CN115871664A - Single-lane cruise control method and device for vehicle, vehicle and storage medium - Google Patents

Single-lane cruise control method and device for vehicle, vehicle and storage medium Download PDF

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Publication number
CN115871664A
CN115871664A CN202310002863.1A CN202310002863A CN115871664A CN 115871664 A CN115871664 A CN 115871664A CN 202310002863 A CN202310002863 A CN 202310002863A CN 115871664 A CN115871664 A CN 115871664A
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traffic light
current vehicle
cruise control
current
control strategy
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卢斌
黎平
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Abstract

The application relates to the technical field of intelligent driving, in particular to a single-lane cruise control method and device for a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: acquiring a current navigation path of a current vehicle; identifying intersection information, traffic light information and a driving direction of a current road based on a current navigation path, and acquiring a detection result of a traffic light when the traffic light information indicates that the traffic light exists; and matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light, and performing cruise control on the current vehicle according to the current optimal cruise control strategy. From this, solved because urban road is complicated, the traffic lights is more and frequently withdraw from, lead to the cruising system continuity low, user's rate of utilization low scheduling problem, promote city cruising driver assistance's experience and continuity, improve vehicle driving intelligence.

Description

Single-lane cruise control method and device for vehicle, vehicle and storage medium
Technical Field
The present disclosure relates to the field of intelligent driving technologies, and in particular, to a method and an apparatus for controlling single-lane cruise of a vehicle, and a storage medium.
Background
Along with the development of automobile intelligent technology, the popularity of an intelligent driving system is higher and higher, when the current intelligent driving system passes through an intersection and a traffic light, the vehicle does not have any speed reduction and prompt, and the conditions of acceleration and the like exist when the current intelligent driving system does not reach the cruising speed, so that a user frequently steps on a brake to quit the cruising system when passing through the intersection and the traffic light, and the urban intersection is complex, the number of the traffic lights is more, the user frequently quits, the continuity of the cruising system is low, and the utilization rate of the user is low.
In the related technology, only the intersection information is used for carrying out scene classification or only the traffic light information is used for carrying out scene classification, different strategies for controlling the vehicle to cruise are adopted, other factors influencing the vehicle road driving are not considered, and the vehicle control is not accurate.
Disclosure of Invention
The application provides a single lane cruise control method, a single lane cruise control device, a single lane cruise control vehicle and a storage medium, solves the problems that a cruise system is low in continuity and low in user utilization rate and the like due to the fact that urban roads are complex, traffic lights are more and exit frequently, improves the experience and continuity of city cruise auxiliary driving, and improves vehicle driving intelligence.
An embodiment of a first aspect of the present application provides a single-lane cruise control method for a vehicle, including the following steps: acquiring a current navigation path of a current vehicle; identifying intersection information, traffic light information and a driving direction of a current road based on the current navigation path, and acquiring a detection result of the traffic light when the traffic light information indicates that the traffic light exists; and matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light, and performing cruise control on the current vehicle according to the current optimal cruise control strategy.
According to the technical means, the problems that due to the fact that urban roads are complex, traffic lights are more and the urban roads frequently exit, the cruise system is low in continuity, the user utilization rate is low and the like are solved, the city cruise auxiliary driving experience and continuity are improved, and the vehicle driving intelligence is improved.
Further, the matching of the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light comprises: when the intersection information is that no intersection exists, the traffic light information is that the traffic light exists, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is a first cruise control strategy, wherein the first cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and green; when the intersection information is that no intersection exists, the traffic light information is that the traffic light exists, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is a second cruise control strategy, wherein the second cruise control strategy is as follows: when the traffic light is yellow and normally flashes, performing cruise control on the current vehicle according to the first cruise control strategy; when the traffic light is red and normally bright or yellow and the traffic light is not counted down, calculating a first target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the interval where the first target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position; when the traffic light is red and normally bright or yellow and is counted down, if the current vehicle reaches the preset position or the preset stop line at the current vehicle speed based on the counting down, and the traffic light is changed from red and normally bright or yellow and normally bright to green, the acceleration of the current vehicle is inhibited; otherwise, controlling the current vehicle to decelerate according to a preset deceleration strategy, so that the current vehicle stops at the traffic light at a preset comfort level, or the traffic light is changed from the red normally-bright state or the yellow normally-bright state to the green state when the current vehicle reaches the preset position or the preset stop line; when the green is normally bright or flashes and the traffic light does not count down, obtaining the acceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and the green; when the green is normally bright or flashes in the green color and the traffic light is counted down, if the current vehicle reaches the preset position or the preset stop line at the current vehicle speed based on the counting down and the traffic light is still normally bright in the green color or flashes in the green color, the acceleration of the current vehicle is inhibited; otherwise, calculating a second target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the section where the second target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position.
According to the technical means, the optimal cruise control strategy of the vehicle is matched according to the intersection information traffic light information, the detection result of the traffic light, the lane type and the traffic light distance, so that different deceleration strategies are adopted, the intelligence of vehicle driving is improved, and the experience and the continuity of auxiliary driving in city cruise are improved.
Further, the matching of the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light further comprises: when the intersection information is that an intersection exists, the traffic light information is that no traffic light exists, and the driving direction is a straight-ahead direction, the current optimal cruise control strategy is a third cruise control strategy, wherein the third cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located, the distance from the current vehicle to the intersection and the current speed of the current vehicle; when the intersection information is that an intersection exists, the traffic light information is that no traffic light exists, and the driving direction is a non-straight driving direction, the current optimal cruise control strategy is a fourth cruise control strategy, wherein the fourth cruise control strategy is as follows: and obtaining the deceleration of the current vehicle according to the distance from the current vehicle to the intersection and the current vehicle speed of the current vehicle.
According to the technical means, the optimal cruise control strategy of the vehicle is matched according to the intersection information, the traffic light information, the driving direction, the distance from the intersection and the lane type, so that different deceleration strategies are adopted, the intelligence of vehicle driving is improved, and the experience and the continuity of auxiliary driving in city cruising are improved.
Further, the matching of the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light further comprises: when the intersection information indicates that an intersection exists, the traffic light information indicates that the traffic light exists, the running direction indicates a straight-going direction, and the detection result of the traffic light indicates that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; when the intersection information indicates that an intersection exists, the traffic light information indicates that the traffic light exists, the running direction is a straight-going direction, and the traffic light is not detected according to the detection result, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy; when the intersection information is the existence of an intersection, the traffic light information is the existence of the traffic light, the driving direction is the non-straight-going direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; and when the intersection information indicates that an intersection exists, the traffic light information indicates that the traffic light exists, the driving direction is a non-straight-going direction, and the traffic light is not detected according to the detection result of the traffic light, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy.
According to the technical means, the optimal cruise control strategy of the vehicle is matched according to the intersection information, the traffic light information and the driving direction, so that different deceleration strategies are adopted, the intelligence of vehicle driving is improved, and the experience and the continuity of auxiliary driving in city cruise are improved.
Further, before matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light, the method further comprises the following steps: and binding the traffic light and the lane where the current vehicle is located based on a preset binding strategy.
According to the technical means, the accuracy of vehicle control is improved by binding the traffic light and the lane where the current vehicle is located.
An embodiment of a second aspect of the present application provides a single-lane cruise control apparatus for a vehicle, including: the first acquisition module is used for acquiring the current navigation path of the current vehicle; the second acquisition module is used for identifying intersection information, traffic light information and driving direction of a current road based on the current navigation path and acquiring a detection result of the traffic light when the traffic light information indicates that the traffic light exists; and the control module is used for matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light and carrying out cruise control on the current vehicle according to the current optimal cruise control strategy.
Further, the control module is further configured to: when the intersection information is that no intersection exists, the traffic light information is that the traffic light exists, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is a first cruise control strategy, wherein the first cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and green; when the intersection information is that no intersection exists, the traffic light information is that the traffic light exists, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is a second cruise control strategy, wherein the second cruise control strategy is as follows: when the traffic light is yellow and frequently flashes, performing cruise control on the current vehicle according to the first cruise control strategy; when the traffic light is red and normally on or yellow and the traffic light is not counted down, calculating a first target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the interval where the first target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position; when the traffic light is red and normally bright or yellow and is counted down, if the current vehicle reaches the preset position or the preset stop line at the current vehicle speed based on the counting down, and the traffic light is changed from red and normally bright or yellow and normally bright to green, the acceleration of the current vehicle is inhibited; otherwise, controlling the current vehicle to decelerate according to a preset deceleration strategy, so that the current vehicle stops at the traffic light at a preset comfort level, or when the current vehicle reaches the preset position or the preset stop line, the traffic light is changed from the red constant-brightness state or the yellow constant-brightness state to the green state; when the green is normally bright or flashes in the green and the traffic light does not count down, obtaining the acceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and the green; when the green is normally bright or flashes in the green color and the traffic light is counted down, if the current vehicle reaches the preset position or the preset stop line at the current vehicle speed based on the counting down and the traffic light is still normally bright in the green color or flashes in the green color, the acceleration of the current vehicle is inhibited; otherwise, calculating a second target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the interval where the second target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position.
Further, the control module is further configured to: when the intersection information is that an intersection exists, the traffic light information is that no traffic light exists, and the driving direction is a straight-going direction, the current optimal cruise control strategy is a third cruise control strategy, wherein the third cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located, the distance from the current vehicle to the intersection and the current speed of the current vehicle; when the intersection information is that an intersection exists, the traffic light information is that no traffic light exists, and the driving direction is a non-straight driving direction, the current optimal cruise control strategy is a fourth cruise control strategy, wherein the fourth cruise control strategy is as follows: and obtaining the deceleration of the current vehicle according to the distance from the current vehicle to the intersection and the current vehicle speed of the current vehicle.
Further, the control module is further configured to: when the intersection information indicates that an intersection exists, the traffic light information indicates that the traffic light exists, the running direction indicates a straight-going direction, and the detection result of the traffic light indicates that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; when the intersection information indicates that an intersection exists, the traffic light information indicates that the traffic light exists, the running direction is a straight-going direction, and the traffic light is not detected according to the detection result, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy; when the intersection information is the existence of an intersection, the traffic light information is the existence of the traffic light, the driving direction is the non-straight-going direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; and when the intersection information indicates that an intersection exists, the traffic light information indicates that the traffic light exists, the driving direction is a non-straight-going direction, and the traffic light is not detected according to the detection result of the traffic light, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy.
Further, before the current optimal cruise control strategy is matched according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light, the control module is further configured to: and binding the traffic light and the lane where the current vehicle is located based on a preset binding strategy.
An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the single lane cruise control method of the vehicle as described in the above embodiments.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program for execution by a processor for implementing a method for single-lane cruise control of a vehicle as described in the above embodiments.
Therefore, the method and the device identify the intersection information, the traffic light information and the driving direction of the current road by acquiring the current navigation path of the current vehicle, acquire the detection result of the traffic light when the traffic light information is the traffic light, match the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light, and perform cruise control on the current vehicle according to the current optimal cruise control strategy. From this, solved because urban road is complicated, the traffic lights is more and frequently withdraw from, lead to cruising system continuity low, user's rate of utilization low scheduling problem, promoted city cruise auxiliary driving's experience and continuity, improved vehicle driving intelligence.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for single-lane cruise control of a vehicle according to an embodiment of the present application;
FIG. 2 is a block schematic diagram of a method of single-lane cruise control of a vehicle according to one embodiment of the present application;
FIG. 3 is a schematic flow chart illustrating the binding of traffic light information and lanes without intersections according to an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating the binding of traffic light information and lanes at an intersection according to an embodiment of the present application;
FIG. 5 is a flow chart illustrating traffic light scene classification at an intersection according to one embodiment of the present application;
FIG. 6 is a flow diagram illustrating a scenario 1 cruise control strategy, according to one embodiment of the present application;
FIG. 7 is a flow diagram illustrating a scenario 2 cruise control strategy, according to one embodiment of the present application;
FIG. 8 is a flow diagram illustrating a scenario 2 cruise control strategy according to another embodiment of the present application;
FIG. 9 is a flow diagram illustrating a scenario 2 cruise control strategy according to yet another embodiment of the present application;
FIG. 10 is a flow diagram illustrating a scenario 3 cruise control strategy, according to one embodiment of the present application;
FIG. 11 is a flow diagram illustrating a scenario 4 cruise control strategy, according to one embodiment of the present application;
FIG. 12 is a block schematic diagram of a single-lane cruise control of a vehicle according to an embodiment of the present application;
fig. 13 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Description of reference numerals: 10-single lane cruise control device of vehicle, 100-first acquisition module, 200-second acquisition module, 300-control module, 1303-communication interface, 1301-memory, 1302-processor.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A single-lane cruise control method and apparatus of a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the accompanying drawings. In order to solve the problems that the continuity of a cruise system is low and the utilization rate of users is low due to the fact that urban roads are complex, traffic lights are more and the vehicles frequently exit, the method for controlling the single-lane cruise of the vehicles is provided. From this, solved because urban road is complicated, the traffic lights is more and frequently withdraw from, lead to the cruising system continuity low, user's rate of utilization low scheduling problem, promote city cruising driver assistance's experience and continuity, improve vehicle driving intelligence.
Specifically, fig. 1 is a flowchart of a method for controlling a single-lane cruise of a vehicle according to an embodiment of the present application.
As shown in fig. 1, the one-lane cruise control method of the vehicle includes the steps of:
in step S101, a current navigation path of the current vehicle is acquired.
In this embodiment, as shown in fig. 2, the vehicle includes a navigation map, an ADAS (Advanced Driving assistance system) map, a forward-looking camera, a Driving assistance control unit, an HMI (Human machine interface) interaction system, a braking system and a steering system, where the steering system provides steering capability, the braking system provides braking capability, and the HMI interaction system provides an information exchange platform interacting with a user. Acquiring a vehicle navigation path, comprising: navigation information, intersection information, traffic light information, road sign information and speed limit information. The navigation & ADAS map provides navigation information and intersection information, the navigation information including: the navigation path is provided with information of whether the vehicle is going straight, turning left, turning right and limiting speed.
In step S102, intersection information, traffic light information, and a driving direction of the current road are identified based on the current navigation path, and when the traffic light information indicates that a traffic light exists, a detection result of the traffic light is obtained.
Specifically, the navigation map and the ADAS map provide intersection information, traffic light information, and a driving direction of a current road of the vehicle, and acquire a detection result of the traffic light.
Wherein, the crossing information includes: whether an intersection exists, whether a traffic light exists, the distance between the traffic lights and the number of lanes; the forward-looking camera provides traffic light information, road sign marking information and speed limit information, and the traffic light information contains: whether the traffic light exists or not, the distance of the traffic light, the state of the traffic light, the countdown of the traffic light and the number of the traffic light; the road sign line includes: the lane driving direction information, the zebra crossing information, the stop line information, the lane line information and the road edge information. The driving direction includes straight and non-straight.
In step S103, the current optimal cruise control strategy is matched according to the intersection information, the traffic light information, the driving direction, and/or the detection result of the traffic light, and the current vehicle is subjected to cruise control according to the current optimal cruise control strategy.
Optionally, in some embodiments, before matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and/or the detection result of the traffic light, the method further includes: and binding the traffic lights and the lane where the current vehicle is located based on a preset binding strategy.
Specifically, as shown in fig. 3, the traffic light information is bound with the lane where the vehicle is located under the condition of no intersection, and the cruise system selects the cruise strategy according to the binding information; when no lane information exists beside the red and green lights, the traffic light information existing on the lane corresponding to the traffic light without the intersection is the traffic light information of the current lane, and the cruise strategy is configured according to the information; when lane information is displayed beside the red and green light, the system combines the detected lane and the road edge information, when the left side of the lane has a road edge and only 1 lane line exists on the left side of the vehicle, the position of the vehicle is 1 lane, and the lane information is fused with the lane information of the traffic light 1; when 2 lane lines exist on the left side of the vehicle, the vehicle is located in 2 lanes and fused with the traffic light 2 lane information; when 3 lane lines exist on the left side of the vehicle, the vehicle is located in a 3 lane position and is fused with the 3 lane information of the traffic light; when no road edge exists on the left side of the lane (when the lane edge is not detected), the road edge is detected on the right side of the vehicle, and when only 1 lane line exists on the right side, the position of the vehicle is N lanes (the N lanes are the lane number information provided by navigation), and the N lanes information is fused with the traffic light N lane information; when 2 lane lines exist on the right side, when the distance between the two lane lines is less than <2.5m, the position of the vehicle is an N lane (the N lane is the lane number information provided by navigation) and is fused with the traffic light N lane information, and when the distance between the two lane lines is greater than 2.5m, the position of the vehicle is an N-1 lane (the N lane is the lane number information provided by navigation) and is fused with the traffic light N-1 lane information; when 3 lane lines exist on the right side, when the distance between the two lane lines on the right side is less than <2.5m, the position of the vehicle is an N-1 lane (the N lane is the information of the number of lanes provided for navigation) and is fused with the information of the N-1 lane of the traffic light, and when the distance between the two lane lines is greater than 2.5m, the position of the vehicle is an N-2 lane (the N lane is the information of the number of lanes provided for navigation) and is fused with the information of the N-2 lane of the traffic light;
as shown in fig. 4, the traffic light information and the lane where the vehicle is located are bound under the condition of the existence of the intersection; when the vehicle is running straight, only a single traffic light exists, and the traffic light information of the detected lane is the traffic light information of the vehicle; when 2 traffic lights in a lane are detected, the left side is an arrow, the right side is circular, the right side is traffic light information going straight, the left side is circular, and the left side is traffic light information going straight when the right side is an arrow; when 3 traffic lights are detected, the middle traffic light is the traffic light information going straight and is bound with the advancing direction of the vehicle; when the vehicle turns left, only a single traffic light exists, and the traffic light information of the detected lane is the traffic light information of the vehicle; when 2 traffic lights are detected, the left side is an arrow, the right side is circular, the left side is traffic light information for turning left, the left side is circular, the right side is arrow, the left side is traffic light information for turning left, when 3 traffic lights are detected, the traffic light information for turning left is bound with the advancing direction of the vehicle; when the vehicle turns right, only a single traffic light exists, and the traffic light information is not concerned when the vehicle turns right; when detecting 2 traffic lights on the way, the left side is the arrow, and when the right side was circular, the traffic light information was not cared for in the right turn, and the left side was circular, and when the right side was the arrow, the right side arrow was the traffic light information that turns right, and when detecting 3 traffic lights on the way, the right side traffic light was the arrow, and the right side traffic light was the traffic light information that turns right, and was binding with this car direction of advance.
Further, as shown in fig. 5, the traffic light scene at the intersection is divided into 8 scenes according to whether the intersection exists, whether the traffic light is detected, and the like under the navigation path, and then different cruise strategies are formulated according to different scenes.
The 8 scenes and the corresponding optimal cruise control strategies are respectively as follows:
(1) The intersection information is that no intersection exists, the traffic light information is that traffic lights exist and no traffic light is detected, and the optimal cruise control strategy is a first cruise control strategy;
(2) The intersection information is that no intersection exists, the traffic light information is that traffic lights exist, and the traffic lights are detected, and the optimal cruise control strategy is a second cruise control strategy;
(3) The intersection information is that an intersection exists, the traffic light information is that no traffic light exists, the driving direction is a straight driving direction, and the optimal cruise control strategy is a third cruise control strategy;
(4) The intersection information is that an intersection exists, the traffic light information is that no traffic light exists, the driving direction is a non-straight driving direction, and the optimal cruise control strategy is a fourth cruise control strategy;
(5) The intersection information is that an intersection exists, the traffic light information is that a traffic light exists, the driving direction is a straight-ahead direction, the detection result of the traffic light is that the traffic light is detected, and the optimal cruise control strategy is a second cruise control strategy;
(6) The method comprises the steps that intersection information is that an intersection exists, traffic light information is that traffic lights exist, the driving direction is the straight-ahead direction, the detection result of the traffic lights is that the traffic lights are not detected, and the optimal cruise control strategy is a first cruise control strategy;
(7) The intersection information is that an intersection exists, the traffic light information is that a traffic light exists, the driving direction is a non-straight-going direction, the detection result of the traffic light is that the traffic light is detected, and the optimal cruise control strategy is a second cruise control strategy;
(8) The intersection information is that an intersection exists, the traffic light information is that a traffic light exists, the driving direction is a non-straight-going direction, the detection result of the traffic light is that no traffic light is detected, and the optimal cruise control strategy is a first cruise control strategy.
In some embodiments, matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light includes: when the intersection information is that no intersection exists, the traffic light information is that a traffic light exists, and the detection result of the traffic light is that no traffic light is detected, the current optimal cruise control strategy is a first cruise control strategy, wherein the first cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and red and green; when the intersection information is that no intersection exists, the traffic light information is that a traffic light exists, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is a second cruise control strategy, wherein the second cruise control strategy is as follows: when the traffic light is yellow and often flickers, performing cruise control on the current vehicle according to a first cruise control strategy; when the traffic light is red and normally bright or yellow and the traffic light is not counted down, calculating a first target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the section of the first target deceleration so as to control the current vehicle to decelerate according to the deceleration position; when the traffic light is red and normally bright or yellow and the traffic light is counted down, if the current vehicle reaches a preset position or a preset stop line at the current speed based on the count-down, the traffic light is changed from red and normally bright or yellow and normally bright to green, the acceleration of the current vehicle is inhibited; otherwise, controlling the current vehicle to decelerate according to a preset deceleration strategy, so that the current vehicle stops at the traffic light at a preset comfort level, or when the current vehicle reaches a preset position or a preset stop line, the traffic light is changed from red and normally bright or yellow and normally bright to green; when the green is normally bright or the green flickers and the traffic lights do not count down, the acceleration of the current vehicle is obtained according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and the green; when the green is constantly on or flashes in the green color and the traffic light has countdown, if the current vehicle reaches a preset position or a preset stop line at the current speed based on the countdown, and the traffic light is still constantly on or flashes in the green color, the acceleration of the current vehicle is inhibited; otherwise, calculating a second target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determining the deceleration position of the current vehicle according to the section where the second target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position.
Specifically, when the intersection information indicates that no intersection exists, the traffic light information indicates that a traffic light exists, and the detection result of the traffic light indicates that no traffic light is detected, the current optimal cruise control strategy is the first cruise control strategy. As shown in fig. 6, when the current vehicle is located on a single lane, the distance between the vehicle and the traffic light is about <100m (TBD), if the vehicle speed < =40km/h (TBD), the cruise system only inhibits acceleration, if the vehicle speed is >40km/h (TBD), the system inhibits acceleration, and the system decelerates to 40km/h according to 0.1g of deceleration; when the road of the vehicle is a double lane or above, the distance between the vehicle and the traffic light is about <150m (TBD), if the vehicle speed < =60km/h (TBD), the cruise system only inhibits acceleration, if the vehicle speed is greater than 60km/h (TBD), the system inhibits acceleration, and meanwhile, the system decelerates to 60km/h according to the deceleration of 0.1 g;
further, when the intersection information is that no intersection exists, the traffic light information is that a traffic light exists, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is the second cruise control strategy.
(1) When the system detects that the traffic light bound with the vehicle is yellow and always flickers and the green light is not on, performing cruise control on the current vehicle according to a first cruise control strategy, as shown in fig. 7;
(2) As shown in fig. 8, when the system detects that the traffic lights bound to the vehicle are red and bright or yellow and bright, and the system detects that there is no countdown system, if the system detects that there is no crosswalk or zebra crossing temporarilyThe system calculates (S) based on the current position of the vehicle and the traffic light position minus 30m Position of ) The deceleration value (a deceleration) when the vehicle reaches red and green. When acceleration is applied<At 0.1g (TBD), the system suppresses acceleration, while the system backs up the position where the system starts decelerating according to the deceleration value of 0.1g (TBD), and decelerates when the system reaches that position; when the deceleration of the system is in [0.1g,0.25g](TBD), the system decelerates according to the estimated deceleration while suppressing acceleration; when the deceleration of the system>At 0.25g (TBD), the system decelerates, and simultaneously, the system driver pays attention to the traffic light in front and takes over the vehicle in time. If the system detects a stop line or a zebra crossing, the system calculates (S zebra) the deceleration value (a) of the vehicle when the vehicle reaches the red and green based on the current position of the vehicle and the stop line or the zebra crossing Deceleration rate ). When acceleration is applied<At 0.1g (TBD), the system suppresses acceleration, while the system backs up the position where the system starts decelerating according to the deceleration value of 0.1g (TBD), and decelerates when the system reaches that position; when the deceleration of the system is in [0.1g,0.25g](TBD), the system decelerates according to the estimated deceleration while suppressing acceleration; when the deceleration of the system>At 0.25g (TBD), the system decelerates, and simultaneously, the system driver pays attention to the traffic light in front and takes over the vehicle in time.
S Position of ＝S Traffic light -30m(TBD)；
a Deceleration rate ＝V Vehicle speed 2 /2S Position of ；
(3) When the system detects that the traffic light bound with the vehicle is red or yellow and normally bright, and the system detects the countdown system, if the system detects that the human crosswalk or zebra crossing is not detected temporarily, the system calculates (S) based on the current position of the vehicle and the position of the traffic light minus 30m Position of ) When the vehicle reaches the traffic light 30m (TBD) at the current speed, the traffic light system is changed to green, and the system only inhibits acceleration; when the vehicle runs at the current speed and reaches 30m before the traffic light, the system count-down time is not reset, when the system is at the red light, the system decelerates according to the current speed at 0.1g deceleration until the vehicle runs at the decelerated speed, and when the vehicle reaches 30m before the traffic light, the system traffic light is changed into green, and the vehicle deceleratesRear vehicle speed V x Can be calculated according to the following formula; when the vehicle decelerates to 30m away from the traffic light at the deceleration of 0.1g, the system is still at the red light, and the vehicle reverses the deceleration time at the deceleration of 0.1g, so that the vehicle is ensured to stop in front of the traffic light comfortably; if the system detects a human crosswalk or a zebra crossing, the system calculates based on the current position of the vehicle and the zebra crossing or the stop line (S) Position of ) When the vehicle reaches the zebra crossing or the stop line at the current speed, the traffic light system is changed to green, and the system only inhibits acceleration; when the vehicle runs at the current speed and reaches the zebra crossing or the stop line, the system countdown is not cleared, when the system is at the red light, the system decelerates according to the current speed at 0.1g deceleration until the vehicle runs at the decelerated speed, when the system reaches the zebra crossing or the stop line, the traffic light of the system is changed to green, and the vehicle speed V after the vehicle decelerates x Can be calculated according to the following formula; when the vehicle decelerates to the zebra crossing or the stop line at the deceleration of 0.1g, the system is still at the red light, and the vehicle reversely pushes the deceleration opportunity at the deceleration of 0.1g, so that the vehicle is ensured to stop in front of the traffic light comfortably;
S position of = S1 (deceleration distance) + S2 (constant speed distance) = (V) Vehicle speed 2 -V X 2 )/2a+V X T At uniform speed ；
T At uniform speed ＝T Countdown -(V Vehicle speed -Vx)/a；
(4) As shown in fig. 9, when the system detects that the red and green bound to the vehicle is green and normally bright or flickers, the system detects that the traffic lights are not counted down, when the current vehicle is located on a single lane, the distance between the vehicle and the traffic lights is about <100m (TBD), if the vehicle speed < =40km/h (TBD), the cruise system only inhibits acceleration, if the vehicle speed is greater than 40km/h (TBD), the system inhibits acceleration, and the system decelerates to 40km/h according to the deceleration of 0.1 g; when the road of the vehicle is a double lane or above, the distance between the vehicle and the traffic light is about <150m (TBD), if the vehicle speed < =60km/h (TBD), the cruise system only inhibits acceleration, if the vehicle speed is greater than 60km/h (TBD), the system inhibits acceleration, and meanwhile, the system decelerates to 60km/h according to the deceleration of 0.1 g;
(5) When the system detects that the red and green bound with the vehicle is green and normally bright or twinkles, the system detects that the traffic light is countdown, if the system does not detect the zebra crossing or the stop line, the system calculates according to the current distance between the vehicle and the traffic light, if the lane reaches the traffic light, the system is in the green light and only inhibits acceleration, and if the lane reaches the traffic light, the distance between the lane and the traffic light is reduced by 30m (S) according to the distance between the lane and the traffic light Position of ) Performing calculation when the acceleration is high<At 0.1g (TBD), the system suppresses acceleration, while the system backs up the position where the system starts decelerating according to the deceleration value of 0.1g (TBD), and decelerates when the system reaches that position; when the deceleration of the system is in [0.1g,0.25g](TBD), the system decelerates according to the estimated deceleration while suppressing acceleration; when the deceleration of the system is>When the vehicle speed is 0.25g (TBD), the system decelerates, and meanwhile, a system driver pays attention to a traffic light in front and takes over the vehicle in time;
(6) When the system detects that the red and green bound with the vehicle is green and normally bright or flickers, the system detects that the traffic lights are countdown, if the system detects that a zebra crossing or a stop line exists, the system calculates the distance between the vehicle and the zebra crossing or the stop line according to the current speed of the vehicle, if a lane reaches the zebra crossing or the stop line, the system is in the green light and only inhibits acceleration, if the lane reaches the zebra crossing or the stop line and is the red light, the system calculates according to the distance from the zebra crossing or the stop line, when the acceleration is less than 0.1g (TBD), the system inhibits the acceleration, and meanwhile, the system starts the deceleration position according to the deceleration value of 0.1g (TBD), and when the system reaches the position, the system decelerates; when the system deceleration is between [0.1g,0.25g ] (TBD), the system suppresses acceleration while decelerating in accordance with the estimated deceleration; when the deceleration of the system is greater than 0.25g (TBD), the system decelerates, and meanwhile, a system driver pays attention to a traffic light in front and takes over the vehicle in time;
(7) When the system detects that a traffic light bound with the vehicle is not bright, and the road where the current vehicle is located is a single lane, the distance between the vehicle and the traffic light is about <100m (TBD), if the vehicle speed < =40km/h (TBD), the cruise system only inhibits acceleration, if the vehicle speed is greater than 40km/h (TBD), the system inhibits acceleration, and meanwhile, the system decelerates to 40km/h according to the deceleration of 0.1 g; when the road of the vehicle is a double lane or above, the distance between the vehicle and the traffic light is about <150m (TBD), if the vehicle speed < =60km/h (TBD), the cruise system only inhibits acceleration, if the vehicle speed is greater than 60km/h (TBD), the system inhibits acceleration, and meanwhile, the system decelerates to 60km/h according to the deceleration of 0.1 g;
in some embodiments, matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and/or the detection result of the traffic light further includes: when the intersection information is that the intersection exists, the traffic light information is that no traffic light exists, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is a third cruise control strategy, wherein the third cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located, the distance from the current vehicle to the intersection and the current vehicle speed of the current vehicle; when the intersection information is that the intersection exists, the traffic light information is that no traffic light exists, and the driving direction is the non-straight-going direction, the current optimal cruise control strategy is a fourth cruise control strategy, wherein the fourth cruise control strategy is as follows: and obtaining the deceleration of the current vehicle according to the distance from the current vehicle to the intersection and the current speed of the current vehicle.
Specifically, as shown in fig. 10, when the intersection information indicates that an intersection exists, the traffic light information indicates that no traffic light exists, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is the third cruise control strategy. If the vehicle runs straight, when the road where the current vehicle is located is a single lane, the distance between the vehicle and the intersection is about <100m (TBD), if the vehicle speed < =40km/h (TBD), the cruise system only inhibits acceleration, if the vehicle speed is greater than 40km/h (TBD), the system inhibits acceleration, and meanwhile, the system decelerates to 40km/h according to the deceleration of 0.1 g; when the road of the vehicle is a two-lane road or above, the distance between the vehicle and the traffic light is about <150m (TBD), if the vehicle speed < =60km/h (TBD), the cruise system only inhibits acceleration, if the vehicle speed is greater than 60km/h (TBD), the system inhibits acceleration, and meanwhile the system decelerates to 60km/h according to the deceleration of 0.1 g.
As shown in fig. 11, when the intersection information indicates that an intersection exists, the traffic light information indicates that no traffic light exists, and the driving direction is a non-straight driving direction, the current optimal cruise control strategy is the fourth cruise control strategy. If the vehicle turns left and right, the distance between the vehicle and the intersection is about <100m (TBD), if the vehicle speed < =30km/h (TBD), the cruise system only inhibits acceleration, and if the vehicle speed is greater than 30km/h (TBD), the system inhibits acceleration, and simultaneously the system decelerates to 30km/h according to the deceleration of 0.1 g.
In some embodiments, matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light further includes: when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the driving direction is a straight-ahead direction, and the detection result of the traffic light indicates that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to a second cruise control strategy; when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the driving direction is a straight-ahead direction, and the detection result of the traffic light indicates that no traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to a first cruise control strategy; when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the running direction is a non-straight direction, and the detection result of the traffic light indicates that the traffic light is detected, the current optimal cruise control strategy is to carry out cruise control on the current vehicle according to a second cruise control strategy; when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the driving direction is a non-straight-going direction, and the detection result of the traffic light indicates that the traffic light is not detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy.
Specifically, when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the driving direction is a straight-ahead direction, and the detection result of the traffic light indicates that the traffic light is detected, the vehicle is controlled according to a second cruise control strategy; when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the driving direction is a straight-ahead direction, and the detection result of the traffic light indicates that the traffic light is not detected, controlling the vehicle according to a first cruise control strategy; when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the driving direction is a non-straight-going direction, and the detection result of the traffic light indicates that the traffic light is detected, controlling the vehicle according to a second cruise control strategy; and when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the driving direction is a non-straight-going direction, and the detection result of the traffic light indicates that the traffic light is not detected, controlling the vehicle according to a first cruise control strategy.
According to the single-lane cruise control method for the vehicle, the current navigation path of the current vehicle is obtained, intersection information, traffic light information and the driving direction of the current road are identified, the detection result of the traffic light is obtained when the traffic light information is the traffic light, the current optimal cruise control strategy is matched according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light, and the current optimal cruise control strategy is used for cruise control over the current vehicle. From this, solved because urban road is complicated, the traffic lights is more and frequently withdraw from, lead to cruising system continuity low, user's rate of utilization low scheduling problem, promoted city cruise auxiliary driving's experience and continuity, improved vehicle driving intelligence.
Next, a single-lane cruise control apparatus of a vehicle according to an embodiment of the present application will be described with reference to the drawings.
Fig. 12 is a block schematic diagram of a single-lane cruise control apparatus of a vehicle according to an embodiment of the present application.
As shown in fig. 12, the single-lane cruise control apparatus 10 of the vehicle includes: a first acquisition module 100, a second acquisition module 200, and a control module 300.
The first obtaining module 100 is configured to obtain a current navigation path of a current vehicle; a second obtaining module 200, configured to identify intersection information, traffic light information, and a driving direction of a current road based on a current navigation path, and obtain a detection result of a traffic light when the traffic light information indicates that the traffic light exists; and the control module 300 is configured to match the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and/or the detection result of the traffic light, and perform cruise control on the current vehicle according to the current optimal cruise control strategy.
Further, in some embodiments, the control module 300 is further configured to: when the intersection information is that no intersection exists, the traffic light information is that a traffic light exists, and the detection result of the traffic light is that no traffic light is detected, the current optimal cruise control strategy is a first cruise control strategy, wherein the first cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and red and green; when the intersection information is that no intersection exists, the traffic light information is that a traffic light exists, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is a second cruise control strategy, wherein the second cruise control strategy is as follows: when the traffic light is yellow and frequently flashes, performing cruise control on the current vehicle according to a first cruise control strategy; when the traffic light is red and normally bright or yellow and the traffic light is not counted down, calculating a first target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the section of the first target deceleration so as to control the current vehicle to decelerate according to the deceleration position; when the traffic light is red and normally bright or yellow and the traffic light is counted down, if the current vehicle reaches a preset position or a preset stop line at the current speed based on the count-down, the traffic light is changed from red and normally bright or yellow and normally bright to green, the acceleration of the current vehicle is inhibited; otherwise, controlling the current vehicle to decelerate according to a preset deceleration strategy, so that the current vehicle stops at the traffic light at a preset comfort level, or the traffic light is changed from red normally bright or yellow normally bright to green when the current vehicle reaches a preset position or a preset stop line; when the green is normally bright or the green flickers and the traffic lights do not count down, the acceleration of the current vehicle is obtained according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and the green; when the green is constantly on or flashes in the green color and the traffic light has countdown, if the current vehicle reaches a preset position or a preset stop line at the current speed based on the countdown, and the traffic light is still constantly on or flashes in the green color, the acceleration of the current vehicle is inhibited; otherwise, calculating a second target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determining the deceleration position of the current vehicle according to the section where the second target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position.
Further, in some embodiments, the control module 300 is further configured to: when the intersection information is that the intersection exists, the traffic light information is that no traffic light exists, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is a third cruise control strategy, wherein the third cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located, the distance from the current vehicle to the intersection and the current vehicle speed of the current vehicle; when the intersection information is that an intersection exists, the traffic light information is that no traffic light exists, and the driving direction is a non-straight direction, the current optimal cruise control strategy is a fourth cruise control strategy, wherein the fourth cruise control strategy is as follows: and obtaining the deceleration of the current vehicle according to the distance from the current vehicle to the intersection and the current speed of the current vehicle.
Further, in some embodiments, the control module 300 is further configured to: when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the driving direction is a straight-ahead direction, and the detection result of the traffic light indicates that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to a second cruise control strategy; when the intersection information indicates that an intersection exists, the traffic light information indicates that a traffic light exists, the driving direction is a straight-ahead direction, and the detection result of the traffic light indicates that no traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to a first cruise control strategy; when the intersection information is that the intersection exists, the traffic light information is that the traffic light exists, the driving direction is the non-straight-going direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to cruise the current vehicle according to the second cruise control strategy
Controlling; when the intersection information is that an intersection exists, the traffic light information is that a traffic light exists, the driving direction is a non-straight-going direction, and the detection result of the traffic light 5 is that no traffic light is detected, the current optimal cruise control strategy is to carry out the cruise control according to the first cruise control strategy
The preceding vehicle performs cruise control.
Further, in some embodiments, before matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and/or the detection result of the traffic light, the control module 300 is further configured to: and binding the traffic lights and the lane where the current vehicle is located based on a preset binding strategy.
0 it should be noted that the foregoing explanation of the embodiment of the single-lane cruise control method for a vehicle is also applicable to this embodiment
The single-lane cruise control apparatus of the example vehicle will not be described herein again.
According to the single-lane cruise control device of the vehicle, the current navigation path of the current vehicle is obtained, intersection information, traffic light information and the driving direction of the current road are identified, and the traffic light information indicates that traffic exists
And when the vehicle is in a light state, acquiring a detection result of the traffic light, matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection 5 result of the traffic light, and performing cruise control on the current vehicle according to the current optimal cruise control strategy.
From this, solved because urban road is complicated, the traffic lights is more and frequently withdraw from, lead to cruising system continuity low, user's rate of utilization low scheduling problem, promoted city cruise auxiliary driving's experience and continuity, improved vehicle driving intelligence.
Fig. 13 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 1301, processor 1302, and a computer program stored on memory 1301 and executable on processor 1302.
The processor 1302, when executing a program, implements the single-lane cruise control method of the vehicle provided in the above-described embodiments.
Further, the vehicle further includes:
and a 5 communication interface 1303 for communication between the memory 1301 and the processor 1302.
A memory 1301 for storing a computer program that is executable on the processor 1302.
The Memory 1301 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.
If the memory 1301, the processor 1302, and the communication interface 1303 are implemented independently, the communication interface 1303, the memory 0 1301, and the processor 1302 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 13, but that does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 1301, the processor 1302, and the communication interface 1303 are integrated on a 5-chip, the memory 1301, the processor 1302, and the communication interface 1303 may complete mutual operations through internal interfaces
Inter-communication.
The processor 1302 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
Embodiments of the present application also provide a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the single-lane cruise control method of a vehicle as above.
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," 5 or "some examples," etc., mean that a particular feature, structure, material, or package of features described in connection with the embodiment or example is intended to be included in the description
Is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as being representative of including one
Or more N modules, segments, or portions of code for executable instructions for implementing the steps for custom logic functions or processes,
and the scope of the preferred embodiments of the present application includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiment
In an embodiment, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (10)

1. A single-lane cruise control method of a vehicle, characterized by comprising the steps of:
acquiring a current navigation path of a current vehicle;
identifying intersection information, traffic light information and a driving direction of a current road based on the current navigation path, and acquiring a detection result of the traffic light when the traffic light information indicates that the traffic light exists; and
and matching a current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light, and performing cruise control on the current vehicle according to the current optimal cruise control strategy.
2. The method of claim 1, wherein said matching a current optimal cruise control strategy based on said intersection information, said traffic light information, said direction of travel, and/or said traffic light detection comprises:
when the intersection information is that no intersection exists, the traffic light information is that the traffic light exists, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is a first cruise control strategy, wherein the first cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and green;
when the intersection information is that no intersection exists, the traffic light information is that the traffic light exists, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is a second cruise control strategy, wherein the second cruise control strategy is as follows:
when the traffic light is yellow and frequently flashes, performing cruise control on the current vehicle according to the first cruise control strategy;
when the traffic light is red and normally bright or yellow and the traffic light is not counted down, calculating a first target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the interval where the first target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position;
when the traffic light is red and normally on or yellow and is counted down, if the current vehicle reaches the preset position or the preset stop line at the current vehicle speed based on the counting down, and the traffic light is changed from red and normally on or yellow and normally on to green, the acceleration of the current vehicle is inhibited; otherwise, controlling the current vehicle to decelerate according to a preset deceleration strategy, so that the current vehicle stops at the traffic light at a preset comfort level, or when the current vehicle reaches the preset position or the preset stop line, the traffic light is changed from the red constant-brightness state or the yellow constant-brightness state to the green state;
when the green is normally bright or flashes in the green and the traffic light does not count down, obtaining the acceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and the green;
when the green is normally bright or flashes in the green color and the traffic light is counted down, if the current vehicle reaches the preset position or the preset stop line at the current vehicle speed based on the counting down and the traffic light is still normally bright in the green color or flashes in the green color, the acceleration of the current vehicle is inhibited; otherwise, calculating a second target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the section where the second target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position.
3. The method of claim 2, wherein said matching a current optimal cruise control strategy based on said intersection information, said traffic light information, said direction of travel, and/or a detection of said traffic light further comprises:
when the intersection information is that an intersection exists, the traffic light information is that no traffic light exists, and the driving direction is a straight-ahead direction, the current optimal cruise control strategy is a third cruise control strategy, wherein the third cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located, the distance from the current vehicle to the intersection and the current speed of the current vehicle;
when the intersection information is that an intersection exists, the traffic light information is that no traffic light exists, and the driving direction is a non-straight direction, the current optimal cruise control strategy is a fourth cruise control strategy, wherein the fourth cruise control strategy is as follows: and obtaining the deceleration of the current vehicle according to the distance from the current vehicle to the intersection and the current vehicle speed of the current vehicle.
4. The method of claim 3, wherein said matching a current optimal cruise control strategy based on said intersection information, said traffic light information, said direction of travel, and/or a detection of said traffic light, further comprises:
when the intersection information indicates that an intersection exists, the traffic light information indicates that the traffic light exists, the running direction indicates a straight-going direction, and the detection result of the traffic light indicates that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy;
when the intersection information indicates that an intersection exists, the traffic light information indicates that the traffic light exists, the running direction is a straight-going direction, and the traffic light is not detected according to the detection result, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy;
when the intersection information is the existence of an intersection, the traffic light information is the existence of the traffic light, the driving direction is the non-straight-going direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy;
and when the intersection information indicates that an intersection exists, the traffic light information indicates that the traffic light exists, the driving direction is a non-straight-going direction, and the traffic light is not detected according to the detection result of the traffic light, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy.
5. The method of claim 1, further comprising, before matching a current optimal cruise control strategy based on the intersection information, the traffic light information, the direction of travel, and/or the detection of the traffic light:
and binding the traffic light and the lane where the current vehicle is located based on a preset binding strategy.
6. A single-lane cruise control apparatus of a vehicle, characterized by comprising:
the first acquisition module is used for acquiring the current navigation path of the current vehicle;
the second acquisition module is used for identifying intersection information, traffic light information and driving direction of a current road based on the current navigation path and acquiring a detection result of the traffic light when the traffic light information indicates that the traffic light exists; and
and the control module is used for matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction and/or the detection result of the traffic light and carrying out cruise control on the current vehicle according to the current optimal cruise control strategy.
7. The apparatus of claim 6, wherein the control module is further configured to:
when the intersection information is that no intersection exists, the traffic light information is that the traffic light exists, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is a first cruise control strategy, wherein the first cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and green;
when the intersection information is that no intersection exists, the traffic light information is that the traffic light exists, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is a second cruise control strategy, wherein the second cruise control strategy is as follows:
when the traffic light is yellow and normally flashes, performing cruise control on the current vehicle according to the first cruise control strategy;
when the traffic light is red and normally bright or yellow and the traffic light is not counted down, calculating a first target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the interval where the first target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position;
when the traffic light is red and normally on or yellow and is counted down, if the current vehicle reaches the preset position or the preset stop line at the current vehicle speed based on the counting down, and the traffic light is changed from red and normally on or yellow and normally on to green, the acceleration of the current vehicle is inhibited; otherwise, controlling the current vehicle to decelerate according to a preset deceleration strategy, so that the current vehicle stops at the traffic light at a preset comfort level, or the traffic light is changed from the red normally-bright state or the yellow normally-bright state to the green state when the current vehicle reaches the preset position or the preset stop line;
when the green is normally bright or flashes and the traffic light does not count down, obtaining the acceleration of the current vehicle according to the type of the lane where the current vehicle is located and/or the distance between the current vehicle and the red and the green;
when the green is normally bright or flashes in the green color and the traffic light is counted down, if the current vehicle reaches the preset position or the preset stop line at the current vehicle speed based on the counting down and the traffic light is still normally bright in the green color or flashes in the green color, the acceleration of the current vehicle is inhibited; otherwise, calculating a second target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the section where the second target deceleration is located so as to control the current vehicle to decelerate according to the deceleration position.
8. The apparatus of claim 7, wherein the control module is further configured to:
when the intersection information is that an intersection exists, the traffic light information is that no traffic light exists, and the driving direction is a straight-ahead direction, the current optimal cruise control strategy is a third cruise control strategy, wherein the third cruise control strategy is as follows: obtaining the deceleration of the current vehicle according to the type of the lane where the current vehicle is located, the distance from the current vehicle to the intersection and the current speed of the current vehicle;
when the intersection information is that an intersection exists, the traffic light information is that no traffic light exists, and the driving direction is a non-straight direction, the current optimal cruise control strategy is a fourth cruise control strategy, wherein the fourth cruise control strategy is as follows: and obtaining the deceleration of the current vehicle according to the distance from the current vehicle to the intersection and the current vehicle speed of the current vehicle.
9. A vehicle, characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor executing the program to implement a method of single-lane cruise control of a vehicle according to any of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a single-lane cruise control method of a vehicle according to any of claims 1-5.
CN202310002863.1A 2023-01-03 2023-01-03 Single-lane cruise control method and device for vehicle, vehicle and storage medium Pending CN115871664A (en)

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CN202310002863.1A CN115871664A (en) 2023-01-03 2023-01-03 Single-lane cruise control method and device for vehicle, vehicle and storage medium

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CN202310002863.1A CN115871664A (en) 2023-01-03 2023-01-03 Single-lane cruise control method and device for vehicle, vehicle and storage medium

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