CN117922568A

CN117922568A - Method and device for dynamically controlling following vehicle, electronic equipment and storage medium

Info

Publication number: CN117922568A
Application number: CN202410182998.5A
Authority: CN
Inventors: 梁永彬; 刘开勇; 李天辉; 林智桂; 付广
Original assignee: SAIC GM Wuling Automobile Co Ltd
Current assignee: SAIC GM Wuling Automobile Co Ltd
Priority date: 2024-02-19
Filing date: 2024-02-19
Publication date: 2024-04-26

Abstract

The embodiment of the application provides a method and a device for dynamically controlling a following vehicle distance, electronic equipment and a storage medium, wherein the method comprises the following steps: a method for dynamically controlling a following vehicle distance, the method comprising: acquiring surrounding environment information of a vehicle; determining whether a road is in a congestion state according to surrounding environment information of the vehicle; when the road is in a congestion state, determining a target following vehicle distance according to the current vehicle speed and a preset following vehicle distance change rule; and adjusting the current following distance of the vehicle according to the target following distance. According to the embodiment of the application, the surrounding environment information of the vehicle can be acquired in real time, the traffic jam condition is judged according to the surrounding environment information of the vehicle, the following time interval is dynamically adjusted, and the traffic efficiency of the road jam scene is improved.

Description

Method and device for dynamically controlling following vehicle, electronic equipment and storage medium

Technical Field

The application relates to the technical field of intelligent driving, in particular to a method and a device for dynamically controlling a following vehicle distance, electronic equipment and a storage medium.

Background

An automotive adaptive cruise control system (Adaptive Cruise Control, ACC) is an automotive intelligent driving assistance system. In the process of assisting automobile driving, the ACC senses the speed and distance of a front automobile in real time mainly through sensors such as a radar, a laser radar and a camera, and adjusts the speed and acceleration by controlling the accelerator and the brake of the automobile. However, the existing ACC generally adopts a fixed following vehicle distance, and cannot be adjusted according to real-time traffic conditions, so that road resources cannot be fully utilized in a congestion scene, and road traffic efficiency is affected. Meanwhile, the existing ACC cannot accurately judge traffic jams and traffic flow conditions, and the following vehicle is possibly caused to have too large or too small distance, so that the comfort and safety of driving are affected.

Disclosure of Invention

In view of the above, the present application provides a method, a device, an electronic device and a storage medium for dynamically controlling a following vehicle distance, so as to solve the problems that the following vehicle distance cannot be adjusted according to real-time traffic conditions and traffic jams cannot be accurately determined in the prior art.

In a first aspect, an embodiment of the present application provides a method for dynamically controlling a following distance, where the method includes:

Acquiring surrounding environment information of a vehicle;

Determining whether a road is in a congestion state according to surrounding environment information of the vehicle;

when the road is in a congestion state, determining a target following vehicle distance according to the current vehicle speed and a preset following vehicle distance change rule;

And adjusting the current following distance of the vehicle according to the target following distance.

In one possible implementation manner, the acquiring the surrounding environment information of the vehicle includes:

A first target number within a vehicle forward trajectory region is acquired, the first target number including a first vehicle number and a first arbitrary target number.

In one possible implementation manner, the determining whether the road is in a congestion state according to the surrounding environment information of the vehicle includes:

And determining that the road is in a congestion state when the first vehicle number is greater than or equal to a first vehicle number threshold or when the first arbitrary target number is greater than or equal to a first arbitrary target threshold.

a second target number in a full area in front of the vehicle is acquired, the second target number including a moving target number and a third target number.

In one possible implementation, the number of moving targets includes a number of moving vehicles and an arbitrary number of moving targets;

The determining whether the road is in a congestion state according to the surrounding environment information of the vehicle comprises the following steps:

and when the number of the moving vehicles is greater than or equal to the threshold value of the number of the moving vehicles or when the number of the arbitrary moving targets is greater than or equal to the threshold value of the number of the arbitrary moving targets, determining that the road is in a congestion state.

In one possible implementation, the third target number includes a second vehicle number and a second arbitrary target number;

And determining that the road is in a congestion state when the second vehicle number is greater than or equal to a second vehicle number threshold or when the second arbitrary target number is greater than or equal to a second arbitrary target threshold.

In one possible implementation manner, when the road is in a congestion state, determining the target following distance according to the current vehicle speed and the preset following distance change rule includes:

when the road is in a congestion state, acquiring the current speed;

And determining a target following vehicle distance according to the current vehicle speed, the current following vehicle distance gear and a preset following vehicle distance change rule, wherein the current vehicle speed, the current following vehicle distance gear and the target following vehicle distance are in direct proportion.

In one possible implementation manner, the determining the target following distance according to the current vehicle speed, the current following distance gear and the preset following distance change rule includes:

Determining a target following distance according to the formula x= (v/3.6) ×n×m;

The vehicle speed control method comprises the following steps of (a) setting a vehicle speed (v), wherein v is the current vehicle speed, n is a following vehicle speed gear, m is a time distance shortening coefficient, and x is a target following vehicle speed.

In one possible implementation manner, before the determining the target following distance according to the current vehicle speed and the preset following distance change rule, the method further includes:

Acquiring the average speed of the vehicle in a preset period;

determining a counting and accumulating result according to the average speed of the vehicle;

and if the counting accumulation result is greater than or equal to a set counting threshold value, determining a target following distance according to the current vehicle speed and a preset following distance change rule.

In one possible implementation manner, the determining the count accumulation result according to the average speed of the vehicle includes:

determining a preset vehicle speed range corresponding to the average vehicle speed according to the average vehicle speed of the vehicle;

determining a counting accumulated value according to a preset vehicle speed range corresponding to the average vehicle speed;

And determining a counting accumulation result according to the counting accumulation value.

In one possible implementation, before acquiring the surrounding information of the vehicle, the method further includes:

Acquiring navigation information;

And if the navigation information does not show that the road is in a congestion state, acquiring surrounding environment information of the vehicle.

In one possible implementation, the method further includes:

And if the road is not in a congestion state, adjusting the current following distance of the vehicle according to the set following distance.

In a second aspect, an embodiment of the present application provides a device for dynamically controlling a following vehicle, the device including:

An acquisition unit configured to acquire surrounding environment information of a vehicle;

a first determining unit configured to determine whether a road is in a congestion state according to surrounding environment information of the vehicle;

the second determining unit is used for determining a target following distance according to the current speed and a preset following distance change rule when the road is in a congestion state;

And the adjusting unit is used for adjusting the current following moment of the vehicle according to the target following moment.

In a third aspect, an embodiment of the present application provides an electronic device, including:

A processor;

A memory;

the memory having stored therein a computer program which, when executed, causes the electronic device to perform the method of any of the first aspects

In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, where the computer readable storage medium includes a stored program, where the program when executed controls a device in which the computer readable storage medium is located to perform the method according to any one of the first aspects

Compared with the prior art, the method and the device for the traffic jam can acquire the surrounding environment information of the vehicle in real time, judge the traffic jam according to the surrounding environment information of the vehicle, dynamically adjust the following time interval and improve the traffic efficiency of road jam scenes.

Drawings

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

Fig. 1 is a schematic diagram of an application scenario for controlling a following distance of a vehicle according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a method for dynamically controlling a following vehicle distance according to an embodiment of the present application;

FIG. 3 is a schematic view of a front track area of a vehicle according to an embodiment of the present application;

Fig. 4 is a schematic view of a front full area of a vehicle according to an embodiment of the present application;

FIG. 5 is a flowchart of a method for dynamically controlling a following vehicle distance according to navigation information according to an embodiment of the present application;

FIG. 6 is a schematic flow chart of a method for determining whether to dynamically control a following vehicle according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a full-speed time interval dynamic adjustment following distance variation according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a dynamic control device for following a vehicle according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an acquiring unit and a first determining unit according to an embodiment of the present application;

Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

For a better understanding of the technical solution of the present application, the following detailed description of the embodiments of the present application refers to the accompanying drawings.

It should be understood that the described embodiments are merely some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one way of describing an association of associated objects, meaning that there may be three relationships, e.g., a and/or b, which may represent: the first and second cases exist separately, and the first and second cases exist separately. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Referring to fig. 1, a schematic diagram of an application scenario for controlling a following distance of a vehicle is provided in an embodiment of the present application. As shown in fig. 1, the vehicle 101 and the road 102 are included, in which the ACC system is installed, wherein various sensors are also installed on the vehicle 101. During running, the vehicle 101 detects the surrounding environment of the vehicle through the sensor, and sends the detected surrounding environment information to the ACC system, and the ACC system determines whether the road 102 is in a congestion state according to the surrounding environment information, and when the road 102 is in the congestion state, the ACC system performs following distance control on the vehicle 101.

It should be noted that fig. 1 is only an exemplary description and should not be taken as limiting the scope of the present application. For example, the vehicle 101 may be any vehicle that may be equipped with an ACC system, such as a car, van, truck, bus, fire truck, etc. The road 102 may be any road that can pass vehicles, such as city roads, expressways, rural roads, etc.

Aiming at the problems, the embodiment of the application provides a vehicle following time interval dynamic control method, a control device, electronic equipment and a storage medium.

The following is a detailed description.

Referring to fig. 2, a flow chart of a method for dynamically controlling a following vehicle distance according to an embodiment of the present application is shown. The method can be applied to the application scenario shown in fig. 1, and as shown in fig. 2, the method mainly comprises the following steps.

S201: and acquiring the surrounding environment information of the vehicle through an on-board sensor.

In the vehicle in the embodiment of the application, various sensors, such as a radar, a laser radar, a camera and the like, are pre-installed, and the speed, the distance, the lane condition, the speed, the distance and the like of surrounding vehicles can be detected in real time through the various sensors, so that accurate environment information is provided for subsequent traffic jam judgment and dynamic adjustment of the following vehicle distance.

In particular, radar is used to detect objects around a vehicle by transmitting radio waves and receiving the reflected radio waves. By analyzing the reflected radio waves, the radar can determine the position, speed and distance of the target. In the embodiment of the application, the radar is mainly used for detecting the speed and the distance of the front vehicle.

In particular implementations, a LiDAR (LiDAR) is used to scan the environment surrounding a vehicle by emitting a laser beam and receiving a reflected laser beam. By analyzing the reflected laser beam, the lidar may generate three-dimensional point cloud data around the vehicle, including information such as the position, height, and distance of the target. In this embodiment, the lidar is mainly used to detect the lane condition and the speed and distance of surrounding vehicles.

In particular embodiments, the camera is configured to capture images of the surroundings of the vehicle in real time, and process and analyze the images through an image recognition algorithm. Through image processing and analysis, the camera can identify lane lines, traffic signals, traffic signs and the like so as to provide support for functions of lane departure early warning, collision early warning and the like of the vehicle. In this embodiment, the camera is mainly used to provide visual information of the lane situation and surrounding vehicles.

In general, when a radar detects the speed and distance of a front vehicle during driving of the vehicle, a laser radar may further determine the accurate position and height of the front vehicle, and a camera may provide visual information of the front vehicle, such as a vehicle type, a color, etc. Meanwhile, the laser radar and the camera can also jointly detect the situation of a lane and the speed and the distance of surrounding vehicles, and provide comprehensive environmental perception data for subsequent driving decisions.

It should be noted that, the image recognition algorithm adopted by the camera may refer to the scheme in the related art, and for simplicity of description, the application is not described here again.

It should be noted that, the object in the embodiment of the present application may include any object that may affect the running of the vehicle, such as a vehicle, a pedestrian, and an obstacle.

In one possible implementation, the impact on the vehicle following distance may be a vehicle, a pedestrian, an obstacle, etc. on the vehicle forward travel path, and thus the surrounding environmental information of the vehicle may include environmental information in the vehicle forward track area. Specifically, a first target number in a track area in front of the vehicle may be acquired by an in-vehicle sensor, wherein the first target number includes a first vehicle number and a first arbitrary target number.

In specific implementation, the vehicle front track area refers to an area within a certain transverse and longitudinal distance by taking the front end of the vehicle head as a starting point and taking the vehicle central line as a central line. As shown by the gray area in fig. 3, the vehicle front track area includes an area within a lateral distance of 3m and a longitudinal distance of 30m with the front end of the vehicle head as a starting point and the vehicle center line as a center line.

In implementations, the first number of vehicles includes a number of stationary or moving vehicles within a forward trajectory region of the vehicle, and the first arbitrary target number includes any stationary or moving object within the forward trajectory region of the vehicle, such as a pedestrian, a vehicle, an obstacle, or the like. In the embodiment of the application, the first vehicle number and the first arbitrary target number are respectively detected, and the main factors (vehicles) affecting the following distance and other factors are fully considered, so that the subsequent congestion judgment on the road is more accurate.

In another possible implementation, the impact on the vehicle following distance may be a vehicle, a pedestrian, an obstacle, etc. in a full area in front of the vehicle, and thus the surrounding environmental information of the vehicle may include environmental information in a full area in front of the vehicle. Specifically, a second target number in the whole area in front of the vehicle can be acquired through the vehicle-mounted sensor, wherein the second target number comprises a moving target number and a third target number.

In specific implementation, the front full area of the vehicle refers to an area within a certain longitudinal and transverse distance by taking the front end of the head of the vehicle as a starting point and taking the central line of the vehicle as a central line. As shown by the gray area in fig. 4, the vehicle front full area includes an area within a lateral distance of 6m and a longitudinal distance of 50m with the vehicle center line as the center line, starting from the front end of the vehicle head.

In particular implementations, the number of moving objects includes a number of moving vehicles and any number of moving objects within a full area in front of the vehicle, the third number of objects includes a second number of vehicles and a second any number of objects within the full area in front of the vehicle, the second number of vehicles including a number of stationary or moving vehicles within the full area in front of the vehicle, the second any number of objects including any stationary or moving objects within the full area in front of the vehicle, such as pedestrians, vehicles, obstacles, etc. In the embodiment of the application, the moving targets are considered independently, and the importance of the moving targets in the whole area on the influence of the following distance of the vehicle is fully considered.

The moving object refers to an object with a sum speed of not less than 3 m/s.

In the embodiment of the application, the environment information in a certain area in front of the vehicle is mainly detected for the subsequent judgment of road congestion, so that the detection area and the detection target are accurate, and the accuracy of the ACC system on road congestion judgment is improved.

S202: the ACC system determines whether the road is in a congested state according to surrounding environment information of the vehicle.

In the embodiment of the application, the ACC system is used for comparing the acquired surrounding environment information of the vehicle with the preset threshold value to judge whether the current road is in a congestion state. Specifically, the collected speed, distance, lane condition, speed and distance of surrounding vehicles, etc. of the preceding vehicle may be compared with corresponding preset thresholds, respectively, and the current traffic condition may be determined according to the result of the threshold comparison.

In one possible implementation, the ACC system may determine whether the road is in a congested state by determining a speed of a lead vehicle. Specifically, the ACC system compares the obtained front vehicle speed with a preset front vehicle speed threshold, and if the obtained front vehicle speed is lower than the preset front vehicle speed threshold, it may primarily determine that the road is in a traffic congestion state. The front vehicle speed threshold value can be set according to local traffic conditions and the type of the road where the vehicle is located, and the embodiment of the application does not specifically require the threshold value.

In one possible implementation, the ACC system may determine whether the road is in a congested state by determining a distance of a lead vehicle. Specifically, the ACC system compares the obtained distance between the front vehicle and a preset minimum safety distance, and if the distance between the front vehicle is smaller than the preset minimum safety distance, the ACC system may further consider that the road is in a traffic jam state. The minimum safe distance can be set according to the local traffic condition and the vehicle type, and the embodiment of the application does not require specific requirements.

The distance between the front vehicles refers to the distance between a vehicle in front of the vehicle on the running track of the vehicle.

In one possible implementation, the ACC system may determine whether the road is in a congested state by determining a lane occupancy. Specifically, the ACC system analyzes the acquired lane condition, and further considers that the road is in a traffic jam state when a plurality of vehicles run in parallel on the lane or the lane is occupied by other obstacles.

In one possible implementation, the ACC system may determine whether the road is in a congested state by determining the speed and distance of surrounding vehicles. Specifically, the ACC system compares the acquired speed and distance of the surrounding vehicle with a set speed threshold of the surrounding vehicle and a set distance threshold of the surrounding vehicle, and if the speed of the surrounding vehicle is less than the set speed threshold of the surrounding vehicle and the distance of the surrounding vehicle is less than the set distance threshold of the surrounding vehicle, further considers that the road is in a traffic jam state. The speed threshold value of the surrounding vehicles and the distance threshold value of the surrounding vehicles can be set according to local traffic conditions and vehicle types, and specific requirements are not required by the embodiment of the application.

According to the embodiment, the ACC system is used for judging the speed of the front vehicle, the distance between the front vehicle and the lane, the occupation condition of the lane and the speed and the distance of surrounding vehicles step by step, the congestion condition of the road is finally obtained, the judging process is complex, and the obtained result is inaccurate due to the fact that the judging factors are too many. Based on the above, the embodiment of the application fully analyzes the possible state of the surrounding environment when the road is congested, and determines the congestion condition of the road in the following way.

In one possible implementation manner, when determining the road congestion state based on the environmental condition of the track area in front of the vehicle, the method specifically includes: determining, by the ACC system, whether the first vehicle number is greater than or equal to a first vehicle number threshold, or whether the first arbitrary target number is greater than or equal to a first arbitrary target threshold, and if the first vehicle number is greater than or equal to the first vehicle number threshold, or the first arbitrary target number is greater than or equal to the first arbitrary target threshold, determining that the link is in a congested state.

In particular implementations, the first vehicle number threshold and the first arbitrary target threshold may be set according to local traffic conditions and vehicle types, which is not specifically required by embodiments of the present application.

In one possible implementation manner, when the road congestion state is judged by the environmental condition of the whole area in front of the vehicle, the method specifically includes: determining whether the number of the moving targets is larger than or equal to a moving target number threshold value or whether the number of the third targets is larger than or equal to a third target threshold value through the ACC system, and if the number of the moving targets is larger than or equal to the moving target number threshold value or the number of the third targets is larger than or equal to the third target threshold value, determining that the reason is in a congestion state.

In a specific implementation, the number of moving objects includes the number of moving vehicles or any number of moving objects in a whole area in front of the vehicle, so determining whether the number of moving objects is equal to or greater than a threshold value of the number of moving objects specifically includes: determining whether the number of moving vehicles in a whole area in front of the vehicle is greater than or equal to a moving vehicle number threshold, or determining whether the number of any moving objects is greater than or equal to an arbitrary moving object number threshold, and determining that the number of moving objects is greater than or equal to the moving object number threshold when the number of moving vehicles is greater than or equal to the moving vehicle number threshold, or when the number of any moving objects is greater than or equal to the arbitrary moving object number threshold.

In particular implementations, the third target number includes the second vehicle number and the second arbitrary target number, and thus determining whether the third target number is greater than or equal to the third target threshold value specifically includes: determining whether the second number of vehicles is greater than or equal to a second number of vehicles threshold, or determining whether the second arbitrary number of targets is greater than or equal to a second arbitrary target threshold, and if the second number of vehicles is greater than or equal to the second number of vehicles threshold, or the second arbitrary number of targets is greater than or equal to the second arbitrary target threshold, determining that the third number of targets is greater than or equal to a third target threshold.

In the embodiment of the application, the first target number in the track area in front of the vehicle or the second target number in the whole area in front of the vehicle is judged by the ACC system, so that whether the road is in a congestion state can be determined, the whole judging process is simple and rapid, and the dynamic adjustment of the following vehicle distance is facilitated.

In practical application, a navigation system is also installed in the vehicle, so that whether the road is in a congestion state can be confirmed according to the output information of the navigation system. Specifically, if the output information of the navigation system indicates that the road is in a congestion state, the step S203 is entered, the ACC system is used to dynamically control the following vehicle distance, if the output information of the navigation system does not indicate that the road is in a congestion state, the step S201 is entered, further, whether the road is in a congestion state is determined by the ACC system, if the ACC system determines that the road is in a congestion state, the step S203 is entered, otherwise, the set fixed following vehicle distance is used to control the vehicle to run.

The application of the navigation information further simplifies the judging process, and when the navigation information does not display that the road is in a congestion state, the ACC system is adopted to judge the road state, so that the accurate judgment of the road condition is ensured, and the dynamic adjustment of the following vehicle distance is facilitated.

It should be noted that, the ACC system on the vehicle according to the embodiment of the present application may confirm whether to turn on according to the requirement of the driver, and when the driver needs to dynamically control the following distance, the vehicle-mounted intelligent control unit may select a voice or manually issue a command to start the ACC system.

S203: when the road is in a congestion state, the ACC system determines a target following distance according to the current speed and a preset following distance change rule.

In the embodiment of the application, after the road is determined to be in the congestion state, the state of the vehicle is further confirmed, and when the state of the vehicle meets the preset requirement, the ACC system determines the target following distance according to the current speed and the preset following distance change rule.

In one possible implementation, the further confirming the state of the vehicle specifically includes: acquiring the average speed of the vehicle in a preset period; determining a counting and accumulating result according to the average speed of the vehicle; and if the counting accumulated result is greater than or equal to the set counting threshold value, determining the target following distance according to the current vehicle speed and the preset following distance change rule.

In specific implementation, the preset period can be confirmed according to the local traffic condition and the vehicle type, and the embodiment of the application does not require specific requirements. For example, the preset period may take 100 periods, and each period is 50ms, and the 100 periods are 5s, that is, the average speed of the vehicle in 5s is obtained.

In one possible implementation manner, determining the count accumulation result according to the average speed of the vehicle specifically includes: determining a preset vehicle speed range corresponding to the average vehicle speed according to the average vehicle speed of the vehicle; determining a counting accumulated value according to a preset vehicle speed range corresponding to the average vehicle speed; and determining a counting accumulation result according to the counting accumulation value.

In the embodiment of the application, the possible value of the average vehicle speed is divided into a plurality of vehicle speed ranges in advance, each vehicle speed range corresponds to one counting accumulated value, the corresponding counting accumulated value can be obtained after the average vehicle speed of the vehicle is obtained, and the counting accumulated value and the original counting value are accumulated to obtain the counting accumulated result. Exemplary, average vehicle speedThe range division and corresponding accumulated value of (2) may be: when/>When the corresponding count accumulated value is +2, whenWhen the corresponding count accumulated value is +1, when/>When the average speed of the obtained vehicle is 30m/s, the corresponding count accumulated value is +1, and the count accumulated result is the original count value +1.

Depending on the surrounding environment of the vehicle, the average vehicle speedFor example, different average vehicle speeds/>, can be set for two different surrounding environments, namely a vehicle front track area and a vehicle front whole areaIs defined, and corresponding accumulated values.

In the embodiment of the application, a counting flag bit can be set for counting the counting value accumulation result. The initial value of the counting flag bit flag may be 0, when the ACC system recognizes that the road is in a congestion state, performing accumulation operation on the flag according to the obtained average vehicle speed in the preset period, comparing the flag value after the accumulation operation with a set counting threshold, if the flag value is smaller than the set counting threshold and the road is still in the congestion state, re-obtaining the average vehicle speed in the preset period, and determining a counting accumulated value according to the preset vehicle speed range corresponding to the average vehicle speed, thereby continuing the accumulation operation on the flag; and if the flag value is greater than or equal to the set counting threshold value, determining the target following distance according to the current vehicle speed and the preset following distance change rule.

It should be noted that, if it is detected that the road is not in a congestion state during the counting and accumulating process, the value of the flag is reset to 0.

In specific implementation, the counting threshold value can be set according to actual traffic conditions, and specific requirements are not required for the counting threshold value according to the embodiment of the application. Illustratively, the count threshold may be any one of 24-30, for example, the count threshold may be 25.

The contents in steps S201 to S203 are described in detail below with reference to specific embodiments.

Referring to fig. 6, a flow chart for determining whether to perform dynamic control of following a vehicle according to an embodiment of the present application is shown.

As shown in fig. 6, in one embodiment, the first target number in the track area in front of the vehicle is counted, wherein when the counted first target number is the first vehicle number, the track area in front of the vehicle is a region of 3m in the transverse direction and 30m in the longitudinal direction, the first vehicle number is the number of vehicles which are stationary or moving in the region, including cars, trucks, special vehicles, two-wheelers and the like, and when the counted first target number is the first arbitrary target number, the track area in front of the vehicle is a region of 6m in the transverse direction and 30m in the longitudinal direction, and the first arbitrary target number is the arbitrary number of stationary or moving in the region, including vehicles, pedestrians, obstacles and the like. When the first vehicle number is more than or equal to 4 or the first arbitrary target number is more than or equal to 6, determining that the road is in a congestion state, namely, if the ACC system identifies a congestion scene and the scene identification is stable, entering a following vehicle time interval dynamic control judgment flow. Specifically, setting a counting flag (the initial value of flag is 0) in the ACC system is equivalent to setting a counter, and when the road is in a congestion state, obtaining the average speed of the vehicle in 100 periods (i.e. within 5 s)Determining average speed/>Corresponding preset vehicle speed range, wherein, when/>When in use, flag+2; when/>When in use, flag+1; when/>When the vehicle is in a congestion state, the average speed/>, of the vehicle in the next 100 periods (namely within 5 seconds), is continuously obtained if the flag is less than 25, but the road is still in the congestion stateIf the flag is less than 25, but the road is not in a congestion state, the following distance control of the vehicle is performed according to the preset fixed following distance.

With continued reference to fig. 6, in another embodiment, a second target number is counted in a total area in front of the vehicle, wherein when the counted second target number is a moving target number, the total area in front of the vehicle is an area with a transverse direction of 3m and a longitudinal direction of 50m, and the moving target number includes a moving vehicle number with a total speed of not less than 3m/s and any moving target number in the area. When the number of the moving vehicles is more than or equal to 4 or the number of any moving targets is more than or equal to 5, determining that the road is in a congestion state, namely, if the ACC system identifies a congestion scene and the scene identification is stable, entering a following vehicle distance dynamic control judgment flow. Specifically, when the road is in a congested state, the average speed of the vehicle in 100 periods (i.e., within 5 s) is obtainedDetermining average speed/>Corresponding preset vehicle speed range, wherein, when/>When in use, flag+2; when/>When in use, flag+1; when/>When the flag is not less than 25, the vehicle is dynamically controlled in a following time interval, and if the flag is less than 25 but the road is still in a congestion state, the average speed/>' of the vehicle in the next 100 periods (namely, within 5 seconds) is continuously acquiredIf the flag is less than 25, but the road is not in a congestion state, the following distance control of the vehicle is performed according to the preset fixed following distance.

When the counted second target number is the third target number, the whole area in front of the vehicle is a transverse 6m and longitudinal 50m area, the third target number comprises the second vehicle number and a second arbitrary target number in the area, the second vehicle number is the stationary or moving vehicle number and comprises a car, a truck, a special vehicle, a two-wheel vehicle and the like, and the second arbitrary target number is the arbitrary stationary or moving target number and comprises a vehicle, a pedestrian, an obstacle and the like. When the number of the second vehicles is more than or equal to 3 or the number of the second arbitrary targets is more than or equal to 8, determining that the road is in a congestion state, namely, if the ACC system identifies a congestion scene and the scene identification is stable, entering a following vehicle time interval dynamic control judgment flow. Specifically, when the road is in a congested state, the average speed of the vehicle in 100 periods (i.e., within 5 s) is obtainedDetermining average speed/>Corresponding preset vehicle speed range, wherein, when/>When in use, flag+2; when (when)When in use, flag+1; when/>When the flag is not less than 25, the vehicle is dynamically controlled in a following time interval, and if the flag is less than 25 but the road is still in a congestion state, the average speed/>' of the vehicle in the next 100 periods (namely, within 5 seconds) is continuously acquiredIf the flag is less than 25, but the road is not in a congestion state, the following distance control of the vehicle is performed according to the preset fixed following distance.

It is expected that in the embodiment of the application, the result with the flag not less than 25 can be obtained only through one congestion scene, or the result with the flag not less than 25 can be obtained only through a plurality of different congestion scenes.

In the embodiment of the application, after judging that the road is in a congestion scene according to the first target number in the track area in front of the vehicle or the second target number in the whole area in front of the vehicle, the average speed of the vehicle is required to be counted and accumulated according to the flag, and when the flag is greater than or equal to the preset counting threshold value, the vehicle is proved to be in a low-speed running state all the time, so that the vehicle can be dynamically controlled in following the vehicle. According to the embodiment of the application, the flag is used for accumulating and counting, so that the accuracy of identifying the congestion scene is ensured, and the dynamic control of the following vehicle distance is facilitated.

The following describes the ACC system in detail to determine the target following distance according to the current vehicle speed and the preset following distance change rule.

In the embodiment of the application, when the vehicle is judged to be required to be subjected to the dynamic control of the following distance, a dynamic control strategy of the following distance is started, namely, the following distance is dynamically adjusted according to the current speed and a preset following distance change rule. In a specific implementation, the following moment dynamic control strategy generally follows: at lower vehicle speeds, the following distance can be properly shortened to avoid being jammed by other vehicles; at higher vehicle speeds, the following distance should be properly increased to ensure the safety of driving.

In one possible implementation, before adjusting the following distance, the target following distance needs to be determined, which specifically includes: taking the current speed of the vehicle; and determining the target following distance according to the current speed, the current following distance gear and a preset following distance change rule, wherein the current speed, the current following distance gear and the target following distance are in direct proportion.

In specific implementation, the speed information of the current vehicle can be obtained in real time through the vehicle-mounted sensor.

In a specific implementation, the preset following distance change rule may be set according to an actual traffic situation and driving requirements, for example, a linear change rule, a parabolic change rule, and the like. In the embodiment of the present application, the preset following distance change rule may be x= (v/3.6) ×n×m, where v is the current vehicle speed, n is a following distance gear (typically, the vehicle has 4-7 following distance gears), m is a time distance shortening coefficient, typically, the value is 0.8, and x is the target following distance. For example, when the current vehicle speed is 40kph and the following distance gear is 1 gear (1.2 s), the target following distance determined according to the preset following distance variation rule is (40 kph/3.6) ×1.2s× 0.8=10.67 m, wherein 3.6 is a unit conversion, i.e., 1 km/h=1000 m/3600s≡ 0.2778m, which is shortened by about 2.7m compared to 13.3m for the fixed following distance.

In specific implementation, a relation table of the current speed, the current following time interval gear and the target following time interval can also be set in the ACC system, and after the current speed and the current following time interval gear are obtained, the target following time interval can be obtained according to the relation table of the current speed and the current following time interval gear. For example, as shown in fig. 7, a schematic diagram of a full-speed period time interval dynamic adjustment following distance change (the following time interval gears are all 1 gear) is provided in the embodiment of the application, when the current vehicle speed is obtained, if the following time interval gears are 1 gear, the target following time interval can be obtained by searching fig. 7, and compared with the process of obtaining the target following time interval in a calculation mode, the calculation amount of the ACC system is reduced. Meanwhile, as can be seen from fig. 7, when the road is in a congested state, the following vehicle distance is shortened compared with the non-congested vehicle at each vehicle speed (except at 0).

S204: the ACC system adjusts the current following time of the vehicle according to the target following time.

In the embodiment of the application, after the target following distance is obtained, the ACC system can adjust the current following distance of the vehicle by adjusting the speed and the acceleration of the vehicle according to the target following distance so as to keep the safety distance with the front vehicle. Specifically, the ACC system may adjust speed and acceleration by controlling the throttle and brake of the vehicle to allow the vehicle to travel at a new following distance.

In the process of dynamically adjusting the following time interval, the information of the speed and the distance of the front vehicle can be updated in real time through the vehicle-mounted sensor so as to ensure the accuracy of the following distance. Meanwhile, the ACC system should correspondingly adjust the speed and the acceleration of the vehicle according to the information updated in real time so as to maintain a safe following distance. This ensures that a safe distance from the preceding vehicle can be maintained at any time.

In one possible implementation, when the traffic jam is relieved and the vehicle speed increases to a preset threshold value, the ACC system should control the vehicle to automatically return to a normal fixed following time interval, and it should be noted that the process should also dynamically adjust the fixed following time interval according to the surrounding environment information collected in real time to ensure the safety and comfort of driving. By returning the following time to the fixed following time when the road is not congested, it is possible to ensure that the vehicle automatically returns to a normal running state after the traffic condition returns to normal.

It should be noted that, in the embodiment of the present application, the steps S201 to S204 may also determine the traffic situation of the current road, and when the traffic is large, perform the following dynamic control, and the specific process may refer to the above embodiment, so that for simplicity of description, the embodiment of the present application will not be described herein.

According to the embodiment of the application, the following time interval can be dynamically adjusted according to traffic jam or traffic flow conditions, so that the situation that other vehicles are jammed is avoided, and the traffic efficiency of a road jam scene is improved;

according to the embodiment of the application, the speed and distance information of the front vehicle are updated in real time, so that the safety distance between the front vehicle and the front vehicle can be kept at any time, and the driving safety is improved.

According to the embodiment of the application, the normal fixed following vehicle distance can be dynamically adjusted according to the environmental information acquired in real time, so that the vehicle can automatically recover to the normal running state after the traffic condition is recovered, and the driving adaptability and the driving flexibility are improved.

Corresponding to the embodiment, the embodiment of the application also provides a parking device.

Referring to fig. 8, a schematic structural diagram of a dynamic control device for following a vehicle according to an embodiment of the present application is provided. As shown in fig. 8, the following distance dynamic control device 800 includes: an acquisition unit 801 for acquiring surrounding information of a vehicle; a first determining unit 802 for determining whether the road is in a congestion state according to surrounding environment information of the vehicle; a second determining unit 803, configured to determine, when the road is in a congestion state, a target following distance according to a current vehicle speed and a preset following distance change rule; an adjusting unit 804 is configured to adjust a current following time interval of the vehicle according to the target following time interval.

In one possible implementation manner, as shown in fig. 9, the acquiring unit 801 further includes a target detecting unit 8011 for detecting target information in front of the vehicle, and specifically, the target detecting unit 8011 includes an image processing unit 8011A and a target motion attribute processing unit 8011B, where the image processing unit 8011A is configured to acquire a target image in front of the vehicle and classify the target image, such as a pedestrian, a vehicle, a two-wheel vehicle, and the like, and the target motion attribute processing unit 8011B is configured to perform detection calculation on a target attribute of a target in front of the vehicle, such as a horizontal-longitudinal distance, a horizontal-longitudinal speed, a motion state or a stationary state output, a motion direction, and the like.

In a possible implementation manner, as shown in fig. 9, the first determining unit 802 further includes a central processing unit 8021, configured to process and determine information transmitted from the image processing unit 8011A and the target motion attribute processing unit 8011B, determine whether the target and the scene satisfy the congestion scene, or determine that the current scene is the congestion scene according to the congestion information output by navigation.

Other details of the embodiments of the present application may be referred to the description of the embodiments of the method, and for brevity of description, they are not repeated here.

Corresponding to the embodiment, the application also provides electronic equipment.

Referring to fig. 10, a schematic structural diagram of an electronic device according to an embodiment of the present application, the electronic device 1000 may include: a processor 1001, a memory 1002, and a communication unit 1003. The components may communicate via one or more buses, and it will be appreciated by those skilled in the art that the configuration of the electronic device shown in the drawings is not limiting of the embodiments of the application, as it may be a bus-like structure, a star-like structure, or include more or fewer components than shown, or may be a combination of certain components or a different arrangement of components.

Wherein, the communication unit 1003 is configured to establish a communication channel, so that the electronic device may communicate with other devices. Receiving user data sent by other devices or sending user data to other devices.

The processor 1001 is a control center of the electronic device, and connects various parts of the entire electronic device using various interfaces and lines, and executes various functions and/or processes data stored in the memory 1002 by executing or executing software programs, instructions and/or modules, and by calling data stored in the memory. The processor may be comprised of integrated circuits (INTEGRATED CIRCUIT, ICs), such as a single packaged IC, or may be comprised of packaged ICs that connect multiple identical or different functions. For example, the processor 1001 may include only a central processing unit (central processing unit, CPU). In the embodiment of the application, the CPU can be a single operation core or can comprise multiple operation cores.

The memory 1002, for storing instructions for execution by the processor 1001, the memory 1002 may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

The execution of the instructions in memory 1002, when executed by processor 1001, enables electronic device 1000 to perform some or all of the steps of the embodiment shown in fig. 2.

Corresponding to the above embodiments, the present application further provides a computer readable storage medium, where instructions are stored, which when executed on a computer, cause the computer to execute part of the implementation steps of the following dynamic control method according to the embodiment of the present application.

In a specific implementation, the embodiment of the present application further provides a computer program product containing instructions, where the computer program product when run on a computer or any one of at least one processor causes the computer to execute part of the implementation steps of the following-moment dynamic control method according to the embodiment of the present application.

In a specific implementation, the embodiment of the application also provides a chip, which comprises a processor and a data interface, wherein the processor reads the instructions stored in the memory through the data interface so as to execute the corresponding operation and/or flow executed by the following time interval dynamic control method.

Optionally, the chip further comprises a memory, the memory is connected with the processor through a circuit or a wire, and the processor is used for reading and executing the computer program in the memory. Further optionally, the chip further comprises a communication interface, and the processor is connected to the communication interface. The communication interface is used for receiving data and/or information to be processed, and the processor acquires the data and/or information from the communication interface and processes the data and/or information. The communication interface may be an input-output interface.

The memory may be read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (random access memory, RAM) or other types of dynamic storage devices that can store information and instructions, electrically erasable programmable read-only memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-only memory, EEPROM), compact disc read-only memory (compact disc read-only memory) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media, or any other media that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, etc.

In the embodiment of the application, "and/or" describes the association relation of the association objects, which means that three relations can exist, for example, a and/or B, and can mean that a exists alone, a exists together with B, and B exists alone. Wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of the following" and the like means any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.

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

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In several embodiments provided by the present application, any of the functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely exemplary embodiments of the present application, and any person skilled in the art may easily conceive of changes or substitutions within the technical scope of the present application, which should be covered by the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for dynamically controlling a following vehicle distance, the method comprising:

Acquiring surrounding environment information of a vehicle;

2. The method of claim 1, wherein the acquiring the ambient information of the vehicle comprises:

3. The method of claim 2, wherein determining whether a road is in a congested state based on surrounding information of the vehicle comprises:

4. The method of claim 1, wherein the acquiring the ambient information of the vehicle comprises:

5. The method of claim 4, wherein the number of moving objects includes a number of moving vehicles and any number of moving objects;

6. The method of claim 4, wherein the third target number comprises a second vehicle number and a second arbitrary target number;

7. The method according to claim 3, 5 or 6, wherein determining the target following distance according to a rule of a current vehicle speed and a preset following distance change when the road is in a congested state comprises:

when the road is in a congestion state, acquiring the current speed;

8. The method of claim 7, wherein the determining a target following distance according to the current vehicle speed, a current following distance gear, and a preset following distance variation rule comprises:

9. The method according to claim 3 or 5 or 6, wherein before the target following distance is determined according to the current vehicle speed and a preset following distance change rule, the method further comprises:

Acquiring the average speed of the vehicle in a preset period;

10. The method of claim 9, wherein the determining a count accumulation result from an average vehicle speed of the vehicle comprises:

11. The method of claim 1, wherein prior to acquiring the ambient information of the vehicle, the method further comprises:

Acquiring navigation information;

12. The method according to claim 1, wherein the method further comprises:

13. A vehicle following moment dynamic control device, the device comprising:

14. An electronic device, comprising:

A processor;

A memory;

the memory having stored therein a computer program which, when executed, causes the electronic device to perform the method of any of claims 1-11.

15. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer readable storage medium is located to perform the method of any one of claims 1-11.