Car following control method and system and medium

Abstract

The invention relates to the technical field of automobile control, in particular to a car following control method and system and a medium, and the car following control method comprises the steps that a target car which can be followed by a current car is recognized according to the real-time car state, the surrounding environment state and the traffic participant state; presenting the following state of each target vehicle based on the information of the target vehicle which can be followed by the current vehicle; configuring a following mode responding to the user instruction; and when the following mode of the user instruction is responded, the vehicle is planned and controlled to follow the target vehicle to realize the driving behavior, and the driving behavior at least comprises the following target trajectory tracking and the vehicle trajectory planning. The user can be assisted in controlling the vehicle to follow the dynamic target vehicle designated by the user to dynamically drive, and the experience of the user in the using process of the intelligent driving assistance function is improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile control technology, and in particular to a vehicle following control method, system and medium. Background Art

[0002] Existing lane-keeping features only support line-following driving, not customizable target selection. This prevents users from intelligently following a designated dynamic vehicle, resulting in rigid line-following and a lack of driving experience. This is particularly true for group self-driving trips (for groups of friends and family) and specific convoys (such as wedding cars and honor guards). Existing technologies lack methods to alleviate driver fatigue, leading to a disconnect between team members. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a vehicle following control method, system and medium to at least solve one technical problem in the above-mentioned background technology.

[0004] To achieve the above objectives, the present invention adopts the following technical solutions.

[0005] A first aspect of the present invention provides a vehicle following control method, comprising: Identify target vehicles that the current vehicle can follow based on the real-time vehicle status, surrounding environment status, and traffic participant status; present the following status of each target vehicle based on the information of the target vehicles that the current vehicle can follow; Configure the follow mode that responds to user commands; When responding to the following mode instructed by the user, the self-vehicle is planned and controlled to follow the target vehicle to implement the driving behavior, and the driving behavior at least includes tracking the target trajectory and planning the self-vehicle trajectory.

[0006] As an optional implementation, identifying a target vehicle that the current vehicle can follow based on the real-time vehicle state, surrounding environment state, and traffic participant state includes: By sensing the lane lines of the ego vehicle's lane and the vehicles within the set longitudinal and lateral threshold distances in front of the ego vehicle, the closest vehicle within the preset distance in the ego vehicle's lane, the adjacent left lane, and / or the adjacent right lane is selected as the target vehicle that the ego vehicle can currently follow.

[0007] As an optional implementation, the step of identifying a target vehicle that the current ego vehicle can follow based on the real-time status of the ego vehicle, the surrounding environment, and traffic participants further includes: Obtaining appearance information of the nearest vehicle within a preset distance within the lane in which the vehicle is located, the adjacent left lane, and the adjacent right lane, wherein the appearance information includes at least shape, size, brand tail logo, and taillight shape; The appearance information is compared with digital models of vehicles of existing brands in the form of multiple frames of images to obtain vehicles of different brands, and the vehicles of different brands are used as target vehicles that the self-vehicle can follow.

[0008] As an optional implementation manner, presenting the following status of each target vehicle based on the information of the target vehicles that the current ego vehicle can follow includes: On the vehicle instrument display screen, each target vehicle is assigned a corresponding color, serial number and following status.

[0009] As an optional implementation, the configuration of the follow mode in response to a user instruction includes: Corresponding user touch points and / or voice support user instructions are provided at the vehicle instrument screen; Entering the corresponding follow mode by responding to the user's touch and / or voice.

[0010] As an optional embodiment, when responding to the following mode instructed by the user, planning and controlling the ego vehicle to follow the target vehicle to achieve the driving behavior includes:

[0011] When the driving behavior is to follow the target trajectory, in the following state, the trajectory of the target vehicle to be followed is perceived and predicted in real time. When the target vehicle's turn signal is on and its lateral displacement deviation is greater than a preset distance for consecutive preset frames, it is judged that the target vehicle is about to change lanes. Otherwise, the target vehicle is followed to maintain lane cruising.

[0012] As an optional embodiment, the process of planning and controlling the ego vehicle to follow the target vehicle to achieve the driving behavior after responding to the following mode instructed by the user may further include: When the driving behavior is ego vehicle trajectory planning, in the following state, a set of candidate trajectories is generated based on the trajectory of the following target vehicle and the surrounding traffic conditions, which is a time-space joint of quintic polynomials. The trajectory costs and scores are evaluated based on safety, comfort, efficiency and other benchmarks. Based on the scores, the optimal real-time planning trajectory of the ego vehicle is selected, and the ego vehicle behavior is controlled, including cruising, changing lanes and crossing intersections.

[0013] As an optional implementation method, when selecting the optimal real-time planning trajectory of the self-vehicle and controlling the self-vehicle behavior to cruise following the vehicle, based on the trajectory of the target vehicle to be followed, the traffic participants around the self-vehicle and the road characteristics, the self-vehicle is controlled to cruise following the front vehicle in the lane and automatically adjust the speed. If the front vehicle speeds up and exceeds the target cruising speed, the self-vehicle automatically adjusts the target cruising speed and adds a preset speed value to the speed of the front vehicle.

[0014] As an optional implementation method, when selecting the optimal real-time planned trajectory of the ego vehicle and controlling the ego vehicle's behavior to change lanes following a vehicle, if the target vehicle being followed changes lanes to an adjacent lane, the ego vehicle will automatically turn on its lights, initiate, and change lanes to the adjacent lane after the target vehicle being followed completely enters the adjacent lane.

[0015] As an optional implementation method, when selecting the optimal real-time planned vehicle trajectory and controlling the vehicle's behavior to follow the vehicle through the intersection, based on the traffic light status of the intersection, it automatically follows the vehicle in front to complete the intersection, including going straight, turning right, turning left and U-turns, and automatically turns on the turn signal according to the corresponding turning behavior.

[0016] A second aspect of the present invention provides a vehicle following control system, comprising: A target recognition system is used to identify target vehicles that the ego vehicle can currently follow based on the real-time ego vehicle state, the surrounding environment state, and the state of traffic participants; An intelligent interactive system, at least for presenting the following status of each target vehicle based on information about the target vehicles that the current vehicle can follow; and presenting the following status of the vehicle based on information about the target vehicles that the current vehicle can follow, and configuring a following mode that responds to user instructions; The following planning system is at least used to plan and control the vehicle to follow the target vehicle to achieve driving behavior after responding to the following mode instructed by the user. The driving behavior at least includes lane cruising, following the vehicle to change lanes, and following the vehicle through the intersection.

[0017] As an optional implementation, the following planning system further includes a vehicle control unit, which is at least used to execute the driving behavior, and the execution method at least includes lateral and longitudinal control of the vehicle.

[0018] The third aspect of the present invention provides an electronic device, comprising: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the steps of the method described in the first aspect of the present invention.

[0019] A fourth aspect of the present invention provides a readable storage medium storing a computer program, which is used by a processor to execute the steps of the method described in the first aspect of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flowchart of a follow-up control method according to an embodiment of the present application.

[0022] Figure 2 is a block diagram of a follow-up control system according to an embodiment of the present application.

[0023] Figure 3 is a structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application but not all the embodiments of the present application. Based on the embodiments in the present application, any other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of the present application. In addition, it should be understood that the specific implementation manners described herein are only used to illustrate and explain the present application but not to limit the present application.

[0025] It should be noted that the description order of the following embodiments is not used to limit the preferred order of the embodiments of the present application. In addition, the description of each embodiment in the following embodiments has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0026] As shown in Figure 1 the first aspect of the present application provides a follow-up control method, comprising the following steps.

[0027] Step S100: identifying a target vehicle that can be followed by the ego vehicle according to real-time ego vehicle state, surrounding environment state and traffic participant state.

[0028] Specifically, the present application perceives information of the ego vehicle, main vehicle surrounding traffic participants, environment features (such as road features) and the like by means of front-view camera, lateral camera, rear-view camera, vehicle angle radar, laser radar and the like, and identifies the target vehicle.

[0029] Step S200: presenting follow-up states of each target vehicle based on information of the target vehicle that can be followed by the ego vehicle.

[0030] Specifically, the follow-up states of each target vehicle are the follow-up states of each target vehicle that can be achieved by the ego vehicle, the number of target vehicles is obtained according to actual identification results, and the specific follow-up states can be presented to the user in the form of an interactive interface, reflecting the convenience and interest of the human-computer interaction interface, and being also beneficial to the user to select a follow-up target.

[0031] Step S300: configure a following mode in response to a user instruction.

[0032] Specifically, the user instruction is generated based on the following state of each target vehicle, and the following mode can be an autonomous intelligent following mode set for the vehicle, which can provide an interactive interface for the user to complete dynamic following of the target vehicle by entering the following mode.

[0033] Step S400: when the following mode in response to the user instruction is configured, the ego vehicle is planned and controlled to follow the target vehicle to implement a driving behavior, which at least includes following a target trajectory and planning a trajectory of the ego vehicle.

[0034] Specifically, the following target trajectory indicates that the ego vehicle follows the target vehicle selected by the user instruction to track, and in the tracking process, the trajectory of the target vehicle is controlled by the ego vehicle to realize real-time perception and prediction, so as to ensure the accuracy and safety of following; the trajectory planning of the ego vehicle indicates that the trajectory behavior of the ego vehicle needs to be controlled in the following process, including following cruise, following lane change and following intersection passing and the like.

[0035] Here, in this way, the user can be assisted to control the vehicle to follow the dynamic target vehicle specified by the user to dynamically drive, and through the coordination mode of target trajectory tracking and ego vehicle planning control, following cruise, following lane change and following intersection passing are supported, the intelligent driving and intelligent cockpit linkage are enhanced, and the experience of the user in the use process of the intelligent driving assistance function is improved.

[0036] In an embodiment of the present application, the target vehicle that the ego vehicle can follow is identified according to the real-time ego vehicle state, the surrounding environment state and the traffic participant state, including: The vehicle closest to the ego vehicle in a preset distance in the lane where the ego vehicle is located, the adjacent left lane (if any) and / or the adjacent right lane (if any) is identified as the target vehicle that the ego vehicle can follow by perceiving the lane line of the lane where the ego vehicle is located and the vehicle within the longitudinal threshold distance and the lateral threshold distance in front of the ego vehicle.

[0037] Here, by means of the state of the ego vehicle in the lane and the state of other vehicles in the surrounding environment and the like, the target vehicle that the ego vehicle can follow is identified, and the state of the traffic participant is referred to in real time, so that decisions are made in time for sudden situations such as encountering pedestrians crossing the road, such as delaying or suspending identification, to ensure safe driving of the user and safety of pedestrians. In addition, in this way, the following scenario of the ego vehicle can be quantified, so that the target vehicle followed by the ego vehicle has a good following geographical position when the ego vehicle follows, to ensure the accuracy and safety of subsequent following.

[0038] In an embodiment of the present application, the target vehicle that the ego vehicle can follow is identified according to the real-time ego vehicle, surrounding environment and traffic participant state, and further includes: acquire appearance information of the closest vehicles in a preset distance in the lane where the vehicle is located, the adjacent left lane and the adjacent right lane, the appearance information at least including shape, size, brand logo and taillight shape; compare the appearance information in the form of multiple images with digital models of vehicles of existing brands to obtain different brand vehicles, and take the different brand vehicles as target vehicles that can be followed by the vehicle.

[0039] For the followable target vehicles that can be detected, the specific brand vehicle is detected by comparing the multiple images of the vehicle shape, size, brand logo and taillight shape with digital models of all currently sold brand vehicles.

[0040] In an embodiment of the present application, the information based on the target vehicles that can be followed by the current vehicle presents the following state of each target vehicle, including: In the vehicle instrument display screen, a corresponding color, serial number and following state are configured for each target vehicle.

[0041] For example, in the vehicle instrument display screen, the followable state of the current vehicle is displayed by a specific vehicle model color, and the followable target vehicle is marked with a serial number such as 1, 2, 3, etc. above the followable target vehicle.

[0042] In an embodiment of the present application, the followable mode configured in response to the user instruction includes: A corresponding user touch point and / or voice support user instruction are provided at the vehicle instrument screen; Enter the corresponding followable mode by responding to the user touch point and / or voice.

[0043] Here, the present application supports user touch control selection of followable targets through user touch points, for example, double-click selection of the followed target vehicle in the vehicle instrument display touch screen; and supports user voice selection of followable targets, and the user can select the serial number of the followed target vehicle through voice. In addition, if the vehicle enters the followable state, the current vehicle can be displayed on the taillight screen to be in the intelligent followable mode, so as to inform surrounding traffic participants.

[0044] In an embodiment of the present application, the interactive mode further includes setting a response touch point on the existing automobile hardware, for example, supporting the user to exit the followable mode through a long-press right side button of the steering wheel, voice interaction and click screen exit button and the like.

[0045] In an embodiment of the present application, after the followable mode in response to the user instruction is set, the driving behavior of the vehicle following the target vehicle is planned and controlled, including: When the driving behavior is to follow the target trajectory, in the following state, the trajectory of the target vehicle to be followed is perceived and predicted in real time. When the target vehicle's turn signal is on and its lateral displacement deviation is greater than a preset distance for consecutive preset frames, it is judged that the target vehicle is about to change lanes. Otherwise, the target vehicle is followed to maintain lane cruising.

[0046] Specifically, the ego vehicle will plan its trajectory based on the target vehicle's acceleration, deceleration, lane changing, and intersection passing behaviors, and follow the target vehicle's acceleration, deceleration, lane changing, and intersection passing behaviors.

[0047] For example, in the following vehicle state, it is necessary to perceive and predict the trajectory of the target vehicle in real time. When the turn signal of the target vehicle is on and its lateral displacement deviation is greater than 0.15m for four consecutive frames, it can be judged that the target vehicle is about to change lanes. Otherwise, the target vehicle maintains lane cruising.

[0048] Here, the accuracy and real-time performance of following the target vehicle can be guaranteed and verified in this way.

[0049] In one embodiment of the present invention, the process of planning and controlling the ego vehicle to follow the target vehicle to achieve the driving behavior after responding to the following mode instructed by the user further includes: When the driving behavior is ego vehicle trajectory planning, in the following state, a set of candidate trajectories is generated based on the trajectory of the following target vehicle and the surrounding traffic conditions, which is a time-space joint of quintic polynomials. The trajectory costs and scores are evaluated based on benchmarks such as safety, following, comfort, and efficiency. Based on the scores, the optimal real-time planned ego vehicle trajectory is selected, and ego vehicle behaviors are controlled, including following cruise control, following lane changes, and following intersections.

[0050] The candidate trajectory set is a set of candidate ego vehicle trajectory functions in the ego vehicle following process. The candidate trajectory set is based on the target vehicle trajectory prediction function, and the trajectory scoring cost function is used to solve the optimal solution to obtain the optimal trajectory of the ego vehicle.

[0051] Specifically, the target vehicle trajectory prediction function is expressed as: a t (t) = a t (0)·e -λt +a target ·(1-e -λt ) Formula definition: a t (t): acceleration of the target vehicle at time t; a t (0): initial acceleration of the target vehicle; a target : target acceleration; λ: attenuation coefficient; v t (t): speed of the target vehicle at time t; v t (0): initial speed of the target vehicle; s t (t): the position of the target vehicle at time t; s t (0): initial position of the target vehicle; Specifically, the vehicle trajectory function is expressed as: Longitudinal trajectory: Horizontal trajectory: Boundary constraints: Parameter definition: α k ,β k : coefficients of the quintic polynomial; s0, v0, a0, d0, correspond to the initial longitudinal position, velocity, acceleration, and lateral position of the ego vehicle; τ=τ0+K v (v t (t)-v0): adaptive safety time interval, τ0 is the basic time interval, K v Time-distance speed compensation coefficient (s 2 / m); Δs=max(2.0,0.5v0): minimum safe distance; d target : target lateral position; Specifically, the trajectory scoring cost function is expressed as: Total cost: J = w s J s +w f J f +w c J c +w e J e ; Safety cost: Follow the cost: Comfort Price: Efficiency cost: Parameter definition: σ: standard deviation of safety distance; Weight coefficient: the following four weights are important coefficients of the final total score cost function, safety coefficient > following coefficient > comfort coefficient > efficiency coefficient; w s : safety coefficient weight w f : following coefficient weight w c : comfort coefficient weight w e : efficiency coefficient weight collison: collision flag (1 if the trajectory interferes and collides, otherwise 0); κ: self-vehicle trajectory curvature k t : front vehicle trajectory curvature k a : acceleration matching weight k κ : curvature matching weight v lim : road speed limit ρ: time penalty coefficient Specifically, the optimal trajectory selection is represented as the minimum value of the score cost function: min α,β J Constraint boundary: (safety distance constraint); (jerk constraint); d min ≤ d(t) ≤ d max (lane boundary constraint); Parameter definition: j max : maximum allowed jerk d min : allowed minimum lateral position d max : allowed maximum lateral position

[0052] In an embodiment of the present application, when the optimal real-time planning self-vehicle trajectory is selected and the self-vehicle behavior is controlled to follow the cruise, based on the trajectory of the target vehicle followed, the surrounding traffic participants of the self-vehicle and the road features, the self-vehicle is controlled to follow the front vehicle cruise in the lane and automatically adjust the speed, and if the front vehicle accelerates beyond the target cruise speed, the self-vehicle automatically adjusts the target cruise speed and increases the preset speed value on the front vehicle speed.

[0053] For example, based on the target trajectory followed and the surrounding traffic participants and road features, the ego vehicle is controlled to follow the preceding vehicle in the lane and cruise automatically, and if the preceding vehicle accelerates beyond the target cruise speed, the ego vehicle automatically adjusts the target cruise speed to the preceding vehicle speed value + 5 kph, and rounds up to the nearest five; for example, if the ego vehicle follows the preceding vehicle at a cruise speed of 60 kph, and the preceding vehicle accelerates to 62 kph, the ego vehicle automatically adjusts the target cruise speed to 62 + 5 = 67 kph, and in addition, can round up to 70 kph.

[0054] In this way, the car-following cruise can be dynamically realized, and the stability of the ego vehicle and the target car-following target are ensured.

[0055] In an embodiment of the present application, when the optimal real-time planned ego vehicle trajectory is selected and the ego vehicle behavior is controlled to follow the lane change, if the target vehicle changes lanes to the adjacent lane, after the target vehicle completely enters the adjacent lane, the ego vehicle automatically flashes the lights, initiates and changes lanes to the adjacent lane.

[0056] In this way, the car-following accuracy can be ensured by changing lanes after the target vehicle completely enters the adjacent lane, and more safety space can be obtained for the ego vehicle, avoiding the local traffic flow change caused by the ego vehicle and the target vehicle changing lanes at the same time.

[0057] In an embodiment of the present application, when the optimal real-time planned ego vehicle trajectory is selected and the ego vehicle behavior is controlled to follow the lane change, if the target vehicle changes lanes to the adjacent lane, after the target vehicle completely enters the adjacent lane, the ego vehicle automatically flashes the lights, initiates and changes lanes to the adjacent lane.

[0058] In this way, the car-following accuracy can be ensured by changing lanes after the target vehicle completely enters the adjacent lane, and more safety space can be obtained for the ego vehicle, avoiding the local traffic flow change caused by the ego vehicle and the target vehicle changing lanes at the same time.

[0059] As shown in Figure 2 The second aspect of the present application provides a car-following control system, comprising: a target identification system, configured to identify a target vehicle that can be followed by the ego vehicle based on real-time ego vehicle state, surrounding environment state and traffic participant state; an intelligent interaction system, configured to present the following state of each target vehicle based on the information of the target vehicle that can be followed by the ego vehicle, and present the following state of the ego vehicle based on the information of the target vehicle that can be followed by the ego vehicle, and configure a following mode in response to a user instruction; The following planning system is at least used to plan and control the vehicle to follow the target vehicle to achieve driving behavior after responding to the following mode instructed by the user. The driving behavior at least includes lane cruising, following the vehicle to change lanes, and following the vehicle through the intersection.

[0060] In one embodiment of the present invention, the target recognition system further includes a perception unit, which is at least configured to sense the lane line of the lane in which the ego vehicle is located, and vehicles within a set longitudinal threshold distance and a set lateral threshold distance in front of the ego vehicle, and to identify the vehicle closest to the ego vehicle within a preset distance in the ego vehicle's lane, the adjacent left lane, and / or the adjacent right lane as a target vehicle that the ego vehicle can currently follow.

[0061] In one embodiment of the present invention, the following planning system further includes a vehicle control unit, which is configured to at least execute the driving behavior, and the execution method at least includes lateral and longitudinal control of the vehicle.

[0062] It should be noted that in the present invention, the perception unit can be used as a part of the target recognition system or as a separate module. Similarly, the vehicle control unit can be used as a part of the following planning system or as a separate module. The present invention does not make any special limitations and it still belongs to the content to be protected by the present invention.

[0063] In order to better express the content to be protected by the present invention, an application scenario of the present invention includes the following steps: Step 1: The user enters the public road. Step 2: If the target recognition system determines that the environmental conditions meet the ODD and identifies a followable target, the followable intelligent interaction system will display the current followable target on the vehicle touch screen, and the user can choose to enter the follow mode. Step 3: If the target recognition system determines that there is no followable target, the followable intelligent interaction system will display a non-followable status and the user will not be able to enter follow mode. Step 4: When the intelligent interactive system displays the current surrounding followable targets, the user can select them by touch or click or activate them by voice control to enter follow mode. Step 5: After entering the following mode, if the target vehicle is in an adjacent lane, the following planning system controls the ego vehicle to change lanes to the target vehicle's lane and control the ego vehicle to cruise in the lane following the target vehicle. If the target vehicle changes lanes, the following planning system controls the ego vehicle to change lanes to the same lane as the target vehicle and automatically triggers the corresponding turn signal. When approaching an intersection, based on the traffic light status at the intersection, the following planning system controls the ego vehicle to follow the target vehicle through the intersection, including going straight, turning left, turning right, and making U-turns. Step 6: The user can actively exit the follow mode through the followable intelligent interactive system, such as closing the follow mode by touching, exiting by voice interactive control, or long pressing the steering wheel button to exit.

[0064] The present invention is based on a multimodal interaction method and uses cross-domain fusion to assist users in controlling the vehicle to follow the dynamic vehicle target specified by the user. It supports vehicle-following cruising, vehicle-following lane changing, and vehicle-following intersection passing, enhances the linkage between intelligent driving and intelligent cockpit, and improves the user's interest in using the intelligent driving assistance function.

[0065] like Figure 3 As shown, the third aspect of the present invention provides an electronic device, comprising: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the steps of the method described in any one of the above embodiments.

[0066] A fourth aspect of the present invention discloses a readable storage medium storing a computer program, which is used by a processor to execute the steps of the method described in any one of the above embodiments.

[0067] Computer-readable storage media may include: any entity or device capable of carrying a computer program, a recording medium, a USB flash drive, a mobile hard drive, a magnetic disk, an optical disc, a computer memory, a read-only memory (RON), a random access memory (RAN), and a software distribution medium. A computer program includes computer program code. The computer program code may be in source code form, object code form, an executable file, or some intermediate form. A computer-readable storage medium may include: any entity or device capable of carrying a computer program code, a recording medium, a USB flash drive, a mobile hard drive, a magnetic disk, an optical disc, a computer memory, a read-only memory (RON), a random access memory (RAN), and a software distribution medium.

[0068] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0069] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in conjunction with such instruction execution systems, apparatuses or devices.

[0070] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A vehicle following control method, characterized in that: include: Identify target vehicles that the current vehicle can follow based on the real-time vehicle status, surrounding environment status, and traffic participant status; Present the following status of each target vehicle based on the information of the target vehicles that the current vehicle can follow; Configure the follow mode that responds to user commands; When responding to the following mode instructed by the user, the self-vehicle is planned and controlled to follow the target vehicle to implement the driving behavior, and the driving behavior at least includes tracking the target trajectory and planning the self-vehicle trajectory.

2. The vehicle following control method according to claim 1, characterized in that: The method of identifying a target vehicle that the current vehicle can follow based on the real-time vehicle state, surrounding environment state, and traffic participant state includes: By sensing the lane lines of the ego vehicle's lane and the vehicles within the set longitudinal and lateral threshold distances in front of the ego vehicle, the closest vehicle within the preset distance in the ego vehicle's lane, the adjacent left lane, and / or the adjacent right lane is selected as the target vehicle that the ego vehicle can currently follow.

3. The vehicle following control method according to claim 2, characterized in that: The method of identifying a target vehicle that the current vehicle can follow based on the real-time status of the vehicle, the surrounding environment, and traffic participants also includes: Obtaining appearance information of the nearest vehicle within a preset distance within the lane in which the vehicle is located, the adjacent left lane, and the adjacent right lane, wherein the appearance information includes at least shape, size, brand tail logo, and taillight shape; The appearance information is compared with digital models of vehicles of existing brands in the form of multiple frames of images to obtain vehicles of different brands, and the vehicles of different brands are used as target vehicles that the self-vehicle can follow.

4. The vehicle following control method according to claim 1, characterized in that: The presenting of the following status of each target vehicle based on the information of the target vehicles that the current vehicle can follow includes: On the vehicle instrument display screen, each target vehicle is assigned a corresponding color, serial number and following status.

5. The vehicle following control method according to claim 4, characterized in that: The configuration responds to the follow mode of the user instruction, including: Corresponding user touch points and / or voice-supported user commands are provided on the vehicle instrument screen; Entering the corresponding follow mode by responding to the user's touch and / or voice.

6. The vehicle following control method according to claim 1 or 5, characterized in that: The following method includes planning and controlling the ego vehicle to follow the target vehicle to achieve driving behavior after responding to the following mode instructed by the user, including: When the driving behavior is to follow the target trajectory, in the following state, the trajectory of the target vehicle to be followed is perceived and predicted in real time. When the target vehicle's turn signal is on and its lateral displacement deviation is greater than a preset distance for consecutive preset frames, it is judged that the target vehicle is about to change lanes. Otherwise, the target vehicle is followed to maintain lane cruising.

7. The vehicle following control method according to claim 1 or 5, characterized in that: The following mode, when responding to the user's instruction, plans and controls the vehicle to follow the target vehicle to achieve the driving behavior, and further includes: When the driving behavior is ego vehicle trajectory planning, in the following state, a set of candidate trajectories is generated based on the trajectory of the following target vehicle and the surrounding traffic conditions, which is a time-space joint of quintic polynomials. The trajectory costs and scores are evaluated based on safety, comfort, efficiency and other benchmarks. Based on the scores, the optimal real-time planning trajectory of the ego vehicle is selected, and the ego vehicle behavior is controlled, including cruising, changing lanes and crossing intersections.

8. The vehicle following control method according to claim 7, characterized in that: When selecting the optimal real-time planned trajectory and controlling the vehicle's behavior to cruise following the vehicle, the vehicle is controlled to cruise following the vehicle in front within the lane and automatically adjust its speed based on the trajectory of the target vehicle being followed, the traffic participants around the vehicle, and the road characteristics. If the vehicle in front accelerates beyond the target cruising speed, the vehicle automatically adjusts its target cruising speed by adding a preset speed value to the speed of the vehicle in front.

9. The vehicle following control method according to claim 7, characterized in that: When selecting the optimal real-time planned trajectory and controlling the vehicle's behavior to follow a vehicle and change lanes, if the target vehicle changes lanes to the adjacent lane, the vehicle will automatically turn on its lights, initiate, and change lanes to the adjacent lane after the target vehicle has completely entered the adjacent lane.

10. The vehicle following control method according to claim 7, characterized in that: When selecting the optimal real-time planned trajectory and controlling the vehicle's behavior to follow the vehicle through the intersection, based on the traffic light status at the intersection, the vehicle automatically follows the vehicle in front to complete the intersection, including going straight, turning right, turning left, and U-turns, and automatically turning on the turn signal according to the corresponding turning behavior.

11. A vehicle following control system, characterized in that: include: A target recognition system is used to identify target vehicles that the ego vehicle can currently follow based on the real-time ego vehicle state, the surrounding environment state, and the state of traffic participants; An intelligent interactive system, at least for presenting the following status of each target vehicle based on information about target vehicles that the current ego vehicle can follow; and presenting the following status of the ego vehicle based on information about target vehicles that the ego vehicle can currently follow, and configuring a following mode that responds to user instructions; The following planning system is at least used to plan and control the vehicle to follow the target vehicle to achieve driving behavior after responding to the following mode instructed by the user. The driving behavior at least includes lane cruising, following the vehicle to change lanes, and following the vehicle through the intersection.

12. The vehicle following control system according to claim 8, characterized in that: The following planning system further includes a vehicle control unit, which is configured to at least execute the driving behavior, wherein the execution method at least includes performing lateral and longitudinal control of the vehicle.

13. An electronic device, characterized in that: include: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the steps of the vehicle following control method as described in any one of claims 1-10.

14. A readable storage medium storing a computer program, characterized in that: The computer program is used by a processor to execute the steps of the vehicle following control method as described in any one of claims 1 to 10.

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