CN115140031A

CN115140031A - Automatic driving method and device and electronic equipment

Info

Publication number: CN115140031A
Application number: CN202110350067.8A
Authority: CN
Inventors: 王斌; 刘飞
Original assignee: SAIC Motor Corp Ltd; Shanghai Automotive Industry Corp Group
Current assignee: SAIC Motor Corp Ltd; Shanghai Automotive Industry Corp Group
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2022-10-04

Abstract

The invention provides an automatic driving method, an automatic driving device and electronic equipment, wherein when the deceleration of a vehicle is determined, a plurality of first brake decelerations and second brake decelerations are calculated, according to a collision probability value, a brake deceleration meeting a preset deceleration screening condition is screened from the plurality of first brake decelerations and the second brake decelerations, the brake deceleration is used as a target brake deceleration, and the target brake deceleration is output to a vehicle brake system so as to enable the vehicle brake system to perform brake operation. In other words, the invention considers the running state of the front vehicle and the running state of the rear vehicle in the process of deceleration, can ensure that the front vehicle and the rear vehicle do not collide in the process of braking, and improves the driving safety.

Description

Automatic driving method and device and electronic equipment

Technical Field

The invention relates to the field of automatic driving, in particular to an automatic driving method, an automatic driving device and electronic equipment.

Background

With the continuous development of automatic driving technology, more and more vehicles are equipped with an Adaptive Cruise Control (ACC) and an Automatic Emergency Braking (AEB). The ACC system and the AEB system are capable of performing vehicle travel control in accordance with a traveling state of a vehicle ahead of the vehicle, the vehicle being on the same lane as the own vehicle.

When the ACC system or the AEB system determines that the front vehicle has a deceleration requirement according to the running state of the front vehicle, in order to avoid collision with the front vehicle, the self vehicle is controlled to perform deceleration control along with the front vehicle, but when the distance between the rear vehicle of the self vehicle and the self vehicle is close, the self vehicle decelerates, the self vehicle possibly collides with the rear vehicle, and the running safety of the vehicle is low.

Disclosure of Invention

In view of the above, the present invention provides an automatic driving method, an automatic driving device, and an electronic apparatus, so as to solve the problem that when a front vehicle needs to decelerate, the front vehicle is controlled to decelerate along with the front vehicle, and at this time, a collision between the front vehicle and a rear vehicle may occur, and the driving safety of the vehicle is low.

In order to solve the technical problems, the invention adopts the following technical scheme:

an automatic driving method is applied to a controller in a vehicle, wherein a vehicle in front of the vehicle and a vehicle behind the vehicle are positioned on the same lane; the automatic driving method includes:

calculating a collision probability value of the vehicle with the rear vehicle based on relative travel information of the vehicle and the rear vehicle in a case where it is determined that the vehicle decelerates;

calculating a plurality of first braking decelerations according to the collision probability value, the output result of the adaptive cruise system and a plurality of different first braking strength calculation rules, wherein the first braking strength calculation rules corresponding to the different first braking decelerations are different;

calculating a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system and a second braking intensity calculation rule; the output result of the adaptive cruise system and the output result of the automatic emergency braking system are determined based on the traveling state of the preceding vehicle;

screening out braking deceleration meeting preset deceleration screening conditions from the plurality of first braking decelerations and the second braking deceleration according to the collision probability value, and taking the braking deceleration as target braking deceleration;

outputting the target braking deceleration to a vehicle braking system to cause the vehicle braking system to perform a braking operation.

Optionally, after outputting the braking deceleration to a vehicle braking system, the method further comprises:

judging whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed interval and whether the collision probability value is greater than a first preset collision probability threshold value;

if the target braking deceleration is judged to be the second braking deceleration, the speed of the vehicle is within a preset speed interval, and the collision probability value is larger than a first preset collision probability threshold value, judging whether lane changing operation can be carried out or not;

if so, sending a braking stopping command to the vehicle braking system and sending a lane changing command to a steering system so as to enable the steering system to carry out lane changing operation; the message is a message that characterizes that a lane change can be made.

Optionally, calculating a collision probability value of the vehicle with the rear vehicle based on the relative travel information of the vehicle with the rear vehicle includes:

calculating to obtain backward collision time according to the relative distance and the relative speed between the vehicle and the rear vehicle;

calculating to obtain a backward time distance according to the relative distance between the vehicle and the rear vehicle and the vehicle speed of the vehicle;

determining a weight coefficient corresponding to a vehicle type of the rear vehicle;

acquiring a deceleration value of the rear vehicle;

calculating a collision probability value of the vehicle with the rear vehicle based on the rear collision time, the rear time interval, the weight coefficient, and a deceleration value of the rear vehicle.

Optionally, calculating a plurality of first brake decelerations according to the collision probability value, the output result of the adaptive cruise system and a plurality of different first brake intensity calculation rules comprises:

obtaining an output result of the adaptive cruise system, wherein the output result comprises a first braking initial deceleration calculated by the adaptive cruise system;

calculating to obtain a first braking deceleration based on the first braking initial deceleration, the collision probability value and the minimum braking intensity calculation mode;

calculating to obtain a first braking deceleration based on the first braking initial deceleration, the collision probability value and a middle-level braking intensity calculation mode;

the first braking initial deceleration is taken as a first braking deceleration.

Optionally, calculating a second braking deceleration based on the collision probability value, the output result of the automatic emergency braking system, and a second braking intensity calculation rule, comprises:

obtaining an output result of an automatic emergency braking system; the output result comprises a normal deceleration and a segment deceleration;

taking the ordinary deceleration as a second braking deceleration under the condition that the collision probability value is smaller than a second preset collision probability threshold value;

and taking the sectional deceleration as a second braking deceleration under the condition that the collision probability value is larger than a second preset collision probability threshold value.

Optionally, screening out a braking deceleration meeting a preset deceleration screening condition from the plurality of first braking decelerations and the second braking deceleration according to the collision probability value, and using the braking deceleration as a target braking deceleration, wherein the method comprises the following steps:

determining a first braking deceleration from a plurality of first braking decelerations based on the collision probability value and a first braking deceleration screening rule;

the smaller value of the determined first braking deceleration and the second braking deceleration is determined as a target braking deceleration.

An automatic driving device is applied to a controller in a vehicle, wherein a vehicle in front of the vehicle and a vehicle behind the vehicle are positioned on the same lane; the automatic driving device includes:

a collision probability calculation module for calculating a collision probability value of the vehicle with the rear vehicle based on relative travel information of the vehicle and the rear vehicle in a case where it is determined that the vehicle decelerates;

the first speed calculation module is used for calculating a plurality of first braking decelerations according to the collision probability value, the output result of the adaptive cruise system and a plurality of different first braking strength calculation rules, wherein the first braking strength calculation rules corresponding to the different first braking decelerations are different;

the second speed calculation module is used for calculating a second braking deceleration based on the collision probability value, the output result of the automatic emergency braking system and a second braking strength calculation rule; the output result of the adaptive cruise system and the output result of the automatic emergency braking system are determined based on the traveling state of the preceding vehicle;

the speed screening module is used for screening the braking deceleration meeting the preset deceleration screening condition from the plurality of first braking decelerations and the second braking deceleration according to the collision probability value and taking the braking deceleration as the target braking deceleration;

and the automatic control module is used for outputting the target braking deceleration to a vehicle braking system so as to enable the vehicle braking system to perform braking operation.

Optionally, the method further comprises:

the first judgment module is used for judging whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is located in a preset speed interval and whether the collision probability value is larger than a first preset collision probability threshold value;

the second judgment module is used for judging whether lane changing operation can be carried out or not if the target braking deceleration is judged to be the second braking deceleration, the speed of the vehicle is located in a preset speed interval and the collision probability value is larger than a first preset collision probability threshold value;

the lane changing control module is used for sending a braking stopping command to the vehicle braking system and sending a lane changing command to the steering system if the lane changing control module is yes, so that the steering system can carry out lane changing operation; the message is a message for representing that the lane change can be carried out.

Optionally, the collision probability calculation module includes:

the time calculation submodule is used for calculating and obtaining backward collision time according to the relative distance and the relative speed between the vehicle and the rear vehicle;

the time distance calculation submodule is used for calculating to obtain a backward time distance according to the relative distance between the vehicle and the rear vehicle and the vehicle speed of the vehicle;

a coefficient determination submodule for determining a weight coefficient corresponding to a vehicle type of the rear vehicle;

a speed acquisition submodule for acquiring a deceleration value of the rear vehicle;

and the probability calculation submodule is used for calculating the collision probability value of the vehicle and the rear vehicle on the basis of the backward collision time, the backward time interval, the weight coefficient and the deceleration value of the rear vehicle.

An electronic device, wherein a vehicle in front of a vehicle in which the electronic device is located and a vehicle behind the vehicle are located on the same lane; the method comprises the following steps: a memory and a processor;

wherein the memory is used for storing programs;

the processor calls a program and is used to:

Compared with the prior art, the invention has the following beneficial effects:

the invention provides an automatic driving method, an automatic driving device and electronic equipment, wherein when the deceleration of a vehicle is determined, a collision probability value of the vehicle and a rear vehicle is calculated, a plurality of first braking decelerations are calculated on the basis of the collision probability value, an output result of an adaptive cruise system determined according to the running state of the front vehicle and a plurality of different first braking strength calculation rules, a second braking deceleration is calculated on the basis of the collision probability value, an output result of an automatic emergency braking system determined according to the running state of the front vehicle and a second braking strength calculation rule, a braking deceleration meeting a preset deceleration screening condition is screened from the plurality of first braking decelerations and the second braking deceleration according to the collision probability value and is used as a target braking deceleration, and the target braking deceleration is output to a vehicle braking system so that the vehicle braking system performs braking operation. In other words, the invention considers the running state of the front vehicle and the running state of the rear vehicle in the process of deceleration, can ensure that the front vehicle and the rear vehicle do not collide in the process of braking, and improves the driving safety.

Drawings

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

Fig. 1 is a schematic view of a driving scene of a vehicle according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method for automatic driving according to an embodiment of the present invention;

FIG. 3 is a flow chart of another method for automatic driving according to an embodiment of the present invention;

FIG. 4 is a schematic view of a first braking deceleration scenario provided by an embodiment of the present invention;

FIG. 5 is a schematic view of a second braking deceleration provided by the embodiment of the invention;

FIG. 6 is a flowchart of a method for providing yet another automatic driving method according to an embodiment of the present invention;

fig. 7 is a scene schematic diagram of an automatic driving method according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an automatic steering device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

When the ACC system or the AEB system determines that the front vehicle has a deceleration demand according to the driving state of the front vehicle, in order to avoid collision with the front vehicle, the self vehicle is controlled to decelerate along with the front vehicle.

In order to solve this problem, the inventors have studied and found that, if the vehicle is in a deceleration state when the automatic travel is possible, the deceleration of the vehicle is controlled by the state of the front vehicle and the state of the rear vehicle in consideration of the state of the front vehicle and the state of the rear vehicle. And if the vehicle can be controlled to stop decelerating and change the lane if the lane change driving of the vehicle is determined in the process of decelerating the vehicle, and if the lane change driving of the vehicle cannot be performed, the vehicle is controlled to continue decelerating and driving.

Specifically, in the present invention, when it is determined that the vehicle decelerates, a collision probability value of the vehicle and the rear vehicle is calculated, a plurality of first braking decelerations are calculated based on the collision probability value, an output result of the adaptive cruise system determined according to the running state of the front vehicle, and a plurality of different first braking strength calculation rules, a second braking deceleration is calculated based on the collision probability value, an output result of the automatic emergency braking system determined according to the running state of the front vehicle, and a second braking strength calculation rule, a braking deceleration meeting a preset deceleration screening condition is screened from the plurality of first braking decelerations and the second braking deceleration according to the collision probability value, and the target braking deceleration is output to a vehicle braking system as a target braking deceleration, so that the vehicle braking system performs a braking operation. In other words, the invention considers the running state of the front vehicle and the running state of the rear vehicle in the process of deceleration, can ensure that the front vehicle and the rear vehicle do not collide in the process of braking, and improves the driving safety.

Based on the above, another embodiment of the present invention provides an automatic driving method, which is applied to a controller in a vehicle, where the controller in this embodiment may be a Cruise system (RIC) with a backward flash function. In this embodiment, an RIC system is added on the basis that an original vehicle has an Adaptive Cruise Control (ACC) system and an automatic Emergency braking system (AEB).

In addition, the original ACC system and the AEB system are improved to a certain extent, and the original ACC system and the original AEB system can directly control an actuating mechanism of a vehicle, such as an SCS braking system and the like. In the embodiment of the invention, the ACC system and the AEB system do not directly control the actuating mechanism of the vehicle any more, but output signals to the RIC system in the embodiment of the invention, and the actuating mechanism of the vehicle, such as an SCS braking system, an EPS steering system, a power transmission system and the like, is controlled by the RIC system.

When an actual vehicle is running, there may be a vehicle in front of the vehicle, called a front vehicle, or simply a front vehicle, and a vehicle behind the vehicle, called a rear vehicle, or simply a rear vehicle. Referring to fig. 1, a vehicle ahead of the vehicle and a vehicle behind the vehicle are located on the same lane, and as in fig. 1, three vehicles are located in a lane 2.

Referring to fig. 3, the automatic driving method may include:

and S11, under the condition that the vehicle is determined to decelerate, calculating a collision probability value of the vehicle and the rear vehicle based on relative running information of the vehicle and the rear vehicle.

In practical applications, when the vehicle decelerates, it may be considered that the vehicle may collide with a rear vehicle, at which point the logic of the present invention begins to be executed. In determining the deceleration of the vehicle, it may be determined by whether the vehicle speed becomes small, and further, it may be determined by whether the SCS braking system performs braking.

In one implementation of the present invention, referring to fig. 3, "calculating a collision probability value of the vehicle with the rear vehicle based on relative travel information of the vehicle with the rear vehicle" may include:

and S21, calculating backward collision time according to the relative distance and the relative speed between the vehicle and the rear vehicle.

And S22, calculating to obtain a backward time distance according to the relative distance between the vehicle and the rear vehicle and the vehicle speed of the vehicle.

And S23, determining a weight coefficient corresponding to the vehicle type of the rear vehicle.

And S24, acquiring the deceleration value of the rear vehicle.

And S25, calculating a collision probability value of the vehicle and the rear vehicle based on the backward collision time, the backward time interval, the weight coefficient and the deceleration value of the rear vehicle.

In practical applications, the RIC system architecture includes an RC _ Conf module, an RI _ ACC module, an RI _ AEB module, an RI _ ARB module, an RI _ LCA module, and the like.

The RC _ Conf module can calculate and judge the relative speed, the relative distance change, the backward relative acceleration and the backward target type of the self vehicle and the rear vehicle so as to evaluate and comprehensively calculate the collision risk.

Further, the RC _ Conf algorithm mainly considers the following aspects:

a collision probability value RC _ Conf = Func (TTC _ RC, TRW _ RC, objCls _ RC, accel _ RC) of the vehicle with the rear vehicle.

Wherein the backward collision time TTC _ RC = rltvlongdist _ RC/RltvSpd _ RC;

backward time interval TRW _ RC = rltvlongtdit _ RC/EgoSpd;

a weighting coefficient corresponding to a vehicle type of the rear vehicle:

ObjCls_RC＝WeightFunc(MotorCycle,Truck,Car)

wherein, rltvlongtdirc is the relative distance between the rear vehicle and the vehicle, i.e. the vehicle itself, rltvSpd _ RC is the relative speed between the rear vehicle and the vehicle itself, egoSpd is the vehicle speed of the vehicle, objCls _ RC is the weight coefficient corresponding to the vehicle type (MotorCycle, truck, car) of the rear vehicle, and Accel _ RC is the deceleration value of the rear vehicle.

After the backward collision time, the backward time interval, the weight coefficient and the deceleration value of the rear vehicle are obtained by the method, the collision probability value of the vehicle and the rear vehicle is calculated according to the RC _ Conf = Func (TTC _ RC, TRW _ RC, objCls _ RC, accel _ RC), wherein RC _ Conf is 0-100, and the higher the value is, the higher the collision risk is. Wherein Func represents a calibration function based on Func (,) internal variables, which is a set of calibration tables.

And S12, calculating a plurality of first braking decelerations according to the collision probability value, the output result of the adaptive cruise system and a plurality of different first braking strength calculation rules.

In this embodiment of the present invention, the main execution body of step S12 is the RI _ ACC module described above, and the RI _ ACC module is based on the backward intelligence-related function and interface of the conventional ACC function overlay. Compared with the traditional ACC, RI _ ACC needs to increase a backward collision risk signal for receiving RC _ Conf so as to optimize a brake request deceleration curve.

In practical application, the adaptive cruise system is the ACC system, and during normal following of the ACC, the ACC may have different speed and acceleration planning curves, and although the braking smoothness of the vehicle may be maintained, different braking plans affect the relationship with the braking of the preceding vehicle. When detecting that a vehicle exists in front of the vehicle, the ACC system can adjust the running state of the vehicle according to the running state of the vehicle in front, such as the vehicle speed and the like, and when the vehicle in front decelerates, the ACC system can output a deceleration value, which is called CBf _ nor, and the RI _ ACC module in the invention needs to add 2 ACC output signals in addition to the conventional CBf _ nor, namely the normal ACC deceleration request: minimum brake intensity request value CBf _ min, and mid-stage deceleration request value CBf _ mid, requests for peak brake intensity reduction under safety assurance to mitigate rear impact risk.

That is, the output braking strength of the RI _ ACC module is mainly classified into CBf _ nor, CBf _ mid and CBf _ min, as shown in the schematic diagram of cbf braking deceleration curve in fig. 4, for the same front vehicle target, the RI _ ACC terminal can mark 3 different braking curves to satisfy the safe following relationship with the front vehicle.

CBf _ nor = (normal mode),

CBf _ min = (early braking point mode), earlier brake release,

CBf _ mid = (gentle braking mode); brake pointThe normal mode is maintained, but the maximum braking intensity is limited, the time of medium braking is prolonged, and for example, the mode of solving the maximum and minimum values with a uniform deceleration algorithm can be adopted, so that the braking curve of the reduced peak value is calculated.

The CBf _ nor, CBf _ mid and CBf _ min are three different types of the first braking deceleration, and the first braking strength calculation rules corresponding to the different first braking decelerations are different. The CBf _ nor is directly output by the ACC system, CBf _ mid and CBf _ min are respectively calculated through CBf _ nor and calibration values obtained through table lookup under RC _ Conf. Deceleration CBf _ nor = f (a _ hd, K1, rltvSpd, tau, K2, rltvDist, t _ set) of the normal mode, wherein RltvSpd and RltvDist are position information parameters of the host vehicle and a vehicle in front of the host vehicle, a _ hd is a acceleration value of the host vehicle, t _ set is a following vehicle distance gear selected by a driver, tau is a coefficient corresponding to t _ set, and K1 and K2 correspond to calibration parameters corresponding to RltvSpd and RltvDist;

in the CBf _ mid and CBf _ min modes,

CBf_mid＝f(a_hd,K3(RC_Conf),RltvSpd,tau,K2，RltvDist,t_set)

CBf_min＝f(a_hd,K4(RC_Conf),RltvSpd,tau,K2，RltvDist,t_set)

based on different RC _ Conf, different CBf _ min, CBf _ mid can be obtained, wherein the calculated value of CBf _ mid is larger than that of CBf _ mid

And S13, calculating a second braking deceleration based on the collision probability value, the output result of the automatic emergency braking system and a second braking intensity calculation rule.

Wherein the output result of the adaptive cruise system and the output result of the automatic emergency brake system are determined based on a traveling state of the preceding vehicle.

In the embodiment of the present invention, the main execution body for executing step S13 is the RI _ AEB module, and compared with the conventional AEB, the RI _ AEB needs to add a backward collision risk signal for receiving RC _ Conf, so as to optimize the braking request deceleration curve.

In the RI _ AEB disclosed by the invention, the brake response is carried out in advance by receiving the RC _ Conf signal, and the concentrated step of the brake intensity is reduced, so that more response time of a rear vehicle is provided, as shown in the schematic diagram of an EBf brake deceleration curve in FIG. 5. The Ebf _ RIC is the braking curve output by RI _ AEB in the invention, and the Ebf _ RIC is the braking curve output by original AEB.

In practical applications, the automatic emergency braking system is the AEB system, and the braking process of the AEB is generally late and the braking strength is high. AEB has two brake deceleration values, one is an AEB ordinary deceleration value and one is an AEB segmented deceleration value, both of which are output by the AEB system. The second braking deceleration in the present invention is determined by the AEB ordinary deceleration value and the AEB segmental deceleration value. Specifically, the output results of the automatic emergency braking system are obtained, which include the ordinary deceleration (i.e., the AEB ordinary deceleration value described above) and the segmental deceleration (i.e., the AEB segmental deceleration value described above).

Taking the normal deceleration as a second braking deceleration in the case where the collision probability value is smaller than a second preset collision probability threshold value, and taking the sectional deceleration as a second braking deceleration under the condition that the collision probability value is larger than a second preset collision probability threshold value.

In particular, the method comprises the following steps of,

second braking deceleration

The calibration value is a second preset collision probability threshold in this embodiment, and the second preset collision probability threshold is set by a technician according to a specific application scenario. That is, in the embodiment of the invention, when the collision probability value is different from the magnitude relationship of the calibration value, one of the AEB ordinary deceleration value and the AEB segmented deceleration value is selected as the second brake deceleration EBF.

S14, according to the collision probability value, screening out braking deceleration meeting preset deceleration screening conditions from the plurality of first braking decelerations and the second braking deceleration, and using the braking deceleration as target braking deceleration.

The main execution body of the steps S14-S15 is the RC _ ARB module, and the RC _ ARB module is mainly responsible for processing the traditional ACC brake request CBf _ nor and the AEB brake request value EBf and performing deceleration arbitration; RI _ ARB needs to receive RC _ conf backward collision risk signals and output of RI _ ACC and RI _ AEB are synthesized to make braking decision.

According to the above-described embodiment, there are three first brake decelerations and one second brake deceleration EBF, so in the present embodiment, one of the first brake deceleration and the second brake deceleration is selected as the target brake deceleration based on the collision probability value and the preset deceleration screening condition.

And S15, outputting the target braking deceleration to a vehicle braking system so as to enable the vehicle braking system to perform braking operation.

Specifically, in this embodiment, the RC _ ARB module outputs the target braking deceleration to the vehicle braking system, and the vehicle braking system performs a braking operation according to the target braking deceleration. The vehicle braking system in the present embodiment may be the SCS braking system described above.

In this embodiment, when it is determined that the vehicle decelerates, a collision probability value of the vehicle and the rear vehicle is calculated, a plurality of first braking decelerations are calculated based on the collision probability value, an output result of the adaptive cruise system determined according to the running state of the front vehicle, and a plurality of different first braking strength calculation rules, a second braking deceleration is calculated based on the collision probability value, an output result of the automatic emergency braking system determined according to the running state of the front vehicle, and a second braking strength calculation rule, a braking deceleration meeting a preset deceleration screening condition is screened from the plurality of first braking decelerations and the second braking deceleration according to the collision probability value, and the target braking deceleration is output to a vehicle braking system as a target braking deceleration, so that the vehicle braking system performs a braking operation. In other words, the invention considers the running state of the front vehicle and the running state of the rear vehicle in the process of deceleration, can ensure that the front vehicle and the rear vehicle do not collide in the process of braking, and improves the driving safety.

The above embodiment describes "calculating the second braking deceleration based on the collision probability value, the output result of the automatic emergency braking system, and the second braking strength calculation rule", and a specific implementation thereof is now described. Specifically, referring to fig. 6, step S12 may include:

and S31, acquiring an output result of the adaptive cruise system.

Wherein, the output result comprises the first braking initial deceleration calculated by the adaptive cruise system, namely CBf _ nor.

And S32, calculating to obtain a first braking deceleration based on the first braking initial deceleration, the collision probability value and the minimum braking intensity calculation mode.

In practical applications, the calculation process of the first brake deceleration CBf _ mi n in the present embodiment refers to the corresponding description above.

And S33, calculating to obtain a first braking deceleration based on the first braking initial deceleration, the collision probability value and a middle-level braking intensity calculation mode.

In practical applications, the calculation process of the first brake deceleration CBf _ mi d in the present embodiment refers to the above-described corresponding description.

And S34, taking the first braking initial deceleration as a first braking deceleration.

That is, the first brake deceleration in the present embodiment is CBf _ nor, CBf _ mid, CBf _ mi n described above.

In the present embodiment, the first braking deceleration described above is determined, and step S14 may include:

and determining a first braking deceleration from a plurality of first braking decelerations based on the collision probability value and a first braking deceleration screening rule, and determining the smaller value of the determined first braking deceleration and the second braking deceleration as a target braking deceleration.

Specifically, the RI _ ARB module is responsible for deciding all braking requests in the system, including RI _ ACC and RI _ AEB, and finally outputs a braking deceleration value Brk _ acele to the SCS braking control module.

Target braking deceleration Brk _ accel = min (EBf, CBf)

In the present embodiment, during vehicle deceleration, a comprehensive braking deceleration can be calculated from the output results of RI _ ACC and RI _ AEB and the collision probability value between the host vehicle and the following vehicle, and vehicle braking control can be performed using this braking deceleration.

In the braking process, if it is determined that lane change is possible according to the environment around the vehicle, lane change operation may be performed to avoid collision with the front and rear vehicles to the maximum extent, specifically, referring to fig. 7, after outputting the braking deceleration to the vehicle braking system, the method further includes:

1) And judging whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed interval and whether the collision probability value is greater than a first preset collision probability threshold value.

Specifically, the RI _ ARB module outputs corresponding states ARB _ brkSts to RC _ Conf according to the deceleration corresponding to the previous step, wherein RI _ ARB _ brkSts includes,

0x0：CBf_nor

0x1：CBf_min

0x2：CBf_mid

0x3：EBf

0x4：RI_LCA_RC_conf

wherein, RI _ LCA _ RC _ conf indicates that the state of RI _ LCA _ sts = active is received and then set.

The above four states are determined based on the target brake deceleration Brk _ accel, and if Brk _ accel selects EBf, the content of ARB _ brkSts is 0x3, and if Brk _ accel selects CBf _ nor, the content of ARB _ brkSts is 0x0.

The braking decision of the RI _ ARB module is synchronously fed back to the RC _ Conf module. The RC _ Conf module monitors the relative relation between the vehicle and the rear vehicle, and the RC _ Conf module judges whether to request LCA to perform lane change control so as to perform emergency steering avoidance.

Specifically, it is determined whether the following abc holds:

a. calibration value 4 (e.g., 90 kph) > EgoSpd > calibration value 5 (e.g., 60 kph), namely, whether the speed of the vehicle is within a preset speed interval is judged;

b. RC _ conf > calibration value 6 (e.g., 90%), namely judging whether the collision probability value is greater than a first preset collision probability threshold value;

c. the ARB _ brkSts feedback is 0x3, that is, it is determined whether the target braking deceleration is the second braking deceleration.

2) And if the target braking deceleration is judged to be the second braking deceleration, the speed of the vehicle is within a preset speed interval, and the collision probability value is larger than a first preset collision probability threshold value, judging whether lane changing operation can be carried out.

Specifically, if abc is satisfied, the LCA _ Req requested by the RC _ Conf module is set to 1, that is, the RC _ Conf module generates and sends the lane change request to the RI _ LCA lane change control module. At this time, RI _ LCA may determine the surrounding information and the drivable road space condition to feed back whether the lane change may be made urgently, and the determination result RI _ LCA _ sts includes one of the following three types:

0x0 standby, indicating the default state of LCA;

0x1 is activated, which indicates that the LCA can process the emergency lane change condition;

the 0x2 condition is not met, indicating that the LCA cannot handle the emergency lane change condition.

After the RI _ LCA determines whether a lane change is possible, the result is returned to the RI _ ARB module.

3) If so, sending a braking stopping instruction to the vehicle braking system and sending a lane changing instruction to a steering system so as to enable the steering system to carry out lane changing operation; the message is a message for representing that the lane change can be carried out.

If RI _ LCA feedback is 0x1, the RI _ARBmodule cancels braking, the whole control process is handed to the RI _ LCA module to be controlled, and the RI _ LCA module controls the EPS steering system to perform steering control. In addition, the RI _ ARB module feeds back the 0x4 to RC _ Conf modules described above.

Otherwise, under the 0x0 and 0x2 states of RI _ LCA, the ARB will continue to perform longitudinal control according to RC _ conf, RI _ ACC and RI _ AEB.

Referring to fig. 7, fig. 7 is a schematic view of a whole flow control scenario, and the flow process of each signal stream may be according to the flow manner of fig. 7.

It should be noted that the power transmission system in fig. 7 is a transmission system for assisting the EPS steering system and the SCS braking system.

Alternatively, on the basis of the embodiment of the automatic driving method described above, another embodiment of the present invention provides an automatic driving apparatus applied to a controller in a vehicle, a vehicle ahead of the vehicle, a vehicle behind the vehicle being located on the same lane; the automatic driving device includes:

a collision probability calculation module 11 configured to calculate a collision probability value of the vehicle with the rear vehicle based on relative travel information of the vehicle and the rear vehicle in a case where it is determined that the vehicle decelerates;

the first speed calculation module 12 is configured to calculate a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise system, and a plurality of different first braking strength calculation rules, where the first braking strength calculation rules corresponding to the different first braking decelerations are different;

a second speed calculation module 13, configured to calculate a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system, and a second braking strength calculation rule; the output result of the adaptive cruise system and the output result of the automatic emergency braking system are determined based on the traveling state of the preceding vehicle;

the speed screening module 14 is configured to screen, according to the collision probability value, a braking deceleration meeting a preset deceleration screening condition from the plurality of first braking decelerations and the plurality of second braking decelerations, and use the braking deceleration as a target braking deceleration;

and the automatic control module 15 is used for outputting the target braking deceleration to a vehicle braking system so as to enable the vehicle braking system to perform braking operation.

Further, still include:

the first judgment module is used for judging whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed interval and whether the collision probability value is greater than a first preset collision probability threshold value;

Further, the collision probability calculation module includes:

the time distance calculation submodule is used for calculating a backward time distance according to the relative distance between the vehicle and the rear vehicle and the vehicle speed of the vehicle;

a probability calculation submodule for calculating a collision probability value of the vehicle with the rear vehicle based on the backward collision time, the backward time interval, the weight coefficient, and a deceleration value of the rear vehicle.

Further, the first speed calculation module includes:

the result obtaining submodule is used for obtaining an output result of the adaptive cruise system, and the output result comprises a first braking initial deceleration calculated by the adaptive cruise system;

the first calculation submodule is used for calculating and obtaining a first braking deceleration based on the first braking initial deceleration, the collision probability value and the minimum braking intensity calculation mode;

the second calculation submodule is used for calculating to obtain a first braking deceleration based on the first braking initial deceleration, the collision probability value and a middle-level braking intensity calculation mode;

a determination submodule for taking the first braking initial deceleration as a first braking deceleration.

Further, the second speed calculation module is specifically configured to:

acquiring an output result of the automatic emergency braking system; the output result comprises a normal deceleration and a segment deceleration;

and taking the segmented deceleration as a second braking deceleration under the condition that the collision probability value is larger than a second preset collision probability threshold value.

Further, the speed screening module is specifically configured to:

In this embodiment, when it is determined that the vehicle decelerates, a collision probability value of the vehicle with the rear vehicle is calculated, a plurality of first braking decelerations are calculated based on the collision probability value, an output result of the adaptive cruise system determined according to a running state of the front vehicle, and a plurality of different first braking intensity calculation rules, a second braking deceleration is calculated based on the collision probability value, an output result of the automatic emergency braking system determined according to the running state of the front vehicle, and a second braking intensity calculation rule, a braking deceleration meeting a preset deceleration screening condition is screened out from the plurality of first braking decelerations and the second braking deceleration according to the collision probability value, and the target braking deceleration is output to the vehicle braking system as a target braking deceleration, so that the vehicle braking system performs a braking operation. In other words, the invention considers the running state of the front vehicle and the running state of the rear vehicle in the process of deceleration, can ensure that the front vehicle and the rear vehicle do not collide in the process of braking, and improves the driving safety.

It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.

Optionally, on the basis of the embodiments of the automatic driving method and apparatus, another embodiment of the present invention provides an electronic device, where a vehicle ahead of a vehicle in which the electronic device is located and a vehicle behind the vehicle are located on the same lane; the method comprises the following steps: a memory and a processor;

wherein the memory is used for storing programs;

the processor invokes the program and is used to:

calculating a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise system and a plurality of different first braking strength calculation rules, wherein the first braking strength calculation rules corresponding to the different first braking decelerations are different;

screening the braking deceleration meeting the preset deceleration screening condition from the plurality of first braking decelerations and the second braking deceleration according to the collision probability value, and taking the braking deceleration as a target braking deceleration;

Further, after outputting the braking deceleration to a vehicle braking system, the method further includes:

if so, sending a braking stopping instruction to the vehicle braking system and sending a lane changing instruction to a steering system so as to enable the steering system to carry out lane changing operation; the message is a message for representing that the lane change can be carried out.

Further, calculating a collision probability value of the vehicle with the rear vehicle based on the relative travel information of the vehicle and the rear vehicle, including:

acquiring a deceleration value of the rear vehicle;

Further, calculating a plurality of first braking decelerations according to the collision probability value, the output result of the adaptive cruise system and a plurality of different first braking intensity calculation rules, and comprises the following steps:

based on the first braking initial deceleration, the collision probability value and the minimum braking intensity calculation manner, calculating to obtain a first braking deceleration;

and taking the first braking initial deceleration as a first braking deceleration.

Further, calculating a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system, and a second braking intensity calculation rule, including:

Further, according to the collision probability value, a braking deceleration meeting a preset deceleration screening condition is screened out from the plurality of first braking decelerations and the second braking deceleration, and the braking deceleration is used as a target braking deceleration and comprises:

the smaller of the determined first braking deceleration and the second braking deceleration is determined as a target braking deceleration.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic driving method is characterized in that the method is applied to a controller in a vehicle, wherein a vehicle in front of the vehicle and a vehicle behind the vehicle are positioned on the same lane; the automatic driving method comprises the following steps:

2. The automatic driving method according to claim 1, further comprising, after outputting the braking deceleration to a vehicle brake system:

3. The automatic driving method according to claim 1, wherein calculating a collision probability value of the vehicle with the rear vehicle based on relative travel information of the vehicle with the rear vehicle includes:

acquiring a deceleration value of the rear vehicle;

4. The autonomous driving method of claim 1, wherein calculating a plurality of first brake decelerations as a function of the collision probability value, the output of the adaptive cruise system, and a plurality of different first brake intensity calculation rules comprises:

5. The automatic driving method according to claim 1, wherein calculating a second braking deceleration based on the collision probability value, an output result of an automatic emergency braking system, and a second braking intensity calculation rule includes:

acquiring an output result of the automatic emergency braking system; the output result includes a normal deceleration and a stepped deceleration;

6. The automatic driving method according to claim 1, characterized in that, in accordance with the collision probability value, a brake deceleration that meets a preset deceleration screening condition is screened out from the plurality of first brake decelerations and the second brake deceleration, and is taken as a target brake deceleration, including:

determining a first braking deceleration from the plurality of first braking decelerations based on the collision probability value and a first braking deceleration screening rule;

7. An automatic driving device is characterized by being applied to a controller in a vehicle, wherein a vehicle in front of the vehicle and a vehicle behind the vehicle are positioned on the same lane; the automatic driving device includes:

8. The autopilot device of claim 7 further comprising:

the lane changing control module is used for sending a stopping braking instruction to the vehicle braking system and sending a lane changing instruction to the steering system if the lane changing control module is in the positive state so as to enable the steering system to carry out lane changing operation; the message is a message for representing that the lane change can be carried out.

9. The autopilot device of claim 7 wherein the collision probability calculation module includes:

10. An electronic device is characterized in that a vehicle in front of a vehicle where the electronic device is located and a vehicle behind the vehicle are located on the same lane; the method comprises the following steps: a memory and a processor;

wherein the memory is used for storing programs;

the processor calls a program and is used to:

calculating a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system and a second braking strength calculation rule; the output result of the adaptive cruise system and the output result of the automatic emergency braking system are determined based on the traveling state of the preceding vehicle;