CN116513179A

CN116513179A - Speed adjusting method, device, equipment and medium of self-adaptive cruising vehicle

Info

Publication number: CN116513179A
Application number: CN202310735094.6A
Authority: CN
Inventors: 孟俊峰; 袁文建; 芦冰; 武浩远; 白丽莎; 佟宇琪; 曲慧; 王杨
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-06-20
Filing date: 2023-06-20
Publication date: 2023-08-01

Abstract

The invention discloses a speed adjusting method, device, equipment and medium of a self-adaptive cruising vehicle. Comprising the following steps: acquiring the cruising related speed of the current vehicle; acquiring vehicle related information of a target rear vehicle, and determining collision time according to the vehicle related information and the cruising related speed, wherein the vehicle related information comprises a vehicle distance and a first vehicle speed; and determining a target speed according to the collision time, and adjusting the speed of the current vehicle according to the target speed. The method comprises the steps of determining the collision time of a current vehicle and a target rear vehicle by acquiring the cruising related speed of the current vehicle and the vehicle related information of the target rear vehicle, determining the vehicle speed lifting coefficient through the collision time, further determining the target speed, and finally accelerating the current vehicle based on the target speed, so that the distance between the current vehicle and the rear vehicle can be increased, the collision risk with the rear vehicle is effectively avoided, the driving safety of the self-adaptive cruising vehicle is improved, the driving burden of a driver is better lightened, and the driving experience of the driver is better.

Description

Speed adjusting method, device, equipment and medium of self-adaptive cruising vehicle

Technical Field

The present invention relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, a device, and a medium for adjusting a speed of an adaptive cruise vehicle.

Background

In the prior art, the self-adaptive cruise function of the intelligent automobile is an active safety function for automatically controlling the longitudinal direction of the automobile, when the system is activated, a driver can release a brake pedal and an accelerator pedal, the system can automatically control the automobile to accelerate, decelerate, stop and the like at a set following distance, the driving burden of the driver can be reduced, and when no target automobile is in front, the automobile can perform constant-speed cruise control according to the target cruise speed set by the driver.

However, in the self-adaptive cruising vehicle in the prior art, in the stable constant-speed cruising process of the system, if the collision risk occurs due to the fact that a rear target suddenly invades the vehicle, the speed of the current vehicle cannot be automatically lifted to a certain extent, namely, the distance between the vehicle and the rear vehicle cannot be increased, and the collision risk with the rear vehicle cannot be avoided.

Disclosure of Invention

The invention provides a speed adjusting method, device, equipment and medium of a self-adaptive cruising vehicle, which are used for solving the risk of rear-end collision of the vehicle by a rear vehicle during self-adaptive cruising.

According to an aspect of the present invention, there is provided a speed adjustment method of an adaptive cruise vehicle, the method comprising:

acquiring the cruising related speed of the current vehicle;

acquiring vehicle related information of a target rear vehicle, and determining collision time according to the vehicle related information and the cruising related speed, wherein the vehicle related information comprises a vehicle distance and a first vehicle speed;

and determining a target speed according to the collision time, and adjusting the speed of the current vehicle according to the target speed.

Optionally, obtaining the cruising-related speed of the current vehicle includes: acquiring a cruising speed set by a user as a second speed; the method comprises the steps that lane driving speed limit is obtained through a forward perception visual module, wherein the forward perception visual module comprises a camera; the second vehicle speed and the lane travel speed limit are taken as cruise-related speeds.

Optionally, determining the collision time according to the vehicle-related information and the cruise-related speed includes: determining a vehicle speed difference between the first vehicle speed and the second vehicle speed; calculating a first ratio of the vehicle distance to the vehicle speed difference; the first ratio is taken as the collision time.

Optionally, determining the target speed according to the collision time includes: obtaining a calibration time, and calculating a second ratio of the collision time to the calibration time; judging whether the second ratio is smaller than a preset threshold value, if so, determining a target speed according to the second speed and the lane driving speed limit; otherwise, the lane travel speed limit is taken as the target speed.

Optionally, determining the target speed according to the second vehicle speed and the lane travel speed limit includes: acquiring a first adjustment coefficient and a second adjustment coefficient set by a user, wherein the second adjustment coefficient is smaller than the first adjustment coefficient; judging whether the second vehicle speed is smaller than the lane driving speed limit, if so, taking the product of the first adjustment coefficient and the second vehicle speed as a target vehicle speed; otherwise, taking the product of the second adjustment coefficient and the second vehicle speed as the target vehicle speed.

Optionally, after the speed adjustment according to the target speed, the method further includes: generating a prompt signal according to the target speed; and alarming in a specified mode according to the prompting signal.

Optionally, after the speed adjustment according to the target speed, the method further includes: acquiring risk release time; when the collision time is greater than or equal to the risk release time, taking the second vehicle speed as a recovery vehicle speed; and adjusting the speed according to the recovery speed.

According to another aspect of the present invention, there is provided a speed adjusting apparatus of an adaptive cruise vehicle, the apparatus including:

the cruising related speed acquisition module is used for acquiring the cruising related speed of the current vehicle;

the collision time determining module is used for acquiring vehicle related information of a vehicle behind the target, and determining the collision time according to the vehicle related information and the cruising related speed, wherein the vehicle related information comprises a vehicle distance and a first vehicle speed;

and the target speed adjusting module is used for determining the target speed according to the collision time and adjusting the speed of the current vehicle according to the target speed.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of speed adjustment of an adaptive cruise vehicle according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a method for speed adjustment of an adaptive cruise vehicle according to any one of the embodiments of the present invention.

According to the technical scheme, the collision time between the current vehicle and the target rear vehicle is determined by acquiring the cruising related speed of the current vehicle and the vehicle related information of the target rear vehicle, then the vehicle speed lifting coefficient is determined by the collision time, the target speed is determined, and finally the current vehicle is accelerated based on the target speed, so that the distance between the current vehicle and the rear vehicle can be increased, the collision risk with the rear vehicle is effectively avoided, the driving safety of the self-adaptive cruising vehicle is improved, the driving load of a driver is better reduced, and the driving experience of the driver is better.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method for speed adjustment of an adaptive cruise vehicle according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram of an adaptive cruise system according to a first embodiment of the present invention;

FIG. 3 is a flow chart of another method for speed adjustment of an adaptive cruise vehicle according to a first embodiment of the present invention;

fig. 4 is a flowchart of another speed adjustment method of an adaptive cruise vehicle according to a second embodiment of the present invention;

fig. 5 is a schematic structural view of a speed adjusting device for an adaptive cruise vehicle according to a third embodiment of the present invention;

fig. 6 is a schematic structural view of an electronic device implementing a speed adjustment method of an adaptive cruise vehicle according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a method for adjusting a speed of an adaptive cruise vehicle according to an embodiment of the present invention, where the method may be performed by a speed adjusting device of the adaptive cruise vehicle, which may be implemented in hardware and/or software, and the speed adjusting device of the adaptive cruise vehicle may be configured in a vehicle controller. As shown in fig. 1, the method includes:

s110, acquiring the cruising related speed of the current vehicle.

The adaptive cruise (Adaptive Cruise Control, ACC) is an intelligent automatic control system, which means that a vehicle distance sensor installed in front of a vehicle continuously scans a road in front of the vehicle while the vehicle travels, and a wheel speed sensor collects a vehicle speed signal. When the distance between the ACC control unit and the front vehicle is too small, the ACC control unit can make the wheels brake properly through the coordination action with the anti-lock braking system and the engine control system, and the output power of the engine is reduced, so that the safety distance between the vehicle and the front vehicle is always kept. The adaptive cruise has the greatest advantages that the vehicle speed preset by a driver can be kept, the vehicle speed can be reduced at any time according to the needs under specific driving conditions, and even the vehicle is braked automatically. The current vehicle refers to a vehicle that is performing adaptive cruising, and the cruising-related speed includes a vehicle speed of the current vehicle and a traveling speed limit of a lane in which the current vehicle is located.

Fig. 2 is a schematic structural diagram of an adaptive cruise system according to an embodiment of the present invention, where fig. 2 includes a forward sensing module, a backward sensing module, a host vehicle state obtaining module, an adaptive cruise control module, and a vehicle actuator. It should be noted that, in the technical scheme of the embodiment, the speed limit value of the vehicle running road is detected in real time through the front camera in the vehicle cruising running process, the rear target state is monitored through the rear sensing component camera and the radar, when the rapid intrusion state of the rear target is identified, the cruising target speed is automatically adjusted when the collision risk possibly occurs with the vehicle, and the vehicle cruising target speed is warned to remind the driver, so that the driver is helped to avoid the rear vehicle rear-end collision and other risks to a certain extent.

Specifically, the forward sensing module covers a camera arranged on the front windshield and can be used for detecting speed limit information of a vehicle driving road, the backward sensing module covers a camera arranged on the rear windshield and a millimeter wave radar near the rear bumper and is used for detecting target information at the rear of the vehicle, and the adaptive cruise control module is used for comprehensively judging and then determining the target speed of the current vehicle based on the cruise related speed sent by the forward sensing module and the vehicle related information sent by the backward sensing module. The technical scheme of the embodiment is based on the characteristics of millimeter wave radar and camera visual perception, the millimeter wave radar is better than the camera visual perception of vehicles such as longitudinal distance, speed and acceleration, the camera visual perception is better than the millimeter wave radar in measurement such as transverse distance, transverse speed and transverse acceleration, meanwhile, the camera can accurately acquire road speed limit information and recognize, process and output, so that the scheme of fusing the millimeter wave radar and the visual perception is adopted to detect a backward target, the accurate recognition of a backward risk target under a cruising function is realized, and meanwhile, the forward visual camera is adopted to acquire and recognize the road speed limit information.

The forward sensing module can detect road speed limit information set on a running road of the vehicle in real time, can accurately output the lane running speed limit to the self-adaptive cruise control module, and the backward sensing module can detect rear vehicle related information in real time and transmit the rear vehicle related information to the self-adaptive cruise control module through a whole vehicle signal.

Specifically, the cruising-related speed includes the speed of the current vehicle and the lane travel speed limit. The user refers to a person driving the vehicle, and the user may set the cruising speed on the vehicle machine of the vehicle, at which time the controller takes the cruising speed as the second speed, i.e. the running speed of the current vehicle, and for example, the user may set the cruising speed to 60km/h, at which time the current vehicle keeps advancing at a speed of 60 km/h. Wherein the controller refers to an adaptive cruise controller in the current vehicle. In addition, the self-adaptive cruise controller is connected with the forward perception visual module, the forward perception visual module can be a camera, and the lane running speed limit of the lane where the current vehicle is can be identified through the forward perception visual module.

S120, acquiring vehicle-related information of a target rear vehicle, and determining collision time according to the vehicle-related information and the cruising-related speed, wherein the vehicle-related information comprises a vehicle distance and a first vehicle speed.

The target rear vehicle is a target vehicle which is positioned behind the current vehicle and is identified by the backward perception module. The backward perception module comprises a camera and a millimeter wave radar, and the speed of the target rear vehicle, namely a first speed and the distance between the target rear vehicle and the current vehicle can be determined through the camera and the millimeter wave radar. The collision time refers to the estimated collision time of the current vehicle and the target rear vehicle if the vehicle speed is kept unchanged.

Specifically, since the time is equal to the distance ratio speed, the controller may determine the difference between the first vehicle speed and the second vehicle speed, and then further calculate the first ratio of the calculated vehicle distance and the difference between the vehicle speeds to determine the collision time. For example, when the calculated collision time is 3s, it means that the current vehicle and the target rear vehicle are expected to collide after 3 s.

In one embodiment, the rear target state information is detected in real time during the constant speed running process of the ACC cruise control vehicle and released to the ACC control module for calculation, and the basic collision time t1 calculation process is as follows: t1=d2/(V3-V1), where D2 is the longitudinal distance from the host vehicle to the target backward, V3 is the vehicle speed of the target backward vehicle, and V1 is the vehicle speed of the current vehicle.

S130, determining a target speed according to the collision time, and adjusting the speed of the current vehicle according to the target speed.

The target speed is the speed of the vehicle after being regulated according to the collision time, and the current vehicle is regulated according to the target speed, so that the rear collision risk of the current vehicle can be effectively avoided.

Fig. 3 is a flowchart of a speed adjustment method for an adaptive cruise vehicle according to an embodiment of the present invention, and step S130 mainly includes steps S131 to S138 as follows:

s131, acquiring calibration time, and calculating a second ratio of the collision time to the calibration time.

The calibration time refers to a fixed time value calibrated in advance by a developer in the controller.

S132, judging whether the second ratio is smaller than a preset threshold, if yes, executing S134-S135, otherwise, executing S133.

S133, taking the lane driving speed limit as a target speed.

S134, acquiring a first adjustment coefficient and a second adjustment coefficient set by a user, wherein the second adjustment coefficient is smaller than the first adjustment coefficient.

Specifically, the controller may calculate a second ratio of the collision time to the calibration time, and it should be noted that, as time advances, the distance between the target vehicle and the current vehicle is also getting closer, so the second ratio is smaller. The preset threshold may be set according to a driving requirement of the driver, and may be, for example, 0.9, where the preset threshold is greater than 0.9 and may represent that the rear collision risk of the current vehicle is a middle risk, and where the preset threshold is less than 0.9 and may represent that the rear collision risk of the current vehicle is a high risk. Therefore, the rear collision risk condition of the current vehicle can be determined by judging the second ratio and the preset threshold value, and the vehicle speed adjustment strategy is further determined. And when the second ratio is greater than or equal to a preset threshold, indicating that the rear collision risk of the current vehicle is a middle risk, and taking the lane driving speed limit as the target speed.

S135, judging whether the second vehicle speed is less than the lane travel speed limit, if yes, executing S136, otherwise, executing S137.

S136, taking the product of the first adjustment coefficient and the second vehicle speed as a target vehicle speed.

And S137, taking the product of the second adjustment coefficient and the second vehicle speed as the target vehicle speed.

S138, speed adjustment is carried out on the current vehicle according to the target speed.

Specifically, when the second ratio is smaller than the preset threshold, the first adjustment coefficient and the second adjustment coefficient set by the user can be obtained, and then the vehicle speed adjustment strategy is further judged according to the running condition of the current vehicle, wherein the running condition refers to whether the current vehicle is overspeed or not, namely, the second vehicle speed and the speed limit of the lane running are compared. Wherein the second adjustment coefficient is smaller than the first adjustment coefficient. When the second vehicle speed is smaller than the lane driving speed limit, the vehicle speed can be adjusted by adopting a larger adjusting coefficient, namely the first adjusting coefficient, and when the second vehicle speed is larger than or equal to the lane driving speed limit, the vehicle speed can be adjusted by adopting a more conservative adjusting strategy, namely the second adjusting coefficient. After the target speed is determined, the controller adjusts the current vehicle according to the target speed so as to enable the current vehicle to be separated from the rear collision danger.

In a specific embodiment, when V1 is less than V2, the ACC cruise system automatically adjusts the target cruise speed v4=β×v1, where β is the first adjustment coefficient, and the highest set target speed limit value v4 is less than or equal to 1.1×v2; when V1 is more than or equal to V2, the ACC cruise system automatically adjusts the target cruise speed V5=gamma.V1, wherein gamma is a second adjustment coefficient, and the highest set target speed limit value V5 is less than or equal to 1.1.v2. V1 is the speed of the current vehicle, and V2 is the lane driving speed limit.

Further, after the speed is adjusted, the controller can also generate a prompt signal according to the target speed, the controller can alarm according to the prompt information in a specified mode, the alarm is used for prompting a user, the user can grasp the situation that the collision risk occurs at the rear in time, the user can check and adjust the running condition of the current vehicle, the driver at the rear can be prompted, and the safety of the driving process is guaranteed. The appointed mode comprises light or images, and the light can flash through an indicator lamp connected with the controller so as to prompt a user. The image can be displayed through a user terminal connected with the controller so as to prompt the user.

Example two

Fig. 4 is a flowchart of a speed adjustment method for an adaptive cruise vehicle according to a second embodiment of the present invention, where a specific process of risk elimination is added on the basis of the first embodiment. The specific contents of steps S210 to S230 are substantially the same as steps S110 to S130 in the first embodiment, and thus, a detailed description is omitted in this embodiment. As shown in fig. 4, the method includes:

s210, acquiring the cruising related speed of the current vehicle.

S220, acquiring vehicle-related information of a target rear vehicle, and determining collision time according to the vehicle-related information and the cruising-related speed, wherein the vehicle-related information comprises a vehicle distance and a first vehicle speed.

S230, determining a target speed according to the collision time, and adjusting the speed of the current vehicle according to the target speed.

S240, acquiring risk release time, and taking the second vehicle speed as the recovery vehicle speed when the collision time is greater than or equal to the risk release time.

Specifically, the user can set risk release time, the risk release time refers to time that the rear target vehicle has no collision risk to the current vehicle, when the rear sensing module recognizes that the rear collision risk is released, the system can automatically recover to the cruising speed before adjustment, namely, the second vehicle speed is taken as the recovery speed, and then the current vehicle is subjected to subsequent cruising control according to the recovery speed when the collision time is greater than or equal to the risk release time.

S250, speed adjustment is carried out according to the recovery vehicle speed.

Example III

Fig. 5 is a schematic structural diagram of a speed adjusting device for an adaptive cruise vehicle according to a third embodiment of the present invention. As shown in fig. 5, the apparatus includes: a cruising-related-speed obtaining module 310 for obtaining a cruising-related speed of the current vehicle; a collision time determining module 320, configured to obtain vehicle related information of a vehicle behind the target, and determine a collision time according to the vehicle related information and the cruise related speed, where the vehicle related information includes a vehicle distance and a first vehicle speed; the target speed adjustment module 330 is configured to determine a target speed according to the collision time, and perform speed adjustment on the current vehicle according to the target speed.

Optionally, the cruise-related speed acquisition module 310 is specifically configured to: acquiring a cruising speed set by a user as a second speed; the method comprises the steps that lane driving speed limit is obtained through a forward perception visual module, wherein the forward perception visual module comprises a camera; the second vehicle speed and the lane travel speed limit are taken as cruise-related speeds.

Optionally, the collision time determining module 320 specifically includes: a collision time determination unit configured to: determining a vehicle speed difference between the first vehicle speed and the second vehicle speed; calculating a first ratio of the vehicle distance to the vehicle speed difference; the first ratio is taken as the collision time.

Optionally, the target speed adjustment module 330 is specifically configured to: obtaining a calibration time, and calculating a second ratio of the collision time to the calibration time; judging whether the second ratio is smaller than a preset threshold value, if so, determining a target speed according to the second speed and the lane driving speed limit; otherwise, the lane travel speed limit is taken as the target speed.

Optionally, the target speed adjustment module 330 specifically includes: a target speed determination unit configured to: acquiring a first adjustment coefficient and a second adjustment coefficient set by a user, wherein the second adjustment coefficient is smaller than the first adjustment coefficient; judging whether the second vehicle speed is smaller than the lane driving speed limit, if so, taking the product of the first adjustment coefficient and the second vehicle speed as a target vehicle speed; otherwise, taking the product of the second adjustment coefficient and the second vehicle speed as the target vehicle speed.

Optionally, the apparatus further comprises: risk alarm module for: generating a prompt signal according to the target speed; and alarming in a specified mode according to the prompting signal.

Optionally, the apparatus further comprises: the vehicle speed recovery module is used for: acquiring risk release time; when the collision time is greater than or equal to the risk release time, taking the second vehicle speed as a recovery vehicle speed; and adjusting the speed according to the recovery speed.

The speed adjusting device for the self-adaptive cruise vehicle provided by the embodiment of the invention can execute the speed adjusting method for the self-adaptive cruise vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.

Example IV

Fig. 6 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a method of speed adjustment of an adaptive cruise vehicle. Namely: acquiring the cruising related speed of the current vehicle; acquiring vehicle related information of a target rear vehicle, and determining collision time according to the vehicle related information and the cruising related speed, wherein the vehicle related information comprises a vehicle distance and a first vehicle speed; and determining a target speed according to the collision time, and adjusting the speed of the current vehicle according to the target speed.

In some embodiments, a method of speed adjustment of an adaptive cruise vehicle may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of a speed adjustment method of an adaptive cruise vehicle as described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a method of speed adjustment of an adaptive cruise vehicle in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A method of speed adjustment for an adaptive cruise vehicle, comprising:

acquiring the cruising related speed of the current vehicle;

2. The method of claim 1, wherein said obtaining a cruise-related speed of a current vehicle comprises:

acquiring a cruising speed set by a user as a second speed;

the method comprises the steps of obtaining the driving speed limit of a lane through a forward perception visual module, wherein the forward perception visual module comprises a camera;

and taking the second vehicle speed and the lane driving speed limit as the cruising related speed.

3. The method of claim 2, wherein said determining a collision time from said vehicle-related information and said cruise-related speed comprises:

determining a vehicle speed difference between the first vehicle speed and the second vehicle speed;

calculating a first ratio of the vehicle distance to the vehicle speed difference;

and taking the first ratio as the collision time.

4. The method of claim 2, wherein said determining a target speed from said collision time comprises:

obtaining a calibration time, and calculating a second ratio of the collision time to the calibration time;

judging whether the second ratio is smaller than a preset threshold value, if so, determining the target speed according to the second vehicle speed and the lane driving speed limit;

otherwise, taking the lane driving speed limit as the target speed.

5. The method of claim 4, wherein said determining said target speed from said second vehicle speed and said lane-traveling speed limit comprises:

acquiring a first adjustment coefficient and a second adjustment coefficient set by a user, wherein the second adjustment coefficient is smaller than the first adjustment coefficient;

judging whether the second vehicle speed is smaller than the lane travel speed limit, if so, taking the product of the first adjustment coefficient and the second vehicle speed as the target vehicle speed;

otherwise, taking the product of the second adjustment coefficient and the second vehicle speed as the target vehicle speed.

6. The method of claim 1, further comprising, after said speed adjustment based on said target speed:

generating a prompt signal according to the target speed;

and alarming in a specified mode according to the prompting signal.

7. The method of claim 2, further comprising, after said speed adjustment based on said target speed:

acquiring risk release time;

when the collision time is greater than or equal to the risk release time, taking the second vehicle speed as a recovery vehicle speed;

and adjusting the speed according to the recovery vehicle speed.

8. A speed adjustment device of an adaptive cruise vehicle, characterized by comprising:

the collision time determining module is used for acquiring vehicle related information of a vehicle behind a target, and determining the collision time according to the vehicle related information and the cruising related speed, wherein the vehicle related information comprises a vehicle distance and a first vehicle speed;

and the target speed adjusting module is used for determining a target speed according to the collision time and adjusting the speed of the current vehicle according to the target speed.

9. An electronic device, the electronic device comprising:

at least one processor; and

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

10. A computer storage medium storing computer instructions for causing a processor to perform the method of any one of claims 1-7 when executed.