Vehicle cruise speed control method and device, vehicle-mounted electronic control unit and vehicle

Abstract

The invention provides a vehicle cruise speed control method and device, a vehicle-mounted electronic control unit and a vehicle, and relates to the technical field of intelligent driving. The method comprises the following steps: acquiring the current speed and navigation map information of a vehicle in an intelligent driving mode; the navigation map information comprises road congestion information and vehicle positions of vehicles; determining a first variable speed of the vehicle according to the road congestion information and the vehicle position; and determining a first variable speed position of the vehicle based on the first variable speed and the current vehicle speed, and controlling the vehicle to perform variable speed cruise driving at the first variable speed position according to the first variable speed. The device is used for executing the method. The variable speed of the vehicle is determined according to the navigation map information of the vehicle, and the variable speed position is determined according to the variable speed and the current vehicle speed of the vehicle, so that the vehicle is controlled to perform variable-speed cruise driving at the variable speed position according to the variable speed. By adjusting the vehicle speed in advance, the probability of occurrence of accidents that the front vehicle collides with the rear vehicle and the rear vehicle collides with the rear vehicle is reduced, and therefore the road passing efficiency and safety are improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology. Specifically, it relates to a method and device for controlling the cruising speed of a vehicle, an in-vehicle electronic control unit, and a vehicle. Background Art

[0002] As a profound transformation in the transportation field, intelligent driving technology is leading the automotive industry and transportation system towards the direction of intelligence, efficiency, and safety.

[0003] In the intelligent driving state, the vehicle can travel at a set target speed and can also identify the distance and speed of the vehicle in front, so as to adjust its own speed. However, since the vehicle mainly focuses on the speed of the vehicle in front, if there is a large area of congestion within a certain distance ahead, it will cause the vehicle to make an emergency brake, resulting in a situation of rear-ending the vehicle in front or being rear-ended by the vehicle behind, making the road traffic efficiency and safety relatively low. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a method and device for controlling the cruising speed of a vehicle, an in-vehicle electronic control unit, and a vehicle, which are used to determine the variable speed of the vehicle according to the navigation map information of the vehicle, and determine the variable speed position according to the variable speed and the current speed of the vehicle, so as to control the vehicle to perform variable speed cruising at the variable speed position. In this process, by adjusting the speed in advance, the probability of accidents such as colliding with the vehicle in front and being rear-ended by the vehicle behind is reduced, thereby improving the road traffic efficiency and safety.

[0005] In a first aspect, the embodiments of this application provide a method for controlling the cruising speed of a vehicle. The method includes: in the intelligent driving mode, obtaining the current speed and navigation map information of the vehicle; the navigation map information includes road congestion information and the vehicle position of the vehicle; determining a first variable speed of the vehicle according to the road congestion information and the vehicle position; determining a first variable speed position of the vehicle based on the first variable speed and the current speed, and controlling the vehicle to perform variable speed cruising at the first variable speed position at the first variable speed position.

[0006] In the embodiments of this application, by determining the first variable speed of the vehicle according to the road congestion information and the vehicle position, it is possible to select a suitable first variable speed for different congestion situations and vehicle positions, improving the accuracy of determining the first variable speed position. Further, determining the first variable speed position according to the first variable speed and the current speed of the vehicle to control the vehicle to perform variable speed cruising at the variable speed position at the variable speed. In this process, since the first variable speed position is determined in advance according to the first variable speed and the current speed, rather than starting to change speed when detecting the vehicle in front, the purpose of adjusting the speed in advance is achieved, reducing the probability of accidents such as colliding with the vehicle in front and being rear-ended by the vehicle behind, thereby improving the road traffic efficiency and safety.

[0007] In some embodiments, the road congestion information includes the congestion starting point and the congestion degree; determining the first variable speed of the vehicle according to the road congestion information and the vehicle position includes: if the congestion degree is the first congestion degree and the distance between the vehicle position and the congestion starting point is less than a preset distance threshold, obtaining the vehicle speed of the first vehicle traveling in the same direction as the vehicle and within a preset range of the vehicle, and determining the first variable speed of the vehicle according to the vehicle speed of the first vehicle and the current vehicle speed.

[0008] In the embodiments of the present application, the road congestion information includes the congestion degree, and the congestion degree reflects the road traffic state. Considering that the vehicle starting speed change timing is different due to different congestion degrees, the vehicle can better adapt to the road traffic state, thereby improving the road traffic efficiency and safety. Therefore, if the congestion degree is the first congestion degree and the distance between the vehicle and the congestion starting point is less than the preset distance, the first variable speed is determined according to the vehicle speed of the first vehicle traveling in the same direction within the preset distance range of the vehicle, so as to improve the accuracy of determining the first variable speed of the vehicle, further improve the accuracy of determining the first variable speed position, and thus improve the road traffic efficiency and safety.

[0009] In some embodiments, during the process of controlling the vehicle to perform variable-speed cruise driving at the first variable speed position according to the first variable speed, the method further includes: if the congestion degree is the second congestion degree and the congestion degree changes from the second congestion degree to the first congestion degree, determining the second variable speed of the vehicle according to the first congestion degree and the current position of the vehicle; the second congestion degree is greater than the first congestion degree; determining the second variable speed position based on the second variable speed and the current vehicle speed of the vehicle; controlling the vehicle to switch from the first variable speed to the second variable speed at the second variable speed position and perform variable-speed cruise driving according to the second variable speed.

[0010] The embodiments of the present application consider that the road congestion situation is changing at all times. Therefore, during the process of the vehicle performing variable-speed cruise driving at the first variable speed, if the road congestion situation changes, the variable speed and the variable speed position are re-determined according to the changed congestion degree to adapt to the real-time road conditions, thereby improving the road traffic efficiency and safety.

[0011] Furthermore, if the road congestion degree changes from the second congestion degree to the first congestion degree, since the second congestion degree is greater than the first congestion degree, the road traffic condition is gradually getting better. At this time, determining the second variable speed position based on the second variable speed and the current vehicle speed of the vehicle can achieve a smooth transition of the vehicle speed, reduce the impact on the traffic flow caused by too large a speed change, and improve the road traffic efficiency and safety.

[0012] In some embodiments, during the process of controlling the vehicle to cruise at a first variable speed at a first gear position, the method further includes: if the congestion level is a first congestion level and the congestion level changes from the first congestion level to a second congestion level, determining a third variable speed of the vehicle according to the second congestion level and the current position of the vehicle; the first congestion level is less than the second congestion level; determining a third gear position according to the third variable speed and the current vehicle speed of the vehicle; controlling the vehicle to switch from the first variable speed to the third variable speed at the third gear position and cruise at the third variable speed.

[0013] In the embodiments of the present application, during the process of the vehicle cruising at a first variable speed, if the road congestion level changes from a first congestion level to a second congestion level, since the second congestion level is greater than the first congestion level, the road traffic condition is gradually deteriorating. At this time, determining the third gear position based on the third variable speed and the current vehicle speed can achieve a smooth transition of the vehicle speed, reduce the impact on the traffic flow caused by excessive speed changes, and improve the road traffic efficiency and safety.

[0014] In some embodiments, during the process of controlling the vehicle to cruise at a first variable speed at a first gear position, the method further includes: if the congestion level changes to un-congested, obtaining the speed limit cruising speed of the road where the vehicle is located and controlling the vehicle to switch from the current vehicle speed to the speed limit cruising speed for cruising.

[0015] In the embodiments of the present application, during the process of the vehicle cruising at a first variable speed, if the congestion level changes to un-congested, indicating that the road is clear, at this time, changing the vehicle speed to the speed limit cruising speed of the road for driving improves the road traffic efficiency and safety.

[0016] In some embodiments, during the process of controlling the vehicle to travel at a first variable speed at a first gear position, the method further includes: if there is a second vehicle within a preset distance in front of the lane where the vehicle is located, obtaining the average vehicle speed of the second vehicle and controlling the vehicle to switch from the current vehicle speed to the average vehicle speed for cruising.

[0017] In the embodiments of the present application, during the process of the vehicle cruising at a first variable speed, if there is a second vehicle within a preset distance in front of the road where the vehicle is located, driving according to the average vehicle speed of the second vehicle enables the vehicle to follow the traffic flow in front, improves the smoothness of road traffic, and thus improves the road traffic efficiency and safety.

[0018] Second aspect, an embodiment of the present application provides a vehicle cruise speed control device, which includes: an acquisition module for acquiring the current speed of the vehicle and navigation map information in the intelligent driving mode; the navigation map information includes road congestion information and the vehicle position of the vehicle; a determination module for determining the first variable speed of the vehicle according to the road congestion information and the vehicle position; a control module for determining the first variable speed position of the vehicle based on the first variable speed and the current speed, and controlling the vehicle to perform variable speed cruise driving at the first variable speed position at the first variable speed.

[0019] Third aspect, an embodiment of the present application provides a controller, which includes: a processor and a memory, and the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the method steps of any one of the embodiments of the first aspect can be executed.

[0020] Fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which includes: computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are run by a processor, the method steps of any one of the embodiments of the first aspect are executed.

[0021] Fifth aspect, an embodiment of the present application provides a computer program product, which includes: computer program instructions, and when the computer program instructions are run by a processor, the method steps of any one of the embodiments of the first aspect are executed.

[0022] Sixth aspect, an embodiment of the present application provides an in-vehicle electronic control unit, and the in-vehicle electronic control unit includes a controller, and the controller is used to execute the method steps of any one of the embodiments of the first aspect.

[0023] Seventh aspect, an embodiment of the present application provides a vehicle, and the vehicle includes a controller, and the controller is used to execute the method steps of any one of the embodiments of the first aspect.

[0024] Other features and advantages of the present application will be described in the subsequent specification, and, in part, will be obvious from the specification, or will be understood by implementing the embodiments of the present application. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic flowchart of a vehicle cruise speed control method provided by an embodiment of the present application; Figure 2 Schematic structural diagram of a vehicle cruise speed control device provided by an embodiment of the present application; Figure 3 Schematic structural diagram of a controller provided by an embodiment of the present application. Specific embodiments

[0027] Embodiments of the technical solution of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0028] It should be noted that all the technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the technical field to which the present application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above accompanying drawings are intended to cover non-exclusive inclusion.

[0029] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, "a plurality" means more than two unless otherwise specifically defined.

[0030] It should be particularly noted that unless otherwise specified, in the specific embodiments of the present application, for relevant data such as requests and response data, when the embodiments of the present application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0031] Figure 1 Schematic flow diagram of a vehicle cruise speed control method provided by an embodiment of the present application. To facilitate understanding of the technical solution provided by the embodiment of the present application, the application scenario of the vehicle cruise speed control method provided by the embodiment of the present application will be introduced below by taking the controller in the in-vehicle terminal device as the execution subject.

[0032] As Figure 1 shown, the method includes: Step S101, in the intelligent driving mode, obtain the current vehicle speed and navigation map information of the vehicle; the navigation map information includes road congestion information and the vehicle position of the vehicle.

[0033] The intelligent driving mode refers to a mode in which the vehicle uses sensors, algorithms and control systems to enable the vehicle to autonomously or assist the driver in driving operations to a certain extent.

[0034] In the intelligent driving mode, the vehicle can perform Adaptive Cruise Control (ACC), Lane Keeping Assist (LKA), Automatic Emergency Braking (AEB), and Navigation Cruise Assist (NCA).

[0035] Adaptive Cruise Control (ACC) means that the vehicle can automatically maintain a safe distance from the vehicle in front and automatically adjust the vehicle speed.

[0036] Lane Keeping Assist (LKA) means helping the driver keep the vehicle driving within the lane and reducing the accident risk caused by lane departure.

[0037] Automatic Emergency Braking (AEB) means that when the vehicle detects a potential collision risk, it automatically applies the brakes to avoid or mitigate the collision.

[0038] Navigation Cruise Assist (NCA) can assist the driver in controlling the vehicle to drive along the navigation route, and can perform operations such as autonomous lane change and entering / leaving ramps, which is applicable to the scenario where the driver sets the destination and navigation route.

[0039] The navigation map information can refer to the map information provided by the in-vehicle navigation system or the navigation system in an external mobile phone terminal.

[0040] If the navigation map information is provided by an external mobile phone terminal, the mobile phone terminal can be connected to the vehicle's central control system first, so that the vehicle can read the navigation data of the mobile phone terminal.

[0041] The navigation map information is a data set used to describe the road network, geographical features, traffic conditions, points of interest, and other relevant auxiliary information, providing the necessary environmental information for the vehicle.

[0042] In addition to road congestion information and the vehicle's position, the navigation map information can also include road information (at least one of road speed limits, road types, road attributes, road signs, etc.), geographical information (at least one of terrain data, feature data, administrative divisions, etc.), points of interest (at least one of service facilities, commercial facilities, public facilities, etc.), and auxiliary information (at least one of voice prompts, historical tracks, weather information, etc.).

[0043] Road congestion information refers to information related to traffic congestion that describes the traffic flow state, traffic capacity, vehicle backlog degree, etc. on the road.

[0044] In addition to the congestion level and the starting point of congestion, the road congestion information may also include information such as the length of the congested distance, the type of accident, the location of the accident, and the severity of the accident.

[0045] The starting point of congestion refers to the end point on the side close to the vehicle in the congested position.

[0046] The controller obtains the navigation map information by actively reading the in-vehicle navigation data or the mobile phone navigation data.

[0047] The controller can also passively receive the navigation data sent by the in-vehicle navigation or the mobile phone terminal navigation to obtain the navigation map information.

[0048] Step S102, determine the first variable speed of the vehicle according to the road congestion information and the vehicle position.

[0049] Based on the above, the road congestion information includes the congestion level, which is an indicator for measuring the severity of traffic congestion and reflects the smoothness of vehicle travel on the road and the congestion status of the traffic flow. Through the division of the congestion level, the current situation of traffic congestion can be described and analyzed more precisely, thus providing an important basis for intelligent driving.

[0050] Therefore, in one implementation, determining the first variable speed of the vehicle according to the road congestion information and the vehicle position includes: determining the first variable speed of the vehicle according to the congestion level and the vehicle position.

[0051] Since the road congestion information may also include the length of the congested distance, and the length of the congested distance refers to the length of a queue of vehicles formed on the road due to traffic congestion during a specific time period, which also reflects the road congestion situation to a certain extent.

[0052] For example: If the length of the congested distance reaches several kilometers, it indicates that the traffic flow in this area far exceeds the road's passing capacity, and the vehicle travel is extremely slow or even in a stagnant state. A shorter length of the congested distance may mean that the congestion situation is relatively light. Although the vehicle needs to queue up, the passing speed may not be affected too much, or the congestion is only local and temporary.

[0053] Therefore, in an alternative implementation, determining the first variable speed of the vehicle according to the road congestion information and the vehicle position includes: determining the first variable speed of the vehicle according to the length of the congested distance and the vehicle position.

[0054] The first variable speed can be an acceleration or a deceleration, and it is specifically determined dynamically according to the road congestion situation whether to accelerate based on the current vehicle speed or to decelerate based on the current vehicle speed.

[0055] The first speed change refers to the acceleration or deceleration used to adjust the vehicle's driving speed determined based on the initial road congestion information and the vehicle's position in the intelligent driving mode. It is the initial speed change parameter for the vehicle to start adjusting its speed to adapt to the road congestion condition ahead.

[0056] Step S103: Determine the first speed change position of the vehicle based on the first speed change and the current vehicle speed, and control the vehicle to perform variable speed cruise driving at the first speed change position according to the first speed change.

[0057] The first speed change position refers to the specific position where the vehicle starts to perform variable speed cruise driving at the first speed change based on the first speed change and the current vehicle speed in the intelligent driving mode. It is the trigger point for the vehicle to start the speed adjustment operation.

[0058] In the specific implementation process, the vehicle determines the first speed change position of the vehicle based on the first speed change and the current vehicle speed, including: calculating according to the formula to obtain the first speed change position of the vehicle. Among them, represents the current vehicle speed of the vehicle, represents the first speed change, represents the first speed change position, is a pre-set value stored in the storage unit of the controller. Different road congestion degrees correspond to different , which is used to represent the final target cruise speed of the vehicle after the vehicle starts variable speed cruise driving from the speed change position under different road congestion degrees.

[0059] Exemplarily, if the road congestion degree is moderate or above congestion, then ; if the road congestion degree is mild congestion, then . It should be known that in the specific application, can be adaptively set according to the actual situation.

[0060] In the specific implementation process, obtain the corresponding value according to the road congestion degree.

[0061] Based on the formula , it can be seen that is a specific value. Therefore, the first speed change position also refers to the distance between the vehicle and the congestion starting point when the vehicle starts to change its speed at the first speed change.

[0062] Exemplarily: If the current vehicle speed of the vehicle , the current road congestion degree is moderate or above congestion, and the distance between the vehicle and the congestion point is greater than 330 meters, then , the first speed change , substitute into the formula to calculate the first speed change position , indicating that the vehicle starts to perform variable-speed cruise driving at a distance of 193 meters from the congestion starting point at the first variable speed. Perform variable-speed cruise driving. Among them, the first variable speed Is a deceleration, and variable-speed cruise driving means that the vehicle decelerates uniformly at a deceleration according to Based on the current vehicle speed.

[0063] In the embodiments of the present application, by determining the first variable speed of the vehicle according to the road congestion information and the vehicle position, it is possible to select an appropriate first variable speed for different congestion situations and vehicle positions, improving the accuracy of determining the first variable-speed position. Further, the first variable-speed position is determined according to the first variable speed and the current vehicle speed of the vehicle, so as to control the vehicle to perform variable-speed cruise driving at the variable-speed position according to the variable speed. In this process, since the first variable-speed position is determined in advance according to the first variable speed and the current vehicle speed, rather than starting to change the speed when detecting the vehicle in front, the purpose of adjusting the vehicle speed in advance is achieved, reducing the probability of accidents such as hitting the vehicle in front and being rear-ended by the vehicle behind, thereby improving the road traffic efficiency and safety.

[0064] In some embodiments, the road congestion information includes the congestion starting point and the congestion degree; determining the first variable speed of the vehicle according to the road congestion information and the vehicle position includes: if the congestion degree is the first congestion degree and the distance between the vehicle position and the congestion starting point is less than the preset distance threshold, obtain the vehicle speed of the first vehicle traveling in the same direction as the vehicle and within a preset range from the vehicle, and determine the first variable speed of the vehicle according to the vehicle speed of the first vehicle and the current vehicle speed.

[0065] Based on the above embodiments, it can be seen that determining the first variable speed of the vehicle according to the road congestion information and the vehicle position includes: determining the first variable speed of the vehicle according to the congestion degree and the vehicle position.

[0066] The congestion degree reflects the smoothness of vehicle driving on the road and the congestion status of the traffic flow. The congestion degree can be divided into severe congestion, moderate congestion, mild congestion, and no congestion.

[0067] In the specific implementation process, the congestion degree can be judged based on the Traffic Performance Index (TPI). For example, when the TPI is between [0, 2), it means no congestion; when the TPI is between [2, 4), it means mild congestion; when the TPI is between [4, 6), it means moderate congestion; when the TPI is between [6, 10), it means severe congestion.

[0068] In an alternative embodiment, the degree of congestion can also be determined based on the vehicle queue length at the congestion point. For example: a queue length < 250 meters indicates no congestion; a queue length in the range of [250, 500) meters indicates mild congestion; a queue length in the range of [500, 1000) meters indicates moderate congestion; a queue length ≥ 1000 meters indicates severe congestion.

[0069] Since the vehicle queue length is relatively long during moderate and severe congestion, moderate and severe congestion are classified into one category and collectively referred to as moderate and above congestion.

[0070] Determining the first variable speed of the vehicle based on the degree of congestion and the vehicle position includes: (1) When it is moderate and above congestion: When the distance X of the vehicle from the congestion starting point is known from the navigation map information and X > 330 meters, the determined first variable speed is a = 2 m / s 2 .

[0071] When the distance X of the vehicle from the congestion starting point is known from the navigation map information and 220 meters < X ≤ 330 meters, the determined first variable speed is a = 3 m / s 2 .

[0072] When the distance X of the vehicle from the congestion starting point is known from the navigation map information and X ≤ 220 meters, the determined first variable speed is a = 4 m / s 2 .

[0073] (2) During mild congestion, the vehicle queue length is relatively short. Therefore, when it is mild congestion: When the distance X of the vehicle from the congestion starting point is known from the navigation map information and X ≥ 170 meters, the vehicle travels at its current speed without decelerating, and the determined first variable speed is 0.

[0074] When the distance X of the vehicle from the congestion starting point is known from the navigation map information and X < 170 meters, at this time, the distance from the congestion starting point is relatively close. To ensure the continuity of the traffic flow in the case of mild congestion, the vehicle follows the speed of the vehicle in front at this time. That is, if the degree of congestion is the first degree of congestion (i.e., mild congestion), and the distance between the vehicle position and the congestion starting point is less than the preset distance threshold, then obtain the speed of the first vehicle traveling in the same direction as the vehicle and within the preset range from the vehicle, and determine the first variable speed of the vehicle based on the speed of the first vehicle and the current speed of the vehicle.

[0075] The first vehicle within the preset range from the vehicle refers to other vehicles within 100 meters around the vehicle, or other vehicles within 150 meters around the vehicle, or other vehicles within 80 meters around the vehicle. The specific value of the preset range can be adaptively set according to the actual detection ability of the vehicle.

[0076] It should be noted that highways usually have left and right driving lanes with opposite driving directions. Therefore, the vehicles around a vehicle refer to the vehicles traveling in the same direction as the vehicle, excluding the vehicles in the other direction lane.

[0077] In one implementation, the video data of the first vehicle within a preset range collected by the front, rear, left, and right cameras of the vehicle, the multi-dimensional point cloud information collected by the front and rear millimeter-wave radars, and the 3D point cloud data collected by the front lidar are fused and calculated to obtain the average vehicle speed of the first vehicle within the preset range of the vehicle. The first acceleration of the vehicle is determined based on the average vehicle speed of the first vehicle and the current vehicle speed of the vehicle.

[0078] Exemplarily, the video data of other vehicles within a preset range collected by the front, rear, left, and right cameras of the vehicle and the 3D point cloud data collected by the front lidar are combined to identify the first vehicle traveling in the same direction as the current vehicle. The vehicle speed of the identified first vehicle traveling in the same direction is measured by the front and rear millimeter-wave radars, and the average vehicle speed is obtained by averaging the vehicle speeds of the identified first vehicles.

[0079] Determining the first acceleration of the vehicle based on the average vehicle speed of the first vehicle and the current vehicle speed of the vehicle includes: according to the formula to determine the first acceleration of the vehicle; where represents the first acceleration, represents the current vehicle speed of the vehicle, average represents the average vehicle speed of the first vehicle, represents the proportionality coefficient, and the proportionality coefficient is adaptively set according to factors such as vehicle performance and driving comfort.

[0080] In an alternative implementation, the video data of other vehicles within a preset range collected by the front, rear, left, and right cameras of the vehicle, the multi-dimensional point cloud information collected by the front and rear millimeter-wave radars, and the 3D point cloud data collected by the front lidar are fused and calculated to obtain the median vehicle speed of the first vehicle within the preset range of the vehicle. The first acceleration of the vehicle is determined based on the median vehicle speed of the first vehicle and the vehicle's own speed.

[0081] When there is no congestion, it indicates that the road is clear. At this time, the vehicle obtains the speed limit cruise value of the current road according to the navigation map information and controls the vehicle to cruise according to the current road speed limit cruise value.

[0082] The speed limit cruise value refers to the upper limit of the cruise vehicle speed set according to the speed limit sign on the road or the maximum allowable speed stipulated by traffic regulations when the vehicle is in the intelligent driving state.

[0083] The speed limit cruise value is specifically set according to the road type. For example: the speed limit cruise value on highways is 120 km / h or 130 km / h. The speed limit cruise value on urban roads is 60 km / h or 80 km / h. In special areas, such as school areas, near hospitals or construction areas, the speed limit cruise value is 30 km / h or 40 km / h.

[0084] It should be noted that the above settings for the distance of the vehicle from the starting point of congestion and the variable speed can be adaptively adjusted according to the actual situation.

[0085] In the embodiments of the present application, the road congestion information includes the congestion degree, which reflects the road traffic state. Considering that the congestion degrees are different and the starting times of vehicle speed changes are different, the vehicle can better adapt to the road traffic state, thereby improving the road traffic efficiency and safety. Therefore, if the congestion degree is the first congestion degree and the distance between the vehicle and the starting point of congestion is less than the preset distance, the first variable speed is determined according to the vehicle speed of the first vehicle traveling in the same direction within the preset distance range of the vehicle, so as to improve the accuracy of determining the first variable speed of the vehicle, further improve the accuracy of determining the first variable speed position, and thus improve the road traffic efficiency and safety.

[0086] In some embodiments, during the process of controlling the vehicle to cruise at a variable speed according to the first variable speed at the first variable speed position, the method further includes: if the congestion degree is the second congestion degree and the congestion degree changes from the second congestion degree to the first congestion degree, then determine the second variable speed of the vehicle according to the first congestion degree and the current position of the vehicle; the second congestion degree is greater than the first congestion degree; determine the second variable speed position based on the second variable speed and the current vehicle speed of the vehicle; control the vehicle to switch from the first variable speed to the second variable speed at the second variable speed position and cruise at a variable speed according to the second variable speed.

[0087] Considering that the road congestion situation is changing at all times, during the process of the vehicle cruising at a variable speed according to the first variable speed, if the road congestion situation changes, then re-determine the variable speed and the variable speed position according to the changed congestion degree to adapt to the real-time road conditions, thereby improving the road traffic efficiency and safety.

[0088] The first congestion degree represents mild congestion, and the second congestion degree represents moderate and above congestion. Therefore, the second congestion degree is greater than the first congestion degree.

[0089] If the current congestion level is the second congestion level, and during the process of the vehicle cruising at a variable speed according to the first variable speed at the first variable speed position, the congestion level changes from the second congestion level to the first congestion level. Since the second congestion level is greater than the first congestion level, the road traffic condition is gradually improving. At this time, the variable speed position is re-determined based on the vehicle position and the road congestion level to adapt to the road changes.

[0090] Specifically, determine the second variable speed of the vehicle according to the first congestion level and the current position of the vehicle; determine the second variable speed position based on the second variable speed and the current vehicle speed of the vehicle; control the vehicle at the second variable speed position to switch from the first variable speed to the second variable speed and cruise at a variable speed according to the second variable speed.

[0091] The second variable speed refers to the acceleration or deceleration used to further adjust the vehicle driving speed determined according to the new congestion level (the first congestion level) and the current position of the vehicle when the road congestion level changes from the second congestion level to the first congestion level during the process of the vehicle cruising at a variable speed according to the first variable speed.

[0092] For the specific process of determining the second variable speed of the vehicle according to the first congestion level and the current position of the vehicle, please refer to the specific process of "determining the first variable speed of the vehicle according to the congestion level and the vehicle position" in the above embodiments, which will not be elaborated here.

[0093] When determining the second variable speed position based on the second variable speed and the current vehicle speed of the vehicle, calculate in real time through the formula where, since the congestion level changes from the second congestion level to the first congestion level, is the threshold value corresponding to the mild congestion level.

[0094] When the vehicle starts to decelerate until it can just reduce the vehicle speed to start uniform deceleration braking at the position, and this position is the second variable speed position.

[0095] The second variable speed position is the specific position where the vehicle starts to cruise at a variable speed according to the second variable speed.

[0096] For example: start uniform deceleration braking at the position when the vehicle starts to decelerate until it can just reduce the vehicle speed to

[0097] In the case of mild congestion, by determining the second variable speed position according to the second variable speed and the current vehicle speed of the vehicle, the smooth transition of the vehicle speed can be achieved, the impact on the traffic flow caused by excessive speed changes can be reduced, and the road traffic efficiency and safety can be improved. In addition, it can also improve the riding comfort and experience of users.

[0098] ​In some embodiments, during the process of controlling the vehicle to travel at a first gear position and change gears at a first gear-changing speed, the method further includes: if the congestion level is a first congestion level and the congestion level changes from the first congestion level to a second congestion level, indicating that the road is becoming more congested, at this time, determine a third gear-changing speed of the vehicle according to the second congestion level and the current position of the vehicle; the first congestion level is less than the second congestion level; determine a third gear position according to the third gear-changing speed and the current vehicle speed of the vehicle; control the vehicle to switch from the first gear-changing speed to the third gear-changing speed at the third gear position and perform variable-speed cruise driving at the third gear-changing speed.

[0099] The third gear-changing speed refers to the acceleration or deceleration used to adjust the vehicle driving speed determined according to the new congestion level (the second congestion level) and the current position of the vehicle when the road congestion level changes from the first congestion level to the second congestion level during the process of the vehicle performing variable-speed cruise driving at the first gear-changing speed.

[0100] The third gear position is the specific position where the vehicle starts to perform variable-speed cruise driving at the third gear-changing speed.

[0101] In the specific implementation process, for the specific process of determining the third gear-changing speed of the vehicle according to the second congestion level and the current position of the vehicle, please refer to the specific process of "determining the first gear-changing speed of the vehicle according to the congestion level and the vehicle position" in the above embodiments, which will not be elaborated here.

[0102] When determining the third gear position according to the third gear-changing speed and the current vehicle speed of the vehicle, calculate in real time through the formula where, since the congestion level changes from the first congestion level to the second congestion level, therefore, is the threshold value corresponding to the moderate or above congestion level.

[0103] Exemplarily, , substitute , the current vehicle speed of the vehicle , the third gear-changing speed into the formula to calculate and determine the third gear position .

[0104] In the embodiments of the present application, during the process of the vehicle performing variable-speed cruise driving at the first gear-changing speed, if the road congestion level changes from the first congestion level to the second congestion level, since the second congestion level is greater than the first congestion level, therefore, the road traffic condition is gradually deteriorating. At this time, determining the third gear position based on the third gear-changing speed and the current vehicle speed can achieve a smooth transition of the vehicle speed, reduce the impact on the traffic flow caused by excessive speed changes, and improve the road traffic efficiency and safety.

[0105] In some embodiments, during the process of controlling the vehicle to be in the first gear position and shift gears at the first gear speed, the method further includes: if the congestion level changes to non-congested, obtaining the speed limit cruise speed of the road where the vehicle is located, and controlling the vehicle to switch from the current speed to the speed limit cruise speed for cruise driving.

[0106] In the specific implementation process, to obtain the speed limit cruise speed of the road where the vehicle is located, in addition to relying on navigation map information, it can also be obtained by recognizing the pictures of road speed limit signs collected by on-vehicle cameras.

[0107] If the vehicle has an intelligent speed limit assist system, it can also automatically recognize road speed limit signs based on the intelligent speed limit assist system and display the speed limit value on the dashboard, enabling the controller to obtain the speed limit cruise speed of the road where the vehicle is located.

[0108] In the embodiments of the present application, during the process of the vehicle cruising at the first gear speed, if the congestion level changes to non-congested, it indicates that the road is unobstructed. At this time, changing the vehicle speed to the road speed limit cruise speed for driving improves the road traffic efficiency and safety.

[0109] In some embodiments, during the process of controlling the vehicle to be in the first gear position and shift gears at the first gear speed, the method further includes: if there is a second vehicle within a preset distance in front of the lane where the vehicle is located, obtaining the average speed of the second vehicle, and controlling the vehicle to switch from the current speed to the average speed for cruise driving.

[0110] The preset distance is a pre-set value. For example, within 100 meters in front of the vehicle, or within 150 meters in front of the vehicle. The specific distance value can be set according to the actual situation, and the present application does not make specific limitations on this.

[0111] In the specific implementation process, the video data of the second vehicle collected by the camera in front of the vehicle, the multi-dimensional point cloud information collected by the millimeter-wave radar in front of the vehicle, and the 3D point cloud data collected by the lidar in front of the vehicle are fused and calculated to obtain the speed of the second vehicle, and the average speed is calculated based on the speed of the second vehicle.

[0112] After calculating the average speed of the second vehicle, control the vehicle to switch from the current speed to the average speed for cruise driving.

[0113] In the embodiments of the present application, during the process of the vehicle cruising at the first gear speed, if there is a second vehicle within a preset distance in front of the road where the vehicle is located, the vehicle travels according to the average speed of the second vehicle, enabling the vehicle to follow the traffic flow in front, improving the smoothness of road traffic, and thus improving the road traffic efficiency and safety.

[0114] It should be noted that during the process of the vehicle's variable-speed cruise driving, if the vehicle is decelerating uniformly and cannot reduce its speed through uniform deceleration to avoid colliding with the vehicle in front, the vehicle's AEB is used to perform an emergency stop at this time.

[0115] Moreover, during the deceleration process, the high-mounted brake light of the vehicle is lit to prompt the following vehicle to decelerate, avoid being rear-ended by the following vehicle, reduce the accident rate, and improve the road traffic efficiency and safety.

[0116] Figure 2 The following is a schematic structural diagram of a vehicle cruise speed control device provided by an embodiment of the present application. As Figure 2 shown, the device includes: an acquisition module 201, a determination module 202, and a control module 203; among them, The acquisition module 201 is configured to obtain the current speed of the vehicle and navigation map information in the intelligent driving mode; the navigation map information includes road congestion information and the vehicle position of the vehicle; the determination module 202 is configured to determine the first variable speed of the vehicle according to the road congestion information and the vehicle position; the control module 203 is configured to determine the first variable speed position of the vehicle based on the first variable speed and the current speed, and control the vehicle to perform variable-speed cruise driving at the first variable speed position according to the first variable speed.

[0117] Based on the above embodiment, the road congestion information includes a congestion starting point and a congestion degree; the determination module 202 is specifically configured to: if the congestion degree is the first congestion degree and the distance between the vehicle position and the congestion starting point is less than a preset distance threshold, then obtain the speed of the first vehicle traveling in the same direction as the vehicle and within a preset range from the vehicle, and determine the first variable speed of the vehicle according to the speed of the first vehicle and the current speed.

[0118] Based on the above embodiment, the control module 203 is specifically configured to: if the congestion degree is the second congestion degree and the congestion degree changes from the second congestion degree to the first congestion degree, then determine the second variable speed of the vehicle according to the first congestion degree and the current position of the vehicle; the second congestion degree is greater than the first congestion degree; determine the second variable speed position based on the second variable speed and the current speed of the vehicle; control the vehicle to switch from the first variable speed to the second variable speed at the second variable speed position and perform variable-speed cruise driving according to the second variable speed.

[0119] Based on the above embodiment, the control module 203 is specifically configured to: if the congestion degree is the first congestion degree and the congestion degree changes from the first congestion degree to the second congestion degree, then determine the third variable speed of the vehicle according to the second congestion degree and the current position of the vehicle; the first congestion degree is less than the second congestion degree; determine the third variable speed position according to the third variable speed and the current speed of the vehicle; control the vehicle to switch from the first variable speed to the third variable speed at the third variable speed position and perform variable-speed cruise driving according to the third variable speed.

[0120] Based on the above embodiment, the control module 203 is specifically used for: if the congestion level is converted to non-congestion, obtaining the speed limit cruising speed of the road where the vehicle is located, and controlling the vehicle to switch from the current speed to the speed limit cruising speed for cruising.

[0121] Based on the above embodiment, the control module 203 is specifically used for: if there is a second vehicle within a preset distance in front of the lane where the vehicle is located, obtaining the average speed of the second vehicle, and controlling the vehicle to switch from the current speed to the average speed for cruising.

[0122] It should be understood that the device corresponds to the above-mentioned vehicle cruise speed control method embodiment and can execute the various steps involved in the above-mentioned method embodiment. The specific functions of the device can be found in the above description. To avoid repetition, the detailed description is appropriately omitted here. The device includes at least one software function module that can be stored in a memory in the form of software or firmware or fixed in the operating system (OS) of the device.

[0123] An embodiment of the present application provides a vehicle-mounted electronic control unit, which includes a controller, and the controller is used to execute the method steps corresponding to the above-mentioned vehicle cruise speed control method embodiment.

[0124] An embodiment of the present application provides a vehicle, the vehicle includes a controller, and the controller is used to execute the method steps corresponding to the above-mentioned vehicle cruise speed control method embodiment.

[0125] Figure 3 A schematic diagram of the structure of a controller provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the controller includes a processor 301 (processor), a memory 302 (memory) and a bus 303; wherein the processor 301 and the memory 302 communicate with each other through the bus 303. The processor 301 is used to call the program instructions in the memory 302 to execute the methods provided by the above-mentioned method embodiments.

[0126] The processor 301 may be an integrated circuit chip with signal processing capabilities. The aforementioned processor 301 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0127] The memory 302 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc.

[0128] The embodiments of the present application provide a computer program product, including: computer program instructions that, when run by a processor, execute the methods provided in the above-described method embodiments.

[0129] The embodiments of the present application provide a computer-readable storage medium, including: computer program instructions stored on the computer-readable storage medium that, when run by a processor, execute the methods provided in the above-described method embodiments.

[0130] A computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, 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, a magnetic disk, or an optical disk.

[0131] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some communication interfaces. The indirect coupling or communication connection of the devices or units may be in an electrical, mechanical, or other form.

[0132] In addition, the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0133] Furthermore, in each embodiment of the present application, the various functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0134] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle cruise speed control method, characterized in that, The method includes: In the intelligent driving mode, obtaining the current vehicle speed and navigation map information of the vehicle; the navigation map information includes road congestion information and the vehicle position of the vehicle; Determining a first variable speed of the vehicle according to the road congestion information and the vehicle position; Based on the first variable speed and the current vehicle speed, determining a first variable speed position of the vehicle, and controlling the vehicle to perform variable speed cruise driving at the first variable speed position at the first variable speed.

2. The method according to claim 1, wherein The road congestion information includes a congestion starting point and a congestion degree; the determining the first variable speed of the vehicle according to the road congestion information and the vehicle position includes: If the congestion degree is a first congestion degree and the distance between the vehicle position and the congestion starting point is less than a preset distance threshold, obtaining the vehicle speed of a first vehicle driving in the same direction as the vehicle and within a preset range from the vehicle, and determining the first variable speed of the vehicle according to the vehicle speed of the first vehicle and the current vehicle speed.

3. The method according to claim 2, wherein During the process of controlling the vehicle to perform variable speed cruise driving at the first variable speed position at the first variable speed, the method further includes: If the congestion degree is a second congestion degree and the congestion degree changes from the second congestion degree to the first congestion degree, determining a second variable speed of the vehicle according to the first congestion degree and the current position of the vehicle; the second congestion degree is greater than the first congestion degree; Based on the second variable speed and the current vehicle speed of the vehicle, determining a second variable speed position; Controlling the vehicle to switch from the first variable speed to the second variable speed at the second variable speed position and perform variable speed cruise driving at the second variable speed.

4. The method according to claim 2, wherein During the process of controlling the vehicle to perform variable speed cruise driving at the first variable speed position at the first variable speed, the method further includes: If the congestion degree is a first congestion degree and the congestion degree changes from the first congestion degree to the second congestion degree, determining a third variable speed of the vehicle according to the second congestion degree and the current position of the vehicle; the first congestion degree is less than the second congestion degree; Determining a third variable speed position according to the third variable speed and the current vehicle speed of the vehicle; Controlling the vehicle to switch from the first variable speed to the third variable speed at the third variable speed position and perform variable speed cruise driving at the third variable speed.

5. The method according to claim 2, wherein During the process of controlling the vehicle to perform variable speed cruise driving at the first variable speed position at the first variable speed, the method further includes: If the congestion degree changes to non-congested, obtaining the speed limit cruise vehicle speed of the road where the vehicle is located, and controlling the vehicle to switch from the current vehicle speed to the speed limit cruise vehicle speed for cruise driving.

6. The method according to any one of claims 1-5, characterized in that, During the process of controlling the vehicle to perform variable speed driving at the first variable speed position at the first variable speed, the method further includes: If there is a second vehicle within a preset distance in front of the lane where the vehicle is located, obtaining the average vehicle speed of the second vehicle, and controlling the vehicle to switch from the current vehicle speed to the average vehicle speed for cruise driving.

7. A vehicle cruise vehicle speed control device, characterized in that, The device includes: An acquisition module, configured to acquire the current vehicle speed and navigation map information of the vehicle in an intelligent driving mode; the navigation map information includes road congestion information and the vehicle position of the vehicle; A determination module, configured to determine a first variable speed of the vehicle according to the road congestion information and the vehicle position; A control module, configured to determine a first variable speed position of the vehicle based on the first variable speed and the current vehicle speed, and control the vehicle to perform variable speed cruise driving at the first variable speed position at the first variable speed.

8. A controller, characterized in that, Comprising: A processor and a memory, the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the method according to any one of claims 1 to 6 is executed.

9. A computer-readable storage medium, characterized in that, Computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are run by a processor, the method according to any one of claims 1 to 6 is executed.

10. A computer program product, characterized in that, Comprising: Computer program instructions, and when the computer program instructions are run by a processor, the method according to any one of claims 1 to 6 is executed.

11. An in-vehicle electronic control unit, characterized in that, The vehicle-mounted electronic control unit includes a controller, and the controller is configured to execute the method according to any one of claims 1-6.

12. A vehicle, characterized in that, The vehicle includes a controller, and the controller is configured to execute the method according to any one of claims 1-6.

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