Self-adaptive cruise control method and device and automatic driving vehicle

Abstract

The invention discloses a self-adaptive cruise control method and device and an automatic driving vehicle. The self-adaptive cruise control method comprises the steps that current video information infront of a vehicle is collected; the transverse position of a front vehicle and a first relative speed relative to the vehicle are obtained according to the current video information; and a current position of the front vehicle is obtained according to the transverse position, the first relative speed, a longitudinal position obtained through a radar and a second relative speed relative to the vehicle, and the front vehicle is used as a following target vehicle of a self-adaptive cruise mode when the current vehicle speed of the current position and the front vehicle meets a preset followingcondition. According to the self-adaptive cruise control method, the transverse distance and transverse speed of the target vehicle are obtained according to the video information, so that the relative position of a front target and the vehicle advancing track is judged, rapid reaction is given to target vehicle cut-in / cut-out, the following stability of a self-adaptive cruise control system is improved, the reliability and safety of self-adaptive cruise are effectively ensured, and user experience is improved.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to an adaptive cruise control method and device and an automatic driving vehicle. Background technique [0002] Related technologies, since the radar can detect the vehicles in front in real time, it is not affected by weather and light, and there are no problems such as human driver fatigue driving, drunk driving, emotional driving, etc., so the adaptive cruise system can greatly improve driving safety and driving safety. comfort. [0003] Specifically, an adaptive cruise system of an autonomous vehicle generally uses a millimeter-wave radar as a sensor for detecting targets. However, millimeter-wave radar is not accurate in detecting lateral distance and lateral velocity, which makes the system unable to accurately judge the relative position of the target vehicle in front and the vehicle's trajectory, which in turn leads to the follow-up of the adaptive cruise control system...

AI Technical Summary

Problems solved by technology

However, millimeter-wave radar is not accurate in detecting lateral distance and lateral velocity, which makes the system unable to accurately judge the relative position of the target vehicle in front and the trajectory of the vehicle, which in turn leads to the follow-up of the adaptive cruise control system that only relies on radar as a detector. The stability is relatively poor, especially the following stability under offset working conditions (the target vehicle is not completely within the driving track of the own vehicle), and because the system does not accurately judge the lateral position of the target vehicle in front, it leads to cutting into the target vehicle in front / Cutting out cannot achieve quick response, that is, the system cannot quickly release or pick up the target, and the user experience is poor, which needs to be improved urgently

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