CN115195728A - Vehicle following control method, system, equipment and storage medium - Google Patents
Vehicle following control method, system, equipment and storage medium Download PDFInfo
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- CN115195728A CN115195728A CN202211049118.4A CN202211049118A CN115195728A CN 115195728 A CN115195728 A CN 115195728A CN 202211049118 A CN202211049118 A CN 202211049118A CN 115195728 A CN115195728 A CN 115195728A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Abstract
The invention provides a vehicle following control method, a system, equipment and a storage medium, wherein when the driving state information of a current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of a previous vehicle and the acceleration of the previous vehicle meet preset first conditions, the distance between the current vehicle and the previous vehicle is adjusted according to the historical driving data of the current vehicle, and the following is carried out according to the adjusted distance between the current vehicle and the previous vehicle; when the driving state information of the current vehicle and the acceleration of the previous vehicle meet a preset second condition, adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle, and following the current vehicle with the adjusted acceleration of the current vehicle; according to the invention, the following distance and the following acceleration of the following vehicle are adjusted according to the historical driving data of the driver, so that the following process is more suitable for the driving habit of the driver.
Description
Technical Field
The application relates to the technical field of auxiliary driving, in particular to a vehicle following control method, system, equipment and storage medium.
Background
With the development of vehicle-mounted technology, driving assistance technology is more commonly mounted on various passenger vehicles. The self-adaptive cruise system is also widely popularized as an important component for assisting driving, and various obstacles in front can be recognized by utilizing the combination of the front-view camera and the front radar, so that automatic acceleration and deceleration are realized, and the effect of stably following the vehicle is achieved. This function can greatly reduce driver's the burden of driving, improves the security of driving simultaneously.
The main principle of the self-adaptive cruise system is to recognize the speed and the distance of a front vehicle and calculate the acceleration according to the target speed and the target distance set by a driver. The currently used system is mainly calibrated by engineers, and the method enables the driver to have larger difference with the usual driving style of the driver when using the system due to larger difference of the driving styles of different people, so that the driver is basically not suitable for the self-adaptive cruise system or is nervous when using the system, and the auxiliary driving function cannot achieve the effect of relieving the driving fatigue.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a vehicle following control method, system, device and storage medium to solve the above technical problems.
The invention provides a vehicle following control method, which comprises the following steps:
acquiring driving state information of a current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of a previous vehicle, the acceleration of the previous vehicle, the distance between the current vehicle and the previous vehicle, and historical driving data of the current vehicle;
when the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of a preceding vehicle and the acceleration of the preceding vehicle meet preset first conditions, adjusting the distance between the current vehicle and the preceding vehicle according to historical driving data of the current vehicle, and following the current vehicle and the preceding vehicle by the adjusted distance;
and when the driving state information of the current vehicle and the acceleration of the preceding vehicle meet a preset second condition, adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle, and following the current vehicle with the adjusted acceleration of the current vehicle.
In an embodiment of the present invention, the step of enabling the driving state information of the current vehicle, the vehicle speed of the current vehicle, the acceleration of the current vehicle, the vehicle speed of the preceding vehicle, and the acceleration of the preceding vehicle to satisfy a preset first condition includes:
simultaneously, the following requirements are met: the driving state information of the current vehicle is consistent with the preset driving state information; the change value of the speed of the current vehicle and the change value of the speed of the previous vehicle kept in the preset time are both in a preset speed change range in a preset time window; and the change value of the acceleration of the current vehicle and the change value of the acceleration of the front vehicle are in a preset acceleration change range in a preset time window.
In an embodiment of the present invention, the information of the driving state of the current vehicle and the acceleration of the preceding vehicle satisfy a preset second condition, which includes:
simultaneously, the following requirements are met: the driving state information of the current vehicle is consistent with the preset driving state information, and the acceleration of the front vehicle is increased or decreased progressively within the preset window time.
In one embodiment of the invention, the historical driving data of the current vehicle comprises a plurality of current vehicle speeds and a plurality of historical time coefficients, and the current vehicle speeds and the historical time coefficients are in one-to-one correspondence;
adjusting the distance between the current vehicle and the preceding vehicle according to the historical driving data of the current vehicle, comprising:
acquiring the distance between the current vehicle and the previous vehicle and the speed of the previous vehicle corresponding to the multiple time points;
calculating the distance between the current vehicle and the front vehicle and the speed of the front vehicle to obtain a time coefficient T, wherein the mathematical expression of the time coefficient T is as follows:
wherein D is the distance between the current vehicle and the preceding vehicle, V f The speed of the front vehicle is adopted, and Gain is a correction coefficient;
screening the time coefficients corresponding to the multiple time points to obtain a target time coefficient T output ；
Targeting the target according to the historical driving data of the current vehicleTime coefficient T output Adjusting to obtain an adjusted time coefficient T ', wherein a mathematical expression of the adjusted time coefficient T' is as follows:
T'＝1-k×T pre +k×T output
where k is the filter coefficient, T pre Is a historical time coefficient corresponding to the speed of the current vehicle;
according to the adjusted time coefficient T', the speed V of the front vehicle f And adjusting the distance between the current vehicle and the front vehicle.
In an embodiment of the present invention, time coefficients corresponding to a plurality of time points are screened to obtain a target time coefficient T output The method comprises the following steps:
calculating the mean value u and the standard deviation sigma of time coefficients corresponding to all time points in a preset time window;
setting a screening range according to the mean value u and the standard deviation sigma, wherein the screening range is (u-3 sigma, u +3 sigma);
deleting the time coefficient (u-3 sigma, u +3 sigma) which exceeds the screening range;
averaging the time coefficients of the residual time points in the preset time window to obtain a target time coefficient T output 。
In an embodiment of the present invention, time coefficients corresponding to multiple time points are screened to obtain a target time coefficient T output Comprises that
Constructing a training data set by the historical time coefficient;
training a preset artificial neural network through the training data set to obtain a time coefficient model;
inputting the time coefficients corresponding to all the time points in the preset time window into the time coefficient model, and averaging all the time coefficients identified by the model to obtain a target time coefficient T output 。
In one embodiment of the present invention, the historical driving data of the current vehicle includes a plurality of vehicle speeds of the current vehicle and a plurality of historical acceleration change rates, and the vehicle speed of the current vehicle and the historical acceleration change rates are in one-to-one correspondence;
adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle, including:
acquiring the acceleration of the current vehicle corresponding to two time points separated by a preset time window;
calculating an acceleration change value according to the accelerations of at least two current vehicles;
calculating an acceleration change rate jerk according to the acceleration change value and the preset time window, wherein the mathematical expression of the acceleration change rate jerk is as follows:
wherein, Δ a is an acceleration change value, and t is a preset time window;
when the acceleration degree change rate jerk meets a preset speed change rate range, the acceleration degree change rate jerk is adjusted according to the historical driving data of the current vehicle to obtain an adjusted acceleration degree change rate jerk ', and the mathematical expression of the adjusted acceleration degree change rate jerk' is as follows:
jerk′＝(1-k)jerk pre +k×jerk
where k is the filter coefficient, jerk pre Is a historical acceleration rate corresponding to the current vehicle speed;
and adjusting the acceleration of the current vehicle according to the adjusted acceleration change rate jerk'.
The present invention also provides a vehicle following control system, the system comprising:
the acquisition module is used for acquiring the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle, the acceleration of the previous vehicle, the distance between the current vehicle and the previous vehicle and the historical driving data of the current vehicle;
the first adjusting module is used for adjusting the distance between the current vehicle and the previous vehicle according to the historical driving data of the current vehicle when the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle and the acceleration of the previous vehicle meet preset first conditions, and tracking the current vehicle with the adjusted distance between the current vehicle and the previous vehicle;
and the second adjusting module is used for adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle when the driving state information of the current vehicle and the acceleration of the front vehicle meet a preset second condition, and tracking the current vehicle with the adjusted acceleration of the current vehicle.
The present invention also provides an electronic device, including:
one or more processors;
a storage device for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the application data presentation method as described above.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the application data presentation method as described above.
The invention has the beneficial effects that: according to the vehicle following control method, the vehicle following control system, the vehicle following control equipment and the storage medium, when the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle and the acceleration of the previous vehicle meet the preset first condition, the distance between the current vehicle and the previous vehicle is adjusted according to the historical driving data of the current vehicle, and the vehicle following is carried out according to the adjusted distance between the current vehicle and the previous vehicle; when the driving state information of the current vehicle and the acceleration of the previous vehicle meet a preset second condition, adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle, and following the current vehicle with the adjusted acceleration of the current vehicle; according to the invention, the following distance and the following acceleration of the following vehicle are adjusted according to the historical driving data of the driver, so that the following process is more suitable for the driving habit of the driver.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is an application scenario diagram of a vehicle following control method according to an exemplary embodiment of the present application
FIG. 2 is a flow chart illustrating a vehicle following control method in accordance with an exemplary embodiment of the present application;
FIG. 3 is a flow chart of step S220 in the embodiment shown in FIG. 2 in an exemplary embodiment;
fig. 4 is a block diagram showing the structure of a vehicle following control system according to an exemplary embodiment of the present application;
FIG. 5 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, wherein the following description is made for the embodiments of the present invention with reference to the accompanying drawings and the preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.
Fig. 1 is an application scenario diagram of a vehicle following control method according to an exemplary embodiment of the present application, as shown in fig. 1, a vehicle machine system 110 uploads driving data to a server 120 through a vehicle-mounted internet for storage, the vehicle machine system 110 simultaneously obtains historical driving data and transmits the historical driving data to a vehicle control system 130, and the vehicle control system 130 controls following through the historical driving data, so that adaptive cruise is more suitable for driving habits of a driver.
The server 120 shown in fig. 1 is a car navigation server, and may be, for example, an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), and a big data and artificial intelligence platform, which is not limited herein. The car-in-vehicle system 110 may communicate with the server 120 through a wireless network, such as 3G (third generation mobile information technology), 4G (fourth generation mobile information technology), and 5G (fifth generation mobile information technology), which is not limited herein.
As shown in fig. 2, in an exemplary embodiment, the application data presentation method at least includes steps S210 to S230, which are described in detail as follows:
s210, acquiring driving state information of a current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of a previous vehicle, the acceleration of the previous vehicle, the distance between the current vehicle and the previous vehicle and historical driving data of the current vehicle;
in this embodiment, the driving state information includes information on whether to activate the adaptive cruise function, whether to turn on the automatic transmission, whether to turn off the ESC fault lamp, and the like; the vehicle speed, the acceleration and the distance between the current vehicle and the front vehicle are all obtained through a vehicle-mounted laser radar;
the historical driving data of the current vehicle needs to be matched with a driver, so that the driver needs to be subjected to face recognition first, the face information of the driver is extracted through the camera acquisition module, and if the driver has the data, the historical driving data of the driver is matched. If the driver is a new driver, the driver is reminded whether to create new driving data for the driver, and if the driver confirms the creation, the system creates a new database for the driver.
S220, when the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle and the acceleration of the previous vehicle meet preset first conditions, adjusting the distance between the current vehicle and the previous vehicle according to historical driving data of the current vehicle, and following the current vehicle and the previous vehicle according to the adjusted distance;
in step S220, the distance between the current vehicle and the preceding vehicle is adjusted according to the historical driving data of the driver, so that the following distance of the adaptive cruise function more conforms to the driving habit of the driver.
S230, when the driving state information of the current vehicle and the acceleration of the previous vehicle meet a preset second condition, adjusting the acceleration of the current vehicle according to historical driving data of the current vehicle, and following the current vehicle with the adjusted acceleration of the current vehicle;
in step S230, the following acceleration is adjusted according to the historical driving data of the driver, so that the following acceleration of the adaptive cruise function more conforms to the driving habit of the driver.
In an embodiment of the present invention, the process that the driving state information of the current vehicle, the vehicle speed of the current vehicle, the acceleration of the current vehicle, the vehicle speed of the previous vehicle, and the acceleration of the previous vehicle satisfy the preset first condition may include step S310, which is described in detail as follows:
s310, simultaneously satisfying: the driving state information of the current vehicle is consistent with the preset driving state information; the change value of the speed of the current vehicle and the change value of the speed of the previous vehicle in the preset time window are both in the preset speed change range; and the change value of the acceleration of the current vehicle and the change value of the acceleration of the front vehicle are in a preset acceleration change range in a preset time window.
In this embodiment, the driving state information of the current vehicle is consistent with the preset driving state information, which specifically includes: (1) the driver does not activate the adaptive cruise function. (2) And when the driver is in a normal driving state, starting the automatic gear, not closing the esc and the like.
The change value of the speed of the current vehicle and the change value of the speed of the previous vehicle in the preset time window are both in the preset speed change range; when the change value of the acceleration of the current vehicle and the change value of the acceleration of the front vehicle are within a preset acceleration change range in a preset time window, the current vehicle is judged to be stably followed, and the method specifically comprises the following steps: (1) The front vehicle has no rapid acceleration and deceleration within a certain time window (can be calibrated), and the acceleration is kept within-0.5 and within 0.5. Within a certain time window (which can be calibrated), the speed change is within 5 km/h. (2) The speed of the current vehicle is kept stable within a certain time window (which can be calibrated), and the change is within 5 km/h. The acceleration of the bicycle is kept within-0.5 to 0.5 within a certain time window, and rapid acceleration and rapid deceleration are avoided.
In an embodiment of the present invention, the process that the driving state information of the current vehicle and the acceleration of the preceding vehicle satisfy the preset second condition may include step S410, which is described in detail as follows:
s410, simultaneously satisfying: the driving state information of the current vehicle is consistent with the preset driving state information, and the acceleration of the front vehicle is increased or decreased within the preset window time.
In this embodiment, the specific steps that the driving state information of the current vehicle is consistent with the preset driving state information are as follows: the driver controls the vehicle manually and does not start the adaptive cruise; the acceleration of the front vehicle is increased or decreased within the preset window time, namely the acceleration is changed in a single direction within a certain time window, namely the acceleration is increased or decreased in a monotonous manner.
In an embodiment of the present invention, table 1 is a relationship table of vehicle speed and historical time coefficient, as shown in table 1, the historical driving data of the current vehicle includes a plurality of vehicle speeds of the current vehicle and a plurality of historical time coefficients, and the vehicle speeds of the current vehicle and the historical time coefficients are in one-to-one correspondence; the historical driving habits of a driver are recorded in the table 1, and the time coefficient is used for expressing the speed and the following distance of a front vehicle;
TABLE 1 relationship table of vehicle speed and historical time coefficient
As shown in fig. 3, the process of adjusting the distance between the current vehicle and the preceding vehicle according to the historical driving data of the current vehicle may include steps S510 to S550, which are described in detail as follows:
s510, acquiring the distance between the current vehicle and the previous vehicle and the speed of the previous vehicle corresponding to the multiple time points;
in step S510, the distance between the current vehicle and the preceding vehicle and the speed of the preceding vehicle are measured by the laser radar of the vehicle itself.
S520, calculating the distance between the current vehicle and the front vehicle and the speed of the front vehicle to obtain a time coefficient T, wherein the mathematical expression of the time coefficient T is as follows:
wherein D is the distance between the current vehicle and the preceding vehicle, V f The speed of the front vehicle is adopted, and Gain is a correction coefficient;
in step S520, the time coefficient includes the distance between the current vehicle and the preceding vehicle and the speed of the preceding vehicle, and a smaller time coefficient indicates a more aggressive current driving style (i.e., a smaller following distance and a higher forward speed);
s530, screening time coefficients corresponding to a plurality of time points to obtain a target time coefficient T output ；
In step S530, the time coefficient may be filtered by a raydeva rule method or artificial intelligence recognition.
S540, a target time coefficient T is set according to historical driving data of the current vehicle output Adjusting to obtain an adjusted time coefficient T ', wherein the mathematical expression of the adjusted time coefficient T' is as follows:
T'＝1-k×T pre +k×T output
where k is the filter coefficient, T pre Is a historical time coefficient corresponding to the speed of the current vehicle;
in step S540, T pre The time coefficient of the current driving is adjusted by the driving history data for the history time coefficient corresponding to the vehicle speed of the current vehicle.
S550, according to the adjusted time coefficient T' and the speed V of the front vehicle f And adjusting the distance between the current vehicle and the front vehicle.
In step S550, the time coefficient of the current driving is adjusted by the driving history data, so that the driving style obtained from the adaptation cycle can be made close to the driving style of the driver.
In an embodiment of the present invention, time coefficients corresponding to a plurality of time points are screened to obtain a target time coefficient T output May include steps S610 to S640, as detailed below:
s610, solving the mean value u and the standard deviation sigma of time coefficients corresponding to all time points in a preset time window;
in this embodiment, there are multiple time points (divided according to a predetermined time scale) in the time window, so there are multiple time coefficients, and the average value u and the standard deviation σ are obtained by averaging the multiple time coefficients.
S620, setting a screening range according to the mean value u and the standard deviation sigma, wherein the screening range is (u-3 sigma, u +3 sigma);
in step S620, the filtering range is used to determine whether the time coefficient is normal, and when the time coefficient is within the filtering range, it is determined that the time coefficient is normal, otherwise, it is determined that the time coefficient is abnormal.
S630, deleting the time coefficient exceeding the screening range (u-3 sigma, u +3 sigma);
in step S630, the time coefficient is filtered through the filtering range (u-3 σ, u +3 σ), and the rest are normal values.
S640, averaging the time coefficients of the residual time points in the preset time window to obtain a target time coefficient T output 。
In step S640, all the normal values are averaged to obtain the target time coefficient T output 。
In an embodiment of the present invention, time coefficients corresponding to a plurality of time points are screened to obtain a target time coefficient T output May include steps S710 to S730, as detailed below:
s710, constructing a training data set by using a historical time coefficient;
s720, training a preset artificial neural network through a training data set to obtain a time coefficient model;
in this embodiment, a time coefficient of subsequent input is determined by a training time coefficient model, and a normal time coefficient is identified by the training time coefficient model, otherwise, an abnormal time coefficient is identified by the training time coefficient model;
s730, inputting time coefficients corresponding to all time points in a preset time window into a time coefficient model, and averaging all time coefficients identified by the model to obtain a target time coefficient T output 。
In this embodiment, the training time coefficient model is used to determine whether the time coefficient is normal, and the average operation is performed on the time coefficient determined to be normal, so as to obtain the target time coefficient T output 。
In an embodiment of the present invention, table 2 is a relationship table between vehicle speed and historical acceleration change rate, the historical driving data of the current vehicle includes vehicle speeds of a plurality of current vehicles and a plurality of historical acceleration change rates, and the vehicle speed of the current vehicle corresponds to the historical acceleration change rates one by one; table 1 records the historical driving habits of the driver, and the acceleration rate is used to indicate the acceleration during following the vehicle; note: historical acceleration rate positive and negative values are stored in two different tables.
TABLE 2 relationship table of vehicle speed and historical acceleration rate
The process of adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle may include steps S810 to S850, which are described in detail as follows:
s810, acquiring the acceleration of the current vehicle corresponding to two time points separated by a preset time window;
in this embodiment, the value of the preset time window is a self-defined value, and for convenience of calculation, the acceleration of the current vehicle corresponding to two time points separated by one preset time window is taken.
S820, calculating an acceleration change value according to the accelerations of at least two current vehicles;
s830, calculating an acceleration change rate jerk according to the acceleration change value and a preset time window, wherein the mathematical expression of the acceleration change rate jerk is as follows:
wherein, Δ a is an acceleration change value, and t is a preset time window;
s840, when the acceleration degree change rate jerk meets a preset speed change rate range, adjusting the acceleration degree change rate jerk according to historical driving data of the current vehicle to obtain an adjusted acceleration degree change rate jerk ', wherein a mathematical expression of the adjusted acceleration degree change rate jerk' is as follows:
jerk′＝(1-k)jerk pre +k×jerk
where k is the filter coefficient, jerk pre Is a historical acceleration rate corresponding to the current vehicle speed;
in step S840, the range of speed change rates is used to avoid that the acceleration change rate jerk of the vehicle is too large to exceed the mechanical performance of the vehicle, so that unreasonable acceleration change rates are eliminated by the values.
And S850, adjusting the acceleration of the current vehicle according to the adjusted acceleration change rate jerk'.
According to the vehicle following control method, when the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle and the acceleration of the previous vehicle meet preset first conditions, the distance between the current vehicle and the previous vehicle is adjusted according to historical driving data of the current vehicle, and the vehicle is followed according to the adjusted distance between the current vehicle and the previous vehicle; when the driving state information of the current vehicle and the acceleration of the previous vehicle meet a preset second condition, adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle, and following the current vehicle with the adjusted acceleration of the current vehicle; according to the invention, the following distance and the following acceleration of the following vehicle are adjusted according to the historical driving data of the driver, so that the following process is more suitable for the driving habit of the driver.
The invention also provides a vehicle following control system, which comprises:
the acquisition module is used for acquiring the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle, the acceleration of the previous vehicle, the distance between the current vehicle and the previous vehicle and the historical driving data of the current vehicle;
the first adjusting module is used for adjusting the distance between the current vehicle and the previous vehicle according to historical driving data of the current vehicle when the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle and the acceleration of the previous vehicle meet preset first conditions, and tracking the current vehicle with the adjusted distance between the current vehicle and the previous vehicle;
and the second adjusting module is used for adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle when the driving state information of the current vehicle and the acceleration of the previous vehicle meet a preset second condition, and tracking the current vehicle with the adjusted acceleration of the current vehicle.
According to the vehicle following control system, when the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle and the acceleration of the previous vehicle meet preset first conditions, the distance between the current vehicle and the previous vehicle is adjusted according to historical driving data of the current vehicle, and the vehicle following is carried out according to the adjusted distance between the current vehicle and the previous vehicle; when the driving state information of the current vehicle and the acceleration of the previous vehicle meet a preset second condition, adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle, and following the current vehicle with the adjusted acceleration of the current vehicle; according to the invention, the following distance and the following acceleration when the driver follows the vehicle are adjusted through the historical driving data of the driver, so that the following process is more suitable for the driving habit of the driver.
It should be noted that the vehicle following control system provided in the foregoing embodiment and the vehicle following control method provided in the foregoing embodiment belong to the same concept, and specific manners in which the respective modules and units perform operations have been described in detail in the method embodiment, and are not described again here. In practical applications, the vehicle following control system provided in the foregoing embodiment may distribute the functions as needed and is completed by different function modules, that is, the internal structure of the device is divided into different function modules to complete all or part of the functions described above, which is not limited herein.
An embodiment of the present application further provides an electronic device, including: one or more processors; a storage device for storing one or more programs, which when executed by one or more processors, cause an electronic device to implement a vehicle following control method provided in the above-described embodiments.
FIG. 5 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application. It should be noted that the computer system 500 of the electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes, such as executing the methods in the above-described embodiments, according to a program stored in a Read-Only Memory (ROM) 502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An Input/Output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output section 507 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. A drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 501.
It should be noted that the computer readable media shown in the embodiments of the present application may be computer readable signal media or computer readable storage media or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software or hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute a vehicle following control method as before. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes a vehicle following control method provided in the above embodiments.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A vehicle following control method, characterized by comprising:
acquiring driving state information of a current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of a previous vehicle, the acceleration of the previous vehicle, the distance between the current vehicle and the previous vehicle and historical driving data of the current vehicle;
when the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of a preceding vehicle and the acceleration of the preceding vehicle meet preset first conditions, adjusting the distance between the current vehicle and the preceding vehicle according to historical driving data of the current vehicle, and following the current vehicle and the preceding vehicle by the adjusted distance;
and when the driving state information of the current vehicle and the acceleration of the preceding vehicle meet a preset second condition, adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle, and following the current vehicle with the adjusted acceleration of the current vehicle.
2. The vehicle following control method according to claim 1, wherein the driving state information of the current vehicle, the vehicle speed of the current vehicle, the acceleration of the current vehicle, the vehicle speed of the preceding vehicle, and the acceleration of the preceding vehicle satisfy a preset first condition, and the method comprises:
simultaneously, the following requirements are met: the driving state information of the current vehicle is consistent with the preset driving state information; the change value of the speed of the current vehicle and the change value of the speed of the front vehicle kept in the preset time are both in the preset speed change range in the preset time window; and the change value of the acceleration of the current vehicle and the change value of the acceleration of the front vehicle are in a preset acceleration change range in a preset time window.
3. The vehicle following control method according to claim 1, wherein the step of enabling the current driving state information of the vehicle and the preceding vehicle acceleration to satisfy a preset second condition comprises the step of:
simultaneously, the following requirements are met: the driving state information of the current vehicle is consistent with the preset driving state information, and the acceleration of the front vehicle is increased or decreased progressively within the preset window time.
4. The vehicle following control method according to claim 1, wherein the historical driving data of the current vehicle includes a plurality of vehicle speeds of the current vehicle and a plurality of historical time coefficients, the vehicle speeds of the current vehicle and the historical time coefficients corresponding one to one;
adjusting the distance between the current vehicle and the preceding vehicle according to the historical driving data of the current vehicle, comprising:
acquiring the distance between the current vehicle and the previous vehicle and the speed of the previous vehicle corresponding to the multiple time points;
calculating the distance between the current vehicle and the front vehicle and the speed of the front vehicle to obtain a time coefficient T, wherein the mathematical expression of the time coefficient T is as follows:
wherein D is the distance between the current vehicle and the front vehicle, \ 9632which is the speed of the front vehicle, \ 9632which is the correction coefficient;
screening the time coefficients corresponding to the multiple time points to obtain a target time coefficient T output ；
The target time coefficient T is obtained according to the historical driving data of the current vehicle output Adjusting to obtain an adjusted time coefficient T ', wherein a mathematical expression of the adjusted time coefficient T' is as follows:
T'＝■1-■×■+■×T output
wherein, the value is 9632is a filter coefficient, \9632isa historical time coefficient corresponding to the speed of the current vehicle;
and adjusting the distance between the current vehicle and the front vehicle according to the adjusted time coefficient T' and the speed of the front vehicle (9632).
5. The vehicle following control method according to claim 4, wherein time coefficients corresponding to a plurality of time points are screened to obtain a target time coefficient T output The method comprises the following steps:
calculating the mean value u and the standard deviation sigma of time coefficients corresponding to all time points in a preset time window;
setting a screening range according to the mean value u and the standard deviation sigma, wherein the screening range is (u-3 sigma, u +3 sigma);
deleting the time coefficient (u-3 sigma, u +3 sigma) which exceeds the screening range;
averaging the time coefficients of the residual time points in the preset time window to obtain a target time coefficient T output 。
6. The vehicle following control method according to claim 4, wherein time coefficients corresponding to a plurality of time points are screened to obtain a target time coefficient T output Comprises that
Constructing a training data set by the historical time coefficient;
training a preset artificial neural network through the training data set to obtain a time coefficient model;
inputting the time coefficients corresponding to all the time points in the preset time window into the time coefficient model, and averaging all the time coefficients identified by the model to obtain a target time coefficient T output 。
7. A vehicle following control method according to claim 1, wherein the historical driving data of the current vehicle includes a plurality of vehicle speeds of the current vehicle and a plurality of historical acceleration change rates, the vehicle speed of the current vehicle and the historical acceleration change rates corresponding one to one;
adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle, including:
acquiring the acceleration of the current vehicle corresponding to two time points separated by a preset time window;
calculating an acceleration change value according to the accelerations of at least two current vehicles;
calculating an acceleration change rate jerk according to the acceleration change value and the preset time window, wherein the mathematical expression of the acceleration change rate jerk is as follows:
wherein, delta a is an acceleration change value of 9632and is a preset time window;
when the acceleration degree change rate jerk meets a preset speed change rate range, the acceleration degree change rate jerk is adjusted according to the historical driving data of the current vehicle to obtain an adjusted acceleration degree change rate jerk ', and the mathematical expression of the adjusted acceleration degree change rate jerk' is as follows:
jerk'＝■1-■+■×jerk
wherein, 9632denotes a filter coefficient, 9632denotes a historical acceleration change rate corresponding to the current vehicle speed;
and adjusting the acceleration of the current vehicle according to the adjusted acceleration change rate jerk'.
8. A vehicle following control system, characterized in that the system comprises:
the acquisition module is used for acquiring the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle, the acceleration of the previous vehicle, the distance between the current vehicle and the previous vehicle and the historical driving data of the current vehicle;
the first adjusting module is used for adjusting the distance between the current vehicle and the previous vehicle according to the historical driving data of the current vehicle when the driving state information of the current vehicle, the speed of the current vehicle, the acceleration of the current vehicle, the speed of the previous vehicle and the acceleration of the previous vehicle meet preset first conditions, and tracking the current vehicle with the adjusted distance between the current vehicle and the previous vehicle;
and the second adjusting module is used for adjusting the acceleration of the current vehicle according to the historical driving data of the current vehicle when the driving state information of the current vehicle and the acceleration of the previous vehicle meet a preset second condition, and tracking the current vehicle with the adjusted acceleration of the current vehicle.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement a vehicle following control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when executed by a processor of a computer, causes the computer to execute a vehicle following control method according to any one of claims 1 to 7.
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| CN115583240A (en) * | 2022-11-25 | 2023-01-10 | 小米汽车科技有限公司 | Following method, device, vehicle and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115583240A (en) * | 2022-11-25 | 2023-01-10 | 小米汽车科技有限公司 | Following method, device, vehicle and medium |
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