Self-adaptive cruise method and system based on traffic signal lamp state

Abstract

The invention provides a method and a system for adaptive cruise based on a traffic light state. The method comprises the following steps: receiving an intersection passing speed suggested by a green wave vehicle speed guidance (GLOSA) function of a vehicle at least based on the state of a signal lamp in front of the vehicle; receiving a following speed calculated by an adaptive cruise control (ACC) function of the vehicle based on the preceding vehicle condition; and determining an adaptive cruise action to be taken by the vehicle based at least in part on a fusion of the received vehicle following speed and the intersection traffic speed. The adaptive cruise action includes adjusting a speed of the vehicle without incessant use of the ACC function.

Description

Technical Field

[0001] The present invention relates to Adaptive Cruise Control (ACC) technology, and more particularly, to a method and system for adaptive cruise based on traffic signal states. Background Art

[0002] With the popularization of the ACC function in the market, when the vehicle owner activates the ACC function, there may be a situation where the vehicle owner runs a red light without paying attention to the state of the traffic signal ahead (for example, in the scenario of urban roads with heavy traffic).

[0003] In addition, when the ACC function is turned on, even if the vehicle owner notices the red light ahead and brakes to stop, if the vehicle owner still wants to use the ACC function subsequently, the vehicle owner needs to activate the ACC function manually again (for example, by pressing a function key, etc.), which is also rather cumbersome.

[0004] Therefore, there is a need for a technology that enables a vehicle to cruise autonomously based on the state of the traffic signal ahead when the ACC function is activated. Summary of the Invention

[0005] The Summary of the Invention is provided to introduce in a simplified form some concepts that will be further described in the following Detailed Description. The Summary of the Invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to help determine the scope of the claimed subject matter.

[0006] According to an embodiment of the present invention, there is provided a method for adaptive cruise based on traffic signal states, including: receiving an intersection passing speed recommended by a Green Wave Speed Guidance (GLOSA) function of a vehicle based at least on the state of a traffic signal ahead of the vehicle; receiving a following speed calculated by an Adaptive Cruise Control (ACC) function of the vehicle based on the situation of a vehicle ahead; and determining an adaptive cruise action to be taken by the vehicle at least partially based on a fusion of the received following speed and the intersection passing speed.

[0007] According to another embodiment of the present invention, there is provided a method for adaptive cruise based on traffic signal states, including: an Adaptive Cruise Control (ACC) function of a vehicle calculates a following speed based on the situation of a vehicle ahead of the vehicle; when there is a traffic signal ahead of the vehicle, a Green Wave Speed Guidance (GLOSA) function of the vehicle recommends an intersection passing speed based at least on the state of the traffic signal; and determining an adaptive cruise action to be taken by the vehicle at least partially based on a fusion of the calculated following speed and the recommended intersection passing speed.

[0008] According to another embodiment of the present invention, a system for adaptive cruise control based on traffic light status is provided, comprising: an adaptive cruise control ACC module configured to calculate a following speed based on the situation of a preceding vehicle; a green wave speed guidance GLOSA module configured to recommend an intersection speed based at least on the status of a traffic light in front of the vehicle; and a fusion module configured to determine an adaptive cruise action to be taken by the vehicle based at least in part on a fusion of the calculated following speed and the recommended intersection speed.

[0009] These and other features and advantages will become apparent from reading the following detailed description and referring to the associated drawings.It is to be understood that both the foregoing general description and the following detailed description are illustrative only and are not restrictive of the aspects of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order that the manner in which the above-mentioned features of the present invention are understood in detail, a more particular description of the contents briefly summarized above may be given with reference to various embodiments, some aspects of which are illustrated in the accompanying drawings. It should be noted, however, that the accompanying drawings illustrate only certain typical aspects of the invention and are not to be considered limiting of its scope, as the description may admit to other equally effective aspects.

[0011] Figure 1 FIG2 shows an architecture diagram of a system for adaptive cruising based on traffic light status according to an embodiment of the present invention;

[0012] Figure 2 FIG2 shows a block diagram of a system 200 for adaptive cruising based on traffic light status according to an embodiment of the present invention;

[0013] Figure 3 A flowchart of a method 300 for adaptive cruising based on traffic light status according to an embodiment of the present invention is shown;

[0014] Figure 4 A flowchart showing another method 400 for adaptive cruising based on traffic light status according to an embodiment of the present invention is shown; and

[0015] Figure 5 A block diagram of an exemplary computing device according to one embodiment of the present invention is shown. DETAILED DESCRIPTION

[0016] The present invention will be described in detail below with reference to the accompanying drawings, and the features of the present invention will be further apparent in the following specific description.

[0017] The following detailed description refers to the accompanying drawings that illustrate exemplary embodiments of the present invention. However, the scope of the present invention is not limited to these embodiments, but is defined by the appended claims. Therefore, embodiments other than those shown in the drawings, such as modifications of the illustrated embodiments, are still encompassed by the present invention.

[0018] References in this specification to "one embodiment," "an embodiment," "an example embodiment," etc., mean that the embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes that particular feature, structure, or characteristic. Furthermore, these phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it should be understood that it is within the knowledge of those skilled in the relevant art that the particular feature, structure, or characteristic can be implemented in conjunction with other embodiments, whether or not explicitly described.

[0019] For ease of explanation, this document only describes in detail an embodiment in which the technical solution of the present invention is applied to a "vehicle." However, those skilled in the art will fully understand that the technical solution of the present invention can be applied to any mode of transportation where vehicles may meet, such as trains, subways, and ships. Unless otherwise specified, the term "A or B" used in this specification refers to "A and B" and "A or B," and does not mean that A and B are exclusive.

[0020] Terminology Introduction:

[0021] Advanced Driving Assistance System (ADAS): It collects data about the vehicle's surrounding environment through on-board sensors, and then calculates this information. Based on the calculation results, it provides the driver with corresponding reminders to improve driving safety.

[0022] Adaptive Cruise Control (ACC): It is a function of ADAS. ACC controls the speed and distance of the main vehicle by automatically adjusting the throttle opening and brake pressure based on the relative distance and speed between the main vehicle and the vehicle in front, so that the main vehicle and the vehicle in front maintain a safe distance between the vehicle and the vehicle in front.

[0023] Vehicle-to-Everything (V2X): It is a key technology for intelligent transportation systems. V2X mainly includes Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I), Vehicle-to-Network (V2N), and Vehicle-to-Pedestrian (V2P). Thus, V2X technology enables vehicles to communicate with each other and with base stations, thereby obtaining a series of information such as real-time traffic conditions, road information, and pedestrian information.

[0024] Road Side Unit (RSU): It is a unit installed on the roadside. Its main function is to collect information such as the current road conditions and traffic conditions, and it can use technologies such as DSRC (Dedicated Short Range Communication) to communicate with vehicles.

[0025] Signal Phase and Timing Message (SPAT): It contains the current status information of one or more intersection traffic lights.

[0026] Map Message (MAP): It is a local map message sent by the Road Side Unit (RSU), including intersection information, road section information, lane information, and the connection relationship between roads in the local area.

[0027] Green Light Optimal Speed Advisory (GLOSA): As an intelligent transportation application function based on vehicle-road cooperation technology, it means that before a vehicle enters an intersection, according to the real-time traffic light phase status information (for example, based on SPAT and MAP information received from the RSU using V2X technology), vehicle status information, and auxiliary information (such as road speed limits, traffic flow, queues, etc.), through certain optimization metrics, calculate the optimal guiding vehicle speed to prompt the driver, thereby helping the vehicle pass through the intersection quickly, economically, and comfortably.

[0028] Figure 1 The architecture diagram of a system for adaptive cruise based on traffic light status according to an embodiment of the present invention is shown.

[0029] Generally speaking, this system integrates the following-car speed calculated by the ADAS ACC function and the intersection passing speed recommended by the GLOSA function to take adaptive cruise actions without deactivating the ACC function.

[0030] See Figure 1 , the V2X system is configured to perform V2X communication with external sources (e.g., RSU, other vehicles, etc.) to receive V2X messages, such as SPAT messages and MAP messages. The messages received via the V2X system can be transmitted to the GLOSA application / function, and the GLOSA function can recommend the intersection passing speed according to the SPAT and MAP information received from the RSU via the V2X system, and according to the distance to the stop line, vehicle position, signal light phase, remaining time of the signal light, etc.

[0031] In addition, the ACC function can calculate the following vehicle speed according to the distance to the vehicle ahead, the speed of the vehicle ahead, etc. These parameters can be obtained through in-vehicle sensors. Those skilled in the art will know that in-vehicle sensors can include, for example, cameras, radars, lasers, and ultrasonic waves, etc. These sensors can detect light, heat, pressure, or other variables for monitoring the vehicle state, and are usually located on the front and rear bumpers, side mirrors, inside the steering column, or on the windshield of the vehicle. The way in which the in-vehicle sensors obtain sensor information is not within the protection scope of the present invention.

[0032] By fusing the following vehicle speed of ACC, the intersection passing speed recommended by GLOSA, whether there is a vehicle to follow ahead of the vehicle, and whether the state of the traffic signal ahead can ensure that the vehicle can pass through the green light smoothly, the vehicle can autonomously take a cruise action without deactivating the ACC function and without human intervention.

[0033] Specifically, see Figure 1, which includes a V2X system 101 and an ADAS ACC architecture 102. Traffic light information 103 from the RSU is transmitted to the V2X system 101 and passed to the GLOSA application 106 via the V2X physical layer 104 and V2X message layer 105 within the V2X system 101. The GLOSA application 106 transmits the recommended speed based on the traffic light information 103 to the vehicle control unit 112 within the ADAS ACC architecture 102. The V2X message layer 105 can transmit information such as the RSU traffic light information and the distance to the stop line to the environment perception system 108 within the ADAS ACC architecture 102. The environment perception system 108 can perform front-end fusion 109 of the RSU traffic light information and the distance to the stop line information from the V2X message layer 105 with information related to the preceding vehicle's movement from the radar / camera 107. The fused result can be provided to the planning decision unit 111. The planning decision unit 111 combines the information provided by the positioning navigation unit 110 and the information provided by the path planning unit 114 to provide the planning result to the vehicle control unit 112. The vehicle control unit 112 performs back-end fusion 113 on the recommended passing speed from the GLOSA application 106 and the planning result provided by the planning decision unit 111 to obtain an automatic navigation action.

[0034] Figure 2 FIG. 2 is a block diagram of a system 200 for adaptive cruising based on traffic light status according to an embodiment of the present invention.

[0035] System 200 may include an ACC module 201, a GLOSA module 202, and a fusion module 203. Those skilled in the art will readily appreciate that the above module divisions are provided for clarity purposes only. The functionality of one or more of these modules may be combined into a single module or split into multiple modules. Furthermore, one or more of these modules may be implemented using software, hardware, or a combination thereof. Furthermore, data flow between these modules may be performed using methods known in the art and is not covered by this disclosure.

[0036] According to one embodiment of the present invention, the ACC module 201 may be configured to calculate a following speed based on the presence of a preceding vehicle. Specifically, the ACC module 201 may determine whether there is a preceding vehicle that requires following. The ACC module 201 may be further configured to calculate the following speed based on at least one or more of the following: the presence of a preceding vehicle, the distance to the preceding vehicle, the speed of the preceding vehicle, the vehicle's current speed, and a following speed threshold set by the ACC function. Generally speaking, the calculated following speed allows the vehicle to pass while maintaining a safe distance from the preceding vehicle and without exceeding the set following speed threshold.

[0037] According to one embodiment of the present invention, the GLOSA module 202 may be configured to recommend an intersection speed based at least on the status of the preceding signal light. Specifically, the GLOSA module 202 may determine whether the preceding signal light status allows the vehicle to pass through the green light smoothly, and recommend an intersection speed based at least on one or more of the following: SPAT and MAP information received from the RSU via the V2X system, the distance to the preceding stop line, the vehicle's position, the preceding signal light phase, and the remaining time on the preceding signal light. Generally speaking, the intersection speed allows the vehicle to pass through the preceding signal light smoothly or stop at the stop line (i.e., the preceding signal light status does not allow the vehicle to pass through the intersection smoothly).

[0038] Preferably, the RSU can broadcast SPAT and MAP information to the vehicle at a certain frequency (eg, 1 Hz).

[0039] According to one embodiment of the present invention, the fusion module 203 may be configured to determine the adaptive cruise action to be taken by the vehicle based on the fusion of the following speed calculated by the ACC module 201 and the intersection speed recommended by the GLOSA module 202 .

[0040] Specifically, the fusion module 203 can be configured to adjust the vehicle's speed without deactivating the ACC function based at least in part on whether there is a vehicle ahead that requires following, as determined by the ACC module 201, the following speed calculated by the ACC module 201, whether the traffic light ahead, as determined by the GLOSA module 202, is sufficient for the vehicle to pass through the green light, and the intersection speed recommended by the GLOSA module 202. Thus, in various embodiments of the present invention, even if the adjusted vehicle speed exceeds the upper limit of the following speed set for the ACC function or the adjusted vehicle speed is less than the lower limit of the following speed set for the ACC function, the ACC function will not be deactivated.

[0041] According to one embodiment of the present invention, the fusion module 203 may be further configured to, after the vehicle takes adaptive cruise control action, readjust the vehicle speed to conform to the real-time following speed calculated by the ACC function based on preset rules. The preset rules may include, for example, vehicle restart and vehicle passing a traffic light ahead.

[0042] For example, if the ACC module 201 determines that there is no vehicle ahead that requires following, the fusion module 203 may adjust the vehicle's speed based on the intersection speed recommended by the GLOSA module 202. After the vehicle passes the intersection, the ACC function may automatically resume, i.e., the vehicle's speed may be adjusted again based on the real-time following speed calculated by the ACC module 201.

[0043] For example, if the ACC module 201 determines that there is a vehicle in front that needs to be followed, and the GLOSA module 202 determines that the traffic signal status ahead cannot ensure that the vehicle can pass through the green light smoothly, the fusion module 203 can adjust the speed of the vehicle so that the vehicle stops before the stop line. Further, based on the traffic signal status transmitted by the GLOSA module 202, when the traffic signal turns green, the fusion module 203 can automatically control the vehicle to restart and the ACC function can be automatically restored without manually enabling the ACC function again.

[0044] For example, if the ACC module 201 determines that there is a vehicle in front that needs to be followed, and the GLOSA module 202 determines that the traffic signal status ahead can ensure that the vehicle can pass through the green light smoothly, the fusion module 203 can adjust the speed of the vehicle based on the intersection passing speed recommended by the GLOSA module 202. Further, if the intersection passing speed recommended by the GLOSA module 202 is greater than the following speed calculated by the ACC module 201, the fusion module 203 can appropriately accelerate while ensuring a safe distance from the vehicle in front. After the vehicle passes through the intersection, the ACC function can be automatically restored, that is, the vehicle speed can be adjusted again based on the real-time following speed calculated by the ACC module 201.

[0045] Figure 3 FIG. 300 is a flowchart of a method 300 for adaptive cruise based on traffic signal status according to an embodiment of the present invention. The method 300 can be executed by the fusion module 203 in the system 200. And the method 300 is executed when the ACC function and the GLOSA function of the vehicle are triggered. Among them, triggering the ACC function of the vehicle includes setting a following speed threshold of the vehicle (including a following speed upper limit and / or a following speed lower limit).

[0046] At 305, the intersection passing speed recommended by the GLOSA function based at least on the traffic signal status in front of the vehicle is received. Specifically, the GLOSA function can determine whether the traffic signal status ahead can ensure that the vehicle can pass through the green light smoothly based on at least one or more of the SPAT, MAP information received from the RSU via the V2X system, the distance to the front stop line, the position of the vehicle, the front traffic signal phase, and the remaining time of the front traffic signal, and recommend the intersection passing speed.

[0047] At 310, the following speed calculated by the ACC function based on the situation of the vehicle in front is received. According to an embodiment of the present invention, the ACC function further includes calculating the following speed based on at least one or more of whether there is a vehicle in front, the distance to the vehicle in front, the speed of the vehicle in front, the current speed of the vehicle, and the following vehicle speed threshold set by the ACC function.

[0048] At 315 , an adaptive cruise control action to be taken by the vehicle is determined based at least in part on the fusion of the received following speed and the recommended intersection speed. According to one embodiment of the present invention, the adaptive cruise control action taken by the vehicle includes adjusting the vehicle speed without deactivating the ACC function.

[0049] At 320 , after the vehicle takes the adaptive cruise control action, the vehicle speed is readjusted to match the real-time following speed calculated by the ACC function based on preset rules. The preset rules may include, for example, passing a traffic light ahead or restarting the vehicle.

[0050] Figure 4 A flowchart illustrates another method 400 for adaptive cruise control based on traffic light status according to one embodiment of the present invention. This method 400 can be executed by system 200. Furthermore, this method 400 is executed when the vehicle's ACC and GLOSA functions are triggered. Triggering the vehicle's ACC function includes setting a vehicle-following speed threshold (including an upper and / or lower following speed limit).

[0051] At 405 , the ACC function calculates a following speed based on the vehicle ahead of the vehicle. According to one embodiment of the present invention, the ACC function further calculates the following speed based on at least one or more of the presence of a preceding vehicle, the distance to the preceding vehicle, the speed of the preceding vehicle, the current speed of the vehicle, and a following speed threshold set by the ACC function.

[0052] At 410, if there is a traffic light ahead of the vehicle, the GLOSA function may recommend an intersection speed based at least on the status of the traffic light. Specifically, the GLOSA function may determine whether the status of the traffic light ahead allows the vehicle to pass through the green light smoothly, and recommend an intersection speed based at least on one or more of SPAT and MAP information received from the RSU via the V2X system, the distance to the stop line ahead, the vehicle's position, the phase of the traffic light ahead, and the remaining time on the traffic light ahead.

[0053] At 415 , an adaptive cruise control action to be taken by the vehicle is determined based at least in part on the fusion of the calculated following speed and the recommended intersection speed. According to one embodiment of the present invention, the adaptive cruise control action taken by the vehicle includes adjusting the vehicle's speed without deactivating the ACC function.

[0054] At 420 , after the vehicle takes the adaptive cruise action, the vehicle speed is readjusted based on a preset rule to comply with the real-time following vehicle speed calculated by the ACC function.

[0055] Thus, by combining the ACC function with the GLOSA function, the vehicle can take appropriate adaptive cruise control actions based on the status of the traffic light ahead without deactivating the ACC function.

[0056] Figure 5 A block diagram of an exemplary computing device according to one embodiment of the present invention is shown, which is one example of a hardware device applicable to various aspects of the present invention.

[0057] refer to Figure 5 A computing device 500 will now be described, which is an example of a hardware device applicable to various aspects of the present invention. Computing device 500 can be any machine configured to perform processing and / or computing, and can be, but is not limited to, a workstation, server, desktop computer, laptop computer, tablet computer, personal digital assistant, smartphone, in-vehicle computer, or any combination thereof. The various methods / apparatus / server / client devices described above can be implemented in whole or in part by computing device 500 or similar devices or systems.

[0058] The computing device 500 may include components that can be connected or communicate via one or more interfaces and a bus 502. For example, the computing device 500 may include a bus 502, one or more processors 504, one or more input devices 506, and one or more output devices 508. The one or more processors 504 can be any type of processor and may include, but are not limited to, one or more general-purpose processors and / or one or more dedicated processors (e.g., specialized processing chips). The input device 506 can be any type of device capable of inputting information into the computing device and may include, but are not limited to, a mouse, a keyboard, a touch screen, a microphone, and / or a remote controller. The output device 508 can be any type of device capable of presenting information and may include, but are not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The computing device 500 may also include a non-transitory storage device 510 or be connected to the non-transitory storage device. The non-transitory storage device can be any storage device that is non-transitory and capable of implementing data storage, and the non-transitory storage device may include, but are not limited to, a disk drive, an optical storage device, a solid-state memory, a floppy disk, a flexible disk, a hard disk, a magnetic tape, or any other magnetic medium, an optical disk, or any other optical medium, a ROM (read-only memory), a RAM (random access memory), a cache memory, and / or any storage chip or cartridge, and / or any other medium from which a computer can read data, instructions, and / or code. The non-transitory storage device 510 can be separated from the interface. The non-transitory storage device 510 may have data / instructions / code for implementing the above methods and steps. The computing device 500 may also include a communication device 512. The communication device 512 can be any type of device or system capable of enabling communication with internal devices and / or communication with a network and may include, but are not limited to, a modem, a network card, an infrared communication device, a wireless communication device, and / or a chipset, such as a Bluetooth device, an IEEE 1302.11 device, a WiFi device, a WiMax device, a cellular communication device, and / or similar devices.

[0059] When the computing device 500 is used as an in-vehicle device, it can also be connected to external devices (e.g., a GPS receiver, sensors for sensing different environmental data (such as an acceleration sensor, a wheel speed sensor, a gyroscope, etc.)). In this way, the computing device 500 can receive, for example, positioning data and sensor data indicating the form condition of the vehicle. When the computing device 500 is used as an in-vehicle device, it can also be connected to other devices for controlling the driving and operation of the vehicle (e.g., an engine system, a wiper, an anti-lock braking system, etc.).

[0060] In addition, the non-transitory storage device 510 may have map information and software components, so that the processor 504 can implement route guidance processing. In addition, the output device 506 may include a display for displaying maps, displaying positioning markers of the vehicle, and displaying images indicating the driving status of the vehicle. The output device 506 may also include a speaker or a headphone jack for audio guidance.

[0061] The bus 502 may include, but is not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA (EISA) bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus. In particular, for in-vehicle devices, the bus 502 may also include a Controller Area Network (CAN) bus or other architectures designed for automotive applications.

[0062] The computing device 400 may further include a working memory 514, which may be any type of working memory capable of storing instructions and / or data beneficial to the operation of the processor 504 and may include, but is not limited to, random access memory and / or read-only storage devices.

[0063] The software components may be located in the working memory 514, and these software components include, but are not limited to, an operating system 516, one or more application programs 518, drivers, and / or other data and code. The instructions for implementing the above methods and steps may be included in the one or more application programs 518, and the modules / units / components of the foregoing various devices / servers / client devices may be implemented by the processor 504 reading and executing the instructions of the one or more application programs 518.

[0064] It should also be recognized that changes can be made according to specific requirements. For example, custom hardware may also be used, and / or specific components may be implemented in hardware, software, firmware, middleware, microcode, a hardware description language, or any combination thereof. In addition, connections to other computing devices, such as network input / output devices, etc., may be adopted. For example, part or all of the disclosed methods and devices may be implemented by programmable logic circuits (such as including Field Programmable Gate Arrays (FPGAs) and / or Programmable Logic Arrays (PLAs)) with programming hardware having an assembly language or a hardware programming language (such as VERILOG, VHDL, C++) using the logics and algorithms according to the present invention.

[0065] Although various aspects of the present invention have been described so far with reference to the accompanying drawings, the above-described methods, systems, and devices are merely examples, and the scope of the present invention is not limited to these aspects, but is defined solely by the appended claims and their equivalents. Various components may be omitted or replaced by equivalent components. In addition, the steps described may be performed in an order different from that described in the present invention. Furthermore, the various components may be combined in various ways. It is also important to note that as technology develops, many of the components described may be replaced by equivalent components that become available later.

Claims

1. A method for adaptive cruise based on traffic signal states, comprising: Receiving an intersection passing speed recommended by a Green Wave Speed Guidance (GLOSA) function of a vehicle based at least on the states of traffic signals in front of the vehicle; Receiving a following speed calculated by an Adaptive Cruise Control (ACC) function of the vehicle based on the situation of the vehicle in front; And Determining an adaptive cruise action to be taken by the vehicle based at least in part on a fusion of the received following speed and the intersection passing speed.

2. The method according to claim 1, characterized in that, The adaptive cruise action includes adjusting the speed of the vehicle without deactivating the ACC function.

3. The method according to claim 2, further comprising: After the vehicle takes the adaptive cruise action, readjusting the speed of the vehicle based on a preset rule to conform to the real-time following vehicle speed calculated by the ACC function.

4. A method for adaptive cruise based on traffic signal states, comprising: An Adaptive Cruise Control (ACC) function of a vehicle calculates a following speed based on the situation of the vehicle in front of the vehicle; When there are traffic signals in front of the vehicle, a Green Wave Speed Guidance (GLOSA) function of the vehicle recommends an intersection passing speed based at least on the states of the traffic signals; and Determining an adaptive cruise action to be taken by the vehicle based at least in part on a fusion of the calculated following speed and the recommended intersection passing speed.

5. The method according to claim 4, wherein The adaptive cruise action includes adjusting the speed of the vehicle without deactivating the ACC function.

6. The method according to claim 5, further comprising: After the vehicle takes the adaptive cruise action, readjusting the speed of the vehicle based on a preset rule to conform to the real-time following vehicle speed calculated by the ACC function.

7. The method according to any one of claims 3 or 6, characterized in that, The preset rule includes: restarting through the traffic signal or the vehicle.

8. A system for adaptive cruise based on traffic signal states, comprising: An Adaptive Cruise Control (ACC) module configured to calculate a following speed based on the situation of the vehicle in front of the vehicle; A Green Wave Speed Guidance (GLOSA) module configured to recommend an intersection passing speed based at least on the states of traffic signals when there are traffic signals in front of the vehicle; A fusion module configured to determine an adaptive cruise action to be taken by the vehicle based at least in part on a fusion of the calculated following speed and the recommended intersection passing speed.

9. The system according to claim 8, wherein The adaptive cruise action includes adjusting the speed of the vehicle without deactivating the ACC function.

10. The system according to claim 9, characterized in that, The fusion module is further configured to: after the vehicle takes the adaptive cruise action, readjust the speed of the vehicle based on a preset rule to conform to the real-time following vehicle speed calculated by the ACC function.

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