Car following time interval control method and system based on cloud platform

Abstract

The invention specifically discloses a vehicle following time interval control method and system based on a cloud platform. The method comprises the steps that vehicle positioning information of a vehicle, the speed of a front vehicle and the distance between the vehicle and the front vehicle are obtained; calculating a TTC value of a car following time interval under manual driving according to the speed of the front car and the distance of the front car; uploading the own vehicle positioning information and TTC data of the vehicle to a cloud platform in real time; the cloud platform records personal positioning data and TTC data corresponding to a plurality of vehicles in real time, and performs data processing to obtain a safe time interval of a corresponding road section; and when the vehicle performs automatic vehicle following driving, the safe time interval is adopted to perform vehicle following control on the front vehicle. According to the invention, the safety and intelligence of automatic car-following driving can be improved, and the comfort of driving experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving control, and more specifically, to a cloud platform-based following vehicle distance control method and system. Background Art

[0002] The adaptive following function is an auxiliary driving function. The function control module can analyze and calculate various types of driving data collected by the vehicle sensors, such as the speed and acceleration of the front vehicle and the vehicle, the distance between the two vehicles, etc., to control the vehicle to automatically maintain a set safe distance with the front vehicle, thereby alleviating the driver's driving fatigue. Although the function control module can realize automatic following at a set safe distance, different drivers have different driving habits and styles for different driving scenarios (such as weather conditions, road types), and the existing setting of the following distance is usually a fixed value. Therefore, it is difficult to meet the following distance requirements of many drivers with different driving habits and styles.

[0003] In order to make ACC suitable for the following distance requirements of many drivers with different driving habits and styles, the above driving data can be collected, and then the driver's following distance can be predicted according to the set rules or algorithms, and finally the vehicle driving gear corresponding to the following distance can be manually calibrated. The above method can obtain the set following distance corresponding to the vehicle's driving gear. For example, if the vehicle is currently driving in gears 3, 4, and 5, the following distances are set to 10m, 20m, and 40m respectively. However, the set following distance is usually selected and determined before the driver uses the adaptive cruise function. The optional range of the set following distance is small, and when the driver needs to change the following distance, he needs to manually adjust the vehicle's driving gear. The degree of intelligence is low. When the vehicle-side recognition of the scene is insufficient, it leads to following the vehicle too close or too far, affecting the driving experience. Therefore, when automatically following the vehicle, how to intelligently adjust the following distance to improve the driving experience is of great significance. Summary of the invention

[0004] The present invention provides a method and system for controlling vehicle following distance based on a cloud platform, which solves the problem that the existing vehicles are insufficient in scene recognition during automatic vehicle following, resulting in the vehicle following too closely or too far away, and can improve the safety and intelligence of automatic vehicle following and increase the comfort of driving experience.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A cloud platform-based vehicle-following time distance control method, comprising:

[0007] Obtain the vehicle's own positioning information and the speed and distance of the vehicle in front;

[0008] Calculate the TTC value of the time distance between the vehicles under manual driving according to the speed of the vehicle in front and the distance to the vehicle in front;

[0009] Uploading the vehicle's own vehicle positioning information and TTC data to the cloud platform in real time;

[0010] The cloud platform records the personal positioning data and TTC data corresponding to multiple vehicles in real time, and processes the data to obtain the safe time distance of the corresponding road section;

[0011] When the vehicle is automatically following a vehicle, the safety time interval is used to control the vehicle in front to follow the vehicle.

[0012] Preferably, the data processing to obtain the safe headway of the corresponding road section includes:

[0013] The data processing algorithm is used for filtering and weighting to obtain the default TTC value for personal daily driving.

[0014] Preferably, the data processing to obtain the safe headway of the corresponding road section further includes:

[0015] According to the vehicle positioning information, the TTC data of multiple vehicles manually driven on the same road section are filtered and weighted to obtain the average TTC value of the road section.

[0016] Preferably, the data processing to obtain the safe headway of the corresponding road section further includes:

[0017] The personal daily driving default TTC value and the average TTC value corresponding to the road section are returned to the vehicles on the corresponding road section to calculate the safe time distance.

[0018] Preferably, the calculating of the TTC value of the time to follow distance under manual driving according to the speed of the front vehicle and the distance to the front vehicle comprises:

[0019] According to the formula: , calculate the TTC value, where V h is the speed of the vehicle, V1 is the speed of the front vehicle, and d is the distance to the front vehicle.

[0020] Preferably, the filtering and weighting processing using a data processing algorithm to obtain a personal daily driving default TTC value includes:

[0021] In the personal daily manual driving mode, the TTC values ​​within the previous 30 days are filtered and weighted to obtain the default TTC value for personal daily driving.

[0022] Preferably, it also includes:

[0023] After the vehicle receives the personal daily driving default TTC value and the average TTC value corresponding to the road section returned by the cloud platform, if the autonomous driving instruction is activated, the autonomous driving domain controller adopts the personal daily driving default TTC value for following vehicle time distance control by default;

[0024] If the vehicle chooses to closely follow the current traffic flow, the corresponding average TTC value of the current road will be used for following vehicle time control.

[0025] Preferably, it also includes:

[0026] By recording the time distance values ​​during personal driving, you can set the following time distance that suits your personal driving habits or style for personalized customization.

[0027] The present invention also provides a cloud platform-based vehicle-following time distance control system, using the above-mentioned vehicle-following time distance control method, including: a domain controller, a TBOX, a navigation positioning device, a camera and a laser radar;

[0028] The domain controller is respectively connected with the TBOX, the navigation and positioning device, the camera and the laser radar signal;

[0029] The domain controller collects the speed of the vehicle in front and the distance to the vehicle in front through the camera and the laser radar;

[0030] The navigation and positioning device obtains the vehicle's own positioning information in real time;

[0031] The TBOX is connected to the cloud platform for communication, and the domain controller uploads the vehicle positioning information, the speed of the vehicle ahead, and the distance to the vehicle ahead to the cloud platform through the TBOX;

[0032] The cloud platform records the personal positioning data and TTC data corresponding to multiple vehicles in real time, and processes the data to obtain the safe time distance of the corresponding road section, and sends it to the vehicle end in real time to facilitate the vehicle to perform following time distance control.

[0033] Preferably, it also includes: a central control display screen;

[0034] The central control display screen is connected to the domain controller by signal, and the central control display screen is provided with a human-computer interaction operation interface;

[0035] The vehicle is activated and controlled by automatic driving instructions or manual driving instructions through the human-computer interaction interface.

[0036] The present invention provides a following distance control method and system based on a cloud platform. The cloud platform integrates the safe distance of the following distance under the manual driving condition of the same road section, realizes automatic driving of the self-driving vehicle closely following the traffic flow, solves the problem that the existing vehicles are insufficient in scene recognition during automatic following driving, resulting in following the vehicle too close or too far, can improve the safety and intelligence of automatic following driving, and increase the comfort of driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the specific embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below.

[0038] Figure 1 It is a schematic diagram of a vehicle following distance control method based on a cloud platform provided by the present invention.

[0039] Figure 2 It is a schematic diagram of a cloud platform-based vehicle-following time distance control system provided by the present invention. DETAILED DESCRIPTION

[0040] In order to enable persons skilled in the art to better understand the solutions of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and implementation modes.

[0041] In view of the problem that current vehicles cannot perform personalized adaptive following when performing automatic following driving, the present invention provides a following distance control method and system based on a cloud platform, which solves the problem that when existing vehicles perform automatic following driving, there is a lack of scene recognition, resulting in following the vehicle too close or too far. The method can improve the safety and intelligence of automatic following driving and increase the comfort of driving experience.

[0042] like Figure 1 As shown, a vehicle following distance control method based on a cloud platform includes:

[0043] S1: Obtain the vehicle's own positioning information, the speed of the vehicle in front, and the distance to the vehicle in front.

[0044] S2: Calculate the TTC value of the time to follow distance under manual driving according to the speed of the front vehicle and the distance to the front vehicle.

[0045] S3: Upload the vehicle's own vehicle positioning information and TTC data to the cloud platform in real time.

[0046] S4: The cloud platform records the personal positioning data and TTC data corresponding to multiple vehicles in real time, and processes the data to obtain the safe time distance of the corresponding road section.

[0047] S5: When the vehicle is automatically following a vehicle, the safety time interval is used to control the vehicle in front to follow the vehicle.

[0048] Specifically, the cloud and the vehicle communicate through 4G, 5G or other wireless modules. Vehicle: The vehicle calculates the TTC time distance under manual driving in real time mainly through the vehicle's own sensing device and domain controller, and uploads the vehicle's positioning information and real-time TTC data to the cloud. Cloud: The cloud records personal positioning data and TTC values ​​in real time, and uses advanced data processing algorithms to filter and weight the data to improve the accuracy and confidence of the data, and finally obtains the default TTC value for personal daily driving. According to the vehicle's positioning information, the TTC value of manual driving on the same road section is filtered and weighted to improve the accuracy and confidence of the data, and the TTC value of the road section is obtained. Then the above two TTC values ​​are returned to the vehicle for the road section in real time. The vehicle records and integrates the time distance of following the vehicle in personal driving scenarios through the cloud platform, and updates them in stages to achieve personalized and adaptive following of the vehicle's automatic driving. This method can improve the safety and intelligence of automatic following driving and increase the comfort of the driving experience.

[0049] Further, the data processing to obtain the safe headway of the corresponding road section includes:

[0050] The data processing algorithm is used for filtering and weighting to obtain the default TTC value for personal daily driving.

[0051] Furthermore, the data processing to obtain the safe headway of the corresponding road section also includes:

[0052] According to the vehicle positioning information, the TTC data of multiple vehicles manually driven on the same road section are filtered and weighted to obtain the average TTC value of the road section.

[0053] Furthermore, the data processing to obtain the safe headway of the corresponding road section also includes:

[0054] The personal daily driving default TTC value and the average TTC value corresponding to the road section are returned to the vehicles on the corresponding road section to calculate the safe time distance.

[0055] Further, the calculating of the TTC value of the time to follow the vehicle under manual driving according to the speed of the vehicle ahead and the distance to the vehicle ahead includes:

[0056] According to the formula: , calculate the TTC value, where V h is the speed of the vehicle, V1 is the speed of the front vehicle, and d is the distance to the front vehicle.

[0057] In practical applications, the vehicle obtains the speed V1 of the vehicle in front and the distance d of the vehicle in front based on the perception results of the millimeter wave and the visual camera, and combines the speed V h，To obtain the real-time TTC value of the vehicle and the vehicle in front. When the distance d of the target in front is less than 30 meters and the TTC is less than 10, the high-precision positioning of the vehicle, the TTC value, and the driving mode (manual driving mode / autonomous driving mode) are uploaded to the cloud platform synchronously to ensure that there is a vehicle in front and the vehicle is following.

[0058] Furthermore, the filtering and weighting processing using the data processing algorithm to obtain the default TTC value for personal daily driving includes:

[0059] In the personal daily manual driving mode, the TTC values ​​within the previous 30 days are filtered and weighted to obtain the default TTC value for personal daily driving.

[0060] The method further includes:

[0061] After the vehicle receives the personal daily driving default TTC value and the average TTC value corresponding to the road section returned by the cloud platform, if the autonomous driving command is activated, the autonomous driving domain controller will use the personal daily driving default TTC value for following vehicle time control by default.

[0062] If the vehicle chooses to closely follow the current traffic flow, the corresponding average TTC value of the current road will be used for following vehicle time control.

[0063] In actual applications, after the cloud unpacks the vehicle information, it matches the road section according to the positioning results of the vehicle itself. According to different driving modes, the TTC values ​​in all manual driving modes are aggregated and filtered, and the average value is taken to obtain the manual driving mode TTC_01 of the road section. The TTC values ​​in the first 30 days of the personal daily manual driving mode are filtered and averaged to obtain the personal manual driving mode TTC_02. The calculation results of the above two TTC values ​​are returned to the vehicle. After the vehicle receives the result returned by the cloud, when the autonomous driving command is activated, the autonomous driving domain controller defaults to TTC_02 in the personal daily driving mode. At the same time, the large central control screen on the vehicle will also have the option of whether to follow the current road traffic. If agreed, TTC_01 is used, which is the safe time interval used by most manual driving on the current road.

[0064] The method also includes: setting a following vehicle time distance that meets personal driving habits or styles by recording the time distance value during personal driving, so as to perform personalized customization.

[0065] The cloud platform integrates the following distances under manual driving conditions on the same road section, and realizes the self-driving car following the traffic flow. The following distance is automatically adjusted according to the changes in traffic flow in real time, improving the overall traffic efficiency. The cloud platform records and integrates the following distances in personal driving scenarios, and updates them in stages to realize personalized and adaptive following of the self-driving car.

[0066] It can be seen that the present invention provides a following distance control method based on a cloud platform, which integrates the safe distance of the following distance under manual driving conditions on the same road section through the cloud platform, realizes automatic driving of the vehicle following the traffic flow, and solves the problem of insufficient scene recognition in existing vehicles during automatic following driving, resulting in following the vehicle too close or too far. It can improve the safety and intelligence of automatic following driving and increase the comfort of driving experience.

[0067] The present invention also provides a cloud platform-based vehicle-following time distance control system, using the above-mentioned vehicle-following time distance control method, including: a domain controller, a TBOX, a navigation positioning device, a camera and a laser radar;

[0068] The domain controller is respectively connected with the TBOX, the navigation and positioning device, the camera and the laser radar signal;

[0069] The domain controller collects the speed of the vehicle in front and the distance to the vehicle in front through the camera and the laser radar;

[0070] The navigation and positioning device obtains the vehicle's own positioning information in real time;

[0071] The TBOX is connected to the cloud platform for communication, and the domain controller uploads the vehicle positioning information, the speed of the vehicle ahead, and the distance to the vehicle ahead to the cloud platform through the TBOX;

[0072] The cloud platform records the personal positioning data and TTC data corresponding to multiple vehicles in real time, and processes the data to obtain the safe time distance of the corresponding road section, and sends it to the vehicle end in real time to facilitate the vehicle to perform following time distance control.

[0073] Preferably, it also includes: a central control display screen;

[0074] The central control display screen is connected to the domain controller by signal, and the central control display screen is provided with a human-computer interaction operation interface;

[0075] The vehicle is activated and controlled by automatic driving instructions or manual driving instructions through the human-computer interaction interface.

[0076] The present invention provides a following distance control system based on a cloud platform. The cloud platform integrates the safe distances of following distances under manual driving conditions on the same road section, so as to realize automatic driving of the vehicle closely following the traffic flow, and solve the problem that the existing vehicles are insufficient in scene recognition during automatic following driving, resulting in following the vehicle too close or too far. The safety and intelligence of automatic following driving can be improved, and the comfort of driving experience can be increased.

[0077] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the drawings. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the description and drawings, should be within the protection scope of the present invention.

Claims

1. A cloud platform-based vehicle-following distance control method, characterized in that: include: Obtain the vehicle's own positioning information and the speed and distance of the vehicle in front; Calculate the TTC value of the time distance between the vehicles under manual driving according to the speed of the vehicle in front and the distance to the vehicle in front; Uploading the vehicle's own vehicle positioning information and TTC data to the cloud platform in real time; The cloud platform records the personal positioning data and TTC data corresponding to multiple vehicles in real time, and processes the data to obtain the safe time distance of the corresponding road section; When the vehicle is automatically following a vehicle, the safety time interval is used to control the vehicle in front to follow the vehicle.

2. The cloud platform-based following vehicle time distance control method according to claim 1, characterized in that: The data processing to obtain the safe headway of the corresponding road section includes: The data processing algorithm is used for filtering and weighting to obtain the default TTC value for personal daily driving.

3. The cloud platform-based following distance control method according to claim 2, characterized in that: The data processing to obtain the safe headway of the corresponding road section also includes: According to the vehicle positioning information, the TTC data of multiple vehicles manually driven on the same road section are filtered and weighted to obtain the average TTC value of the road section.

4. The cloud platform-based following distance control method according to claim 3 is characterized in that: The data processing to obtain the safe headway of the corresponding road section also includes: The personal daily driving default TTC value and the average TTC value corresponding to the road section are returned to the vehicles on the corresponding road section to calculate the safe time distance.

5. The cloud platform-based following vehicle time distance control method according to claim 4 is characterized in that: The calculating the TTC value of the time to follow distance under manual driving according to the speed of the front vehicle and the distance to the front vehicle includes: According to the formula: , calculate the TTC value, where V h is the speed of the vehicle, V1 is the speed of the front vehicle, and d is the distance to the front vehicle.

6. The cloud platform-based following vehicle time distance control method according to claim 5, characterized in that: The filtering and weighting processing using the data processing algorithm to obtain the default TTC value for personal daily driving includes: In the personal daily manual driving mode, the TTC values ​​within the previous 30 days are filtered and weighted to obtain the default TTC value for personal daily driving.

7. The cloud platform-based following distance control method according to claim 6, characterized in that: Also includes: After the vehicle receives the personal daily driving default TTC value and the average TTC value corresponding to the road section returned by the cloud platform, if the autonomous driving instruction is activated, the autonomous driving domain controller adopts the personal daily driving default TTC value for following vehicle time distance control by default; If the vehicle chooses to closely follow the current traffic flow, the corresponding average TTC value of the current road will be used for following vehicle time control.

8. The cloud platform-based following distance control method according to claim 7, characterized in that: Also includes: By recording the time distance values ​​during personal driving, you can set the following time distance that suits your personal driving habits or style for personalized customization.

9. A cloud platform-based vehicle-following time distance control system, using the vehicle-following time distance control method according to any one of claims 1 to 8, characterized in that: include: Domain controller, TBOX, navigation and positioning device, camera and lidar; The domain controller is respectively connected with the TBOX, the navigation and positioning device, the camera and the laser radar signal; The domain controller collects the speed of the vehicle in front and the distance to the vehicle in front through the camera and the laser radar; The navigation and positioning device obtains the vehicle's own positioning information in real time; The TBOX is connected to the cloud platform for communication, and the domain controller uploads the vehicle positioning information, the speed of the vehicle ahead, and the distance to the vehicle ahead to the cloud platform through the TBOX; The cloud platform records the personal positioning data and TTC data corresponding to multiple vehicles in real time, and processes the data to obtain the safe time distance of the corresponding road section, and sends it to the vehicle end in real time to facilitate the vehicle to perform following time distance control.

10. The cloud platform-based time-to-distance control system according to claim 9, characterized in that: Also includes: Central control display screen; The central control display screen is connected to the domain controller by signal, and the central control display screen is provided with a human-computer interaction operation interface; The vehicle is activated and controlled by automatic driving instructions or manual driving instructions through the human-computer interaction interface.

Images