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.
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. An adaptive cruise offset control method for a vehicle, comprising the steps of:
acquiring the longitudinal distance and the transverse distance between the vehicle and the adjacent lane vehicle;
when the longitudinal distance and the transverse distance are both smaller than the corresponding preset safety threshold value, calculating the target offset transverse distance of the vehicle according to the expected transverse vehicle speed and the expected acceleration;
calculating the target offset duration of the vehicle according to the actual longitudinal speed and the actual longitudinal acceleration of the vehicle and the adjacent lane vehicle, and controlling the vehicle to reversely offset the target offset transverse distance after offsetting the target offset transverse distance within the target offset duration.
2. The method of claim 1, wherein said controlling the host-vehicle to offset the target offset lateral distance for the target offset duration comprises:
detecting whether the transverse distance is reduced in sequence in a plurality of detection periods;
if the transverse distance is reduced in a plurality of detection periods in sequence, judging whether the transverse distance is smaller than a preset collision threshold value;
and when the transverse distance is smaller than the preset collision threshold value, controlling the vehicle to execute a deceleration deviation action, otherwise, continuously controlling the vehicle to deviate from the target deviation transverse distance within the target deviation duration.
3. The method of claim 2, wherein said controlling the host-vehicle to perform a deceleration-shift maneuver comprises:
controlling the vehicle to decelerate at a preset first acceleration value, and controlling the vehicle to laterally shift so that the lateral distance between the vehicle and the adjacent lane vehicle is a first distance;
in the process of controlling the lateral deviation of the vehicle, when the fact that the lateral distance between the vehicle and a lane line far away from one side of the adjacent lane vehicle is smaller than a second distance is detected, the vehicle is controlled to decelerate by a preset second acceleration value, and the vehicle deviation is controlled so that the lateral distance between the vehicle and the lane line is larger than or equal to the second distance.
4. The method according to any one of claims 1 to 3, wherein the target offset duration is calculated by the formula:
t＝(1.5L 1 +L 2 )/(v 1 t+1/2a 1 t-v 2 t-1/2a 2 t)，
wherein L is 1 Is the length of the vehicle, L 2 Is the length of the adjacent lane vehicle, v 1 Is the actual longitudinal speed, a, of the host vehicle 1 For actual longitudinal acceleration of the vehicle, v 2 Is the actual longitudinal speed, a, of the adjacent lane vehicle 2 Is the actual longitudinal acceleration of the adjacent lane vehicle.
5. An adaptive cruise offset control apparatus for a vehicle, characterized by comprising:
the acquisition module is used for acquiring the longitudinal distance and the transverse distance between the vehicle and the adjacent lane vehicle;
the calculation module is used for calculating the target offset transverse distance of the vehicle according to the expected transverse vehicle speed and the expected acceleration when the longitudinal distance and the transverse distance are both smaller than the corresponding preset safety threshold;
and the control module is used for calculating the target offset duration of the vehicle according to the actual longitudinal speed and the actual longitudinal acceleration corresponding to the vehicle and the adjacent lane vehicle, and controlling the vehicle to reversely offset the target offset transverse distance after the vehicle is offset the target offset transverse distance in the target offset duration.
6. The apparatus of claim 5, wherein the control module is configured to:
detecting whether the transverse distance is reduced in sequence in a plurality of detection periods;
if the transverse distance is reduced in a plurality of detection periods in sequence, judging whether the transverse distance is smaller than a preset collision threshold value;
and when the transverse distance is smaller than the preset collision threshold value, controlling the vehicle to execute a deceleration deviation action, otherwise, continuously controlling the vehicle to deviate from the target deviation transverse distance within the target deviation duration.
7. The apparatus of claim 6, wherein the control module is further configured to:
controlling the vehicle to decelerate at a preset first acceleration value, and controlling the vehicle to laterally shift so that the lateral distance between the vehicle and the adjacent lane vehicle is a first distance;
in the process of controlling the lateral deviation of the vehicle, when the fact that the lateral distance between the vehicle and a lane line far away from one side of the adjacent lane vehicle is smaller than a second distance is detected, the vehicle is controlled to decelerate by a preset second acceleration value, and the vehicle deviation is controlled so that the lateral distance between the vehicle and the lane line is larger than or equal to the second distance.
8. The apparatus according to any one of claims 5-7, wherein the target offset duration is calculated by:
t＝(1.5L 1 +L 2 )/(v 1 t+1/2a 1 t-v 2 t-1/2a 2 t)，
wherein L is 1 Is the length of the vehicle, L 2 Is the length of the adjacent lane vehicle, v 1 Is the actual longitudinal speed, a, of the host vehicle 1 For actual longitudinal acceleration of the vehicle, v 2 Is the actual longitudinal speed, a, of the adjacent lane vehicle 2 Is the actual longitudinal acceleration of the adjacent lane vehicle.
9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the adaptive cruise offset control method of a vehicle according to any of claims 1-4.
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 an adaptive cruise offset control method for a vehicle according to any of claims 1-4.
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| CN202210761177.8A CN115107787A (en) | 2022-06-29 | 2022-06-29 | Adaptive cruise offset control method and device for vehicle, vehicle and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116729384A (en) * | 2023-06-27 | 2023-09-12 | 广州小鹏自动驾驶科技有限公司 | Detour planning method and device in lane keeping state and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116729384A (en) * | 2023-06-27 | 2023-09-12 | 广州小鹏自动驾驶科技有限公司 | Detour planning method and device in lane keeping state and vehicle |
| CN116729384B (en) * | 2023-06-27 | 2024-01-09 | 广州小鹏自动驾驶科技有限公司 | Detour planning method and device in lane keeping state and vehicle |
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