CN117048607A

CN117048607A - Vehicle adaptive cruise control method, device, equipment and readable storage medium

Info

Publication number: CN117048607A
Application number: CN202311048093.0A
Authority: CN
Inventors: 李小东; 张晔虹
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2023-08-18
Filing date: 2023-08-18
Publication date: 2023-11-14

Abstract

The invention provides a vehicle self-adaptive cruise control method, device, equipment and a readable storage medium, which are used for acquiring multi-frame distance signals acquired by a radar of a vehicle, lane line information acquired by a camera and map data; the signal acquisition area of the radar is the front area of the vehicle; determining first distance information and speed information of the target vehicle relative to the vehicle according to the multi-frame distance signals; the target vehicle is a vehicle positioned in the signal acquisition area; determining second distance information of the vehicle relative to a left lane line and a right lane line where the vehicle is located according to the lane line information; and determining the planned running state of the vehicle according to the data, and controlling the vehicle to run according to the planned running state. The longitudinal speed adjustment can be based on the state information of the target vehicle, the transverse adjustment of the vehicle can be based on lane line information, only the lane where the vehicle is located is focused, and therefore the camera can be a panoramic camera of the vehicle, and the vehicle can realize self-adaptive cruising under the condition of not increasing cost.

Description

Vehicle adaptive cruise control method, device, equipment and readable storage medium

Technical Field

The present invention relates to the field of autopilot, and in particular, to a vehicle adaptive cruise control method, apparatus, device, and readable storage medium.

Background

With the development of automatic driving technology, vehicles equipped with an automatic driving function are also popular, and when the vehicle is automatically driven, judgment of the running state of the vehicle itself and the running states of surrounding vehicles is important information for planning the running of the vehicle.

In the related art, the scheme for realizing cruising running of the vehicle is that a plurality of sensors such as radars of the vehicle are combined with an intelligent front view camera to collect peripheral data of the vehicle, then the collected data are calculated by a controller to determine the running condition of the periphery of the vehicle, and then the running state of the vehicle is controlled.

The scheme needs to use the sensors with higher manufacturing cost such as the intelligent front-view camera, increases the production cost of the vehicle, and does not use a large range of use.

Disclosure of Invention

In view of the foregoing, embodiments of the present invention have been developed to provide a vehicle adaptive cruise control method, apparatus, device, and readable storage medium that overcome, or at least partially solve, the foregoing problems.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

In a first aspect, an embodiment of the present application discloses a vehicle adaptive cruise control method, the method including:

acquiring multi-frame distance signals acquired by at least one radar of a vehicle, lane line information acquired by a camera of the vehicle and map data; the signal acquisition area of the radar is a front area of the vehicle;

determining first distance information and speed information of a target vehicle relative to the vehicle according to the multi-frame distance signals; the target vehicle is a vehicle positioned in the signal acquisition area;

determining second distance information of the vehicle relative to a left lane line and a right lane line where the vehicle is located according to the lane line information;

and determining a planned running state of the vehicle according to the first distance information, the speed information, the second distance information and the map data, and controlling the running of the vehicle according to the planned running state.

In a second aspect, an embodiment of the present application discloses a vehicle adaptive cruise control apparatus, the apparatus comprising:

the acquisition module is used for acquiring multi-frame distance signals acquired by at least one radar of the vehicle, lane line information acquired by a camera of the vehicle and map data; the signal acquisition area of the radar is a front area of the vehicle;

The first determining module is used for determining first distance information and speed information of a target vehicle relative to the vehicle according to the multi-frame distance signals; the target vehicle is a vehicle positioned in the signal acquisition area;

the second determining module is used for determining second distance information of the vehicle relative to a left lane line and a right lane line where the vehicle is located according to the lane line information;

and the control module is used for determining the planned running state of the vehicle according to the first distance information, the speed information, the second distance information and the map data and controlling the running of the vehicle according to the planned running state.

In a third aspect, an embodiment of the present application discloses an electronic device, including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions implementing the steps of the method according to the first aspect when executed by the processor.

In a fourth aspect, embodiments of the present application disclose a readable storage medium having stored thereon a program or instructions which when executed by a processor implement the steps of the method according to the first aspect.

In the embodiment of the application, a multi-frame distance signal acquired by at least one radar of a vehicle, lane line information acquired by a camera of the vehicle and map data are acquired; the signal acquisition area of the radar is a front area of the vehicle; determining first distance information and speed information of a target vehicle relative to the vehicle according to multi-frame distance signals; the target vehicle is a vehicle positioned in the signal acquisition area; determining second distance information of a vehicle relative to a left lane line and a right lane line where the vehicle is located according to lane line information; and determining a planned running state of the vehicle according to the first distance information, the speed information, the second distance information and the map data, and controlling the running of the vehicle according to the planned running state. According to the application, the state information of the target vehicle in front of the vehicle is determined through the multi-frame distance signals acquired by the radar, the distance between the vehicle and the lane line is determined by adopting the camera of the vehicle, so that the longitudinal speed adjustment can be based on the state information of the target vehicle, the transverse adjustment of the vehicle can be based on the lane line information, and the camera can be a panoramic camera of the vehicle because only the lane where the vehicle is located is concerned, therefore, the vehicle self-adaptive cruising can be realized under the condition that a sensor or a camera with higher manufacturing cost is not additionally assembled for the vehicle, the longitudinal and transverse running states of the vehicle are automatically adjusted, the accuracy is high, the cost is low, and the popularization and the use are convenient.

Drawings

FIG. 1 is a flow chart of steps of a method for adaptive cruise control for a vehicle according to an embodiment of the present application;

FIG. 2 is a block diagram of a vehicle adaptive cruise control system according to an embodiment of the present application;

FIG. 3 is a block diagram of a vehicle adaptive cruise control apparatus according to an embodiment of the present application;

FIG. 4 is a block diagram of an electronic device provided by an embodiment of the present application;

fig. 5 is a block diagram of still another electronic device provided by an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

Referring to fig. 1, a flowchart of steps of a method for following an automatic driving vehicle according to an embodiment of the present application is shown.

Step 101, acquiring multi-frame distance signals acquired by at least one radar of a vehicle, lane line information acquired by a camera of the vehicle and map data; the signal acquisition area of the radar is the area in front of the vehicle.

In the embodiment of the application, the radar of the vehicle can be an ultrasonic radar or a millimeter wave radar, and if the vehicle in front of the vehicle is in the signal acquisition area of the radar, the distance and speed information between the vehicle and the vehicle in front of the vehicle can be determined according to the multi-frame distance signals acquired by the radar. The camera of the vehicle can be a panoramic camera assembled on the vehicle, the panoramic camera can be cameras assembled on the front, back, left and right directions of the vehicle, and the map data can be high-precision map data or crowded map data according to lane line information of lanes where the vehicle is located, wherein the map data can comprise the lane line information, the curvature information of the lane lines and the like. The position of the own vehicle can be located according to the map data, and the lane line information of the road on which the own vehicle is going to run can be obtained. According to the acquired multi-frame distance signals, lane line information acquired by the cameras of the vehicle and map data, the running state of the vehicle and the relative position relation between other vehicles around the vehicle and the vehicle can be determined, and then a planned running path to be carried out by the vehicle is planned.

Further, each radar or camera can continuously acquire distance signals or shoot images according to a preset time period to determine lane line information, so that multi-frame distance signals acquired by at least one radar of the vehicle can be acquired, the vehicle state in a signal acquisition area corresponding to the radar can be judged by calculating multi-frame distance signals corresponding to the radar, and further the relative position relation between the vehicle in front of the vehicle and the vehicle is obtained.

Optionally, step 101 specifically includes:

a substep 1011 of obtaining a first moment when the radar transmits a first signal and a second moment when the radar receives the first signal, and obtaining a first distance signal according to the first moment and the second moment;

step 1012, obtaining a third time when the radar transmits the second signal and a fourth time when the radar receives the second signal, and obtaining a second distance signal according to the third time and the fourth time.

In an embodiment of the present invention, for sub-step 1011 and sub-step 1012, the transmission and reception of signals is completed by the radar transmitter and receiver at the time of radar ranging, and is timed by a timer. The method comprises the steps that a transmitter of the radar transmits a first signal to a designated direction and starts a timer to count, so that a first moment when the radar transmits the first signal is obtained, the transmitted first signal is reflected back after encountering an obstacle when propagating in a medium, and the timer immediately stops counting after the receiver receives the reflected first signal, so that a second moment when the receiver receives the first signal is obtained. From the time difference between the first moment and the second moment, the time taken for the signal to reach the obstacle and for the signal to return from the obstacle to the receiver can be determined, and since the propagation speed of the radar-transmitted signal is known, a first distance signal between the obstacle and the radar of the vehicle can be obtained from the propagation speed and the time taken.

Further, after the first distance signal is obtained, the second signal may be continuously transmitted by the radar, and similarly, the second distance signal may be obtained according to a third time of the transmitted second signal and a fourth time of receiving the second signal. The first signal and the second signal may be two adjacent radar signals, and a time interval between the first signal and the second signal may be set according to actual needs, which is not limited in the embodiment of the present application. After the two distance signals are obtained, the relative position relationship between the target vehicle in the signal acquisition area of the radar and the host vehicle can be judged through the two distance signals, for example, if the value represented by the second distance signal is larger than the value represented by the first distance signal, the target vehicle in the signal acquisition area of the radar is indicated to be approaching the host vehicle, and if the value represented by the second distance signal is smaller than the value represented by the first distance signal, the target vehicle in the signal acquisition area of the radar is indicated to be far away from the host vehicle. By means of the radar, the relative position relation between the vehicle in front of the vehicle and the vehicle can be obtained rapidly.

Optionally, step 101 specifically includes:

sub-step 1013, acquiring respective acquired environmental images of cameras located on both sides of the vehicle;

Sub-step 1014, determining lane line information of a lane in which the vehicle is located from the environment image.

In the embodiment of the present invention, for sub-step 1013 and sub-step 1014, after the camera acquires the environmental images on the left and right sides of the vehicle, the controller or the intelligent driving system of the vehicle may acquire the environmental images, analyze the environmental images, and determine the position of the lane line in the environmental images and the position of the vehicle.

Specifically, the process of determining lane line information of the lane in which the vehicle is located may include: and carrying out distortion correction on the acquired environment image based on parameters such as internal parameters, distortion coefficients and the like of the camera to obtain a corrected environment image, extracting a lane line from the corrected environment image, determining the curvature of the lane line according to the extracted lane line, and determining the position of the vehicle relative to the lane line based on the position of the vehicle where the camera is positioned and the environment image.

Step 102, determining first distance information and speed information of a target vehicle relative to the vehicle according to the multi-frame distance signals; the target vehicle is a vehicle located in the signal acquisition area.

In the embodiment of the invention, taking radar for collecting a front area of a vehicle as an example; the multi-frame distance signal acquired by the radar is S1; according to the interval time between two adjacent frames of distance signals and the first distance information respectively determined by the two radar signals, the instantaneous speed of the target vehicle in front of the vehicle and the distance information of the target vehicle relative to the vehicle can be calculated.

Optionally, step 102 specifically includes:

substep 1021, determining first distance information and speed information of the target vehicle relative to the vehicle according to the first distance signal and the second distance signal.

In the embodiment of the invention, the moving distance of the target vehicle positioned in the signal acquisition area in the interval time of two times can be determined according to the first distance signal and the second distance signal, and the speed information of the target vehicle positioned in the signal acquisition area can be determined according to the moving distance and the interval time of two times.

Further, if the value of the second distance signal representation is larger than the value of the first distance signal representation, the target vehicle in the signal acquisition area of the radar is indicated to be approaching the vehicle, and if the value of the second distance signal representation is smaller than the value of the first distance signal representation, the target vehicle in the signal acquisition area of the radar is indicated to be far away from the vehicle.

The moving distance of the target vehicle in the signal acquisition area in the interval time of the two signals can be determined according to the first distance signal and the second distance signal, and the speed information of the target vehicle in the signal acquisition area can be determined according to the moving distance and the two interval time. If the distance between the target vehicle in the signal acquisition area and the vehicle is judged to be closer and closer according to the distance information, the vehicle can be controlled to be decelerated.

And step 103, determining second distance information of the vehicle relative to a left lane line and a right lane line where the vehicle is located according to the lane line information.

In the embodiment of the invention, the cameras on the left side and the right side of the vehicle can collect the environment images or videos on the left side and the right side of the vehicle, and the lane line information of the lane where the vehicle is positioned can be determined according to the collected images or videos. The lane line at the left side of the vehicle can be a left lane line, the lane line at the right side of the vehicle can be a right lane line, the distance between the vehicle and the left lane line or the right lane line can be second distance information, the second distance information can represent the running state of the vehicle in the lane, whether the vehicle runs in the middle of the lane is judged, and if the trend or state of the vehicle with the left deviation or the right deviation is judged based on the second distance information, the running state of the vehicle can be adjusted in real time.

And 104, determining a planned running state of the vehicle according to the first distance information, the speed information, the second distance information and the map data, and controlling the running of the vehicle according to the planned running state.

In the embodiment of the invention, according to the obtained first distance information and speed information, it can be determined how the vehicle is controlled in the longitudinal direction, for example, the first distance information indicates that the distance between the target vehicle in the signal acquisition area and the vehicle exceeds a safety threshold, then the longitudinal control of the vehicle is decelerated to ensure that the vehicle distance between the vehicle and the target vehicle is the safety vehicle distance, or if it is determined that the vehicle speed of the target vehicle in the signal acquisition area is reduced according to the speed information, then the vehicle speed of the vehicle is reduced to ensure safety. If the distance between the vehicle and the left lane line or the right lane line is less than the minimum distance to be kept according to the second distance information, the current position of the vehicle relative to the lane where the vehicle is positioned is determined to be left or right, and the vehicle can be transversely controlled at the position, so that the vehicle can keep running in the middle of the lane. The map data may reflect current position information of the vehicle, and road information further away from where the vehicle is to travel, for example, curvature of a lane line 50 meters away from the vehicle, may be included in the map data, and based on the map data, the vehicle may be controlled to always remain traveling in the current lane. According to the longitudinal adjustment and the transverse adjustment, the planned running state of the vehicle can be determined, and the vehicle is controlled to run according to the planned running state so as to realize the self-adaptive cruise control of the vehicle.

Optionally, after step 101, the method further comprises:

and determining the lane line curvature and the lane line curvature change rate of the front lane of the vehicle according to the map data.

In the embodiment of the invention, the map data may include road information in front of the vehicle, and the road information may be information such as lane line curvature, curvature change rate and the like of positions such as 10m, 20m, 30m, 50m, 70m, 100m, 120m, 150m, 200m, 300m, 400m and the like in front, a road type in front, a ramp, a tunnel and the like: the curvature of the lane line reflects the degree of the vehicle needing to turn in the running process, has important influence on the running safety and comfort of the vehicle, and the curvature change rate of the lane line can reflect the complexity degree of the road, namely whether the vehicle has information such as tight turning or not.

Optionally, step 104 specifically includes:

sub-step 1041, determining a longitudinal control state of said vehicle based on said first distance information and said speed information.

In the embodiment of the invention, the first distance information may be distance information acquired after the radar transmits signals for multiple times, and according to the interval time between two adjacent frames of distance signals and the first distance information respectively determined by the two radar signals, the instantaneous speed of the target vehicle in front of the vehicle and the distance information of the target vehicle relative to the vehicle can be calculated. If the first distance information shows that the distance between the target vehicle in the signal acquisition area and the vehicle exceeds the safety threshold, the longitudinal control of the vehicle is decelerated to ensure that the vehicle distance between the vehicle and the target vehicle is the safety vehicle distance, or if the speed information judges that the speed of the target vehicle in the signal acquisition area is reduced, the speed of the vehicle is reduced to ensure safety. If the radar does not detect the existence of the target vehicle in the front area of the vehicle, then

Optionally, the substep 1041 may specifically include:

sub-step 10411 of determining a first longitudinal travel state based on said first distance information and said speed information;

in the embodiment of the present invention, the manner of determining the first longitudinal running state may be referred to as sub-step 1041, which is not described herein.

Sub-step 10412, judging whether the running direction of the vehicle located in the adjacent lane of the vehicle is the direction cutting into the lane where the vehicle itself is located according to the environmental image of the vehicle collected by the camera of the vehicle, obtaining a judging result, and determining the second longitudinal running state according to the judging result.

In the embodiment of the invention, the situation that the vehicle enters the own lane to run exists in the process of running the own lane, so that whether the vehicle enters the own lane to run or not needs to be considered in the longitudinal control, the situation that the running state of the own vehicle is influenced when the vehicle enters the own lane can be that the distance between the vehicle and the own vehicle of the own lane is in a preset distance range, the preset distance can be a distance which is close to the own vehicle, such as two meters or three meters, and the like, and the situation is not limited. Therefore, the environmental images collected by the vehicle may be images in front of, on the left side and on the right side of the vehicle, and according to the collected environmental images, it may be determined whether the nearby vehicle is approaching the vehicle, for example, if the same target vehicle exists in the environmental images collected by the camera in front of the vehicle and the environmental images collected by the camera on the right side, it may be determined whether the driving direction of the target vehicle is the direction of cutting into the vehicle according to the images collected multiple times, and if the driving direction is the direction of cutting into the vehicle, in order to ensure the safety of the vehicle, it is also necessary to control the speed reduction of the vehicle or collect braking measures during the longitudinal control.

Sub-step 10413, determining a longitudinal control state of said vehicle in combination with said first longitudinal travel state and said second longitudinal travel state.

According to the embodiment of the invention, the longitudinal control state of the host vehicle can be comprehensively determined according to the first running state of the target vehicle in the unified lane of the host vehicle and the second running state of the target vehicle in the adjacent lane of the host vehicle, so that the host vehicle can adapt to the change of the surrounding environment in the longitudinal direction, and the longitudinal control is realized.

Sub-step 1042 of determining a lateral control state of the vehicle based on the second distance information, and a lane line curvature change rate of the front lane;

in the embodiment of the invention, according to the second distance information, the lane line curvature of the front lane and the lane line curvature change rate, how the steering wheel is specifically controlled can be determined to ensure that the vehicle runs in the middle of the current lane.

Optionally, the substep 1042 specifically includes:

sub-step 10421, determining steering wheel angle information of the vehicle according to the second distance information, and the lane line curvature change rate of the front lane; the steering wheel angle information includes: steering wheel angle, steering wheel angle direction and steering wheel angle rate;

Sub-step 10422, determining said lateral control status based on said steering wheel angle information.

In the embodiment of the application, aiming at the substep 10421 and the substep 10422, according to the information of the distance, curvature and the like of the left lane line and the right lane line recognized by the panoramic camera, the front lane curvature given by the map is fused, the needed steering wheel angle information can be calculated, the steering wheel angle information request is sent to the EPS for transverse control, meanwhile, the information of the transverse distance of the left lane line and the right lane line, the curvature of the map and the like is monitored at any time, the path deviation is calculated to carry out PID control, and the control of the steering wheel by the hands is released.

Substep 1043, determining a planned driving state of the vehicle based on the longitudinal control state and the lateral control state.

In the embodiment of the application, the planned running state of the vehicle is determined according to the longitudinal control state and the transverse control state, so that the vehicle runs according to the planned running state, and the running safety of the vehicle is ensured.

Referring to fig. 2, fig. 2 shows a system configuration diagram of the adaptive cruise control of the present application, including: sensing, decision control and executing three processes.

Sensing: sensing surrounding environment information of the vehicle through sensors such as a millimeter wave radar, a panoramic camera, an ADAS (advanced driving assistance system) map, positioning and the like, and providing an analysis basis for cruise decision control by combining vehicle states (such as vehicle speed, course angle, pitch angle, yaw angle, steering wheel rotation angle, angular rate and the like);

Decision control: and planning a travel path through fusion of environment sensing, positioning coordinates and map curvature information, and controlling the vehicle horizontally and longitudinally by a control system according to the planned path so as to automatically accelerate, decelerate and steer the vehicle and realize automatic travel in the lane.

Performing: longitudinal control of the vehicle is realized by controlling driving torque and braking deceleration, and transverse control of the vehicle is realized by controlling the magnitude, the direction and the rotation angle rate of the EPS, so that the vehicle runs according to a planned path.

Optionally, the method further comprises:

step 105, if the vehicle cannot brake when running according to the planned running state, an alarm reminding is sent out;

and 106, if the second distance information cannot be determined according to the lane line information determined by the camera, sending out an alarm reminding.

In the embodiment of the invention, aiming at the step 105 and the step 106, an alarm function can be further set in the process of the self-adaptive cruise control, and under the condition that the safety cannot be ensured during automatic driving, an alarm is sent to a user, and the user takes over the vehicle driving. For example, when longitudinal control is impossible, the vehicle cannot be stopped in time, and when collision risk exists, a take-over request is reported to remind a driver to take over the vehicle through sound, instrument display and steering wheel vibration; when the transverse lane line is not clear in recognition, the curvature given by a map is lost, the transverse control bias line and the like can not effectively perform transverse control, a transverse take-over request is reported, and a driver is reminded of taking over the vehicle through sound, instrument display and steering wheel vibration.

The cruise control process of the present application may further include the following processes:

s1: according to road information (including vehicle positioning, front lane type, curvature and the like) given by a map, combining lane line information identified by a panoramic camera, determining whether an integrated self-adaptive cruise control system can be started, and for an area with undefined road information such as a lane line section, a map displayed as a non-expressway, a non-expressway and the like, the system cannot activate the integrated self-adaptive cruise control system, can only activate ACC longitudinal control, and prompts a user that the cause cannot be activated through an instrument.

The system perception includes the following:

1. a millimeter wave radar in front of a vehicle acquires front long-distance target vehicle information (comprising transverse and longitudinal distances, speed, acceleration, type, course angle and the like of a target vehicle), a panoramic camera in front of the vehicle acquires front short-distance target information, and a camera and a radar target are fused with each other;

2. the panoramic cameras in front of the vehicle and the panoramic cameras on the left side and the right side acquire target information on the left side and the right side, and the targets cut in on the left side and the right side are perceived and identified;

3. panoramic cameras in front of the vehicle acquire lane line information (including lane line type, color, curvature change rate and the like) of a near front distance, and the panoramic cameras on the left side and the right side recognize the lane line information on the left side and the right side for accurate control;

4. The map data gives out information such as vehicle positioning and curvature of a front lane so as to be used for fusing with the short-distance lane line identification condition acquired by the panoramic camera of the vehicle.

S2: the millisecond wave radar in front of the vehicle is used as a system controller, and the traveling track and the path of the vehicle are planned by combining the speed, steering wheel rotation angle, yaw angle and other information of the vehicle and combining the lane line information recognized by the panoramic camera and the fusion information of map curvature and the like.

S3: the millisecond wave radar in front of the vehicle is used as a system controller to send CAN (Controller Area Network, controller area network bus) signals to GW (engine) to EPS (Electrical Power Steering, EPS electronic auxiliary steering system), EPBi (integrated electronic parking brake system), TCU (Telematics Control Unit, remote information control unit) and the like, so as to realize integrated self-adaptive cruise control, and the intelligent vehicle cruise control mainly comprises the following scenes:

1. PID control of steering wheel corners is carried out through the lane line transverse distance and course deviation recognized by the left panoramic camera and the right panoramic camera to realize transverse accurate control, and automatic steering running in the lane is carried out according to a planned path through sending CAN signals for controlling steering angles, angular rates and the like of EPS;

2. The front target is identified through a millisecond wave radar and a panoramic camera in front of the vehicle, a deceleration request control ESC is sent, a torque request is sent to control EMS, and longitudinal vehicle following acceleration and deceleration are achieved;

3. for low-speed close-range car following, a front panoramic camera is fused with a target of the millisecond wave radar to sense a low-speed close-range target, so that the close-range target identification control precision is improved;

4. and the dangerous target cutting into the lane is identified through the sensing, identification and fusion of the front panoramic camera and the panoramic cameras at the left side and the right side so as to carry out longitudinal control.

S4: and finally realizing low-cost single-lane integrated self-adaptive cruise control through fusion of the panoramic camera, the millisecond wave radar in front of the vehicle, the ADAS map and the positioning.

Referring to fig. 3, there is shown a vehicle adaptive cruise control apparatus 20 according to an embodiment of the present application, the apparatus including:

Optionally, the obtaining module is further configured to:

acquiring a first moment when the radar transmits a first signal and a second moment when the radar receives the first signal, and acquiring a first distance signal according to the first moment and the second moment;

Acquiring a third moment when the radar transmits a second signal and a fourth moment when the radar receives the second signal, and acquiring a second distance signal according to the third moment and the fourth moment;

the first determining module is further configured to:

and determining first distance information and speed information of the target vehicle relative to the vehicle according to the first distance signal and the second distance signal.

Optionally, the obtaining module is further configured to:

acquiring environment images acquired by cameras positioned on two sides of the vehicle respectively;

and determining lane line information of a lane where the vehicle is located from the environment image.

Optionally, the apparatus further comprises:

a curvature determination module for determining a lane line curvature and a lane line curvature change rate of a lane in front of the vehicle according to the map data;

the second determining module is further configured to:

determining a longitudinal control state of the vehicle according to the first distance information and the speed information;

determining a transverse control state of the vehicle according to the second distance information and the lane line curvature change rate of the front lane;

and determining a planned driving state of the vehicle according to the longitudinal control state and the transverse control state.

Optionally, the second determining module is further configured to:

determining steering wheel corner information of the vehicle according to the second distance information, the lane line curvature of the front lane and the lane line curvature change rate; the steering wheel angle information includes: steering wheel angle, steering wheel angle direction and steering wheel angle rate;

and determining the transverse control state according to the steering wheel angle information.

Optionally, the second determining module is further configured to:

determining a first longitudinal driving state according to the first distance information and the speed information;

judging whether the running direction of a vehicle positioned in an adjacent lane of the vehicle is the direction cutting into the lane where the vehicle is positioned according to the environment image of the vehicle, which is acquired by a camera of the vehicle, obtaining a judging result, and determining a second longitudinal running state according to the judging result;

a longitudinal control state of the vehicle is determined in combination with the first longitudinal running state and the second longitudinal running state.

Optionally, the apparatus further comprises:

the first alarm module is used for sending out alarm reminding if the vehicle cannot brake when running according to the planned running state;

And the second alarm module is used for sending out alarm reminding if the second distance information cannot be determined according to the lane line information determined by the camera.

Fig. 4 is a block diagram of an electronic device 600, according to an example embodiment. For example, the electronic device 600 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Referring to fig. 4, the electronic device 600 may include one or more of the following components: a processing component 602, a memory 604, a power component 606, a multimedia component 608, an audio component 610, an input/output (I/O) interface 612, a sensor component 614, and a communication component 616.

The processing component 602 generally controls overall operation of the electronic device 600, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 602 may include one or more processors 620 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 602 can include one or more modules that facilitate interaction between the processing component 602 and other components. For example, the processing component 602 may include a multimedia module to facilitate interaction between the multimedia component 608 and the processing component 602.

The memory 604 is used to store various types of data to support operations at the electronic device 600. Examples of such data include instructions for any application or method operating on the electronic device 600, contact data, phonebook data, messages, pictures, multimedia, and so forth. The memory 604 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 606 provides power to the various components of the electronic device 600. The power supply components 606 can include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 600.

The multimedia component 608 includes a screen between the electronic device 600 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense demarcations of touch or sliding actions, but also detect durations and pressures associated with the touch or sliding operations. In some embodiments, the multimedia component 608 includes a front camera and/or a rear camera. When the electronic device 600 is in an operational mode, such as a shooting mode or a multimedia mode, the front-facing camera and/or the rear-facing camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 610 is for outputting and/or inputting audio signals. For example, the audio component 610 includes a Microphone (MIC) for receiving external audio signals when the electronic device 600 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, audio component 610 further includes a speaker for outputting audio signals.

The I/O interface 612 provides an interface between the processing component 602 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 614 includes one or more sensors for providing status assessment of various aspects of the electronic device 600. For example, the sensor assembly 614 may detect an on/off state of the electronic device 600, a relative positioning of the components, such as a display and keypad of the electronic device 600, the sensor assembly 614 may also detect a change in position of the electronic device 600 or a component of the electronic device 600, the presence or absence of a user's contact with the electronic device 600, an orientation or acceleration/deceleration of the electronic device 600, and a change in temperature of the electronic device 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 616 is utilized to facilitate communication between the electronic device 600 and other devices, either in a wired or wireless manner. The electronic device 600 may access a wireless network based on a communication standard, such as WiFi, an operator network (e.g., 2G, 3G, 4G, or 5G), or a combination thereof. In one exemplary embodiment, the communication component 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 616 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for implementing a vehicle adaptive cruise control method provided by an embodiment of the application.

In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, such as memory 604, including instructions executable by processor 620 of electronic device 600 to perform the above-described method. For example, the non-transitory storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Fig. 5 is a block diagram of an electronic device 700, according to an example embodiment. For example, the electronic device 700 may be provided as a server. Referring to fig. 5, electronic device 700 includes a processing component 722 that further includes one or more processors and memory resources represented by memory 732 for storing instructions, such as application programs, executable by processing component 722. The application programs stored in memory 732 may include one or more modules that each correspond to a set of instructions. Further, the processing component 722 is configured to execute instructions to perform a vehicle adaptive cruise control method provided by an embodiment of the present application.

The electronic device 700 may also include a power supply component 726 configured to perform power management of the electronic device 700, a wired or wireless network interface 750 configured to connect the electronic device 700 to a network, and an input output (I/O) interface 758. The electronic device 700 may operate based on an operating system stored in memory 732, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, or the like.

The embodiment of the application also provides a computer program product, which comprises a computer program, wherein the computer program realizes the vehicle adaptive cruise control method when being executed by a processor.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A method of vehicle adaptive cruise control, the method comprising:

2. The method of claim 1, wherein the acquiring the multi-frame distance signal acquired by the at least one radar of the vehicle comprises:

the determining the first distance information and the speed information of the target vehicle relative to the vehicle according to the multi-frame distance signal comprises the following steps:

3. The method of claim 1, wherein the acquiring lane line information acquired by a camera of the vehicle comprises:

4. The method of claim 1, wherein after the acquiring the map data, the method further comprises:

determining a lane line curvature and a lane line curvature change rate of a lane in front of the vehicle according to the map data;

the determining the planned driving state of the vehicle according to the first distance information, the speed information, the second distance information and the map data includes:

5. The method of claim 4, wherein the determining the lateral control state of the vehicle based on the second distance information and the lane-line curvature change rate of the front lane comprises:

6. The method of claim 4, wherein said determining a longitudinal control state of the vehicle from the first distance information and the speed information comprises:

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

If the vehicle cannot brake when running according to the planned running state, sending out an alarm reminding;

or if the second distance information cannot be determined according to the lane line information determined by the camera, sending out an alarm reminding.

8. A vehicle adaptive cruise control apparatus, characterized in that the apparatus comprises:

9. An electronic device comprising a processor and a memory, the memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the method of any one of claims 1 to 7.

10. A readable storage medium, characterized in that it has stored thereon a program or instructions which, when executed by a processor, implement the steps of the method according to any of claims 1 to 7.