Vehicle following control method, device, equipment and medium

Abstract

The invention discloses a vehicle following control method, device and equipment and a medium. The method comprises the steps that the actual vehicle distance between a current vehicle and a target vehicle, the speed of the current vehicle and the speed and acceleration of the target vehicle are obtained; according to the speed of the current vehicle, the speed of the target vehicle and the actual vehicle distance, the vehicle following type of the current vehicle and the target vehicle distance corresponding to the vehicle following type are determined; calculating the acceleration control quantity of the current vehicle according to the vehicle following type; and controlling the speed of the current vehicle according to the acceleration control quantity so as to reach a vehicle following state. According to the embodiment of the invention, the control precision and adaptability of vehicle following can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and in particular to a vehicle following control method, device, equipment and medium. BACKGROUND

[0002] With the rapid development of intelligent driving technology, vehicle following control systems are increasingly important in improving driving safety, comfort and automation. Vehicle following control technology can effectively avoid rear-end accidents and maintain a safe following distance. However, with the increasing complexity of driving environments, especially in cases where there are large differences in vehicle speed, sudden acceleration or deceleration of the preceding vehicle, the limitations of traditional methods become increasingly apparent. Therefore, how to achieve precise following control in different traffic scenarios has become an important research direction in the field of intelligent driving technology.

[0003] Currently, the vehicle following control method of the prior art generally relies on simple distance and speed thresholds to adjust vehicle speed and distance.

[0004] However, the vehicle following control method of the prior art has the defects of slow response speed, insufficient precision and poor adaptability. SUMMARY

[0005] The present application provides a vehicle following control method, device, equipment and medium, and the embodiments of the present application can improve the control precision and adaptability of vehicle following.

[0006] In a first aspect, the embodiments of the present application provide a vehicle following control method, which comprises:

[0007] obtaining the actual distance between the current vehicle and the target vehicle, the speed of the current vehicle, and the speed and acceleration of the target vehicle;

[0008] determining the following type of the current vehicle and the target distance corresponding to the following type according to the speed of the current vehicle, the speed of the target vehicle and the actual distance;

[0009] calculating the acceleration control amount of the current vehicle according to the following type;

[0010] controlling the speed of the current vehicle to achieve the following state according to the acceleration control amount.

[0011] In a second aspect, the embodiments of the present application also provide a vehicle following control device, which comprises:

[0012] a data acquisition module for obtaining the actual distance between the current vehicle and the target vehicle, the speed of the current vehicle, and the speed and acceleration of the target vehicle;

[0013] The target vehicle distance determination module is configured to determine a following type of the current vehicle and a target vehicle distance corresponding to the following type according to the speed of the current vehicle, the speed of the target vehicle and the actual vehicle distance.

[0014] The control amount calculation module is configured to calculate an acceleration control amount of the current vehicle according to the following type.

[0015] The vehicle control module is configured to perform speed control on the current vehicle according to the acceleration control amount to achieve the following state.

[0016] In a third aspect, an embodiment of the present application further provides a vehicle following control device, which comprises:

[0017] at least one processor; and

[0018] a memory in communication connection with the at least one processor; wherein

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle following control method of any embodiment of the present application.

[0020] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, which stores computer instructions for enabling a processor to execute the vehicle following control method of any embodiment of the present application when the processor executes the computer instructions.

[0021] The technical solution of the embodiment of the present application can monitor the relative motion state of the vehicle and the target vehicle in front in real time by acquiring the actual vehicle distance between the current vehicle and the target vehicle, the speed of the current vehicle, and the speed and acceleration of the target vehicle, dynamically adjust the following strategy according to the speed of the current vehicle, the speed of the target vehicle and the actual vehicle distance to determine the following type of the current vehicle and the corresponding target vehicle distance, ensure that the vehicle distance between the current vehicle and the target vehicle is kept within the expected range by calculating the acceleration control amount of the current vehicle according to the following type, and effectively make the current vehicle achieve the following state by performing speed control on the current vehicle according to the acceleration control amount, thereby avoiding collision or other safety risks due to sudden situations, and solving the technical problems of slow response speed, insufficient precision and poor adaptability of the vehicle following control method in the prior art, so as to improve the control precision and adaptability of the vehicle following.

[0022] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0024] Figure 1 A flow chart of a vehicle following control method provided by the embodiment of the present application;

[0025] Figure 2 A flow chart of a vehicle following control method provided by the embodiment of the present application;

[0026] Figure 3 A structural schematic diagram of a vehicle following control method device provided by the embodiment of the present application;

[0027] Figure 4 A structural schematic diagram of a vehicle following control method device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the personnel in the technical field better understand the present application, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] In the technical solutions of the embodiments of the present application, the acquisition, storage and application of actual vehicle distance, speed and acceleration, etc. are in line with the relevant legal regulations and do not violate public order and good customs.

[0031] Figure 1This is a flowchart illustrating a vehicle following control method provided in an embodiment of the present invention. This embodiment is applicable to vehicle following control situations, and the method can be executed by a vehicle following control device, which can be implemented in hardware and / or software.

[0032] See Figure 1 The vehicle following control method shown includes:

[0033] S101. Obtain the actual distance between the current vehicle and the target vehicle, the speed of the current vehicle, and the speed and acceleration of the target vehicle.

[0034] In this context, "current vehicle" can refer to the vehicle executing this invention, which follows the target vehicle through a control system. For example, "current vehicle" could refer to an autonomous sedan that follows the vehicle ahead, using its speed sensors and radar to monitor the distance to the vehicle ahead in real time and adjust its acceleration to maintain a safe distance. "Current vehicle" does not include the target vehicle ahead or road conditions; it refers only to the vehicle performing the following control.

[0035] In this context, the target vehicle refers to the vehicle the current vehicle is following. The target vehicle is typically a vehicle traveling ahead, and the current vehicle needs to adjust its following distance based on the target vehicle's behavior. The target vehicle possesses information such as its speed, acceleration, and relative position (e.g., distance) to the current vehicle. The target vehicle provides a reference point for the current vehicle's following maneuvers; the current vehicle adjusts its own movement by sensing the target vehicle's motion. For example, on a highway, if a truck is the target vehicle, the current vehicle can adjust its speed by sensing the truck's deceleration to maintain a safe following distance.

[0036] The actual distance between the current vehicle and the target vehicle refers to the actual distance between them. It is typically measured by the vehicle's sensors (such as radar or lidar). The actual distance is measured and fed back in real time by a perception system to determine if the vehicle is too close to the vehicle in front and to make necessary adjustments to accelerate or decelerate based on this data.

[0037] S102. Based on the current vehicle speed, the target vehicle speed, and the actual distance between vehicles, determine the following type of the current vehicle and the target distance corresponding to the following type.

[0038] The following is a detailed description of the application: The vehicle following type can be determined according to the relative speed, distance, and other factors between the current vehicle and the target vehicle. The vehicle following type includes static following and close following. Static following is suitable for situations where the vehicle speed is close and the distance is large. Close following is suitable for situations where the vehicle speed is fast and the distance is close. Different control strategies are selected according to the vehicle following type to ensure the stability and safety of the vehicle. The reaction speed and acceleration adjustment method of the current vehicle are determined by the vehicle following type.

[0039] The target distance can be the ideal distance that should be maintained between the current vehicle and the target vehicle. The target distance is a numerical value that represents the safe distance that should be maintained between the current vehicle and the target vehicle under different speed conditions. The target distance usually increases with the increase of speed. The target distance is the reference for the current vehicle following control, ensuring that the distance between the current vehicle and the target vehicle is within a safe range, thereby avoiding rear-end accidents.

[0040] S103, according to the vehicle following type, the acceleration control amount of the current vehicle is calculated.

[0041] The acceleration control amount can be a control amount calculated according to the distance, speed, and vehicle following type between the current vehicle and the target vehicle, used to adjust the acceleration of the current vehicle. The calculation of the acceleration control amount is based on the relative distance, speed, and acceleration between the vehicle and the target vehicle, and the acceleration of the vehicle is adjusted through a control algorithm. The role of the acceleration control amount is to adjust the driving state of the current vehicle, ensure that it maintains a safe distance from the target vehicle, and avoid sudden acceleration or deceleration in emergency situations.

[0042] S104, according to the acceleration control amount, the speed of the current vehicle is controlled to achieve the following state.

[0043] The following state can be the relative state between the current vehicle and the target vehicle, including the speed matching and distance maintaining of the vehicle. The ideal following state is that the speed of the current vehicle is the same as that of the target vehicle, and the distance is maintained within the desired range. The role of the following state is to ensure smooth following between the current vehicle and the target vehicle, avoid sudden acceleration or deceleration, and improve driving comfort and safety.

[0044] It can be seen that, in the embodiment of the present application, by acquiring the actual vehicle distance between the current vehicle and the target vehicle, the speed of the current vehicle, and the speed and acceleration of the target vehicle, the relative motion state of the vehicle and the target vehicle in front can be monitored in real time, by determining the following type of the current vehicle and the corresponding target vehicle distance according to the speed of the current vehicle, the speed of the target vehicle and the actual vehicle distance, the following strategy can be dynamically adjusted to cope with different traffic scenes, by calculating the acceleration control amount of the current vehicle according to the following type, the distance between the current vehicle and the target vehicle can be ensured to be within the expected range, by controlling the speed of the current vehicle according to the acceleration control amount, the current vehicle can be effectively brought into the following state, avoiding collision or other safety risks due to sudden situations, and the technical problems of slow response speed, insufficient precision and poor adaptability of the vehicle following control method in the prior art are solved, thereby the control precision and adaptability of vehicle following can be improved.

[0045] In an optional embodiment, Figure 2 The flowchart of the vehicle following control method provided in the embodiment of the present application is that the step of "calculating the acceleration control amount of the current vehicle according to the following type" is refined into "when the following type is static following, calculating the acceleration control amount of the current vehicle according to the speed of the current vehicle, the target vehicle distance and the actual vehicle distance, and the speed of the target vehicle; when the following type is close distance following, calculating the acceleration control amount of the current vehicle according to the speed of the current vehicle, the target vehicle distance and the actual vehicle distance, and the speed and acceleration of the target vehicle", so as to improve the operation of vehicle following control.

[0046] It should be noted that the parts not described in detail in the embodiment of the present application can be referred to the description of other embodiments.

[0047] Referring to Figure 2 The vehicle following control method shown in the figure comprises:

[0048] S201, acquiring the actual vehicle distance between the current vehicle and the target vehicle, the speed of the current vehicle, and the speed and acceleration of the target vehicle.

[0049] S202, determining the following type of the current vehicle and the target vehicle distance corresponding to the following type according to the speed of the current vehicle, the speed of the target vehicle and the actual vehicle distance; the following type includes static following and close distance following.

[0050] The static following can refer to a following mode between the current vehicle and the target vehicle, in which the speed of the current vehicle is relatively small, and the distance between the current vehicle and the target vehicle is kept at a fixed and relatively stable value. The static following is used in a case where the speed difference is small and the distance is far. In the static following mode, the control system mainly adjusts the acceleration control amount of the vehicle according to the distance error and the speed error between the current vehicle and the target vehicle. Since the speed difference is small, the adjustment amount required by the vehicle is usually small, and the distance is kept stable through gentle acceleration control. The static following mode ensures the driving stability of the current vehicle while keeping a safe distance from the target vehicle.

[0051] The close following can refer to a following mode between the current vehicle and the target vehicle, in which the distance between the current vehicle and the target vehicle is short, and the relative speed of the target vehicle is usually large. The close following is suitable for a scenario where the speed is fast and the distance is small, and the vehicle needs to respond quickly to the speed change of the front vehicle. In the close following mode, the control system calculates the acceleration control amount according to the speed and acceleration of the target vehicle and the distance error between the current vehicle and the target vehicle. Since the speed difference is large and the distance is short, the vehicle needs to make a quick adjustment to avoid collision and ensure driving safety. The system dynamically adjusts the acceleration of the current vehicle by predicting the future behavior (such as the change of acceleration) of the target vehicle. The close following mode ensures that the current vehicle can quickly respond to the change of the front vehicle and keep a safe following distance in the case of high speed and short distance.

[0052] S203, when the following type is static following, the acceleration control amount of the current vehicle is calculated according to the speed of the current vehicle, the target distance and the actual distance, and the speed of the target vehicle.

[0053] Optionally, when the following type is static following, the static following controller can be used to make the speed of the current vehicle reach the speed of the target vehicle, and the distance between the current vehicle and the target vehicle reach the target distance. The target distance can be obtained by setting the time distance and the current speed by the driver, and when the driver takes over the vehicle, the target distance is the current distance. The speed control deviation of the static controller depends on the relative speed and the distance between the two vehicles, wherein the speed control deviation is the deviation of the current relative speed from the characteristic curve. The control gain requires two requirements, first, when the actual time gap is small, the controller needs to react directly and quickly. Second, the control should be smooth to ensure comfort. Therefore, the control gain as the inverse time constant is a function of the actual time gap, so a larger time gap will result in a smaller control gain, and a smaller time gap will result in a larger control gain.

[0054] S204, when the following type is close following, the acceleration control amount of the current vehicle is calculated according to the speed of the current vehicle, the target distance and the actual distance, and the speed and acceleration of the target vehicle.

[0055] Optionally, if the current vehicle is approaching the target vehicle at a high relative speed, the static following control is not suitable for handling such a situation, and thus another controller designed specifically for the fast approaching process is needed, i.e. the close following control, the main task of the close following control is to output a deceleration instruction which will reduce the relative speed between the current vehicle and the target vehicle until a specific distance is reached, which is generally less than the set target distance of the static following control, and the specific distance is the immersion distance. In actual use, the immersion distance can be determined by linear interpolation on a feature map based on the vehicle speed and the set time distance. The vehicle speed mentioned above refers to the speed of the target vehicle. At the end of the approaching process, the speed of the current vehicle needs to be equal to the speed of the target vehicle. Therefore, the immersion distance is calculated based on the speed of the target vehicle, rather than the current speed of the current vehicle which is changing. When the target vehicle cuts into the lane of the current vehicle in front of the current vehicle, the immersion distance at this moment is larger, resulting in that the current vehicle needs a larger deceleration to reach the immersion distance, but the driving experience of the driver is not considered. In such a case, a special comfort immersion distance can be calculated, which is a ratio of the actual distance between the current vehicle and the target vehicle, so as to ensure that the controller makes appropriate response and guarantees the comfort of the driver. The remaining distance available for the current vehicle to reduce the relative speed with respect to the target vehicle can be determined according to the distance between the immersion distance (or the comfort immersion distance) and the target vehicle. In order to achieve the goal that the relative speed is zero when the immersion distance is reached, the predicted speed of the target vehicle needs to be obtained, if the target vehicle is decelerating or accelerating, the current vehicle needs to take a different speed as the target speed of the current vehicle. Therefore, the instruction acceleration of the close following control system depends on the determined immersion distance (or comfort immersion distance), the relative speed and the filtered acceleration of the target vehicle.

[0056] To realize the short-time prediction of the future behavior of the target vehicle, a constant acceleration assumption model is adopted. Specifically, in the prediction period, it is assumed that the target vehicle maintains the current longitudinal acceleration unchanged. The constant acceleration assumption model is a simplified prediction model commonly used in the field of adaptive cruise control, and is suitable for estimating the evolution of the speed and position of the target vehicle within a short time scale. A default prediction time constant based on calibration is set, denoted as the calibrated prediction duration. Under normal circumstances, the effective prediction time is the calibrated prediction duration. When it is detected that the target vehicle has a sustained deceleration and the stopping time calculated therefrom is earlier than the calibrated prediction duration, the effective prediction time is adaptively shortened to the stopping time, so as to improve the conservativeness and effectiveness of prediction and control. The above adaptive truncation mechanism is used to shorten the prediction time domain when the preceding vehicle has a significant deceleration and may stop within the prediction window, so as to avoid control lag and deviation accumulation caused by overlong prediction. First, a theoretical distance quantity is defined, which represents that if the ego vehicle starts accelerating immediately and the target of acceleration is to reduce the relative speed to zero after the effective prediction time, the two vehicles will be stabilized at the theoretical distance quantity after the effective prediction time. When the required theoretical distance quantity under a given prediction duration is less than the opposite of the available remaining distance, the calculation method of reducing the relative speed to zero within the effective prediction time will lead to a collision. At this time, the expected acceleration needs to be calculated according to the following assumption: the time point at which the relative speed is reduced to zero and the immersion distance is reached is within the effective prediction time period. When the above emergency criterion is not triggered, it is first judged whether the speed of the preceding vehicle is still less than the speed of the ego vehicle after the current acceleration process ends. If the final speed of the preceding vehicle is greater than the speed of the ego vehicle, the two vehicles tend to diverge.

[0057] S205, controlling the speed of the current vehicle according to the acceleration control quantity to achieve the following state.

[0058] It can be seen that, in the embodiment, by calculating the acceleration control quantity of the current vehicle according to the following type, the corresponding matching of the control strategy and the actual working condition can be realized; by calculating according to the speed of the current vehicle, the target distance and the actual distance, and the speed of the target vehicle in the static following, the fine adjustment of the acceleration in the scene with small relative speed change can be realized; by introducing the target distance and the actual distance in the static following calculation, the actual distance close to the target distance can be realized; by taking the acceleration of the target vehicle and the speed of the target vehicle as the calculation input in the close following, and combining the speed of the current vehicle, the target distance and the actual distance, the timely response to the dynamic change of the preceding vehicle can be realized; by the above calculation method of close following, the coordinated control of the relative speed and the distance in the approaching process can be realized; by calculating the acceleration control quantity according to different following types, the scene-based output of the control quantity can be realized to promote the following state.

[0059] In some embodiments, when the following type is static following, the acceleration control amount of the current vehicle is calculated according to the speed of the current vehicle, the target distance and the actual distance, and the speed of the target vehicle, including:

[0060] When the following type is static following, the distance error between the current vehicle and the target vehicle is determined according to the error between the target distance and the actual distance;

[0061] The speed error between the current vehicle and the target vehicle is determined according to the speed of the current vehicle and the speed of the target vehicle;

[0062] The acceleration control amount of the current vehicle is calculated according to the distance error and the speed error.

[0063] The speed error can be the difference between the speed of the current vehicle and the speed of the target vehicle. The speed error reflects the change of the relative speed of the two vehicles and directly affects the adjustment of the following control strategy.

[0064] The distance error can be the difference between the actual distance between the current vehicle and the target vehicle and the target distance. The distance error in the present application is used as the basis for adjusting the speed and acceleration of the current vehicle.

[0065] It can be seen that in the present embodiment, by calculating the acceleration control amount by integrating the speed of the current vehicle, the target distance and the actual distance, and the speed of the target vehicle when static following, the coordinated control of distance and speed matching under smooth working conditions can be realized; by determining the distance error according to the difference between the target distance and the actual distance, the distance correction based on the quantitative deviation can be realized; by determining the speed error according to the speed of the current vehicle and the speed of the target vehicle, the identification of the relative speed deviation for adjustment can be realized; by calculating the acceleration control amount based on the distance error and the speed error, the targeted adjustment of acceleration and deceleration can be realized to promote the convergence of the actual distance to the target distance.

[0066] In some embodiments, when the following type is close distance following, the acceleration control amount of the current vehicle is calculated according to the speed of the current vehicle, the target distance and the actual distance, and the speed and acceleration of the target vehicle, including:

[0067] When the following type is close distance following, the distance error between the current vehicle and the target vehicle is determined according to the error between the target distance and the actual distance;

[0068] Obtain a plurality of speeds of the target vehicle within the current time window;

[0069] The predicted speed of the target vehicle is obtained according to the plurality of speeds and the acceleration of the target vehicle within the current time window;

[0070] determining a collision detection result between the current vehicle and the target vehicle according to the vehicle distance error, a predicted speed of the target vehicle, and a speed of the current vehicle;

[0071] calculating an acceleration control amount of the current vehicle according to the collision detection result.

[0072] The predicted speed can refer to the possible speed of the target vehicle in the future period of time based on the current speed and acceleration of the target vehicle. The predicted speed is used to respond in advance in the rapidly changing traffic environment. The calculation of the predicted speed is based on the current acceleration and speed of the target vehicle and a certain prediction time window. Through the estimation of the future behavior of the target vehicle, the control system can adjust the acceleration of the current vehicle in advance to ensure that the current vehicle does not collide or have a sudden risk when approaching the target vehicle.

[0073] The collision detection result can refer to the judgment result of whether there is a collision risk between the current vehicle and the target vehicle, which is usually divided into two cases: collision and no collision. The collision detection result is used as a key basis for the acceleration control amount. Through real-time judgment of the collision risk, the system can make a timely response, such as issuing an emergency deceleration instruction or an acceleration instruction, to avoid collision and ensure safe driving.

[0074] It can be seen that in the embodiment, by taking the speed of the current vehicle, the target distance and the actual distance, and the speed and acceleration of the target vehicle as the calculation input when following the vehicle at a short distance, the relative speed and distance can be cooperatively controlled under the approaching working condition; by determining the vehicle distance error according to the difference between the target distance and the actual distance, the distance correction based on the quantitative deviation can be realized; by obtaining multiple speeds of the target vehicle within the current time window, the short-time speed change of the target vehicle can be represented; by obtaining the predicted speed of the target vehicle according to the multiple speeds and accelerations of the target vehicle, the short-time future speed of the target vehicle can be predicted; by determining the collision detection result according to the vehicle distance error, the predicted speed of the target vehicle, and the speed of the current vehicle, the potential approaching risk can be distinguished; and by calculating the acceleration control amount of the current vehicle according to the collision detection result, the differentiated acceleration output for different discrimination results can be realized.

[0075] In some embodiments, the collision detection result includes collision and no collision.

[0076] It can be seen that in the embodiment, by limiting the collision detection result to collision and no collision, the detection output can be clearly defined, which is convenient for the subsequent control logic to directly call,

[0077] In some embodiments, the following conditions are met for the car-following state: the speed of the current vehicle is the same as the speed of the target vehicle, and the actual distance between the current vehicle and the target vehicle remains unchanged at the fixed distance.

[0078] It can be seen that, in the embodiment, the objective judgment criterion for the car-following state can be realized by explicitly defining the car-following state, which is helpful for subsequent calibration and parameter optimization.

[0079] Figure 3 The vehicle car-following control device provided by the embodiment of the application has the structure shown in the figure. The embodiment of the application is applicable to the case of vehicle car-following control. The device can execute the vehicle car-following control method, and can be realized in the form of hardware and / or software.

[0080] Referring to Figure 3 The vehicle car-following control device shown in the figure comprises a data acquisition module 301, a target distance determination module 302, a control quantity calculation module 303, and a vehicle control module 304, wherein,

[0081] The data acquisition module 301 is configured to acquire the actual distance between the current vehicle and the target vehicle, the speed of the current vehicle, the speed of the target vehicle, and the acceleration of the target vehicle.

[0082] The target distance determination module 302 is configured to determine the car-following type of the current vehicle and the target distance corresponding to the car-following type according to the speed of the current vehicle, the speed of the target vehicle, and the actual distance.

[0083] The control quantity calculation module 303 is configured to calculate the acceleration control quantity of the current vehicle according to the car-following type.

[0084] The vehicle control module 304 is configured to perform speed control on the current vehicle according to the acceleration control quantity to achieve the car-following state.

[0085] The technical scheme of the embodiment of the application can realize real-time monitoring of the relative motion state of the vehicle and the target vehicle in front of the vehicle by acquiring the actual distance between the current vehicle and the target vehicle, the speed of the current vehicle, the speed of the target vehicle, and the acceleration of the target vehicle. The car-following strategy can be dynamically adjusted by determining the car-following type of the current vehicle and the corresponding target distance according to the speed of the current vehicle, the speed of the target vehicle, and the actual distance, so as to cope with different traffic scenarios. The distance between the current vehicle and the target vehicle can be ensured to be within the desired range by calculating the acceleration control quantity of the current vehicle according to the car-following type. The current vehicle can effectively achieve the car-following state by performing speed control on the current vehicle according to the acceleration control quantity, thereby avoiding collision or other safety risks due to unexpected situations. The technical problems of the prior art, such as slow response speed, insufficient precision, and poor adaptability, are solved, so that the control precision and adaptability of vehicle car-following can be improved.

[0086] In some embodiments, the following types of following are included: static following and close following.

[0087] In some embodiments, in calculating the acceleration control amount of the current vehicle according to the type of following, the control amount calculation module 303 is specifically configured to:

[0088] When the type of following is static following, the acceleration control amount of the current vehicle is calculated according to the speed of the current vehicle, the target distance and the actual distance, and the speed of the target vehicle.

[0089] When the type of following is close following, the acceleration control amount of the current vehicle is calculated according to the speed of the current vehicle, the target distance and the actual distance, and the speed and acceleration of the target vehicle.

[0090] In some embodiments, in calculating the acceleration control amount of the current vehicle according to the type of following when the type of following is static following, the control amount calculation module 303 is specifically configured to:

[0091] When the type of following is static following, the distance error between the current vehicle and the target vehicle is determined according to the error between the target distance and the actual distance.

[0092] The speed error between the current vehicle and the target vehicle is determined according to the speed of the current vehicle and the speed of the target vehicle.

[0093] The acceleration control amount of the current vehicle is calculated according to the distance error and the speed error.

[0094] In some embodiments, in calculating the acceleration control amount of the current vehicle according to the type of following when the type of following is close following, the control amount calculation module 303 is specifically configured to:

[0095] When the type of following is close following, the distance error between the current vehicle and the target vehicle is determined according to the error between the target distance and the actual distance.

[0096] A plurality of speeds of the target vehicle within a current time window are obtained.

[0097] The predicted speed of the target vehicle is obtained according to the plurality of speeds and the acceleration of the target vehicle within the current time window.

[0098] The collision detection result between the current vehicle and the target vehicle is determined according to the distance error, the predicted speed of the target vehicle and the speed of the current vehicle.

[0099] According to the collision detection result, an acceleration control amount of the current vehicle is calculated.

[0100] In some embodiments, the collision detection result includes: collision occurs and no collision.

[0101] In some embodiments, the following vehicle state includes: the speed of the current vehicle is the same as the speed of the target vehicle, and the actual distance between the current vehicle and the target vehicle remains unchanged.

[0102] The vehicle following control device provided by the embodiments of the present application can execute the vehicle following control method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of executing the vehicle following control method.

[0103] Figure 4 A structural schematic diagram of a vehicle following control device provided by the embodiments of the present application.

[0104] As shown in Figure 4 The vehicle following control device 400 includes at least one processor 401, and a memory, such as a read-only memory (ROM) 402, a random access memory (RAM) 403, etc., which is in communication connection with the at least one processor 401, wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 401 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 402 or the computer program loaded from the storage unit 408 to the random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the vehicle following control device 400 can also be stored. The processor 401, the ROM 402 and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 408 is also connected to the bus 404.

[0105] The plurality of components in the vehicle following control device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a magnetic disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the vehicle following control device 400 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0106] The processor 401 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, and the like. The processor 401 performs various methods and processes described above, such as the vehicle following control method.

[0107] In some embodiments, the vehicle following control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed onto the vehicle following control device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded onto the RAM 403 and executed by the processor 401, one or more steps of the vehicle following control method described above can be performed. Alternatively, in other embodiments, the processor 401 can be configured to perform the vehicle following control method by any other suitable means, such as by means of firmware.

[0108] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0109] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a machine or a remote machine or a server.

[0110] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0111] To provide for interaction with a user, the systems and techniques described here can be implemented on an operating detection device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the vehicle following control device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0112] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0113] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS (Virtual Private Server) service.

[0114] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0115] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle following control method, characterized in that, The method includes: Obtain the actual distance between the current vehicle and the target vehicle, the speed of the current vehicle, and the speed and acceleration of the target vehicle; Based on the current vehicle speed, the target vehicle speed, and the actual distance between vehicles, determine the following type of the current vehicle and the target distance corresponding to the following type; Based on the following vehicle type, the acceleration control amount of the current vehicle is calculated; Based on the acceleration control amount, the speed of the current vehicle is controlled to achieve a following state.

2. The method according to claim 1, characterized in that, The types of following vehicles include: static following and close following.

3. The method according to claim 2, characterized in that, The step of calculating the acceleration control amount of the current vehicle based on the following vehicle type includes: When the following type is static following, the acceleration control amount of the current vehicle is calculated based on the current vehicle speed, the target distance, the actual distance, and the target vehicle speed. When the following type is close following, the acceleration control amount of the current vehicle is calculated based on the current vehicle's speed, the target vehicle distance, the actual vehicle distance, and the target vehicle's speed and acceleration.

4. The method according to claim 3, characterized in that, When the following type is static following, the acceleration control amount of the current vehicle is calculated based on the current vehicle's speed, the target distance, the actual distance, and the target vehicle's speed, including: When the following type is static following, the distance error between the current vehicle and the target vehicle is determined based on the error between the target distance and the actual distance. Based on the current vehicle's speed and the target vehicle's speed, determine the speed error between the current vehicle and the target vehicle; Based on the distance error and the distance between vehicles, the acceleration control amount of the current vehicle is calculated.

5. The method according to claim 3, characterized in that, When the following type is close following, the acceleration control amount of the current vehicle is calculated based on the current vehicle's speed, the target vehicle distance, the actual vehicle distance, and the target vehicle's speed and acceleration, including: When the following type is close following, the distance error between the current vehicle and the target vehicle is determined based on the error between the target distance and the actual distance. Obtain multiple speeds of the target vehicle within the current time window; The predicted speed of the target vehicle is obtained based on multiple speeds and accelerations within the current time window of the target vehicle. Based on the distance error, the predicted speed of the target vehicle, and the speed of the current vehicle, the collision detection result between the current vehicle and the target vehicle is determined; Based on the collision detection results, the acceleration control amount of the current vehicle is calculated.

6. The method according to claim 5, characterized in that, The collision detection results include: collision occurred and no collision occurred.

7. The method according to claim 1, characterized in that, The following status includes: the speed of the current vehicle is the same as the speed of the target vehicle, and the actual distance between the current vehicle and the target vehicle remains a fixed distance.

8. A vehicle following control device, characterized in that, include: The data acquisition module is used to acquire the actual distance between the current vehicle and the target vehicle, the speed of the current vehicle, and the speed and acceleration of the target vehicle; The target vehicle distance determination module is used to determine the following type of the current vehicle and the target vehicle distance corresponding to the following type based on the speed of the current vehicle, the speed of the target vehicle, and the actual vehicle distance. The control quantity calculation module is used to calculate the acceleration control quantity of the current vehicle based on the following vehicle type. The vehicle control module is used to control the speed of the current vehicle according to the acceleration control amount to achieve a following state.

9. A vehicle following control device, characterized in that, The vehicle following control device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle following control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle following control method according to any one of claims 1-7.

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