CN115214663A

CN115214663A - Car following control method and device, terminal equipment and storage medium

Info

Publication number: CN115214663A
Application number: CN202211148112.2A
Authority: CN
Inventors: 顾维灏; 艾锐; 张垚; 曹东璞; 王聪; 张凯
Original assignee: Haomo Zhixing Technology Co Ltd
Current assignee: Haomo Zhixing Technology Co Ltd
Priority date: 2022-09-21
Filing date: 2022-09-21
Publication date: 2022-10-21
Anticipated expiration: 2042-09-21
Also published as: CN115214663B

Abstract

The application is suitable for the technical field of automatic driving, and provides a car following control method, a car following control device, terminal equipment and a storage medium. The following control method specifically comprises the following steps: acquiring position loop acceleration and speed loop acceleration of a self-vehicle, and determining the weight of the position loop acceleration and the weight of the speed loop acceleration according to the distance difference between the relative distance between the self-vehicle and a front vehicle and the distance between the self-vehicle and a following vehicle, wherein the weight of the position loop acceleration is in direct proportion to the distance difference, and the weight of the speed loop acceleration is in inverse proportion to the distance difference; according to the weight of the position loop acceleration and the weight of the speed loop acceleration, performing weighted fusion on the position loop acceleration and the speed loop acceleration to obtain a fused acceleration; and carrying out following driving control on the self vehicle according to the fusion acceleration. The embodiment of this application can avoid the problem of following the car failure when the relative distance of car and preceding car is too far to and the problem of unusual variable speed when relative distance is nearer, can promote the stability of following car control.

Description

Car following control method and device, terminal equipment and storage medium

Technical Field

The application belongs to the technical field of automatic driving, and particularly relates to a car following control method and device, terminal equipment and a storage medium.

Background

The automatic driving technology can carry out intelligent decision control based on environmental information acquired by a sensor, and is an important research direction in the intelligent automobile industry at present. The following control is a safer control mode in the current automatic driving, and can follow the front vehicle to run under a certain following distance according to the position and the speed of the front vehicle and the self vehicle. In the related art, when the following control is performed on the self-vehicle, the acceleration is mostly adjusted according to the acceleration set by the user and the front vehicle is used as a reference. In practical application, when the distance between the self vehicle and the front vehicle is relatively long, if the acceleration set by a user is relatively low, the problem of losing with the heel or cutting in by other vehicles is easy to occur. When the distance between the bicycle and the front bicycle is short, abnormal speed change easily occurs on the bicycle in order to keep the following distance, and the following stability is poor.

Disclosure of Invention

The embodiment of the application provides a car following control method and device, terminal equipment and a storage medium, and can solve the problem of poor car following stability in the prior art.

The first aspect of the embodiments of the present application provides a car following control method, including: acquiring position loop acceleration and speed loop acceleration of a self-vehicle, wherein the position loop acceleration is used for enabling the relative distance between the self-vehicle and a front vehicle to reach a vehicle following distance within a preset time length, the vehicle following distance is a theoretical safety distance between the self-vehicle and the front vehicle, and the speed loop acceleration is used for enabling the self-vehicle and the front vehicle to reach the same speed within the preset time length; determining the weight of the position loop acceleration and the weight of the speed loop acceleration according to the distance difference between the relative distance between the self vehicle and the front vehicle and the following vehicle distance, wherein the weight of the position loop acceleration is in direct proportion to the distance difference, and the weight of the speed loop acceleration is in inverse proportion to the distance difference; according to the weight of the position ring acceleration and the weight of the speed ring acceleration, performing weighted fusion on the position ring acceleration and the speed ring acceleration to obtain a fused acceleration; and carrying out following driving control on the self vehicle according to the fusion acceleration.

A car following control device provided in a second aspect of the embodiments of the present application includes: the acceleration acquisition unit is used for acquiring position loop acceleration and speed loop acceleration of a self-vehicle, wherein the position loop acceleration is used for enabling the relative distance between the self-vehicle and a front vehicle to reach a following distance within a preset time length, the following distance is a theoretical safety distance between the self-vehicle and the front vehicle, and the speed loop acceleration is used for enabling the self-vehicle and the front vehicle to reach the same speed within the preset time length; the weight determining unit is used for determining the weight of the position ring acceleration and the weight of the speed ring acceleration according to a distance difference value between the relative distance between the self vehicle and the front vehicle and the following vehicle distance, wherein the weight of the position ring acceleration is in direct proportion to the distance difference value, and the weight of the speed ring acceleration is in inverse proportion to the distance difference value; the weighted fusion unit is used for carrying out weighted fusion on the position ring acceleration and the speed ring acceleration according to the weight of the position ring acceleration and the weight of the speed ring acceleration to obtain a fused acceleration; and the vehicle following control unit is used for carrying out vehicle following driving control on the self vehicle according to the fusion acceleration.

A third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the following control method when executing the computer program.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the steps of the following control method described above.

A fifth aspect of embodiments of the present application provides a computer program product, which, when running on a terminal device, causes the terminal device to execute the following control method according to the first aspect.

In the embodiment of the application, the position ring acceleration and the speed ring acceleration are obtained, wherein the position ring acceleration is used for enabling the relative distance between the self vehicle and the front vehicle to reach a vehicle following distance within a preset time period, the vehicle following distance is a theoretical safety distance between the self vehicle and the front vehicle, the speed ring acceleration is used for enabling the self vehicle and the front vehicle to reach the same speed within the preset time period, then the position ring acceleration and the speed ring acceleration are subjected to weighted fusion according to a distance difference value between the relative distance between the self vehicle and the front vehicle and the vehicle following distance to obtain a fusion acceleration, the vehicle following driving control is performed on the self vehicle according to the fusion acceleration, the weight of the position ring acceleration is in direct proportion to the distance difference value, the weight of the speed ring acceleration is in direct proportion to the distance difference value, the acceleration fusion is closer to the position ring acceleration when the relative distance between the self vehicle and the front vehicle is too far, the relative distance between the self vehicle and the front vehicle can be preferentially enabled to reach the vehicle following distance within the preset time period to avoid losing the front vehicle, and the speed ring acceleration is closer to be preferentially enabled to keep the speed ring acceleration closer to be preferentially kept in inverse proportion to the problem of speed change control of the self vehicle, and the abnormal speed ring acceleration can be avoided, and the problem of the self vehicle can be caused.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic flow chart of an implementation of a car following control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a first scenario of a following vehicle provided by an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a driving device provided in an embodiment of the present application;

fig. 4 is a schematic diagram of a second scenario of a following vehicle provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a vehicle following control device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall be protected by the present application.

In order to explain the technical means of the present application, the following description will be given by way of specific examples.

Fig. 1 shows a schematic implementation flow diagram of a following control method provided by an embodiment of the present application, where the method may be applied to a terminal device and may be applied to a situation where following stability needs to be improved.

The terminal device can refer to intelligent devices such as a computer, a mobile phone and a vehicle-mounted device, and can control 'self-car' in a scene based on a car following control algorithm, wherein the 'self-car' is a vehicle needing car following control. The above-mentioned terminal device may also be referred to as "own vehicle" itself.

Specifically, the following vehicle control method may include the following steps S101 to S104.

And step S101, acquiring the position ring acceleration and the speed ring acceleration of the vehicle.

In the embodiment of the present application, the own vehicle is a vehicle that needs to be controlled to follow the own vehicle, and the preceding vehicle is a following target of the own vehicle and may generally be a vehicle that travels ahead in the traveling direction of the own vehicle. In some specific embodiments, the terminal device may obtain a driving mode set by a user, and when the user selects the vehicle following control mode, the vehicle driven by the user may be used as the own vehicle, and a target required to follow the vehicle is determined through data (such as an image, point cloud data, and the like) acquired by a sensor of the own vehicle, so as to determine a position loop acceleration and a velocity loop acceleration of the own vehicle. The preceding vehicle may be a vehicle closest to the vehicle on the same lane as the vehicle and in the forward traveling direction.

The position loop acceleration a _ stp _ s can be used to enable the relative distance relative _ s between the host vehicle and the preceding vehicle to reach the following distance follow _ dist within a preset time period, and the speed loop acceleration a _ stp _ v can be used to enable the host vehicle and the preceding vehicle to reach the same speed within the preset time period. In the embodiment of the application, the following distance can be a theoretical safe distance between the own vehicle and the front vehicle, can be determined based on the speed difference between the own vehicle and the front vehicle, and can also be determined through deep learning or other manners. The preset time period t _ q may be set according to actual conditions, and may be set to 2s, for example.

Specifically, the terminal device may obtain motion information from the vehicle and the preceding vehicle to determine the position loop acceleration a _ stp _ s and the velocity loop acceleration a _ stp _ v from the motion information.

The motion information may include a vehicle speed of the vehicle at the current time, a vehicle position, a vehicle speed ahead of the vehicle at the current time, a vehicle position ahead, and a following distance folow _ dist between the vehicle and the vehicle ahead.

Referring to fig. 2, according to the vehicle speed ego _ v0 and the vehicle position of the vehicle at the current time t0, the terminal device may predict the vehicle speed ego _ v and the vehicle position at one or more control times in the future, for example, sequentially predict the vehicle position and the vehicle speed at t1, t2, … and tk control times. Similarly, based on the speed obs _ v0 and the position of the preceding vehicle at the current time t0, the terminal device may estimate the speed obs _ v and the position of the preceding vehicle at one or more control times in the future, for example, sequentially predict the position and the speed of the preceding vehicle at t1, t2, … and tk control times. Meanwhile, the terminal device may also acquire device information of the preceding vehicle, such as the length obs _ l of the preceding vehicle, to calculate the relative distance relative _ s between the own vehicle and the preceding vehicle based on the own vehicle position and the preceding vehicle position at the same time, and the length obs _ l of the preceding vehicle. Thus, the position loop acceleration a _ stp _ s and the velocity loop acceleration a _ stp _ v can be estimated based on the vehicle speed ego _ v, the preceding vehicle speed obs _ v, the relative distance relative _ s, and the following vehicle distance folow _ dist.

And S102, determining the weight of the position loop acceleration and the weight of the speed loop acceleration according to the distance difference between the relative distance between the self vehicle and the front vehicle and the distance between the self vehicle and the front vehicle.

In the embodiment of the present application, the weight of the position loop acceleration a _ stp _ s is proportional to the distance difference, and the weight of the velocity loop acceleration a _ stp _ v is inversely proportional to the distance difference.

It should be understood that, since the weight of the position loop acceleration a _ stp _ s is proportional to the distance difference, and the weight of the velocity loop acceleration a _ stp _ v is inversely proportional to the distance difference, when the difference between the relative distance relative _ s and the following vehicle distance follow _ dist is large, the position loop acceleration a _ stp _ s has a large influence, so that the relative distance relative _ s can reach the following vehicle distance follow _ dist within a preset time period as much as possible, thereby preventing a collision or a loss, and when the difference between the relative distance relative _ s and the following vehicle distance follow _ dist is small, the velocity loop acceleration a _ stp _ v has a large influence, so that the self-vehicle can keep the same velocity at the current distance, thereby preventing a collision problem due to abnormal speed change.

And step S103, performing weighted fusion on the position loop acceleration and the speed loop acceleration according to the weight of the position loop acceleration and the weight of the speed loop acceleration to obtain a fused acceleration.

Specifically, the weight w = min (1.0,max (0.0, | relative _ s-follow _ dist | -a)/b) of the position loop acceleration a _ stp _ s can be calculated according to the difference between the relative distance relative _ s between the vehicle and the preceding vehicle and the following vehicle distance follow _ dist at the same moment, wherein min () represents the minimum value of the two, max () represents the maximum value of the two, a and b are preset parameters, and the value can be adjusted according to actual conditions, for example, a can represent 2,b and can represent 30. Accordingly, the velocity loop acceleration a _ stp _ v may be (1-w). Thereby, the fusion acceleration a _ target = w × a _ stp _ s + (1-w) × a _ stp _ v.

And step S104, carrying out following driving control on the self vehicle according to the fusion acceleration.

That is, the terminal device may control the own vehicle to travel at the corresponding fusion acceleration a _ target, thereby realizing automatic driving control in which the own vehicle follows the preceding vehicle.

Further, in some embodiments of the present application, the terminal device may perform the following driving control for the longest planned time length on the own vehicle according to the fusion acceleration a _ target of each control time t0, t1, …, tk in the longest planned time length. The longest planning duration may refer to the longest planning duration of the terminal device, that is, the duration required to be controlled by one-time planning. The specific value of the longest planning duration can be adjusted according to the actual situation, and may be, for example, 7s, 10s, and the like. Referring to fig. 2, the target control time may be equally divided into a plurality of control durations according to the control interval, and the fused acceleration a _ target of each control time may be sequentially determined according to the motion information of the own vehicle and the preceding vehicle at the current time in steps S101 to S103, so that the own vehicle may be controlled to run at each control time with the corresponding fused acceleration a _ target, thereby implementing the automatic driving control in which the own vehicle follows the preceding vehicle within the longest planned time. Therefore, the self-vehicle can be smoothly driven with the vehicle within the longest planning time length in each planning.

In the embodiment of the application, the position loop acceleration and the speed loop acceleration of the self-vehicle are obtained, wherein the position loop acceleration is used for enabling the relative distance between the self-vehicle and the front vehicle to reach the vehicle following distance within the preset time, the vehicle following distance is the theoretical safety distance between the self-vehicle and the front vehicle, the speed loop acceleration is used for enabling the self-vehicle and the front vehicle to reach the same speed within the preset time, then, the position loop acceleration and the speed loop acceleration are weighted and fused according to the distance difference between the relative distance between the self-vehicle and the front vehicle and the vehicle following distance to obtain the fused acceleration, so that the self-vehicle is subjected to vehicle following driving control according to the fused acceleration, wherein the weight of the position loop acceleration is in direct proportion to the distance difference, the weight of the speed loop acceleration is in proportion to the distance difference, the acceleration fusion is closer to the position loop acceleration when the relative distance between the self-vehicle and the front vehicle is too far, the relative distance between the self-vehicle and the front vehicle can be preferentially enabled to reach the vehicle following distance within the preset time to avoid the vehicle losing, and the problem that the vehicle speed loop acceleration is preferentially kept closer to the abnormal speed change caused by the abnormal speed.

In some embodiments of the present application, the position loop acceleration a _ stp _ s may be considered as a speed pursuit problem, and a distance to be adjusted when the control time tk follows up from the vehicle speed to the same speed as the preceding vehicle or reaches the longest planned time max _ t is calculated, so that the target speed is calculated from the distance, and the position loop acceleration a _ stp _ s is calculated from the target speed.

Specifically, as shown in fig. 3, the process of determining the position loop acceleration a _ stp _ S may include the following steps S301 to S305.

Step S301, calculating the relative speed between the vehicle and the front vehicle according to the vehicle speed and the front vehicle speed.

Specifically, at any one control time tk, the relative speed dv = obs _ v-ego _ v of the preceding vehicle with respect to the host vehicle, obs _ v indicates the speed of the preceding vehicle at the control time tk, and ego _ v indicates the speed of the host vehicle at the control time tk.

Step S302, determining the comfortable acceleration to be corrected according to the relative speed.

In the embodiment of the present application, the comfort acceleration a _ comfort is an acceleration used for estimating a position change situation of the own vehicle and the preceding vehicle, and after the position change situation is estimated based on the comfort acceleration a _ comfort, the comfort acceleration a _ comfort may be corrected to obtain the position loop acceleration a _ stp _ s.

Specifically, the terminal device may determine an interval in which the relative velocity dv is located, and determine a corresponding comfortable acceleration. When the relative speed dv is in the first interval, the relative speed dv is small, i.e. the difference between the speed of the vehicle and the speed of the vehicle ahead is small, and the comfortable acceleration a _ comfort can be 0.5m/s ^2. When the relative speed dv is in the second interval, the relative speed dv is large, i.e., the difference between the speed of the vehicle and the speed of the vehicle ahead is large, and the comfort acceleration a _ comfort may be 2.5m/s ^2. Note that the positive and negative of the comfort acceleration a _ comfort match the positive and negative of the relative speed dv.

Step S303, calculating the variation of the relative distance between the vehicle and the front vehicle after the comfortable acceleration is used for controlling the vehicle running target planning time.

Wherein the target planned time period is a preset maximum planned time period max _ t or a time period required for shifting to the preceding vehicle speed obs _ v at the comfortable acceleration a _ comfort.

Specifically, the terminal device may calculate a time period t _ comfort = dv/a _ comfort required for shifting to the preceding vehicle speed obs _ v at the comfortable acceleration a _ comfort.

Since the maximum planned time length of the whole plan is max _ t, it is only necessary to consider the pursuit process of max _ t at most, and each control time tk on the planned trajectory is different, so the minimum value of the maximum planned time length and the time length required for the vehicle to shift to the preceding vehicle speed obs _ v at a comfortable acceleration can be taken as the target planned time length t _ p. That is, the target planning duration t _ p = min (max _ t-tk, t _ comfort). Then, after the planned driving target time t _ p of the self-vehicle is controlled by the comfortable acceleration, the variation ds of the relative distance between the self-vehicle and the front vehicle is calculated.

Specifically, the variation ds = obs _ v × t _ p- (ego _ v × t _ p + 0.5 × a _ comfort × t ^ 2) in the relative distance.

In step S304, a corrected distance is calculated based on the variation amount of the relative distance, the following distance, and the relative distance.

Specifically, as shown in fig. 4, the following vehicle distance follow _ dist is subtracted from the sum of the relative distance relative _ s between the host vehicle and the preceding vehicle and the relative distance ds actually set during the pursuit calculation, so as to obtain the corrected distance s. I.e. s = relative _ s + ds-follow _ dist.

The corrected distance s represents a distance that the vehicle needs to be changed by acceleration and deceleration, if the corrected distance s is negative, it indicates that the relative distance between the vehicle and the preceding vehicle in the speed pursuit process is smaller than the following distance, and the distance between the vehicle and the preceding vehicle needs to be increased, and if the corrected distance s is positive, it indicates that the distance between the vehicle and the preceding vehicle needs to be shortened.

And S305, correcting the comfortable acceleration according to the corrected distance and the preset time length to obtain the position ring acceleration.

In some embodiments of the present application, the terminal device may calculate a speed variation v _ stp required to eliminate the corrected distance s when traveling at a comfortable acceleration a _ comfort, then sum the speed variation v _ stp and a preceding vehicle speed obs _ v to obtain a target speed v _ target of the own vehicle, and further calculate an acceleration required to reach the target speed by the vehicle speed ego _ v within a preset time period t _ q to obtain a position loop acceleration a _ stp _ s.

Specifically, the speed variation v _ stp = (2 × a _ comfort × | s |) > 0.5. The positive and negative of the speed variation v _ stp coincide with the positive and negative of the adjustment distance s.

The target speed v _ target of the self-vehicle is the speed required to be reached by the self-vehicle in the planning process. Target speed v _ target = v _ stp + obs _ v.

Accordingly, the position loop acceleration a _ stp _ s = (v _ target-ego _ v)/t _ q.

In some embodiments of the present application, the velocity loop acceleration a _ stp _ v is an acceleration for eliminating a velocity difference when the relative distance relative _ s is not much different from the following vehicle distance follow _ dist. Specifically, according to the motion information, the terminal device may calculate the pursuit acceleration dv/t _ q required to reach the preceding vehicle speed obs _ v within the preset time period t _ q, and then take the minimum value of the pursuit acceleration dv/t _ q and the preset maximum pursuit acceleration value as the velocity loop acceleration a _ stp _ v. Here, the maximum pursuit acceleration value is an acceleration value set for preventing abnormal driving of the own vehicle, and may be, for example, 0, that is, a _ stp _ v = min (0, dv/t _ q), because a case where acceleration is required generally depends on the position loop acceleration a _ stp _ s.

Considering that there is a risk of collision with the preceding vehicle when the sum of the relative distance relative _ s and the distance ds actually pulled apart during pursuit is less than 0, it is necessary to start safety assurance. In order to ensure safety, the self vehicle has to have the same speed as the front vehicle within the practical range of the front vehicle, and a safe braking distance needs to be maintained. Specifically, the terminal device may determine the braking distance s _ safe according to the motion information of the vehicle, where the braking distance s _ safe is generally at least 1m. In some embodiments, s _ safe = max ((relative _ s-1), 10^ (-3)).

According to the relative speed dv between the own vehicle and the preceding vehicle and the braking distance s _ safe, calculating the safe acceleration a _ safe = -1 x dv ^ 2/(2 x s _ safe) for avoiding the collision between the own vehicle and the preceding vehicle.

Correspondingly, the terminal equipment can determine the target acceleration a _ target 'according to the safe acceleration a _ safe and the fusion acceleration a _ target, and then perform following driving control on the self-vehicle according to the target acceleration a _ target'.

The target acceleration a _ target 'may be the maximum value of the safe acceleration a _ safe and the fusion acceleration a _ target, that is, the target acceleration a _ target' = max (a _ safe, a _ target).

Therefore, the stability of the car following can be ensured on the premise of ensuring safety and no collision.

Accordingly, based on the speed of the vehicle and the target acceleration a _ target' at each control time tk, the terminal device may generate a trajectory of the vehicle, and then control the vehicle to travel along the trajectory.

In the embodiment of the application, the target speed and the acceleration at each future control moment can be calculated for track generation, the position loop acceleration generated by the relative distance between the current vehicle and the previous vehicle and the speed loop acceleration generated by the relative speed are fused, the stable and comfortable target acceleration can be output, the stable vehicle following is ensured, and the method and the device are applicable to the longitudinal control of the L4-level automatic driving.

It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders.

Fig. 5 is a schematic structural diagram of a following control device 500 according to an embodiment of the present application, where the following control device 500 is configured on a terminal device.

Specifically, the following control device 500 may include:

an acceleration obtaining unit 501, configured to obtain a position loop acceleration and a speed loop acceleration of a self-vehicle, where the position loop acceleration is used to enable a relative distance between the self-vehicle and a front vehicle to reach a following distance within a preset time period, the following distance is a theoretical safety distance between the self-vehicle and the front vehicle, and the speed loop acceleration is used to enable the self-vehicle and the front vehicle to reach the same speed within the preset time period;

a weight determination unit 502, configured to determine a weight of the position loop acceleration and a weight of the velocity loop acceleration according to a distance difference between a relative distance between the subject vehicle and the leading vehicle and the following vehicle distance, where the weight of the position loop acceleration is proportional to the distance difference, and the weight of the velocity loop acceleration is inversely proportional to the distance difference;

a weighted fusion unit 503, configured to perform weighted fusion on the position loop acceleration and the velocity loop acceleration according to the weight of the position loop acceleration and the weight of the velocity loop acceleration to obtain a fused acceleration;

and a vehicle following control unit 504, configured to perform vehicle following driving control on the vehicle according to the fusion acceleration.

In some embodiments of the present application, the acceleration obtaining unit 501 may be specifically configured to: acquiring motion information of a self vehicle and a previous vehicle, wherein the motion information comprises the speed and the position of the self vehicle at the current moment, the speed and the position of the previous vehicle at the current moment, and the following distance between the self vehicle and the previous vehicle; determining the position ring acceleration according to the motion information; and determining the acceleration of the speed ring according to the motion information.

In some embodiments of the present application, the acceleration obtaining unit 501 may be specifically configured to: calculating the relative speed between the self vehicle and the front vehicle according to the self vehicle speed and the front vehicle speed; determining comfortable acceleration to be corrected according to the relative speed; calculating the variation of the relative distance between the self vehicle and the front vehicle after the comfortable acceleration is used for controlling the target planning time length of the self vehicle running, wherein the target planning time length is the preset longest planning time length or the time length required for changing the speed of the self vehicle to the speed of the front vehicle by the comfortable acceleration; calculating a correction distance according to the variation of the relative distance, the following distance and the relative distance; and correcting the comfortable acceleration according to the corrected distance and the preset duration to obtain the position ring acceleration.

In some embodiments of the present application, the acceleration obtaining unit 501 may be specifically configured to: calculating a speed variation amount required to eliminate the corrected distance when the vehicle travels at the comfortable acceleration; summing the speed variation and the speed of the front vehicle to obtain the target speed of the self vehicle; and calculating the acceleration required by the vehicle speed to reach the target speed within the preset time length to obtain the position ring acceleration.

In some embodiments of the present application, the acceleration obtaining unit 501 may be specifically configured to: calculating the pursuit acceleration required for reaching the speed of the front vehicle within the preset time length according to the motion information; and taking the minimum value of the pursuit acceleration and a preset maximum pursuit acceleration value as the acceleration of the speed ring.

In some embodiments of the present application, the following control device 500 may further include a safety control unit, specifically configured to: calculating the braking distance required by the self-vehicle according to the motion information of the self-vehicle; calculating safe acceleration for avoiding collision between the self vehicle and the front vehicle according to the relative speed between the self vehicle and the front vehicle and the braking distance; the following control unit 504 may be specifically configured to: determining a target acceleration according to the safe acceleration and the fusion acceleration; and carrying out following driving control on the self vehicle according to the target acceleration.

In some embodiments of the present application, the following control unit 504 may be specifically configured to: and carrying out the following driving control of the longest planning time length on the self-vehicle according to the fusion acceleration of each control time in the longest planning time length.

It should be noted that, for convenience and simplicity of description, the specific working process of the following control device 500 may refer to the corresponding process of the method described in fig. 1 to fig. 4, and is not described herein again.

Fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present application. The terminal device 6 may include: a processor 60, a memory 61 and a computer program 62, such as a car following control program, stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the respective following control method embodiments described above, such as steps S101 to S104 shown in fig. 1. Alternatively, the processor 60 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 62, for example, the acceleration acquisition unit 501, the weight determination unit 502, the weighted fusion unit 503, and the following control unit 504 shown in fig. 5.

The computer program may be divided into one or more modules/units, which are stored in the memory 61 and executed by the processor 60 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.

For example, the computer program may be divided into: the device comprises an acceleration acquisition unit, a weight determination unit, a weighted fusion unit and a car following control unit.

The specific functions of each unit are as follows: the device comprises an acceleration acquisition unit and a speed loop acceleration acquisition unit, wherein the acceleration acquisition unit is used for acquiring position loop acceleration and speed loop acceleration of a self-vehicle, the position loop acceleration is used for enabling the relative distance between the self-vehicle and a front vehicle to reach a vehicle following distance within a preset time length, the vehicle following distance is a theoretical safety distance between the self-vehicle and the front vehicle, and the speed loop acceleration is used for enabling the self-vehicle and the front vehicle to reach the same speed within the preset time length; the weight determining unit is used for determining the weight of the position ring acceleration and the weight of the speed ring acceleration according to a distance difference value between the relative distance between the self vehicle and the front vehicle and the following vehicle distance, wherein the weight of the position ring acceleration is in direct proportion to the distance difference value, and the weight of the speed ring acceleration is in inverse proportion to the distance difference value; the weighted fusion unit is used for carrying out weighted fusion on the position ring acceleration and the speed ring acceleration according to the weight of the position ring acceleration and the weight of the speed ring acceleration to obtain a fused acceleration; and the vehicle following control unit is used for carrying out vehicle following driving control on the self vehicle according to the fusion acceleration.

The terminal device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of a terminal device and is not limiting and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input output devices, network access devices, buses, etc.

The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory 61 may also be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device. The memory 61 is used for storing the computer program and other programs and data required by the terminal device. The memory 61 may also be used to temporarily store data that has been output or is to be output.

It should be noted that, for convenience and simplicity of description, the structure of the terminal device may also refer to the detailed description of the structure in the method embodiment, and is not described herein again.

It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one type of logical function division, and other division manners may be available in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A car following control method, characterized by comprising:

acquiring position loop acceleration and speed loop acceleration of a self-vehicle, wherein the position loop acceleration is used for enabling the relative distance between the self-vehicle and a front vehicle to reach a vehicle following distance within a preset time length, the vehicle following distance is a theoretical safety distance between the self-vehicle and the front vehicle, and the speed loop acceleration is used for enabling the self-vehicle and the front vehicle to reach the same speed within the preset time length;

determining the weight of the position loop acceleration and the weight of the speed loop acceleration according to a distance difference value between the relative distance between the self vehicle and the front vehicle and the following vehicle distance, wherein the weight of the position loop acceleration is in direct proportion to the distance difference value, and the weight of the speed loop acceleration is in inverse proportion to the distance difference value;

according to the weight of the position loop acceleration and the weight of the speed loop acceleration, performing weighted fusion on the position loop acceleration and the speed loop acceleration to obtain a fused acceleration;

and carrying out following driving control on the self vehicle according to the fusion acceleration.

2. The following control method according to claim 1, wherein the obtaining of the position loop acceleration and the velocity loop acceleration of the vehicle includes:

acquiring motion information of a self vehicle and a previous vehicle, wherein the motion information comprises the speed and the position of the self vehicle at the current moment, the speed and the position of the previous vehicle at the current moment, and the following distance between the self vehicle and the previous vehicle;

determining the position ring acceleration according to the motion information;

and determining the acceleration of the speed ring according to the motion information.

3. The car following control method according to claim 2, wherein the determining the position loop acceleration based on the motion information includes:

calculating the relative speed between the self vehicle and the front vehicle according to the self vehicle speed and the front vehicle speed;

determining comfortable acceleration to be corrected according to the relative speed;

calculating the variation of the relative distance between the self vehicle and the front vehicle after the comfortable acceleration is used for controlling the driving target planning time length of the self vehicle, wherein the target planning time length is the preset longest planning time length or the time length required for changing the speed to the speed of the front vehicle by the comfortable acceleration;

calculating a correction distance according to the variation of the relative distance, the following distance and the relative distance;

and correcting the comfortable acceleration according to the corrected distance and the preset duration to obtain the position ring acceleration.

4. The car following control method according to claim 3, wherein the correcting the comfort acceleration according to the corrected distance and the preset time period to obtain the position loop acceleration comprises:

calculating a speed variation amount required to eliminate the corrected distance when the vehicle travels at the comfortable acceleration;

summing the speed variation and the speed of the front vehicle to obtain the target speed of the self vehicle;

and calculating the acceleration required by the vehicle speed to reach the target speed within the preset time length to obtain the position ring acceleration.

5. The car following control method according to claim 2, wherein the determining the velocity loop acceleration based on the motion information includes:

calculating the pursuit acceleration required for reaching the speed of the front vehicle within the preset time length according to the motion information;

and taking the minimum value of the pursuit acceleration and a preset maximum pursuit acceleration value as the acceleration of the speed ring.

6. The following control method according to claim 1, wherein after the position loop acceleration and the velocity loop acceleration are weighted and fused according to the weight of the position loop acceleration and the weight of the velocity loop acceleration to obtain a fused acceleration, the following control method further comprises:

calculating the braking distance required by the self vehicle according to the motion information of the self vehicle;

calculating safe acceleration for avoiding collision between the self vehicle and the front vehicle according to the relative speed between the self vehicle and the front vehicle and the braking distance;

according to the fusion acceleration, the following driving control is carried out on the self vehicle, and the following driving control method comprises the following steps:

determining a target acceleration according to the safe acceleration and the fusion acceleration;

and carrying out following driving control on the self vehicle according to the target acceleration.

7. The following control method according to any one of claims 1 to 6, wherein the performing following driving control on the own vehicle according to the fusion acceleration includes:

and carrying out the following driving control of the longest planning time length on the self vehicle according to the fusion acceleration of each control time in the longest planning time length.

8. A car following control device characterized by comprising:

the acceleration acquisition unit is used for acquiring position loop acceleration and speed loop acceleration of a self-vehicle, wherein the position loop acceleration is used for enabling the relative distance between the self-vehicle and a front vehicle to reach a following distance within a preset time length, the following distance is a theoretical safety distance between the self-vehicle and the front vehicle, and the speed loop acceleration is used for enabling the self-vehicle and the front vehicle to reach the same speed within the preset time length;

the weight determining unit is used for determining the weight of the position ring acceleration and the weight of the speed ring acceleration according to a distance difference value between the relative distance between the self vehicle and the front vehicle and the following vehicle distance, wherein the weight of the position ring acceleration is in direct proportion to the distance difference value, and the weight of the speed ring acceleration is in inverse proportion to the distance difference value;

the weighted fusion unit is used for carrying out weighted fusion on the position ring acceleration and the speed ring acceleration according to the weight of the position ring acceleration and the weight of the speed ring acceleration to obtain a fused acceleration;

and the vehicle following control unit is used for carrying out vehicle following driving control on the self vehicle according to the fusion acceleration.

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the following control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the following control method according to any one of claims 1 to 7.