CN115107787A - Adaptive cruise offset control method, device, vehicle and storage medium for vehicle - Google Patents

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

Adaptive cruise offset control method, device, vehicle and storage medium for vehicle

technical field

The present application relates to the technical field of vehicle adaptive cruise, and in particular, to a vehicle adaptive cruise offset control method, device, vehicle and storage medium.

Background technique

At present, the intelligent driving assistance system represented by the integrated adaptive cruise technology has been widely used in various models. When passengers use the driving assistance function, that is, the vehicle enters the integrated adaptive cruise state, in addition to ensuring safety, it pursues more comfort. experience.

In the related art, the intelligent offset control of the integrated adaptive cruise system mainly focuses on the lateral distance and lateral offset acceleration between the vehicle and the vehicle in the adjacent lane. Due to the long or short offset time, it cannot be corrected in time, which reduces the user's car safety and driving experience.

SUMMARY OF THE INVENTION

The present application provides an adaptive cruise offset control method, device, vehicle and storage medium for a vehicle, so as to solve the problem that the integrated adaptive cruise system in the related art does not consider the lateral offset duration, the actual longitudinal distance, and the longitudinal acceleration, resulting in If the offset time is too long, it cannot be corrected, which reduces the user's car safety and driving experience.

An embodiment of the first aspect of the present application provides an adaptive cruise offset control method for a vehicle, including the following steps: acquiring a longitudinal distance and a lateral distance between the vehicle and a vehicle in an adjacent lane; When the distances are less than the corresponding preset safety thresholds, the target offset lateral distance of the own vehicle is calculated according to the expected lateral vehicle speed and expected acceleration; according to the actual longitudinal speed and actual longitudinal acceleration corresponding to the own vehicle and the adjacent lane vehicles Calculate the target offset duration of the own vehicle, and control the own vehicle to offset the target offset lateral distance within the target offset duration, control the own vehicle to reversely offset the target offset Lateral distance.

According to the above technical means, the embodiments of the present application can accurately control the offset distance and time of the vehicle according to the actual distance between the vehicle and the vehicle that may collide, and return to the correct in time after the offset is completed, so as to avoid excessive offset or insufficient offset caused by The safety of driving can effectively ensure the safety of the user's car, improve the user's sense of safety and comfortable driving experience when overtaking, and enhance the confidence of using the integrated adaptive cruise.

Optionally, the controlling the host vehicle to offset the target offset lateral distance within the target offset duration includes: detecting whether the lateral distance decreases sequentially within multiple detection cycles; If the distance decreases successively in multiple detection cycles, it is determined whether the lateral distance is less than the preset collision threshold; when the lateral distance is less than the preset collision threshold, the vehicle is controlled to perform a deceleration offset action, otherwise, Continue to control the host vehicle to offset the target offset lateral distance within the target offset duration.

According to the above technical means, in the embodiment of the present application, the lateral distance of the vehicle offset from the target offset within the target offset duration is successively reduced in multiple detection cycles, and the lateral distance is smaller than the preset collision threshold, then there is a possibility of collision at this time. The vehicle controls the vehicle to perform the deceleration offset action, otherwise it can continue to control the vehicle offset to ensure the safety of the user's vehicle and improve the user's driving experience.

Optionally, the controlling the own vehicle to perform a deceleration offset action includes: controlling the own vehicle to decelerate at a preset first acceleration value, and controlling the own vehicle to offset laterally, so that the own vehicle and the other vehicle are decelerated. The lateral distance between the vehicles in the adjacent lane is the first distance; in the process of controlling the lateral deviation of the own vehicle, when the lateral distance between the own vehicle and the lane line on the side away from the vehicle in the adjacent lane is detected When the distance is less than the second distance, the host vehicle is controlled to decelerate at a preset second acceleration value, and the host vehicle is controlled to offset so that the lateral distance from the lane line is greater than or equal to the second distance.

According to the above technical means, when the embodiment of the present application controls the vehicle to perform the deceleration offset action, it is not only necessary to control the lateral distance between the vehicle and the vehicle in the adjacent lane, but also to control the side of the lane away from the vehicle in the adjacent lane. The lateral distance between the lines, so that when the vehicle avoids the collision of the target vehicle, it should not only perform offset deceleration to control the distance between the vehicle and the target vehicle, but also control the vehicle to keep driving in the lane to ensure the user's driving safety.

Optionally, the calculation formula of the target offset duration is:

t=(1.5L ₁ +L ₂ )/(v ₁ t+1/2a ₁ tv ₂ t-1/2a ₂ t),

Wherein, L ₁ is the length of the vehicle, L ₂ is the length of the vehicle in the adjacent lane, v ₁ is the actual longitudinal speed of the vehicle, a ₁ is the actual longitudinal acceleration of the vehicle, v ₂ is the actual longitudinal velocity of the vehicle in the adjacent lane, and a ₂ is the actual longitudinal acceleration of the vehicle in the adjacent lane.

An embodiment of the second aspect of the present application provides an adaptive cruise offset control device for a vehicle, including: an acquisition module for acquiring a longitudinal distance and a lateral distance between the vehicle and a vehicle in an adjacent lane; a calculation module for When both the longitudinal distance and the lateral distance are less than the corresponding preset safety thresholds, calculate the target offset lateral distance of the own vehicle according to the expected lateral vehicle speed and the expected acceleration; Calculate the target offset duration of the vehicle based on the actual longitudinal speed and actual longitudinal acceleration corresponding to vehicles in adjacent lanes, and control the vehicle to offset the target offset lateral distance within the target offset duration. The host vehicle is offset in reverse by the target offset lateral distance.

Optionally, the control module is configured to: detect whether the lateral distance decreases sequentially within multiple detection periods; if the lateral distance decreases sequentially within multiple detection periods, determine whether the lateral distance is less than a preset value. Collision threshold; when the lateral distance is less than the preset collision threshold, control the vehicle to perform a deceleration offset action, otherwise, continue to control the vehicle to offset the target offset within the target offset duration Move the horizontal distance.

Optionally, the control module is further configured to: control the host vehicle to decelerate at a preset first acceleration value, and control the lateral offset of the host vehicle, so that the lateral direction between the host vehicle and the vehicle in the adjacent lane is The distance is the first distance; in the process of controlling the lateral deviation of the own vehicle, when it is detected that the lateral distance between the own vehicle and the lane line on the side of the vehicle away from the adjacent lane is less than the second distance, the control The host vehicle is decelerated at a preset second acceleration value, and the host vehicle is controlled to offset so that the lateral distance from the lane line is greater 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 tv ₂ t-1/2a ₂ t),

Wherein, L ₁ is the length of the vehicle, L ₂ is the length of the vehicle in the adjacent lane, v ₁ is the actual longitudinal speed of the vehicle, a ₁ is the actual longitudinal acceleration of the vehicle, v ₂ is the actual longitudinal velocity of the vehicle in the adjacent lane, and a ₂ is the actual longitudinal acceleration of the vehicle in the adjacent lane.

An embodiment of a third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to achieve the following: The adaptive cruise offset control method of the vehicle described in the above embodiments.

Embodiments of the fourth aspect of the present application provide a computer-readable storage medium on which a computer program is stored, and the program is executed by a processor, so as to implement the adaptive cruise offset control method for a vehicle as described in the foregoing embodiments .

Therefore, the present application at least has the following beneficial effects:

(1) The embodiment of the present application can accurately control the offset distance and time of the vehicle according to the actual distance between the vehicle and the vehicle that may collide, and return to the correct in time after the offset is completed, so as to avoid excessive offset or insufficient offset resulting in the driving of the vehicle. Safety issues can effectively ensure the safety of the user's car, improve the user's sense of safety and comfortable driving experience when overtaking, and enhance the confidence in using the integrated adaptive cruise.

(2) In the embodiment of the present application, the lateral distance of the vehicle offset from the target offset within the target offset duration decreases successively in multiple detection cycles, and the lateral distance is less than the preset collision threshold, then there is a possibility of collision at this time, The vehicle controls the vehicle to perform the deceleration offset action, otherwise it can continue to control the vehicle offset to ensure the safety of the user's vehicle and improve the user's driving experience;

(3) When the embodiment of the present application controls the vehicle to perform the deceleration offset action, it is not only necessary to control the lateral distance between the vehicle and the vehicle in the adjacent lane, but also control the distance between the vehicle and the lane line on the side away from the vehicle in the adjacent lane. Therefore, when the vehicle avoids the collision of the target vehicle, it should not only perform offset deceleration to control the distance between the vehicle and the target vehicle, but also control the vehicle to keep driving in the lane to ensure the driving safety of the user.

Additional aspects and advantages of the present application will be set forth, in part, in the following description, and in part will be apparent from the following description, or learned by practice of the present application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a flowchart of an adaptive cruise offset control method for a vehicle according to an embodiment of the present application;

FIG. 2 is a flowchart of an adaptive cruise offset control device for a vehicle according to an embodiment of the present application;

FIG. 3 is an exemplary diagram of an adaptive cruise offset control device for 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 ways

The following describes in detail the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present application, but should not be construed as a limitation to the present application.

The integrated adaptive cruise system has been widely used in various passenger cars. When passengers use driving assistance functions, they pursue a more comfortable experience while ensuring safety. The related technologies are as follows:

(1) The assisted driving system for actively dodging large vehicles in the lane involves the control scheme of actively dodging large vehicles, by judging the longitudinal collision time, lateral relative distance between the vehicle and the target vehicle in the adjacent lane, and the distance status of the vehicle relative to the lane line , adopt the method of active intelligent offset to effectively avoid the risk of collision.

(2) The intelligent offset control method, system, vehicle and storage medium of the integrated adaptive cruise system, involving the rational control of the lateral speed and lateral acceleration of the vehicle by sending commands to the controller during the intelligent offset process to optimize the intelligent offset lateral control strategy .

The intelligent offset control strategies of the integrated adaptive cruise system mentioned above all focus on the lateral distance and lateral offset acceleration between the vehicle and the sidecar, and do not involve the duration of lateral offset. In the real vehicle experience, there will be intelligent offsets. The shift time is too long, and the vehicle starts to drive back to the center of the lane after a long distance beyond the large vehicle on the side that needs to be avoided, resulting in a long smart shift time. The vehicle has left the longitudinal distance that needs to be shifted, but there is no Back to positive, still driving on the side of the lane line, it is more obvious when driving at high speed, this situation will lead users to think that the vehicle centering performance of the integrated adaptive cruise system is unstable when driving, and the timeliness of the intelligent deviation of the big vehicle is poor. Lack of confidence when using the adaptive cruise system.

The following describes the vehicle adaptive cruise offset control method, device, vehicle, and storage medium according to the embodiments of the present application 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 Figure 1, the adaptive cruise offset control method of the vehicle includes the following steps:

In step S101, the longitudinal distance and the lateral distance between the vehicle and the vehicle in the adjacent lane are obtained.

The longitudinal distance refers to the longitudinal vehicle-to-vehicle distance between the front and rear vehicles, and the lateral distance refers to the lateral vehicle-to-vehicle distance between the left and right driving vehicles.

It can be understood that, in the embodiment of the present application, the longitudinal distance and the lateral distance between the own vehicle and the vehicle in the adjacent lane can be acquired in a scenario such as overtaking that requires offset control of the vehicle.

Specifically, the acquisition of information is mainly through the in-vehicle camera, millimeter-wave radar, lidar and other sensors, as well as steering wheel angle sensors, accelerator pedal brake pedal sensors, etc., to collect the surrounding environment status in real time, and output the target ID (Identity identification), Type, relative distance, relative speed, left and right lane line information, steering wheel angle and accelerator pedal opening, etc., as well as obtaining the vehicle's own position information.

In step S102, when both the longitudinal distance and the lateral distance are smaller than the corresponding preset safety thresholds, the target offset lateral distance of the vehicle is calculated according to the desired lateral vehicle speed and the desired acceleration.

The preset safety threshold may be preset by the user or obtained through big data, that is, the longitudinal distance may be 1.5 vehicle lengths from the front of the target vehicle where the vehicle exceeds the target vehicle and the rear distance of the vehicle exceeds It can also be within a range of 10m between the host vehicle and the target vehicle, and the lateral distance can be within a range of 0.5m or 0.8m, which is not specifically limited here.

The desired lateral vehicle speed refers to the desired vehicle speed of the host vehicle relative to the target vehicle, which may be 0.5 m/s, and the desired acceleration may be 0.5 m/s 2 , which is not specifically limited herein.

It can be understood that in this embodiment of the present application, when both the longitudinal distance and the lateral distance are less than the corresponding preset safety thresholds, it can be determined that the vehicle needs to perform an offset action, and there is an offset requirement, so the vehicle can be calculated according to the expected lateral vehicle speed and expected acceleration. The target offset lateral distance for subsequent offset control.

In step S103, the target offset duration of the vehicle is calculated according to the actual longitudinal velocity and the actual longitudinal acceleration corresponding to the vehicle and the vehicle in the adjacent lane, and after the vehicle is controlled to offset the target offset lateral distance within the target offset duration, The host vehicle is controlled to reversely offset the target offset lateral distance.

The target offset duration can be the time when the target vehicle deviates from the normal driving route, and the calculation formula of the target offset duration is:

t=(1.5L ₁ +L ₂ )/(v ₁ t+1/2a ₁ tv ₂ t-1/2a ₂ t),

Among them, L ₁ is the length of the vehicle, L ₂ is the length of the vehicle in the adjacent lane, v ₁ is the actual longitudinal speed of the vehicle, a ₁ is the actual longitudinal acceleration of the vehicle, and v ₂ is the vehicle in the adjacent lane. The actual longitudinal speed, a ₂ is the actual longitudinal acceleration of the vehicle in the adjacent lane.

Among them, the target offset lateral distance can be the lateral distance between the target vehicle deviates from the normal driving route and the own vehicle, and the offset lateral distance can be set as 0.5* own vehicle lane width-0.5 own vehicle width-0.45, and at the same time limit the lateral offset The upper limit of displacement is 0.3m, and the lower limit of lateral displacement is 0m.

It can be understood that, in this embodiment of the present application, the target offset duration of the vehicle can be calculated according to the actual longitudinal speed and the actual longitudinal acceleration corresponding to the vehicle and the vehicle in the adjacent lane, and the vehicle can be controlled to run smoothly according to the calculation formula of the target offset duration. Avoiding the safety problem of driving caused by excessive offset or insufficient offset can effectively ensure the safety of the user's car, improve the user's sense of safety and comfortable driving experience when overtaking, and enhance the confidence of using the integrated adaptive cruise.

In the embodiment of the present application, controlling the vehicle to offset the target offset lateral distance within the target offset duration includes: detecting whether the lateral distance decreases sequentially within multiple detection periods; if the lateral distance decreases sequentially within multiple detection periods , then judge whether the lateral distance is less than the preset collision threshold; when the lateral distance is less than the preset collision threshold, control the vehicle to perform a deceleration offset action, otherwise, continue to control the vehicle to offset the target offset lateral distance within the target offset duration .

The detection period may be 5 cycles, and one cycle may be 2s or 5s, which is not specifically limited here.

The preset collision threshold may be a range of about 0.5m lateral distance between the vehicle and the target vehicle in the adjacent lane, which is not specifically limited here.

The deceleration offset action may be a deceleration action maintained during the vehicle deviation process.

It can be understood that, in the embodiment of the present application, the lateral distance of the vehicle offset from the target offset within the target offset duration decreases successively in multiple detection cycles, and the lateral distance is less than the preset collision threshold, then there is a possibility of collision at this time. The vehicle controls the vehicle to perform the deceleration offset action, otherwise it can continue to control the vehicle offset to ensure the safety of the user's vehicle and improve the user's driving experience.

Specifically, the logic for judging whether the target vehicle and the vehicle of the vehicle have a continuous approaching trend is that the lateral distance between the target vehicle and the vehicle continues to decrease for 5 consecutive monitoring periods. The logic is that when the lateral distance between the vehicle and the target vehicle in the adjacent lane is less than 0.5m, there is a risk of collision. If it is not less than the preset collision threshold of 0.5m, it will continue to drive in the center of the current lane; if it is less than the preset collision threshold, control the vehicle to carry out slow down.

In the embodiment of the present application, controlling the vehicle to perform a deceleration offset action includes: controlling the vehicle to decelerate at a preset first acceleration value, and controlling the lateral offset of the vehicle, so that the lateral direction between the vehicle and the vehicle in the adjacent lane is The distance is the first distance; in the process of controlling the lateral deviation of the own vehicle, when it is detected that the lateral distance between the own vehicle and the lane line on the side far from the vehicle in the adjacent lane is less than the second distance, the vehicle is controlled to preset the first distance. The second acceleration value decelerates, and controls the offset of the own vehicle so that the lateral distance from the lane line is greater than or equal to the second distance.

Wherein, the preset first acceleration value may be -2m/s ² <a<0m/s ² , and the preset second acceleration value may be -4m/s ² <a<0m/s ² , which are not specifically limited here. .

Among them, the first distance is the lateral distance between the vehicle and the vehicle in the adjacent lane, which can be 80cm or 70cm, and the second distance is the lateral distance between the vehicle and the lane line on the side away from the vehicle in the adjacent lane, which can be 30cm or 40cm, which is not specifically limited here.

It can be understood that, in the embodiment of the present application, when controlling the vehicle to perform the deceleration offset action, it is not only necessary to control the lateral distance between the vehicle and the vehicle in the adjacent lane, but also to control the distance between the vehicle and the vehicle on the side of the vehicle in the adjacent lane. The lateral distance between the lines, so that when the vehicle avoids the collision of the target vehicle, it should not only perform offset deceleration to control the distance between the vehicle and the target vehicle, but also control the vehicle to keep driving in the lane to ensure the user's driving safety.

The following will describe an adaptive cruise offset control method for a vehicle through a specific embodiment, as shown in FIG. 2 , including the following steps:

Step 1: The vehicle is running normally, judge the possibility of longitudinal collision between the vehicle and the target vehicle in the adjacent lane, and determine that there is a possibility of collision, and go to step 2;

Step 2: Set the lateral distance by setting the comfortable speed and setting the comfortable lateral acceleration offset in the direction away from the target vehicle;

Step 3: Preset the offset time by monitoring the longitudinal speed and longitudinal acceleration of the target vehicle in the adjacent lane and the longitudinal speed and longitudinal acceleration of the vehicle;

Step 4: Determine whether the target vehicle and the own vehicle have a tendency to continue to approach by monitoring the lateral offset speed, lateral offset acceleration of the target vehicle and the lateral distance between the target vehicle and the own vehicle in adjacent lanes; if so, go to step 5;

Step 5: Monitor whether there is a risk of collision between the vehicle and the target vehicle, if so, go to Step 6.

Step 6: The host vehicle decelerates at the set longitudinal first acceleration value; the host vehicle continues to shift laterally to maintain the set first distance laterally from the target vehicle; during the lateral shift process, continuously monitor the host vehicle and the other side When the lateral distance of the lane line is less than the set second distance, decelerate at the set longitudinal second acceleration value, and keep the lateral distance from the other side lane line greater than the set distance to drive;

Step 7: Continue to monitor whether there is no risk of collision between the vehicle and the target vehicle. If so, offset the vehicle on the side with a preset offset action time. After the preset time expires, the vehicle laterally approaches the centerline of the lane and returns.

Among them, the following conditions in step 1 determine the possibility of longitudinal collision between the vehicle and the target vehicle in the adjacent lane: 1) The radius of the vehicle's driving lane is more than 1800m; 2) The longitudinal distance recognized by the first left/right lane in front of the vehicle is the closest The vehicle type is bus (bus) or truck (truck); 3) The longitudinal distance of the nearest vehicle identified in the left/right lane in front of the vehicle is greater than 10m; 4) The distance between the side of the target vehicle and the side of the vehicle is less than 0.8m.

In step 2, the lateral speed is 0.5m/s, the lateral acceleration is 0.5m/s ² , the lateral offset distance is set to 0.5*the lane width of the vehicle - 0.5 the width of the vehicle - 0.45, and the upper limit of the lateral offset is limited to 0.3m , the lower limit of lateral offset is 0m.

In step 3, the calculation method of the smart offset action time is as follows. When the front of the vehicle is flush with the rear of the target vehicle to avoid, the longitudinal speed of the vehicle is v ₁ , the longitudinal acceleration is a ₁ , and the longitudinal speed of the target vehicle to avoid is v _2. The longitudinal acceleration is a ₂ . The length of the vehicle is L ₁ , and the target vehicle length to be avoided is 1.5 vehicle lengths from the front of the target vehicle when the vehicle exceeds the target vehicle and the rear distance of the vehicle exceeds the distance between the two vehicles. The target vehicle in the lane has no risk of collision. At this time, the vehicle stops offsetting and starts to deviate back to the center of the lane line. The offset action time is recorded as t. According to the relationship of the longitudinal distance of the vehicle, v ₁ t+1/2a ₁ t=v ₂ t+1/2a ₂ t+1.5L ₁ +L ₂ , the offset action time t=(1.5L ₁ +L ₂ )/(v ₁ t+1/2a ₁ tv ₂ t-1/2a ₂ can be calculated t).

In step 4, the logic for judging whether the target vehicle and the own vehicle have a continuous approaching trend is that the continuous reduction of the lateral distance between the target vehicle and the own vehicle for 5 consecutive monitoring periods is regarded as a nearing trend.

The logic for judging whether there is a risk of collision between the vehicle and the target vehicle in step 5 is that when the lateral distance between the vehicle and the target vehicle in the adjacent lane is less than 0.5m, there is a risk of collision.

In step 6, set the longitudinal first acceleration value -2m/s ² <a<0m/s ² ; the vehicle of the own vehicle continues to shift laterally, and maintains the laterally set first distance of 80cm from the target vehicle; Monitor when the lateral distance between the vehicle and the lane line on the other side is less than the set second distance of 30cm, use the set longitudinal second acceleration value -4m/s ² <a<0m/s ² to decelerate, and maintain the distance from the other side lane The horizontal distance of the line is greater than the set second distance by 30cm.

In step 7, the lateral speed of the vehicle laterally approaching the center line of the lane is 0.5m/s, and the lateral acceleration is 0.5m/s ² . If the intelligent offset logic for other vehicles is triggered during the offset process, the return will be ended. biased; in step 6, the logic of continuously monitoring whether there is no risk of collision between the vehicle and the target vehicle is to determine whether the lateral distance between the vehicle and the target vehicle is less than the set value within a certain period of time, and if so, determine that there is a possibility of a longitudinal collision.

In summary, the embodiment of the present application determines whether the collision time and the lateral distance between the target vehicle in the adjacent lane and the vehicle are less than the safety distance threshold triggered by the logic; if not less than the safety distance threshold, continue to drive in the current lane; Distance, laterally offset a certain distance in the direction away from the target vehicle in the adjacent lane. When the vehicle exceeds the target vehicle in the adjacent lane and the front of the vehicle is 1.5 vehicle lengths away from the target vehicle, it is considered that there is no risk of collision between the two vehicles. Deviates to the center of the lane, and reasonably controls the lateral speed and lateral acceleration of the vehicle by sending commands to the controller during the deviation process to ensure the comfort and safety of the intelligent deviation process. The lateral control strategy of the integrated adaptive cruise system , In the way of intelligent offset, it can effectively improve the safety during driving and avoid the risk of collision.

According to the adaptive cruise offset control method for a vehicle proposed in the embodiment of the present application, the lateral state of the vehicle in the adjacent lane and the vehicle can be monitored. Obtain relative position information in real time, adopt intelligent offset strategy, avoid safety risks during driving as much as possible, and detect the speed and acceleration of the vehicle and adjacent vehicles at the same time. Under different speed conditions, there are different offset times. Avoid too long offset time, provide users with a safe and comfortable driving experience, and improve the reliability and safety of the integrated adaptive cruise system. As a result, it is solved that the integrated adaptive cruise system in the related art does not take into account the duration of lateral offset, the actual longitudinal distance, and longitudinal acceleration, resulting in a long offset time that cannot be corrected, reducing the user's vehicle safety and driving experience. And other issues.

Next, an adaptive cruise offset control device for a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

FIG. 3 is a schematic block diagram of an adaptive cruise offset control device for a vehicle according to an embodiment of the present application.

As shown in FIG. 3 , the adaptive cruise offset control device 10 of the vehicle includes: an acquisition module 100 , a calculation module 200 and a control module 300 .

Among them, the acquisition module 100 is used to acquire the longitudinal distance and the lateral distance between the vehicle and the vehicle in the adjacent lane; the calculation module 200 is used to obtain the desired lateral speed when both the longitudinal distance and the lateral distance are smaller than the corresponding preset safety threshold. and the expected acceleration to calculate the target offset lateral distance of the vehicle; the control module 300 is used to calculate the target offset duration of the vehicle according to the actual longitudinal speed and the actual longitudinal acceleration corresponding to the vehicle and the vehicle in the adjacent lane, and to control the vehicle in the After the target offset lateral distance is offset within the target offset duration, the host vehicle is controlled to reversely offset the target offset lateral distance.

Among them, the acquisition module 100 includes a perception module and a positioning module. The perception module mainly includes sensors such as cameras, millimeter wave radars, and lidars, as well as steering wheel angle sensors, accelerator pedal brake pedal sensors, etc., to collect the surrounding environment status in real time, and output the target ID. (Identity identification), type, relative distance, relative speed, left and right lane line information, steering wheel angle and accelerator pedal opening, etc.; the positioning module is mainly used to obtain the vehicle's own position information.

In this embodiment of the present application, the control module 300 is used to: detect whether the lateral distance decreases sequentially within multiple detection periods; if the lateral distance decreases sequentially within multiple detection periods, determine whether the lateral distance is less than a preset collision threshold; When the distance is less than the preset collision threshold, control the vehicle to perform a deceleration offset action, otherwise, continue to control the vehicle to offset the target offset lateral distance within the target offset duration.

In the embodiment of the present application, the control module 300 is further configured to: control the vehicle to decelerate at a preset first acceleration value, and control the lateral offset of the vehicle, so that the lateral distance between the vehicle and the vehicle in the adjacent lane is the first distance ; In the process of controlling the lateral deviation of the vehicle, when it is detected that the lateral distance between the vehicle and the lane line on the side away from the vehicle in the adjacent lane is less than the second distance, the vehicle is controlled to decelerate at the preset second acceleration value, And control the offset of the own vehicle so that the lateral distance from the lane line is greater than or equal to the second distance.

Among them, the control module can calculate the required lateral offset distance and lateral offset action time of the automatic driving vehicle according to the information obtained by the sensing module, such as the vehicle in the lane beside the automatic driving vehicle and the running speed and acceleration of the vehicle, so as to realize the The cart is automatically offset.

In the embodiment of the present application, the calculation formula of the target offset duration is:

t=(1.5L ₁ +L ₂ )/(v ₁ t+1/2a ₁ tv ₂ t-1/2a ₂ t),

Among them, L ₁ is the length of the vehicle, L ₂ is the length of the vehicle in the adjacent lane, v ₁ is the actual longitudinal speed of the vehicle, a ₁ is the actual longitudinal acceleration of the vehicle, and v ₂ is the vehicle in the adjacent lane. The actual longitudinal speed, a ₂ is the actual longitudinal acceleration of the vehicle in the adjacent lane.

It should be noted that the foregoing explanations on the embodiment of the vehicle adaptive cruise offset control method are also applicable to the vehicle adaptive cruise offset control device of this embodiment, and are not repeated here.

According to the adaptive cruise offset control device for a vehicle proposed in the embodiment of the present application, the lateral state of the vehicle in the adjacent lane and the vehicle can be monitored. Obtain relative position information in real time, adopt intelligent offset strategy, avoid safety risks during driving as much as possible, and detect the speed and acceleration of the vehicle and adjacent vehicles at the same time. Under different speed conditions, there are different offset times. Avoid too long offset time, provide users with a safe and comfortable driving experience, and improve the reliability and safety of the integrated adaptive cruise system. As a result, it is solved that the integrated adaptive cruise system in the related art does not take into account the duration of lateral offset, the actual longitudinal distance, and longitudinal acceleration, resulting in a long offset time that cannot be corrected, reducing the user's vehicle safety and driving experience. And other issues.

FIG. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle can include:

Memory 401 , processor 402 , and computer programs stored on memory 401 and executable on processor 402 .

When the processor 402 executes the program, the adaptive cruise offset control method of the vehicle provided in the above embodiments is implemented.

Optionally, the vehicle also includes:

The communication interface 403 is used for communication between the memory 401 and the processor 402 .

The memory 401 is used to store computer programs that can be executed on the processor 402 .

The memory 401 may include a high-speed RAM (Random Access Memory, 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 independently implemented, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and complete communication with each other. The bus may be an ISA (IndustryStandard Architecture, industry standard architecture) bus, a PCI (Peripheral Component, peripheral device interconnection) bus, or an EISA (Extended Industry Standard Architecture, extended industry standard architecture) bus, or the like. The bus can be divided into address bus, data bus, control bus and so on. For ease of presentation, only one thick line is used in FIG. 4, but it does not mean that there is only one bus or one type of bus.

Optionally, in terms of specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on one chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

The processor 402 may be a CPU (Central Processing Unit, central processing unit), or an ASIC (Application Specific Integrated Circuit, specific integrated circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

Embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, implements the above-mentioned adaptive cruise offset control method for a vehicle.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed 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 of the embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present application, "N" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

Any process or method description in the flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or N more executable instructions for implementing custom logical functions or steps of the process , and the scope of the preferred embodiments of the present application includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application belong.

It should be understood that various parts of this application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one of the following techniques known in the art, or a combination thereof: discrete with logic gates for implementing logic functions on data signals Logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, etc.

Those skilled in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.

Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations to the present application. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (10)

1. An adaptive cruise offset control method for a vehicle, characterized in that, comprising the following steps: Obtain the longitudinal and lateral distances between the vehicle and the vehicle in the adjacent lane; When both the longitudinal distance and the lateral distance are smaller than the corresponding preset safety threshold, calculating the target offset lateral distance of the host vehicle according to the desired lateral vehicle speed and the desired acceleration; Calculate the target offset duration of the own vehicle according to the actual longitudinal speed and actual longitudinal acceleration corresponding to the vehicle and the adjacent lane vehicles, and offset the target offset lateral distance within the target offset duration Afterwards, the host vehicle is controlled to reversely offset the target offset lateral distance. 2 . The method according to claim 1 , wherein the controlling the host vehicle to offset the target offset lateral distance within the target offset duration comprises: 2 . Detecting whether the lateral distance decreases sequentially within multiple detection periods; If the lateral distance decreases sequentially within multiple detection cycles, determine whether the lateral distance is less than a preset collision threshold; When the lateral distance is less than the preset collision threshold, control the own vehicle to perform a deceleration offset action, otherwise, continue to control the own vehicle to offset the target offset lateral distance within the target offset duration . 3 . The method according to claim 2 , wherein the controlling the host vehicle to perform a deceleration offset action comprises: 3 . Controlling the own vehicle to decelerate at a preset first acceleration value, and controlling the lateral offset of the own vehicle, so that the lateral distance between the own vehicle and the vehicle in the adjacent lane is the first distance; In the process of controlling the lateral deviation of the own vehicle, when it is detected that the lateral distance between the own vehicle and the lane line on the side away from the vehicle in the adjacent lane is smaller than the second distance, the own vehicle is controlled to pre-emptively A second acceleration value is set to decelerate, and the host vehicle is controlled to offset so that the lateral distance from the lane line is greater than or equal to the second distance. 4. The method according to any one of claims 1-3, wherein the calculation formula of the target offset duration is: t=(1.5L ₁ +L ₂ )/(v ₁ t+1/2a ₁ tv ₂ t-1/2a ₂ t), Wherein, L ₁ is the length of the vehicle, L ₂ is the length of the vehicle in the adjacent lane, v ₁ is the actual longitudinal speed of the vehicle, a ₁ is the actual longitudinal acceleration of the vehicle, v ₂ is the actual longitudinal velocity of the vehicle in the adjacent lane, and a ₂ is the actual longitudinal acceleration of the vehicle in the adjacent lane. 5. An adaptive cruise offset control device for a vehicle, comprising: The acquisition module is used to acquire the longitudinal and lateral distances between the vehicle and vehicles in the adjacent lanes; a calculation module, configured to calculate the target offset lateral distance of the own vehicle according to the expected lateral vehicle speed and the expected acceleration when both the longitudinal distance and the lateral distance are smaller than the corresponding preset safety threshold; a control module, configured to calculate the target offset duration of the own vehicle according to the actual longitudinal speed and the actual longitudinal acceleration corresponding to the vehicle and the adjacent lane vehicles, and to control the target offset duration of the own vehicle After the target offset lateral distance is internally offset, the host vehicle is controlled to reversely offset the target offset lateral distance. 6. The device according to claim 5, wherein the control module is used for: Detecting whether the lateral distance decreases sequentially within multiple detection periods; If the lateral distance decreases sequentially within multiple detection cycles, determine whether the lateral distance is less than a preset collision threshold; When the lateral distance is less than the preset collision threshold, control the own vehicle to perform a deceleration offset action, otherwise, continue to control the own vehicle to offset the target offset lateral distance within the target offset duration . 7. The apparatus of claim 6, wherein the control module is further configured to: Controlling the own vehicle to decelerate at a preset first acceleration value, and controlling the lateral offset of the own vehicle, so that the lateral distance between the own vehicle and the vehicle in the adjacent lane is the first distance; In the process of controlling the lateral deviation of the own vehicle, when it is detected that the lateral distance between the own vehicle and the lane line on the side away from the vehicle in the adjacent lane is smaller than the second distance, the own vehicle is controlled to pre-emptively A second acceleration value is set to decelerate, and the host vehicle is controlled to offset so that the lateral distance from the lane line is greater than or equal to the second distance. 8. The device according to any one of claims 5-7, wherein the calculation formula of the target offset duration is: t=(1.5L ₁ +L ₂ )/(v ₁ t+1/2a ₁ tv ₂ t-1/2a ₂ t), Wherein, L ₁ is the length of the vehicle, L ₂ is the length of the vehicle in the adjacent lane, v ₁ is the actual longitudinal speed of the vehicle, a ₁ is the actual longitudinal acceleration of the vehicle, v ₂ is the actual longitudinal velocity of the vehicle in the adjacent lane, and a ₂ is the actual longitudinal acceleration of the vehicle in the adjacent lane. 9. 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 method as claimed in the claims The adaptive cruise offset control method of any one of 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 the adaptive cruise bias of the vehicle according to any one of claims 1-4. Move control method.

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