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Vehicle following control method and device, vehicle and storage medium

A control method and vehicle technology, applied in control devices, vehicle components, transportation and packaging, etc., can solve problems affecting driving experience, reducing driving safety, and camera recognition obstacles

Active Publication Date: 2020-10-02
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the control mode of the traffic jam assistance system in the prior art depends to a large extent on the detection result of the camera to the lane line. will automatically exit the lateral centering control
And in the case of traffic jams and low-speed car following, it is easy to have camera recognition obstacles, that is, the camera cannot recognize the complete lane line. At this time, the system will exit frequently, which greatly affects the driving experience and reduces driving safety.

Method used

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  • Vehicle following control method and device, vehicle and storage medium
  • Vehicle following control method and device, vehicle and storage medium
  • Vehicle following control method and device, vehicle and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] figure 1 It is a flow chart of a car following control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the vehicle traffic jam assist system performs lateral centering control on the vehicle when the lane line is unclear or disappears. The method can It is executed by the vehicle following control device, the vehicle following control device may be implemented by software and / or hardware, the vehicle following control device may be configured on a computing device, and specifically includes the following steps:

[0034] S101. Obtain vehicle driving parameters and road ahead information at the current moment.

[0035] Wherein, the vehicle driving parameter can be understood as a characteristic value used to represent the driving state of the vehicle at the current moment. Optionally, the vehicle driving parameter can include the vehicle's own speed, yaw rate, steering angle, and lateral acceleration. The abo...

Embodiment 2

[0046] figure 2 It is a flow chart of a vehicle following control method provided by Embodiment 2 of the present invention. The technical solution of this embodiment is further refined on the basis of the above-mentioned technical solution, specifically including the following steps:

[0047] S201. Obtain vehicle driving parameters and road ahead information at the current moment.

[0048] S202. Analyze the road ahead information, and judge whether there is a following vehicle ahead according to the road ahead information.

[0049] Specifically, the video information in front of the vehicle's driving direction is obtained through the front-view camera, and the radar information directly in front of the vehicle's driving direction is obtained through the front radar. The vehicle acts as a following vehicle.

[0050] S203. When there is a following vehicle ahead, determine a vehicle following type according to the driving state of the following vehicle, wherein the vehicle f...

Embodiment 3

[0107] Figure 7 It is a schematic structural diagram of a vehicle following control device provided by Embodiment 3 of the present invention, the vehicle following control device includes: an information acquisition module 31 , a parameter determination module 32 and a driving trajectory determination module 33 .

[0108] Among them, the information acquisition module 31 is used to obtain vehicle driving parameters and road information ahead at the current moment; the parameter determination module 32 is used to determine the vehicle-following type according to the road ahead information, and determine the vehicle-following type at the current moment under the vehicle-following type. Car-following parameters; a driving trajectory determining module 33, configured to determine the vehicle driving trajectory according to the vehicle driving parameters and the vehicle-following parameters, and control the vehicle to travel according to the vehicle driving trajectory.

[0109] Th...

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PUM

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Abstract

The embodiment of the invention discloses a vehicle following control method and a device, a vehicle and a storage medium. The method comprises the steps that obtaining vehicle driving parameters andfront road information at the current moment; determining a vehicle following type according to the front road information, and determining a vehicle following parameter at the current moment under the vehicle following type; and determining a vehicle driving track according to the vehicle driving parameters and the vehicle following parameters, and controlling the vehicle to drive according to the vehicle driving track. According to the technical scheme provided by the embodiment of the invention, the problems that the transverse centering of the vehicle depends on the detection of lane linesby a camera under the control of a traffic jam auxiliary system, the system frequently exits when a complete lane line cannot be identified, and the transverse centering control is difficult to continuously carry out are solved, the safety of vehicle driving is improved, and the driving experience is improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving control, and in particular, to a vehicle following control method, device, vehicle and storage medium. Background technique [0002] With the rapid development of electronic technology, automobiles have become an indispensable means of transportation in life. The Super Adaptive Cruise Control (SACC) function is a secondary function of intelligent driving. This function can automatically control the lateral centering and longitudinal car following, ensuring that the driver can drive without hands or feet within a certain period of time. [0003] According to different speed ranges, super cruise control is divided into Traffic Jam Assist (TJA) and Highway Assist (HWA). The TJA mode is mainly aimed at the lateral centering control driving strategy in the low speed range (0-60km / h), uses the lane line recognized by the camera to predict the driving trajectory of the ve...

Claims

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Application Information

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IPC IPC(8): B60W30/165B60W30/12B60W40/06B60W60/00
CPCB60W30/165B60W30/12B60W40/06B60W60/0025B60W60/0027B60W2552/53B60W2554/80B60W30/16B60W2754/20B60W2554/4045B60W60/00B60W30/182B60W2520/10B60W2520/105B60W2520/14B60K2310/30
Inventor 陶沛厉健峰崔茂源孙连明
Owner CHINA FIRST AUTOMOBILE
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