CN115257740B - Control method and device for self-adaptive cruise control - Google Patents
Control method and device for self-adaptive cruise control Download PDFInfo
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- 238000012545 processing Methods 0.000 claims abstract description 34
- 230000003044 adaptive effect Effects 0.000 claims description 18
- 238000012790 confirmation Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 10
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4043—Lateral speed
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Abstract
The application relates to a control method and a control device for self-adaptive cruise control, and relates to the technical field of vehicles. The method comprises the following steps: after the vehicle stops following the front vehicle, acquiring environment image data around the vehicle through an image acquisition device, performing image recognition processing and image tracking processing on the environment image data, and determining object type, position information, transverse acceleration and other attribute information of each object contained in the environment image data; determining that the position information meets the position distribution rule in each object according to the position information of each object and a preset position distribution rule, wherein the object with the object type being the target type is a candidate tracking object; if the lateral acceleration of the candidate tracking object is smaller than a preset acceleration threshold value, determining the candidate tracking object as a target tracking object; and if the transverse acceleration of the candidate tracking object is greater than or equal to a preset acceleration threshold value, determining that the candidate tracking object is an interference tracking object. The application can prevent the vehicle from starting by mistake when the vehicle follows and traverses the vehicle.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a control method and a control device for self-adaptive cruise control.
Background
Currently, a vehicle can build an advanced driver assistance system by configuring an on-vehicle sensor capable of sensing the surrounding environment of the vehicle body, such as millimeter wave radar, laser radar, ultrasonic radar, single/double camera, and the like. Among them, the ACC (Adaptive Cruise Control ) function has become the basic function of the L2-level driving assistance system. The ACC system can detect the surrounding environment of the vehicle body through a radar or a camera, and automatically control the acceleration and the deceleration of the vehicle in running, so that the operation burden of a driver is reduced. After the ACC function is turned on, when the on-board sensor recognizes that the lead vehicle is decelerating to a stop, the ACC system may decelerate following the lead vehicle until the own vehicle speed is zero and stop maintaining pressure. After the vehicle is stopped, in the automatic following time, the ACC system judges the starting of the front vehicle, and controls the pressure release of the self vehicle so as to follow the starting of the front vehicle.
However, due to the complex road conditions of urban traffic, after the vehicle is decelerated and stopped following the front vehicle, pedestrians, bicycles, electric bicycles and the like traverse between the vehicle and the front vehicle, and at this time, the vehicle with only the monocular camera is easy to start by mistake following the traversing vehicle, so that potential safety hazards exist.
Disclosure of Invention
Based on this, it is necessary to provide a control method and apparatus for adaptive cruise control in view of the above-mentioned technical problems.
In a first aspect, there is provided a control method of adaptive cruise control, the method comprising:
After the vehicle stops following the front vehicle, acquiring environment image data around the vehicle through an image acquisition device, performing image recognition processing and image tracking processing on the environment image data, and determining attribute information of each object contained in the environment image data, wherein the attribute information comprises object types, position information and transverse acceleration;
Determining that the position information meets the position distribution rule in each object according to the position information of each object and a preset position distribution rule, wherein the object with the object type being the target type is a candidate follow-up object;
If the lateral acceleration of the candidate tracking object is smaller than a preset acceleration threshold value, determining the candidate tracking object as a target tracking object;
and if the transverse acceleration of the candidate follow-up object is greater than or equal to the preset acceleration threshold value, determining that the candidate follow-up object is an interference follow-up object.
As an optional implementation manner, the determining, according to the position information of each object and a preset position distribution rule, that the object whose position information meets the position distribution rule is a candidate tracking object in each object includes:
determining the relative azimuth and the first relative distance of each object according to the position information of each object;
And determining that the relative orientation is in the self-vehicle driving direction in the objects, and taking the object with the first relative distance smaller than a first preset distance threshold as the candidate tracking object.
As an alternative embodiment, the method further comprises:
if the position information of the object meets the position distribution rule and the object type is the pedestrian type, entering a driver confirmation starting stage, and following the target to follow the object to start after receiving an accelerator signal.
As an alternative embodiment, the attribute information includes a longitudinal speed, and the method further includes:
And if the longitudinal speed of the target tracking object is greater than or equal to a preset starting speed threshold, controlling the vehicle to start along with the target tracking object.
As an alternative embodiment, the method further comprises:
acquiring the following time length of the self-vehicle following the front vehicle to stop;
if the following stopping time length is greater than or equal to the preset automatic following time length, entering a driver confirmation starting stage, and following the target following object to start after receiving an accelerator signal.
As an alternative embodiment, the method further comprises:
Acquiring a second relative distance between the own vehicle and the target following vehicle, a deceleration state of the own vehicle and a current speed in the process of the own vehicle following the front vehicle;
When the second relative distance is equal to a second preset distance threshold value, entering a phase of preparing for the following stop;
After the host vehicle enters the ready to stop phase, if the second relative distance is less than the second preset distance threshold and the deceleration state is true and the current speed is less than or equal to a preset stop speed threshold, controlling the host vehicle to decelerate.
In a second aspect, there is provided a control device for adaptive cruise control, the device comprising:
The image processing module is used for acquiring environment image data around the vehicle through the image acquisition equipment after the vehicle is stopped following the front vehicle, carrying out image recognition processing and image tracking processing on the environment image data, and determining attribute information of each object contained in the environment image data, wherein the attribute information comprises object types, position information and transverse acceleration;
the first determining module is used for determining that the position information meets the position distribution rule in each object according to the position information of each object and a preset position distribution rule, and the object with the object type being the target type is a candidate follow-up object;
The second determining module is used for determining the candidate tracking object as a target tracking object if the transverse acceleration of the candidate tracking object is smaller than a preset acceleration threshold;
And the third determining module is used for determining that the candidate tracking object is an interference tracking object if the transverse acceleration of the candidate tracking object is greater than or equal to the preset acceleration threshold value.
As an optional implementation manner, the first determining module is specifically configured to:
determining the relative azimuth and the first relative distance of each object according to the position information of each object;
And determining that the relative orientation is in the self-vehicle driving direction in the objects, and taking the object with the first relative distance smaller than a first preset distance threshold as the candidate tracking object.
As an alternative embodiment, the apparatus further comprises:
and the first step module enters a driver confirmation starting stage if the position information of the object meets the position distribution rule and the object type is the pedestrian type, and starts along with the object after receiving the accelerator signal.
As an alternative embodiment, the attribute information includes a longitudinal speed, and the apparatus further includes:
And the second starting module is used for controlling the self-vehicle to start along with the target following object if the longitudinal speed of the target following object is greater than or equal to a preset starting speed threshold value.
As an alternative embodiment, the apparatus further comprises:
The first acquisition module is used for acquiring the following stopping time length of the self-vehicle following the front vehicle to stop;
and the third starting module is used for entering a driver confirmation starting stage if the following stop time length is greater than or equal to the preset automatic following time length, and starting along with the target following object after receiving an accelerator signal.
As an alternative embodiment, the apparatus further comprises:
the second acquisition module is used for acquiring a second relative distance between the own vehicle and the target following vehicle, a deceleration state of the own vehicle and a current speed in the running process of the own vehicle following the front vehicle;
The preparation and stopping module is used for entering a preparation and stopping stage when the second relative distance is equal to a second preset distance threshold value;
and the following stopping module is used for controlling the self-vehicle to decelerate if the second relative distance is smaller than the second preset distance threshold value and the deceleration state is true and the current speed is smaller than or equal to the preset following stopping speed threshold value after the self-vehicle enters the stage of preparing to follow stopping.
In a third aspect, a computer device is provided, comprising a memory and a processor, the memory having stored thereon a computer program executable on the processor, the processor implementing the method steps according to the first aspect when the computer program is executed.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the method steps according to the first aspect.
The application provides a control method and a device for self-adaptive cruise control, and the technical scheme provided by the embodiment of the application has at least the following beneficial effects: after the vehicle stops following the front vehicle, the ACC system collects environment image data around the vehicle through the image collecting equipment, performs image recognition processing and image tracking processing on the environment image data, and determines attribute information of each object contained in the environment image data, wherein the attribute information comprises object types, position information and transverse acceleration. Then, the ACC system determines that the position information meets the position distribution rule in each object according to the position information of each object and a preset position distribution rule, and the object with the object type being the target type is a candidate follow-up object. If the lateral acceleration of the candidate following object is smaller than the preset acceleration threshold value, the candidate following object is indicated to be a normal vehicle, and the ACC system determines that the candidate following object is a target following object; if the lateral acceleration of the candidate tracking object is greater than or equal to the preset acceleration threshold, indicating that the candidate tracking object is traversing between the own vehicle and the front vehicle, the ACC system determines that the candidate tracking object is an interference tracking object. The application distinguishes the candidate following objects according to the transverse acceleration, avoids the transverse vehicle as the target following object, and can prevent the vehicle from following the transverse vehicle to start by mistake.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, 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 flow chart of a control method for adaptive cruise control according to an embodiment of the present application;
FIG. 2 is a flowchart of an example of a control method for adaptive cruise control according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a control device for adaptive cruise control according to an embodiment of the present application;
Fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Currently, in vehicles with ACC systems, on-board sensors are widely deployed in single radar or single camera configurations because of their low cost and capability of fulfilling the basic ACC system requirements. The vehicle type with the single radar can accurately calculate the distance between a front object and a vehicle according to the echo of the object, but only can distinguish vehicles from pedestrians, and cannot distinguish two-wheelers such as a car, a bicycle exposed by a driver, an electric vehicle and the like. The vehicle model with a single camera (monocular) is configured, the camera can shoot an environmental image around the vehicle, the ACC system needs to calculate the distance and the speed of the front vehicle through the vehicle width ratio and the change of the front object in the image because the image does not have depth information, the ACC system can also identify the type of the object according to the image data, and different strategies are implemented according to the type of the object.
For the phenomenon that pedestrians, bicycles, electric vehicles and the like traverse between the vehicle and the front vehicle after the vehicle is stopped following the front vehicle deceleration, the vehicle type provided with the single radar cannot distinguish the types of objects in a relatively short distance in front due to the echo property of the radar, and the automatic follow-up time period set by the ACC system is relatively short (for example, 3 seconds) in order to prevent false start. After the following time of the stopping of the vehicle following the front vehicle exceeds the automatic following time, considering that pedestrians, bicycles or electric vehicles and the like traverse between the vehicle and the front vehicle, the ACC system enters a driver confirmation starting stage (the ACC system enters a Stand-wait state), the vehicle is kept still in the stage, when the ACC system judges that a target following object starts within a preset confirmation starting time threshold (for example, 5 minutes), the ACC system controls a vehicle instrument panel to output starting prompt information, and after an accelerator signal (namely, the driver steps on an accelerator) is received, a wheel end/flywheel end torque request is sent to a power module to accelerate so that the vehicle follows the target following object to start (the ACC system enters an Active-control/Override state). Therefore, although the safety is ensured, in the scene of frequent follow-up and stop of vehicles such as traffic jams, a driver needs to frequently step on the accelerator to keep up the vehicle, and the driving experience is poor.
For a vehicle type equipped with a single camera (monocular), although the ACC system can distinguish the type of the object in front of the vehicle from the environmental image data around the vehicle body captured by the camera, for a two-wheeled vehicle such as a bicycle or an electric vehicle traversing between the own vehicle and the front vehicle, the ACC system easily recognizes these traversing vehicles as target following objects to follow the traversing vehicles to start by mistake, and there is a safety concern.
In view of the above problems, an embodiment of the present application provides a control method for adaptive cruise control, which may be applied to an electronic control system of a vehicle, and in particular, may be embedded in an ACC system of a vehicle configured with a single camera (monocular). Firstly, after a vehicle is stopped before the vehicle follows, an ACC system collects environment image data of the periphery of the vehicle through image collecting equipment on the vehicle, performs image recognition processing and image tracking processing on the environment image data, and determines attribute information of each object contained in the environment image data, wherein the attribute information comprises object types, position information and transverse acceleration. Then, the ACC system determines that the position information meets the position distribution rule in each object according to the position information of each object and a preset position distribution rule, and the object with the object type being the target type is a candidate follow-up object. If the lateral acceleration of the candidate tracking object is smaller than the preset acceleration threshold value, the ACC system determines the candidate tracking object as a target tracking object; if the lateral acceleration of the candidate tracking object is greater than or equal to the preset acceleration threshold, the ACC system determines that the candidate tracking object is an interfering tracking object.
In the following, a detailed description will be given of a control method of adaptive cruise control according to an embodiment of the present application, and fig. 1 is a flowchart of a control method of adaptive cruise control according to an embodiment of the present application, as shown in fig. 1, and specific steps are as follows:
Step 101, after the vehicle is stopped before the vehicle follows, the image acquisition device acquires the surrounding image data of the vehicle, performs image recognition processing and image tracking processing on the surrounding image data, and determines attribute information of each object contained in the surrounding image data, wherein the attribute information comprises object type, position information and transverse acceleration.
In implementation, the driver can turn on the ACC function of the vehicle according to the own demand to perform auxiliary driving so as to reduce the driving load. Under the state that the ACC function is on, the ACC system can acquire environmental image data around the vehicle in real time through a camera, perform image recognition processing and image tracking processing on the environmental image data, perform feature extraction and classification, position information extraction and lateral acceleration calculation on the identified objects, and determine the object type, position information and lateral acceleration of each object as attribute information of each object for subsequent judgment. After the vehicle is stopped before the vehicle follows (the ACC system enters a Stand-Active state), the attribute information is used for determining a target following object of the vehicle in each object, so that the ACC system controls the vehicle to follow the target following object to start (the ACC system enters an Active-control state), the vehicle is ensured to follow the starting vehicle in front of the vehicle, and the vehicle starts smoothly, thereby realizing auxiliary driving.
Step 102, determining that the position information satisfies the position distribution rule in each object according to the position information of each object and the preset position distribution rule, and taking the object with the object type being the target type as the candidate tracking object.
In implementation, in order to enable the vehicle to keep up with the appropriate objects, the ACC system determines, according to the position information of each object and a preset position distribution rule, that the position information satisfies the position distribution rule in each object, and that the object with the object type being the target type is a candidate keep-up object. The object type may be a pedestrian type, a two-wheel vehicle type, a normal car type, or the like. Preferably, the target type is a vehicle type that can be normally followed by a vehicle such as a two-wheel vehicle type and a normal vehicle type. Meanwhile, the position rule can filter out the object outside the running range of the vehicle, and if the position information of the object does not meet the position distribution rule, the object is located outside the driving track of the vehicle, such as the vehicle of an adjacent lane, a street lamp above the lane or roadside facilities, the object is not considered as a candidate follow-up object, and the next target follow-up object is judged.
As an optional implementation manner, the ACC system determines, according to the position information of each object and a preset position distribution rule, that an object whose position information satisfies the position distribution rule is a candidate tracking object in each object, as follows:
Step one, according to the position information of each object, determining the relative azimuth and the first relative distance of each object.
In implementations, the ACC system determines a relative position and a first relative distance of each object based on the location information of each object. Wherein the relative orientation may reflect the direction of the object relative to the vehicle, e.g., right front, left side, right top, etc.; the first relative distance may reflect a distance of the object relative to the host vehicle.
And secondly, determining that the relative direction is in the self-vehicle driving direction in each object, and taking the object with the first relative distance smaller than a first preset distance threshold as a candidate tracking object.
In implementation, the ACC system may determine a vehicle traveling direction according to a traveling direction corresponding to a current position in a planned path of the vehicle, and then determine that a relative position is in the vehicle traveling direction in each object, where the object having the first relative distance smaller than the first preset distance threshold is a candidate tracking object. The first preset distance threshold may be a maximum distance between the vehicle and the object that can be safely followed in the actual following scene, and is set by a technician according to a test or experience. Therefore, the ACC system can screen out the objects outside the driving track of the vehicle, only the objects inside the driving track of the vehicle are reserved as candidate follow-up objects, and false triggering of the ACC system on the objects outside the driving track of the vehicle is avoided.
And step 103, if the lateral acceleration of the candidate tracking object is smaller than a preset acceleration threshold value, determining the candidate tracking object as a target tracking object.
In an implementation, for the candidate tracking object, the ACC system further distinguishes the candidate tracking object according to the lateral acceleration, and if the lateral acceleration of the candidate tracking object is less than the preset acceleration threshold, the ACC system determines that the candidate tracking object is a target tracking object that can be started and tracked. The preset acceleration threshold value can be set by a technician according to big data statistics or real vehicle test debugging.
And 104, if the lateral acceleration of the candidate tracking object is greater than or equal to a preset acceleration threshold, determining that the candidate tracking object is an interference tracking object.
In an implementation, if the lateral acceleration of the candidate tracking object is greater than or equal to the preset acceleration threshold, indicating that the candidate tracking object is traversing between the host vehicle and the lead vehicle, the ACC system determines the candidate tracking object as an interfering tracking object while controlling the host vehicle to remain stationary. The problem that the ACC system takes a crossing vehicle as a target following object to control the self-vehicle to follow the crossing vehicle to start by mistake is solved.
As an alternative embodiment, in order to improve the security, the processing procedure of the ACC system further includes:
If the position information of the object meets the position distribution rule and the object type is the pedestrian type, entering a driver confirmation starting stage, and following the target to follow the object to start after receiving the accelerator signal.
In implementation, if the position information of the object meets the position distribution rule and the object type is the pedestrian type, it is indicated that a pedestrian is crossing between the vehicle and the front vehicle, and in consideration of safety, the ACC system enters a driver confirmation start stage (the ACC system enters a Stand-wait state), during which the vehicle is kept still, when the ACC system determines that the target is started with the object within a preset confirmation start duration threshold (for example, 5 minutes), the ACC system controls the vehicle dashboard to output start prompt information, and after receiving an accelerator signal (i.e., the driver steps on the accelerator), a wheel end/flywheel end torque request is sent to the power module to accelerate so that the vehicle follows the target and starts with the object (the ACC system enters an Active-control/Override state).
As an alternative embodiment, in order to determine whether the target-keeping-up object starts, the attribute information further includes a longitudinal speed, and the processing procedure of the ACC system further includes: and if the longitudinal speed of the target following object is greater than or equal to a preset starting speed threshold value, controlling the self-vehicle to follow the target following object to start.
In an implementation, the attribute information of each object determined by the ACC system from the ambient image data also includes a longitudinal speed. After the target following object is determined, the ACC system judges the longitudinal speed of the target following object, and if the longitudinal speed of the target following object is greater than or equal to a preset starting speed threshold value, the target following object is indicated to be started. If the vehicle gear state is forward (D-range), the ACC system sends a wheel end/flywheel end torque request to the power module to accelerate to bring the vehicle following the target following object to start (ACC system enters Active-control state). The starting speed threshold value can be set by a technician according to big data statistics or real vehicle test and debugging.
As an alternative embodiment, in order to improve the security, the processing procedure of the ACC system further includes:
Step one, acquiring the following time length of the self-vehicle following the front vehicle to stop.
In implementations, the ACC system obtains a following duration from which the vehicle follows the front vehicle stop.
And step two, if the following time is longer than or equal to the preset automatic following time, entering a step of confirming starting by a driver, and starting along with a target following object after receiving an accelerator signal.
In practice, if the following time period is longer than or equal to the preset automatic following time period, the vehicle is indicated to be longer in stopping time, the ACC system enters a driver confirmation start phase (the ACC system enters a Stand-wait state), and the driver confirms the start. Preferably, the auto-keep-up period is 30 seconds. The description of the driver's confirmation of the start phase is referred to above and will not be repeated here.
As an alternative embodiment, since the distance of the target following vehicle, which is obtained by capturing and processing the environmental image data of the surroundings of the vehicle by the camera, deviates from the actual distance, in order to improve the comfort and safety of the vehicle riding, the processing procedure of the ACC system further includes:
Step one, acquiring a second relative distance between the own vehicle and the target following vehicle, a deceleration state of the own vehicle and a current speed in the running process of the own vehicle following the front vehicle.
In implementation, for a vehicle model configured by a single camera, in order to avoid the situation that the requested deceleration suddenly changes or the requested deceleration is too small due to inaccurate ranging of the camera, the ACC system needs to perform following control in combination with the state of the vehicle. During the travel of the host vehicle following the lead vehicle, the ACC system obtains a second relative distance of the host vehicle from the target following vehicle, a deceleration state of the host vehicle, and a current speed. The second relative distance between the own vehicle and the target following vehicle is obtained by processing environment image data of the periphery of the own vehicle, which is shot by the ACC system through a camera.
And step two, entering a phase of preparing for the following stop when the second relative distance is equal to a second preset distance threshold value.
In practice, when the second relative distance is determined to be equal to the second preset distance threshold value, the ACC system enters a stage of preparing to stop, and the speed of the own vehicle is controlled according to the distance of the target following vehicle and the state of the own vehicle. The second preset distance threshold value can be set by a technician according to real vehicle test and debugging, and corresponding following stopping speed threshold values of different vehicle types are different. For example, the second preset distance threshold is set to 5 meters. Thus, the ACC system corresponds to early entry into the following logic when the host vehicle follows the target following vehicle.
And thirdly, after the self-vehicle enters a stage of preparing for the following stop, if the second relative distance is smaller than a second preset distance threshold value, the deceleration state is true, and the current speed is smaller than or equal to a preset following stop speed threshold value, controlling the self-vehicle to decelerate.
In an implementation, after the host vehicle enters a ready to stop phase, if the second relative distance is less than a second preset distance threshold, and the deceleration state is true, and the current speed is less than or equal to a preset stop speed threshold, the ACC system sends a deceleration request to an ESP (Electronic Stability Program, body electronic stability system) module to control the host vehicle to decelerate, and the ESP module receives the deceleration request and then performs a corresponding deceleration response. The ACC system can acquire the current speed of the vehicle through a vehicle body sensor, and the deceleration state of the vehicle is determined through acquiring a deceleration signal. The following speed threshold is set by technicians according to real vehicle test and debugging, and the following speed thresholds corresponding to different vehicle types are different. For example, the heel-hold speed threshold is set to 0.6kph. Like this, ACC system gets into in advance and keeps up the logic, control the vehicle deceleration when the vehicle state (deceleration state and current express delivery) satisfies preset deceleration condition, can avoid because the camera range finding is inaccurate makes request deceleration abrupt change or request deceleration degree undersize to the condition of stopping heavy or stopping that leads to, promotes the comfort that the vehicle slowed down.
Fig. 2 is a flowchart of an example of a control method of adaptive cruise control according to an embodiment of the present application, and as shown in fig. 2, the specific processing procedure of the ACC system is as follows:
Step 201, in the process of the own vehicle following the front vehicle, it is determined whether the second relative distance between the own vehicle and the front vehicle is equal to the second preset distance threshold, if so, step 202 is performed.
Step 202, determining whether the second relative distance between the own vehicle and the preceding vehicle is smaller than a second preset distance threshold, and the deceleration state is true, and the current speed is smaller than or equal to the following stop speed threshold, if so, executing step 203.
Step 203, a keep-alive signal is sent to the ESP.
Step 204, after the following of the vehicle and the stop-active, the image acquisition device acquires the surrounding image data of the vehicle, processes the surrounding image data, and determines the object type, the position information, the lateral acceleration and the longitudinal speed of each object contained in the surrounding image data.
Step 205, determining whether the position information of each object meets the preset position distribution rule, and if so, executing step 206.
Step 206, determining the object type of the object, if the object type is the target type, executing step 207, and if the object type is the pedestrian type, executing step 208.
Step 207, determining that the object is a candidate tracking object, and then executing step 209.
Step 208, the driver confirms the start stage (Stand-wait), and starts (Active-control) following the target follow-up object after receiving the accelerator signal.
Step 209, determining whether the lateral acceleration of the candidate tracking object is smaller than a preset acceleration threshold, if yes, executing step 210, otherwise executing step 211.
Step 210, determining the candidate tracking object as the target tracking object, and then executing step 212.
Step 211, determining the candidate tracking object as an interference tracking object.
Step 212, determining whether the longitudinal speed of the target follow-up object is greater than or equal to a preset starting speed threshold, and if so, executing step 213.
Step 213, determining whether the following duration of the following vehicle following the stopping of the preceding vehicle is less than the preset automatic following duration, and if yes, executing step 214.
Step 214, following the target follow-up object, start (Active-control).
The embodiment of the application provides a control method of self-adaptive cruise control, after a vehicle follows a front vehicle to stop, an ACC system acquires environment image data of the periphery of the vehicle through image acquisition equipment, performs image recognition processing and image tracking processing on the environment image data, and determines attribute information of each object contained in the environment image data, wherein the attribute information comprises object type, position information and transverse acceleration. Then, the ACC system determines that the position information meets the position distribution rule in each object according to the position information of each object and a preset position distribution rule, and the object with the object type being the target type is a candidate follow-up object. If the lateral acceleration of the candidate following object is smaller than the preset acceleration threshold value, the candidate following object is indicated to be a normal vehicle, and the ACC system determines that the candidate following object is a target following object; if the lateral acceleration of the candidate tracking object is greater than or equal to the preset acceleration threshold, indicating that the candidate tracking object is traversing between the own vehicle and the front vehicle, the ACC system determines that the candidate tracking object is an interference tracking object. The application distinguishes the candidate following objects according to the transverse acceleration, avoids the transverse vehicle as the target following object, and can prevent the vehicle from following the transverse vehicle to start by mistake.
It should be understood that, although the steps in the flowcharts of fig. 1 to 2 are sequentially shown as indicated by arrows, the steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in fig. 1-2 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily occur sequentially, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.
It should be understood that the same/similar parts of the embodiments of the method described above in this specification may be referred to each other, and each embodiment focuses on differences from other embodiments, and references to descriptions of other method embodiments are only needed.
The embodiment of the application also provides a control device for self-adaptive cruise control, as shown in fig. 3, which comprises:
the image processing module 310 is configured to collect, after the vehicle follows the vehicle, environmental image data around the vehicle through the image collecting device, perform image recognition processing and image tracking processing on the environmental image data, and determine attribute information of each object included in the environmental image data, where the attribute information includes an object type, position information and lateral acceleration;
A first determining module 320, configured to determine, according to the location information of each object and a preset location distribution rule, that the location information satisfies the location distribution rule in each object, and that an object with an object type being a target type is a candidate tracking object;
A second determining module 330, configured to determine the candidate tracking object as a target tracking object if the lateral acceleration of the candidate tracking object is less than a preset acceleration threshold;
The third determining module 340 is configured to determine that the candidate tracking object is an interfering tracking object if the lateral acceleration of the candidate tracking object is greater than or equal to a preset acceleration threshold.
As an alternative embodiment, the first determining module is specifically configured to:
Determining the relative azimuth and the first relative distance of each object according to the position information of each object;
And determining that the relative direction is in the self-vehicle driving direction in each object, and taking the object with the first relative distance smaller than a first preset distance threshold as a candidate tracking object.
As an alternative embodiment, the device further comprises:
and the first step module enters a stage of confirming starting by a driver if the position information of the object meets the position distribution rule and the object type is the pedestrian type, and starts along with the object after receiving the accelerator signal.
As an alternative embodiment, the attribute information includes a longitudinal speed, the apparatus further comprising:
The second starting module is used for controlling the vehicle to start along with the target following object if the longitudinal speed of the target following object is greater than or equal to a preset starting speed threshold value.
As an alternative embodiment, the device further comprises:
The first acquisition module is used for acquiring the following stopping time length of the self-vehicle following the front vehicle to stop;
the third starting module is used for entering a driver confirmation starting stage if the following stopping time is longer than or equal to the preset automatic following time, and starting along with the target following object after receiving the accelerator signal.
As an alternative embodiment, the device further comprises:
the second acquisition module is used for acquiring a second relative distance between the own vehicle and the target following vehicle, a deceleration state of the own vehicle and a current speed in the running process of the own vehicle following the front vehicle;
the preparation and stopping module is used for entering a preparation and stopping stage when the second relative distance is equal to a second preset distance threshold value;
and the following stopping module is used for controlling the self-vehicle to decelerate if the second relative distance is smaller than a second preset distance threshold value and the deceleration state is true and the current speed is smaller than or equal to a preset following stopping speed threshold value after the self-vehicle enters a stage of preparing to follow stopping.
The embodiment of the application provides a control device for self-adaptive cruise control, which is characterized in that after a vehicle stops following a front vehicle, an ACC system acquires environment image data of the periphery of the vehicle through image acquisition equipment, performs image recognition processing and image tracking processing on the environment image data, and determines attribute information of each object contained in the environment image data, wherein the attribute information comprises object types, position information and transverse acceleration. Then, the ACC system determines that the position information meets the position distribution rule in each object according to the position information of each object and a preset position distribution rule, and the object with the object type being the target type is a candidate follow-up object. If the lateral acceleration of the candidate following object is smaller than the preset acceleration threshold value, the candidate following object is indicated to be a normal vehicle, and the ACC system determines that the candidate following object is a target following object; if the lateral acceleration of the candidate tracking object is greater than or equal to the preset acceleration threshold, indicating that the candidate tracking object is traversing between the own vehicle and the front vehicle, the ACC system determines that the candidate tracking object is an interference tracking object. The application distinguishes the candidate following objects according to the transverse acceleration, avoids the transverse vehicle as the target following object, and can prevent the vehicle from following the transverse vehicle to start by mistake.
For specific limitations on the control means of the adaptive cruise control, reference may be made to the above limitations on the control method of the adaptive cruise control, which are not repeated here. The respective modules in the control device of the adaptive cruise control described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, as shown in fig. 4, comprising a memory and a processor, the memory having stored thereon a computer program executable on the processor, the processor executing the method steps for implementing the control of the adaptive cruise control described above.
In one embodiment, a computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the method of controlling adaptive cruise control described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for presentation, analyzed data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A control method of an adaptive cruise control, the method comprising:
After the vehicle stops following the front vehicle, acquiring environment image data around the vehicle through an image acquisition device, performing image recognition processing and image tracking processing on the environment image data, and determining attribute information of each object contained in the environment image data, wherein the attribute information comprises object types, position information and transverse acceleration;
Determining that the position information meets the position distribution rule in each object according to the position information of each object and a preset position distribution rule, wherein the object with the object type being the target type is a candidate follow-up object;
If the lateral acceleration of the candidate tracking object is smaller than a preset acceleration threshold value, determining the candidate tracking object as a target tracking object;
and if the transverse acceleration of the candidate follow-up object is greater than or equal to the preset acceleration threshold value, determining that the candidate follow-up object is an interference follow-up object.
2. The method according to claim 1, wherein determining, among the objects, an object whose position information satisfies the position distribution rule as a candidate tracking object according to the position information of the objects and a preset position distribution rule, comprises:
determining the relative azimuth and the first relative distance of each object according to the position information of each object;
And determining that the relative orientation is in the self-vehicle driving direction in the objects, and taking the object with the first relative distance smaller than a first preset distance threshold as the candidate tracking object.
3. The method according to claim 1, wherein the method further comprises:
if the position information of the object meets the position distribution rule and the object type is the pedestrian type, entering a driver confirmation starting stage, and following the target to follow the object to start after receiving an accelerator signal.
4. The method of claim 1, wherein the attribute information comprises a longitudinal speed, the method further comprising:
And if the longitudinal speed of the target tracking object is greater than or equal to a preset starting speed threshold, controlling the vehicle to start along with the target tracking object.
5. The method according to claim 1, wherein the method further comprises:
acquiring the following time length of the self-vehicle following the front vehicle to stop;
if the following stopping time length is greater than or equal to the preset automatic following time length, entering a driver confirmation starting stage, and following the target following object to start after receiving an accelerator signal.
6. The method according to claim 1, wherein the method further comprises:
Acquiring a second relative distance between the own vehicle and the target following vehicle, a deceleration state of the own vehicle and a current speed in the process of the own vehicle following the front vehicle;
When the second relative distance is equal to a second preset distance threshold value, entering a phase of preparing for the following stop;
After the host vehicle enters the ready to stop phase, if the second relative distance is less than the second preset distance threshold and the deceleration state is true and the current speed is less than or equal to a preset stop speed threshold, controlling the host vehicle to decelerate.
7. A control device for adaptive cruise control, the device comprising:
The image processing module is used for acquiring environment image data around the vehicle through the image acquisition equipment after the vehicle is stopped following the front vehicle, carrying out image recognition processing and image tracking processing on the environment image data, and determining attribute information of each object contained in the environment image data, wherein the attribute information comprises object types, position information and transverse acceleration;
the first determining module is used for determining that the position information meets the position distribution rule in each object according to the position information of each object and a preset position distribution rule, and the object with the object type being the target type is a candidate follow-up object;
The second determining module is used for determining the candidate tracking object as a target tracking object if the transverse acceleration of the candidate tracking object is smaller than a preset acceleration threshold;
And the third determining module is used for determining that the candidate tracking object is an interference tracking object if the transverse acceleration of the candidate tracking object is greater than or equal to the preset acceleration threshold value.
8. The apparatus of claim 7, wherein the first determining module is specifically configured to:
determining the relative azimuth and the first relative distance of each object according to the position information of each object;
And determining that the relative orientation is in the self-vehicle driving direction in the objects, and taking the object with the first relative distance smaller than a first preset distance threshold as the candidate tracking object.
9. The apparatus of claim 7, wherein the apparatus further comprises:
and the first step module enters a driver confirmation starting stage if the position information of the object meets the position distribution rule and the object type is the pedestrian type, and starts along with the object after receiving the accelerator signal.
10. The apparatus of claim 7, wherein the attribute information comprises a longitudinal velocity, the apparatus further comprising:
And the second starting module is used for controlling the self-vehicle to start along with the target following object if the longitudinal speed of the target following object is greater than or equal to a preset starting speed threshold value.
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| JP7147524B2 (en) * | 2018-12-07 | 2022-10-05 | トヨタ自動車株式会社 | vehicle controller |
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| CN111252067A (en) * | 2020-02-20 | 2020-06-09 | 泰牛汽车技术(苏州)有限公司 | Control method for automatic driving |
| CN111731289B (en) * | 2020-06-24 | 2021-07-20 | 中国第一汽车股份有限公司 | Following control method and device, vehicle and storage medium |
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