CN115848371A - ACC system control method, device, electronic equipment and storage medium - Google Patents

Abstract

The present application discloses an ACC system control method, device, electronic equipment, and storage medium. The method includes: when the own vehicle enters the following mode of the ACC system, determining the target of the own vehicle according to the following states of different speeds Following distance; when the own vehicle enters the cut-in mode of the ACC system, determine the movement intention of the surrounding other vehicles according to the information of the own vehicle and the information of the surrounding other vehicles; judge the movement intention of the surrounding other vehicles As a result, the speed of the own vehicle is controlled and the own vehicle is controlled to enter the following mode of the ACC system after the surrounding other vehicles meet the preset conditions. The present application optimizes the control of the ACC system of the vehicle by simplifying the calculation of the following distance of the vehicle in the following mode and reducing the risk of vehicle collision when the mode is cut into.

Description

ACC system control method, device, electronic equipment, and storage medium

technical field

The present application relates to the technical field of automatic driving, and in particular to an ACC system control method, device, electronic equipment, and storage medium.

Background technique

The development of driverless cars is getting faster and faster, the level of car intelligence is getting higher and higher, and the rate of automatic driving and assisted driving devices on cars is getting higher and higher.

Adaptive Cruise Control (ACC) of the vehicle, as an important part of the automatic driving system and the vehicle's advanced driver assistance system, mainly controls the longitudinal movement of the vehicle. According to the real-time changes of the external environment while the vehicle is driving, for example, if the target vehicle cuts into the front of the own vehicle lane at a short distance, it can automatically adjust the distance to the vehicle in front and the current speed to ensure driving safety.

In the related art, the calculation of the following distance of the ACC system in the following mode is complicated, and at the same time, the ACC system cannot accurately judge the intention of surrounding vehicles in the cut-in mode.

Contents of the invention

Embodiments of the present application provide an ACC system control method, device, electronic equipment, and storage medium, so as to improve identification and safety capabilities in different modes of an automatic driving ACC system.

The embodiment of the application adopts the following technical solutions:

In a first aspect, an embodiment of the present application provides an ACC system control method, wherein the method includes:

When the self-vehicle enters the car-following mode of the ACC system, determine the target car-following distance of the self-vehicle according to the car-following states at different speeds;

When the own vehicle enters the cut-in mode of the ACC system, determine the movement intention of the surrounding other vehicles according to the information of the own vehicle and the information of other vehicles around;

According to the judging result of the movement intention of the surrounding other vehicles, control the vehicle speed of the own vehicle and control the own vehicle to enter the car-following mode of the ACC system after the surrounding other vehicles meet the preset conditions.

In some embodiments, when the own vehicle enters the following mode of the ACC system, determining the target following distance of the own vehicle according to the following states of different speeds includes:

When the own vehicle enters the following mode of the ACC system, according to the first control strategy, the following distance to the nearest vehicle in front of the current lane is calculated according to the current speed of the own vehicle.

In some embodiments, before the ego vehicle enters the cut-in mode of the ACC system, it further includes:

Obtain the surrounding other vehicle information and lane line information through lidar and/or millimeter wave radar;

According to the surrounding other vehicle information and the lane line information, determine whether the surrounding other vehicle can be used as a cut-in vehicle based on the own vehicle information;

If it is determined as the cut-in vehicle, it is determined that the own vehicle enters the cut-in mode of the ACC system.

In some embodiments, the judging is the method of cutting into the vehicle, including:

When the self-vehicle is in cruising mode, or the self-vehicle is in the car-following mode but the longitudinal distance between the vehicle to be cut into the own vehicle's lane from the side and the self-vehicle is smaller than the distance between the self-vehicle and the following target car, judge The vehicle to be cut in is the cut-in vehicle.

In some embodiments, before determining that the ego vehicle enters the cut-in mode of the ACC system, the method further includes:

According to the horizontal filtering rules, when the surrounding other vehicles cut in as the cut-in vehicle, if the distance between the far left of the cut-in vehicle and the right lane line of the own vehicle or the distance between the far right of the cut-in vehicle and the left lane line of the own vehicle is greater than that of the own vehicle Preset multiples of the width of the current driving lane, these cut-in vehicles are filtered;

According to the longitudinal filtering rules, when the surrounding other vehicles cut in as the cut-in vehicle, if the front end of the cut-in vehicle is behind the front end of the own vehicle or the distance between the end of the cut-in vehicle and the front end of the own car is greater than the current lane The limit braking distance of the speed limit, then these cut-in vehicles are filtered.

In some embodiments, when the own vehicle enters the cut-in mode of the ACC system, after determining the movement intention of the surrounding other vehicles according to the information of the own vehicle and the information of other vehicles around, the method includes:

calculating the collision time according to the longitudinal speed of the ego vehicle and the longitudinal speed of the cutting vehicle;

If the time-to-collision is less than the critical collision threshold and/or the distance between the rear of the cut-in vehicle and the head of the own vehicle is less than the threshold threshold, after the own vehicle enters the cut-in mode of the ACC system, by applying Velocity controls the vehicle speed of the ego vehicle.

In some embodiments, according to the determination result of the movement intention of the surrounding other vehicles, the speed of the own vehicle is controlled and the own vehicle is controlled to enter the car-following mode of the ACC system after the surrounding other vehicles meet the preset conditions, include:

When the distance between the rightmost side of the cut-in vehicle and the rightmost side of the own vehicle lane line or the leftmost side of the cut-in vehicle and the leftmost side of the own vehicle lane line is less than the preset distance value, the ACC system of the own vehicle is switched from the cut-in mode Change to the car-following mode, and the tracked target vehicle is the previous cut-in vehicle.

In some embodiments, the ACC system further includes a cruise mode, and the cut-in mode is an intermediate transition mode between the cruise mode and the car-following mode.

In the second aspect, the embodiment of the present application also provides an ACC system control device, wherein the device includes:

The distance calculation module is used to determine the target following distance of the own vehicle according to the following states of different speeds when the own vehicle enters the following mode of the ACC system;

The intent determination module is used to determine the movement intention of other vehicles around according to the information of the own vehicle and the information of other vehicles around when the own vehicle enters the cut-in mode of the ACC system;

A switching module, configured to control the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles and control the own vehicle to enter the following mode of the ACC system after the surrounding other vehicles meet the preset conditions.

In a third aspect, the embodiment of the present application further provides an electronic device, including: a processor; and a memory arranged to store computer-executable instructions, and the executable instructions cause the processor to execute the above method when executed.

In a fourth aspect, the embodiment of the present application further provides a computer-readable storage medium, the computer-readable storage medium stores one or more programs, and when the one or more programs are executed by an electronic device including multiple application programs , causing the electronic device to execute the above method.

The above-mentioned at least one technical solution adopted in the embodiment of the present application can achieve the following beneficial effects: when the own vehicle enters the following mode of the ACC system, the target following distance of the own vehicle is determined according to the following state of the vehicle at different speeds, and by optimizing the The calculation method of the vehicle-following distance simplifies the calculation process and ensures that the own vehicle can have sufficient braking distance in an emergency when the vehicle in front brakes suddenly. When the own vehicle enters the cut-in mode of the ACC system, determine the movement intention of the surrounding other vehicles according to the information of the own vehicle and the information of other vehicles around, and predict the vehicles in front of the surrounding side according to the movement state of the surrounding vehicles and the historical trajectory movement intention. In this way, the corresponding warning information will be issued before the obstacle vehicle changes lanes and the corresponding deceleration action will be performed during the lane change process, reducing the risk of vehicle collision.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

FIG. 1 is a schematic diagram of cruise mode 1 of the ACC system in the embodiment of the present application;

FIG. 2 is a schematic diagram of cruise mode 2 of the ACC system in the embodiment of the present application;

FIG. 3 is a schematic diagram of the car following mode of the ACC system in the embodiment of the present application;

FIG. 4 is a schematic diagram of the cut-in mode of the ACC system in the embodiment of the present application;

FIG. 5 is a schematic flow chart of an ACC system control method in an embodiment of the present application;

6 is a schematic structural diagram of an ACC system control device in an embodiment of the present application;

Fig. 7 is the following distance calculation diagram in the embodiment of the present application;

FIG. 8 is a logical schematic diagram in the cut-in mode of the ACC system control method in the embodiment of the present application;

FIG. 9 is a schematic structural diagram of an electronic device in an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The technical solutions provided by various embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

The inventor found during research that some ACC control methods use different parameters to obtain weight values according to different vehicle speeds, and then calculate the following distance according to the new parameters combined with the vehicle speed. The calculation process is cumbersome and the calculation efficiency is relatively low. And because the segmentation strategy is adopted, it is inevitable that there will be a jump phenomenon at the segmentation point, which will affect the control performance of the ACC system.

Other ACC control methods judge the confidence level in segments according to the distance between the current target and the vehicle in front, and need to add confidence levels based on multiple information of the driving state, and set virtual targets, virtual states, etc. Although the consideration is relatively comprehensive, the method is cumbersome and inconvenient to use in the actual application process.

In addition, there are some ACC methods proposed by some control methods for side-front vehicles to change lanes, using side-front images of vehicles and radar sensors to predict lane changes of surrounding vehicles, and relying on the status of vehicle turn signals captured by image sensors. However, at present, vehicles driven by surrounding vehicles often change lanes without turning on the turn signal or turn on the turn signal late, which will affect the decision-making of the ACC control of the autonomous vehicle.

In view of the cumbersome setting of the ACC following distance in the related art, the ACC following distance calculation process proposed by the method in the embodiment of the present application comprehensively considers the low-speed following state, the medium-speed following state and the high-speed following state for the following distance state. The method of calculating the following distance adopts the same formula, taking into account the following car at full speed, so as to ensure that the own car can have sufficient braking distance in emergency situations when the car in front brakes suddenly.

Aiming at the problem of excessive reliance on the turn signals of surrounding vehicles in the ACC method for sideways lane changes in the related art, the method in the embodiment of the present application starts from the movement state of the surrounding vehicles and the historical movement trajectory to predict the movement intention of the vehicle in front of the surrounding side, and in the Vehicles belonging to obstacles will issue corresponding warning messages before changing lanes and will perform corresponding deceleration actions during lane changing to reduce the risk of vehicle collisions.

In addition, the method in the embodiment of the present application mainly relies on lidar and millimeter-wave radar, avoiding the use of image sensors.

The technical solutions provided by various embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1 and Figure 2, it is the cruising mode in the ACC system in the embodiment of the present application, which is divided into cruising mode 1 and cruising mode 2, wherein, cruising mode 1 is the cruising mode of the same lane, and cruising mode 2 is different Lane cruise mode. It can be understood that the cruise mode is the general mode of the ACC system. When there is no vehicle within the following distance in front of the vehicle, and there is no vehicle ready to cut into the current lane of the vehicle in front of the vehicle, the vehicle is in the cruise mode at this time, and the (automatic driving) vehicle will be based on The current road automatically sets the maximum cruising speed. In Figure 1, distance_now>distance_cal, there is no vehicle ahead within the current following distance.

As shown in Figure 3, it is the car-following mode in the ACC system in the embodiment of the present application. The car-following mode is when there are other vehicles within the following distance of the (automatic driving) vehicle’s current lane, the ACC system will automatically switch to Car-following mode, in the car-following mode, the ACC system will calculate the following distance from the nearest vehicle in front of the current lane according to the current speed of the vehicle. In Figure 3, distance_now<distance_cal, there is a vehicle ahead within the current following distance.

As shown in Figure 4, it is the cut-in mode in the ACC system in the embodiment of the present application. The cut-in mode is an intermediate transition mode between the cruise mode and the car-following mode. When the (automatic driving) vehicle has no other vehicles within the following distance of the current lane That is, in cruise mode, or (autonomous driving) the vehicle is in the following mode but the longitudinal distance between the vehicle that is about to cut into the own vehicle lane from the side and the own vehicle is smaller than the distance between the own vehicle and the following target vehicle, if there is a sideways The ACC system of the self-driving vehicle may switch to cut-in mode when the other vehicle tries to cut in.

The embodiment of the present application provides an ACC system control method. As shown in FIG. 5 , it provides a schematic flow chart of the ACC system control method in the embodiment of the present application. The method includes at least the following steps S510 to S540:

Step S510, when the own vehicle enters the following mode of the ACC system, determine the target following distance of the own vehicle according to the following states of different speeds.

The vehicle will realize the control of different modes in the ACC system according to different driving states. That is to say, the cruise mode, cut-in mode and car-following mode in the ACC system will be changed according to the situation, and the cut-in mode is used as an intermediate transition mode between the cruise mode and the car-following mode.

If there are other vehicles within the following distance in the current lane of the own vehicle, the ACC system will automatically switch to the follow-up mode. In the follow-up mode, the ACC system will calculate the following vehicle with the nearest vehicle in front of the current lane according to the current speed of the own vehicle. distance.

When determining the target vehicle-following distance of the ego vehicle, it is determined according to vehicle-following states at different speeds. That is to say, the following speed of the ego vehicle may be in a low, medium or high speed state, and at this time, the target following distance of the ego vehicle will be affected to varying degrees. At the same time, factors such as the maximum deceleration of the ego vehicle and the comfortable deceleration also need to be considered. The maximum deceleration refers to the braking capacity that the vehicle should have. During emergency braking, the maximum deceleration of the vehicle is generally 7.5-8 m/s². During normal braking, the average deceleration of the vehicle should be 3 -4 m/s². The comfortable deceleration is a parameter in the IDM model. The IDM model refers to the intelligent driver model (Intelligent Driver Model, IDM), which describes the acceleration of the own vehicle as a function of its own variables and the variables of the preceding vehicle, and will not be repeated here.

Step S520, when the own vehicle enters the cut-in mode of the ACC system, determine the movement intention of the surrounding other vehicles according to the information of the own vehicle and the information of other vehicles around.

When there are no other vehicles within the following distance of the current lane of the own vehicle, it is in cruise mode, or the vehicle of the own vehicle is in the following mode but the longitudinal distance between the vehicle and the vehicle that is about to cut into the own vehicle lane from the side is smaller than that of the own vehicle and the following vehicle The distance of the target car, if there is a side vehicle trying to cut in, the ACC system of the own car may switch to the cut-in mode.

When the self-vehicle enters the cut-in mode of the ACC system, it is also necessary to determine the movement intention of the surrounding other cars based on the information of the self-vehicle and the surrounding other cars, that is, whether the surrounding other cars will cut in from the side and enter the current lane of the self-vehicle . In order to obtain accurate vehicle status information and judge the cutting intention of side vehicles, other sensors such as laser radar and millimeter-wave radar are required to obtain information, such as the position, speed, and heading angle of the own vehicle, and the positions, speeds, and heading angles of other vehicles around. , lateral speed information, road boundary information, etc. The speed information of surrounding vehicles is mainly obtained by millimeter-wave radar, and the position information is mainly obtained by laser radar. And according to the cut-in direction of surrounding vehicles, it can be divided into two situations: left cut-in and right cut-in, and the trigger condition and end condition of the left or right cut-in mode are the same.

Step S530 , according to the judgment result of the movement intention of the surrounding other vehicles, control the vehicle speed of the own vehicle and control the own vehicle to enter the car-following mode of the ACC system after the surrounding other vehicles meet the preset conditions.

According to the judgment result of the movement intention of other cars around, control the speed of the own vehicle (maintain or decelerate) and control the own vehicle to enter the following mode of the ACC system when the conditions are met. When there are no other cars within the following distance in front of the vehicle, the vehicle is controlled to enter the cruise mode from the following mode.

In an embodiment of the present application, the ACC system further includes a cruise mode, and the cut-in mode is an intermediate transition mode between the cruise mode and the car-following mode.

Since the detection data of lidar and/or millimeter-wave radar has been obtained before, the real-time status of other vehicles around is determined by fusing the data of lidar and/or millimeter-wave radar, including but not limited to the position, speed, and heading angle of other vehicles around . Then calculate the following distance in real time according to the speed of the own vehicle, judge whether the position and speed of the surrounding vehicles pose a risk to the own vehicle through the cut-in mode rules, and control the vehicle in time to avoid accidents.

The above method comprehensively considers the low-speed car-following state, the medium-speed car-following state and the high-speed car-following state by optimizing the calculation process of the target following distance of the ego vehicle in the car-following mode of the ACC system. The calculation method adopts the same formula, which takes into account the following car at full speed, and ensures that the own car can have enough braking distance in an emergency when the car in front brakes suddenly. Different from the cumbersome calculation process of the following distance in the related technology, the segmentation is prone to jump phenomenon.

The above method optimizes the ACC system cut-in mode, and predicts the movement intention of the vehicles in front of the surrounding side by starting from the movement state of the surrounding vehicles and the historical movement trajectory through the laser radar and the millimeter-wave radar. Before the obstacle vehicle changes lanes, the corresponding warning information will be issued and corresponding deceleration actions will be performed during the lane change process to reduce the risk of vehicle collision. It is different from the problem of over-reliance on the turning lights of surrounding vehicles in the related art.

In one embodiment of the present application, when the own vehicle enters the following mode of the ACC system, determining the target following distance of the own vehicle according to the following states of different speeds includes: according to the first control strategy, according to the The current speed calculates the following distance from the nearest vehicle ahead in the current lane.

Specifically, when the self-vehicle enters the car-following mode of the ACC system, the following distance dis=a ₁ v ² +a ₂ v+dis0+bufer0 to the nearest vehicle in front of the current lane is calculated according to the current speed of the self-vehicle, where , dis0 is the static following distance when the vehicle speed is 0 or close to 0, v is the current vehicle speed of the own vehicle, buffer0 is the buffer distance, a1 and a2 are based on the maximum deceleration and comfortable deceleration of the own vehicle and based on the low-speed, medium-speed The coefficients obtained by fitting under the three car-following states of high speed and high speed, and a1 is a negative number, and a2 is a positive number.

The formula for calculating the following distance is dis=a ₁ v ² +a ₂ v+dis0+bufer0. In the following mode, the ACC system will calculate the following distance to the nearest vehicle in front of the current lane according to the current speed of the vehicle.

In the above calculation formula, dis0 is the static following distance when the vehicle speed is 0 or close to 0.

V is the current speed of the ego vehicle, which can be obtained in real time.

buffer0 is the buffer distance, which can be set according to the actual situation.

a1 and a2 are the coefficients obtained by fitting according to the maximum deceleration and comfortable deceleration of the own vehicle and based on three car-following states of low speed, medium speed and high speed, and a1 is a negative number and a2 is a positive number.

Among them, the curves obtained by fitting a1 and a2 are shown in Figure 7, and there is a quadratic function relationship between the speed and the following distance. The fitting principle is based on the kinematic formula v ² -v ₀ ² =2ax, v0 is the current speed of the self-driving vehicle, and v considers that the front vehicle’s limit speed is 0, and the self-vehicle also decelerates to 0, so here v=0, a is the maximum extremely comfortable deceleration of the self-vehicle, and x is the calculated initial following distance. After simplification, 2|a|x=v ₀ ² is obtained, and the maximum comfortable deceleration is a constant. It can be seen that the following distance is proportional to the square of the speed, so the quadratic function is used as the basis for calculating the following distance.

Exemplarily, first, determine the different speed areas: take a set of low speeds at intervals of 0.1 in the low speed area 4m/s-5m/s; take a set of medium speeds at intervals of 0.1 in the medium speed area 10m/s-11ms/s Speed: High speed range 15.5m/s-16.5m/s Take a group of high speed at intervals of 0.1.

Then, according to the formula 2|a|x= v ₀ ² for each speed, x is calculated as the initial following distance of the speed.

Finally, use each speed and its corresponding initial following distance to obtain a1, a2, and dis0 in the quadratic function dis=a ₁ v ² +a ₂ v+dis0 by using the least square method; at the same time, in order to increase safety, in Add a buffer distance of buffer0 to the calculated dis.

Different from the cumbersome calculations in related technologies, the calculation process of the following distance in the following mode of the ACC system is simple and easy to understand, and the following distance comprehensively considers the low-speed following state, the medium-speed following state and the high-speed following state. The calculation method adopts the same formula, which takes into account the following car at full speed, and ensures that the own car can have enough braking distance in an emergency when the car in front brakes suddenly.

In one embodiment of the present application, before the ego vehicle enters the cut-in mode of the ACC system, it further includes: acquiring the surrounding other vehicle information and lane line information through lidar and/or millimeter wave radar; according to the Based on the information of other vehicles around and the lane line information, it is judged based on the information of the own vehicle whether other vehicles in the surroundings can be used as the cut-in vehicle; if it is judged as the cut-in vehicle, then it is determined that the own vehicle enters the cut-in mode of the ACC system .

The speed information of other cars around is mainly obtained by millimeter wave radar, and the position information of other cars around is mainly obtained by laser radar. The method of obtaining the lane line information through the laser radar can be based on the laser radar echo width or the grayscale image formed based on the laser radar reflection intensity information, or the laser radar SLAM can be used in conjunction with the high-precision map to not only detect the lane line but also automatically car positioning.

According to the surrounding other vehicle information and the lane line information, when judging whether the surrounding other vehicle can be used as a cut-in vehicle based on the own vehicle information, the distance between the surrounding vehicles and the own vehicle and the lane line is mainly considered (the own vehicle travels along the center of the lane, Keep the same distance from the lane lines on both sides), if the condition is met, it will be judged as a cut-in vehicle.

For example, when the distance between the leftmost end of the cut-in vehicle and the lane line on the right side of the own vehicle is less than a certain distance a, that is, the lane a of the cut-in vehicle is intruded, and the lateral speed of the cut-in vehicle is to the left, and the speed value is greater than the critical speed, it is considered to be satisfied at this time Cut-in mode conditions for the ACC system.

In some embodiments, the surrounding other cars are filtered out with pre-conditions, and only the surrounding other cars that meet the conditions after filtering are considered.

Further, when the own vehicle is in cruise mode, or the own vehicle is in the following mode but the longitudinal distance between the vehicle to be cut into the own vehicle's lane from the side and the own vehicle is smaller than the distance between the own vehicle and the following target vehicle , it is determined that the vehicle to be cut in is the cut-in vehicle.

In one embodiment of the present application, before determining that the ego vehicle enters the cut-in mode of the ACC system, it further includes: according to the horizontal filtering rule, when the surrounding other vehicles cut in as the cut-in vehicle, if the cut-in vehicle's If the distance from the far left to the right lane line of the own vehicle or from the left lane line of the cut-in vehicle is greater than the preset multiple of the current lane width of the own vehicle, these cut-in vehicles are filtered; according to the longitudinal filtering rule, in When the surrounding other vehicles cut in as the cut-in vehicle, if the front end of the cut-in vehicle is behind the front end of the own vehicle or the distance between the end of the cut-in vehicle and the front end of the own car is greater than the speed limit of the current lane distance, these cut-in vehicles are filtered.

In order to accurately judge the vehicle to be cut in, before the own vehicle is determined to enter the cut-in mode of the ACC system, the surrounding vehicles are filtered according to the horizontal filtering rule and the vertical filtering rule to obtain the vehicle to be cut in.

Exemplarily, the horizontal filtering rule is that the distance between the far left of the cut-in vehicle and the right lane line of the own vehicle is greater than 1.5 times the width of the current lane of the own vehicle. According to the cut-in direction of surrounding vehicles, it can be divided into two situations: left cut-in and right-side cut-in. The left cut-in and right-side cut-in are almost the same except for the direction. The car lane is used as an example to illustrate the trigger conditions and end conditions of the cut-in mode. The same is true for the cut-in on the left.

Exemplarily, the vertical filtering rule is that the front end of the cut-in vehicle is behind the front end of the self-driving vehicle or the distance from the end of the cut-in vehicle to the front end of the self-vehicle is greater than the limit braking distance of the speed limit of the current lane. At this time, the cut-in vehicle will be filtered drop is not considered.

It should be noted that the speed limit of the current lane refers to the maximum speed that the ego vehicle can reach in the current lane.

In one embodiment of the present application, when the own vehicle enters the cut-in mode of the ACC system, after determining the movement intention of the surrounding other vehicles according to the information of the own vehicle and the information of other vehicles around, it includes: according to the Calculate the collision time between the longitudinal speed of the own vehicle and the longitudinal speed of the cut-in vehicle; if the collision time is less than the critical collision threshold and/or the distance between the rear of the cut-in vehicle and the front of the own vehicle is less than a threshold threshold, then The vehicle speed of the own vehicle is controlled by applying a deceleration after the own vehicle enters the cut-in mode of the ACC system.

After filtering by the above rules, the surrounding other cars that meet the conditions are first screened as cut-in vehicles, and then the danger judgment of the cut-in vehicles will be made. That is to say, before the vehicle that belongs to the obstacle cuts in and changes lanes, it will make a risk judgment and issue a corresponding warning message.

For example, when the distance between the leftmost end of the cut-in vehicle and the lane line on the right side of the own vehicle is greater than -0.25m (0.25m on the left side) and less than 0.25m, and the lateral speed of the cut-in vehicle is to the left, the speed value is greater than the critical speed, at this time This vehicle will be listed as a dangerous obstacle.

Furthermore, when the distance between the leftmost end of the cut-in vehicle and the lane line on the right side of the own vehicle is less than -0.25m, that is, the intrusion into the own lane is 0.25m, and the lateral speed of the cut-in vehicle is to the left, and the speed value is greater than the critical speed, then the ACC system is satisfied. Cut-in mode condition.

When the cut-in mode conditions of the ACC system are met, the TTC collision time (time to collision) will be calculated according to the current longitudinal speed of the vehicle and the longitudinal speed of the cut-in vehicle. If the TTC is less than the critical TTC value or the distance between the rear of the cut-in vehicle and the front of the own vehicle If the value is too small (rear-end collision is prone to occur), then in cut-in mode, the ACC system will apply a corresponding deceleration to the self-driving vehicle according to the value of TTC and the distance between the rear and the front of the vehicle. If the above two conditions are met, the deceleration with a larger absolute value speed.

Different from the problem of excessive reliance on the turn signals of surrounding vehicles in the related art, the above method predicts the movement intention of the vehicles in front of the surrounding side from the movement state of the surrounding vehicles and the historical movement trajectory. Before the obstacle vehicle changes lanes, the corresponding warning information will be issued and corresponding deceleration actions will be performed during the lane change process to reduce the risk of vehicle collision. In addition, it mainly relies on lidar and millimeter-wave radar, avoiding or reducing the use of image sensors.

In one embodiment of the present application, according to the judgment result of the movement intention of the surrounding other vehicles, the vehicle speed of the own vehicle is controlled and the following vehicle is controlled to enter the ACC system after the surrounding other vehicles meet the preset conditions. Vehicle mode, including: when the distance between the rightmost side of the cut-in vehicle and the rightmost side of the lane line of the own vehicle or the leftmost side of the cut-in vehicle and the leftmost side of the lane line of the own vehicle is less than a preset distance value, the ACC system of the own vehicle Transition from the cut-in mode to the vehicle-following mode, and the tracked target vehicle is the previous cut-in vehicle.

When the distance between the far right of the cut-in vehicle and the right end of the lane line of the own vehicle is less than the preset distance value, the ACC system of the own vehicle is changed from the cut-in mode to the car-following mode; when the cut-in vehicle is leftmost If the distance from the left end of the lane line of the own vehicle is less than the preset distance value, the ACC system of the own vehicle is changed from the cut-in mode to the following vehicle mode.

For example, when the distance between the far right of the cut-in vehicle and the right end of the ego vehicle lane line is less than 0.3m, it will change from the cut-in mode to the follow-up mode, and the tracked target vehicle is the vehicle just cut in. The real distance of the front of the car and the following distance determine the following distance in the following mode, and apply the corresponding deceleration at the same time.

The embodiment of the present application also provides an ACC system control device 600. As shown in FIG. 6, a schematic structural diagram of the ACC system control device in the embodiment of the present application is provided. Determining module 620 and switching module 630, wherein:

In one embodiment of the present application, the distance calculation module 610 is specifically configured to: when the own vehicle enters the following mode of the ACC system, determine the target following distance of the own vehicle according to the following states of different speeds.

The vehicle will realize the control of different modes in the ACC system according to different driving states. That is to say, the cruise mode, cut-in mode and car-following mode in the ACC system will be changed according to the situation, and the cut-in mode is used as an intermediate transition mode between the cruise mode and the car-following mode.

If there are other vehicles within the following distance in the current lane of the own vehicle, the ACC system will automatically switch to the follow-up mode. In the follow-up mode, the ACC system will calculate the following vehicle with the nearest vehicle in front of the current lane according to the current speed of the own vehicle. distance.

When determining the target vehicle-following distance of the ego vehicle, it is determined according to vehicle-following states at different speeds. That is to say, the following speed of the ego vehicle may be in a low, medium or high speed state, and at this time, the target following distance of the ego vehicle will be affected to varying degrees. At the same time, factors such as the maximum deceleration of the ego vehicle and the comfortable deceleration also need to be considered. The maximum deceleration refers to the braking capacity that the vehicle should have. During emergency braking, the maximum deceleration of the vehicle is generally 7.5-8 m/s². During normal braking, the average deceleration of the vehicle should be 3 -4 m/s². The comfortable deceleration is a parameter in the IDM model. The IDM model refers to the intelligent driver model (Intelligent Driver Model, IDM), which describes the acceleration of the own vehicle as a function of its own variables and the variables of the preceding vehicle, and will not be repeated here.

In one embodiment of the present application, the intention determination module 620 is specifically configured to: when the own vehicle enters the cut-in mode of the ACC system, determine the surrounding other vehicles according to the information of the own vehicle and the information of other vehicles around movement intention.

When there are no other vehicles within the following distance of the current lane of the own vehicle, it is in cruise mode, or the vehicle of the own vehicle is in the following mode but the longitudinal distance between the vehicle and the vehicle that is about to cut into the own vehicle lane from the side is smaller than that of the own vehicle and the following vehicle The distance of the target car, if there is a side vehicle trying to cut in, the ACC system of the own car may switch to the cut-in mode.

When the self-vehicle enters the cut-in mode of the ACC system, it is also necessary to determine the movement intention of the surrounding other cars based on the information of the self-vehicle and the surrounding other cars, that is, whether the surrounding other cars will cut in from the side and enter the current lane of the self-vehicle . In order to obtain accurate vehicle status information and judge the cutting intention of side vehicles, other sensors such as laser radar and millimeter-wave radar are required to obtain information, such as the position, speed, and heading angle of the own vehicle, and the positions, speeds, and heading angles of other vehicles around. , lateral speed information, road boundary information, etc. The speed information of surrounding vehicles is mainly obtained by millimeter-wave radar, and the position information is mainly obtained by laser radar. And according to the cut-in direction of surrounding vehicles, it can be divided into two situations: left cut-in and right cut-in, and the trigger condition and end condition of the left or right cut-in mode are the same.

In an embodiment of the present application, the switching module 630 is specifically configured to: control the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles and control the The self-vehicle enters the car-following mode of the ACC system.

According to the judgment result of the movement intention of other cars around, control the speed of the own vehicle (maintain or decelerate) and control the own vehicle to enter the following mode of the ACC system when the conditions are met. When there are no other cars within the following distance in front of the vehicle, the vehicle is controlled to enter the cruise mode from the following mode.

It can be understood that the above-mentioned ACC system control device can implement each step of the ACC system control method provided in the foregoing embodiments, and relevant explanations about the ACC system control method are applicable to the ACC system control device, and will not be repeated here.

Fig. 8 is a logical schematic diagram in the cut-in mode of the ACC system control method in the embodiment of the present application, which specifically includes the following steps:

Step S1, the ACC system is started.

The ACC system includes car following mode, cut-in mode, and cruise mode.

Step S2, obtaining information such as the speed and position of the own vehicle, the speed and position of surrounding vehicles, and lane lines.

In order to obtain accurate vehicle status information and judge the cutting intention of side vehicles, other sensors such as laser radar and millimeter-wave radar are required to obtain information, such as the position, speed, and heading angle of the own vehicle, and the positions, speeds, and heading angles of other vehicles around. , lateral speed information, road boundary information, etc.

Step S3, judging whether to cut in from the left or from the right, taking the cut in from the right as an example.

Step S4, the distance between the cut-in vehicle and the current right lane line is (-0.25, 0.25) m, and the lateral speed exceeds the critical speed, if so, it is classified as a dangerous vehicle to be cut into.

Firstly, the surrounding other cars that meet the conditions are selected as cut-in vehicles, and then the danger judgment of the cut-in vehicles will be made. That is to say, before the vehicle that belongs to the obstacle cuts in and changes lanes, it will make a risk judgment and issue a corresponding warning message.

Step S5, the distance between the cut-in vehicle and the current right lane line is limited to -0.25m, and the lateral speed exceeds the critical speed, if yes, the vehicle will switch to the cut-in mode.

Step S6, calculate TTC, and if TTC is less than a critical value or the distance between the rear of the vehicle and the front of the vehicle is less than the critical value, if yes, go to S7, otherwise go to S8.

When the cut-in mode conditions of the ACC system are met, the TTC collision time (time to collision) will be calculated according to the current longitudinal speed of the vehicle and the longitudinal speed of the cut-in vehicle. If the TTC is less than the critical TTC value or the distance between the rear of the cut-in vehicle and the front of the own vehicle If the value is too small (rear-end collision is prone to occur), then in cut-in mode, the ACC system will apply a corresponding deceleration to the self-driving vehicle according to the value of TTC and the distance between the rear and the front of the vehicle. If the above two conditions are met, the deceleration with a larger absolute value speed.

Step S7, apply corresponding deceleration.

Step S8, driving normally.

Step S9, the distance from the rightmost side of the cut-in vehicle to the right lane line is less than 0.3m.

Step S10, switch to the car-following mode.

When the distance between the far right of the cut-in vehicle and the right end of the lane line of the own vehicle is less than the preset distance value, the ACC system of the own vehicle is changed from the cut-in mode to the car-following mode; when the cut-in vehicle is leftmost If the distance from the left end of the lane line of the own vehicle is less than the preset distance value, the ACC system of the own vehicle is changed from the cut-in mode to the following vehicle mode.

Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Please refer to FIG. 9 , at the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. Wherein, the memory may include a memory, such as a high-speed random-access memory (Random-Access Memory, RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. Of course, the electronic device may also include hardware required by other services.

The processor, network interface and memory can be connected to each other through an internal bus, which can be an ISA (Industry Standard Architecture, industry standard architecture) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnection standard) bus or an EISA (Extended Industry StandardArchitecture, extended industry standard architecture) bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one double-headed arrow is used in FIG. 9 , but it does not mean that there is only one bus or one type of bus.

Memory for storing programs. Specifically, the program may include program code, and the program code includes computer operation instructions. Storage, which can include internal memory and nonvolatile storage, provides instructions and data to the processor.

The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming an ACC system control device on a logical level. The processor executes the program stored in the memory, and is specifically used to perform the following operations:

When the self-vehicle enters the car-following mode of the ACC system, determine the target car-following distance of the self-vehicle according to the car-following states at different speeds;

When the own vehicle enters the cut-in mode of the ACC system, determine the movement intention of the surrounding other vehicles according to the information of the own vehicle and the information of other vehicles around;

According to the judging result of the movement intention of the surrounding other vehicles, control the vehicle speed of the own vehicle and control the own vehicle to enter the car-following mode of the ACC system after the surrounding other vehicles meet the preset conditions.

The above method performed by the ACC system control device disclosed in the embodiment shown in FIG. 5 of the present application may be applied to a processor or implemented by the processor. A processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The above-mentioned processor can be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; it can also be a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

The electronic device can also execute the method executed by the ACC system control device in FIG. 5 , and realize the functions of the ACC system control device in the embodiment shown in FIG. 5 , which will not be repeated in this embodiment of the present application.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores one or more programs, and the one or more programs include instructions, and when the instructions are executed by an electronic device including a plurality of application programs , the electronic device can be made to execute the method executed by the ACC system control device in the embodiment shown in FIG. 5, and is specifically used to execute:

When the self-vehicle enters the car-following mode of the ACC system, determine the target car-following distance of the self-vehicle according to the car-following states at different speeds;

When the own vehicle enters the cut-in mode of the ACC system, determine the movement intention of the surrounding other vehicles according to the information of the own vehicle and the information of other vehicles around;

According to the judging result of the movement intention of the surrounding other vehicles, control the vehicle speed of the own vehicle and control the own vehicle to enter the car-following mode of the ACC system after the surrounding other vehicles meet the preset conditions.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and combinations of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a Means for realizing the functions specified in one or more steps of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and/or nonvolatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The above descriptions are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (10)

1. An ACC system control method, the method comprising:

when the self-vehicle enters a vehicle following mode of an ACC system, determining a target vehicle following distance of the self-vehicle according to vehicle following states of different speeds;

when the self vehicle enters a cut-in mode of the ACC system, determining the movement intention of other vehicles around according to the self vehicle information and other vehicles around;

and controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around, and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition.

2. The method of claim 1, wherein the determining the target following distance of the host vehicle according to the following states of different speeds when the host vehicle enters the following mode of the ACC system comprises:

and when the self-vehicle enters a vehicle following mode of the ACC system, calculating a vehicle following distance between the self-vehicle and a nearest vehicle in front of a current lane according to the current speed of the self-vehicle according to a first control strategy.

3. The method of claim 1, wherein prior to the host vehicle entering the cut-in mode of the ACC system, further comprising:

acquiring the self-vehicle information, the surrounding other-vehicle information and lane line information through a laser radar and/or a millimeter wave radar;

judging whether other vehicles around can be used as cut-in vehicles or not based on the own vehicle information according to the other vehicles around information and the lane line information;

if the vehicle is determined to be switched into, determining that the vehicle enters a switching-in mode of the ACC system.

4. The method of claim 3, wherein the determining to cut into the vehicle comprises:

when the vehicle is in a cruising mode or the vehicle is in a following mode but the longitudinal distance between the vehicle to be cut into the lane of the vehicle and the vehicle is smaller than the distance between the vehicle and a target vehicle for following from the side, judging that the vehicle to be cut into is the cut-in vehicle.

5. The method of claim 3, wherein determining that the host vehicle entered the cut-in mode of the ACC system further comprises:

according to a transverse filtering rule, when other vehicles around enter as a cut-in vehicle, if the distance between the leftmost distance of the cut-in vehicle and the right lane line of the self vehicle or the distance between the rightmost distance of the cut-in vehicle and the left lane line of the self vehicle is greater than a preset multiple of the current driving lane width of the self vehicle, filtering the cut-in vehicles;

according to the longitudinal filtering rule, when other vehicles around enter as cut-in vehicles, if the foremost end of the cut-in vehicles is behind the foremost end of the self vehicle or the tail end of the cut-in vehicles is far away from the foremost end of the self vehicle by a distance larger than the limit braking distance of the speed limit of the current lane, the cut-in vehicles are filtered.

6. The method of claim 3, wherein the determining the movement intention of the other vehicles around the vehicle according to the information of the vehicle and the information of the other vehicles around the vehicle when the vehicle enters the cut-in mode of the ACC system comprises:

calculating collision time according to the longitudinal speed of the self vehicle and the longitudinal speed of the cut-in vehicle;

and if the collision time is less than a critical collision threshold value and/or the distance between the tail of the cut-in vehicle and the distance between the head of the cut-in vehicle is less than a threshold value, controlling the speed of the cut-in vehicle by applying deceleration after the cut-in vehicle enters the cut-in mode of the ACC system.

7. The method according to claim 6, wherein controlling the speed of the host vehicle and controlling the host vehicle to enter the following mode of the ACC system after the other peripheral vehicle satisfies a preset condition, according to the determination result of the movement intention of the other peripheral vehicle, comprises:

when the distance between the rightmost edge of the cut-in vehicle and the rightmost edge of the lane line of the self vehicle or the distance between the leftmost edge of the cut-in vehicle and the leftmost edge of the lane line of the self vehicle is smaller than a preset distance value, the ACC system of the self vehicle is changed from the cut-in mode to the following mode, and the tracked target vehicle is the previous cut-in vehicle.

8. An ACC system control apparatus, wherein the apparatus comprises:

the distance calculation module is used for determining the target following distance of the self-vehicle according to the following states at different speeds when the self-vehicle enters the following mode of the ACC system;

the intention determining module is used for determining the movement intention of other vehicles around according to the information of the self vehicle and the information of other vehicles around when the self vehicle enters the cut-in mode of the ACC system;

and the switching module is used for controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition.

9. An electronic device, comprising:

a processor; and

a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method of any of the claims 1~7.

10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of applications, cause the electronic device to perform the method of any of claims 1~7.

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