Full-condition adaptive cruise control method and system for intelligent connected vehicle

Abstract

The application belongs to the technical field of vehicle control, and provides a full-working-condition adaptive cruise control method and system for intelligent networked vehicles, which comprises the following steps: acquiring real-time running data of the intelligent networked vehicle and target object information around the vehicle; identifying the current driving working condition of the vehicle based on the acquired real-time running data; and driving the vehicle to automatically accelerate and decelerate according to the identified current driving working condition of the vehicle and the acquired target object information around the vehicle, so as to complete the full-working-condition adaptive cruise control of the intelligent networked vehicle.

Description

Technical Field

[0001] This invention belongs to the field of vehicle control technology, specifically relating to a method and system for all-condition adaptive cruise control of intelligent connected vehicles. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the development of intelligent connected vehicle technology, adaptive cruise control system has become one of the core functions for improving vehicle driving safety and comfort. Currently, most publicly available adaptive control schemes use fixed parameters for following distance and acceleration / braking rate, without dynamically adjusting according to driving conditions. When facing slippery roads or uphill / downhill slopes, a single control strategy is prone to sudden acceleration or deceleration, resulting in following distances that are too long or too short, thus affecting driving comfort and safety. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes a full-condition adaptive cruise control method and system for intelligent connected vehicles. Based on real-time operating data of the intelligent connected vehicle, the current driving condition of the vehicle is identified. Combined with information about surrounding objects, the system further drives the vehicle to automatically accelerate and decelerate, thereby achieving adaptive cruise control. This solves the problem of control accuracy issues in intelligent connected vehicles where the adaptive cruise speed is easily too fast or too slow under different operating conditions, improving overall vehicle safety and driving comfort.

[0005] According to some embodiments, the first solution of the present invention provides a full-condition adaptive cruise control method for intelligent connected vehicles, adopting the following technical solution: A method for all-condition adaptive cruise control of intelligent connected vehicles includes: Acquire real-time operating data of intelligent connected vehicles and information on targets around the vehicles; Based on the acquired real-time operating data, the current driving condition of the vehicle is identified; Based on the identified current driving conditions of the vehicle and the information on surrounding objects, the system automatically accelerates and decelerates the vehicle to complete the all-condition adaptive cruise control of the intelligent connected vehicle.

[0006] As a further technical limitation, the real-time operating data of the intelligent connected vehicle acquired must include at least the speeds of the vehicle's four wheels, and the wheel slip ratio coefficient is calculated based on the acquired four wheel speeds. ,Right now ,in, The average slip ratio , This represents the maximum slip ratio. , , , , These are the slip ratios of the four wheels, , , , , , , , These are the speeds of the four wheels of the vehicle, respectively. This is the vehicle speed signal for ABS.

[0007] Furthermore, when the obtained wheel slip ratio coefficient exceeds the second set threshold, the wheel is normal and the vehicle is in normal operating condition; when the obtained wheel slip ratio coefficient does not exceed the first set threshold, the wheel experiences severe sideslip and the vehicle is in wet and slippery operating condition; when the obtained wheel slip ratio coefficient is between the first set threshold and the second set threshold, the wheel experiences slight sideslip and the vehicle is in low-traction operating condition.

[0008] Furthermore, the real-time operating data of the intelligent connected vehicle also includes the slope signal of the vehicle; when the acquired slope signal of the vehicle is greater than the reference slope, the vehicle is in an uphill running state; when the absolute value of the acquired slope signal of the vehicle is less than the reference slope, the vehicle is in a flat road running state; when the acquired slope signal of the vehicle is less than zero and the absolute value of the slope exceeds the reference slope, the vehicle is in a downhill running state.

[0009] As a further technical limitation, the identified current driving conditions of the vehicle include normal conditions, low-adhesion conditions, slippery conditions, uphill conditions, and downhill conditions.

[0010] As a further technical limitation, the all-condition adaptive cruise control of the intelligent connected vehicle includes following cruise and constant speed cruise.

[0011] According to some embodiments, the second aspect of the present invention provides a full-condition adaptive cruise control system for intelligent connected vehicles, employing the following technical solution: A full-condition adaptive cruise control system for intelligent connected vehicles, comprising: The acquisition module is configured to acquire real-time operating data of intelligent connected vehicles and information on targets around the vehicles; The identification module is configured to identify the current driving conditions of the vehicle based on the acquired real-time operating data; The control module is configured to drive the vehicle to automatically accelerate and decelerate based on the identified current driving conditions of the vehicle and the acquired information on the surrounding objects, thereby completing the all-condition adaptive cruise control of the intelligent connected vehicle.

[0012] According to some embodiments, a third aspect of the present invention provides a computer-readable storage medium, employing the following technical solution: A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the all-condition adaptive cruise control method for an intelligent connected vehicle as described in the first aspect of the present invention.

[0013] According to some embodiments, the fourth aspect of the present invention provides an electronic device, which adopts the following technical solution: An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps in the all-condition adaptive cruise control method for an intelligent connected vehicle as described in the first aspect of the present invention.

[0014] According to some embodiments, the fifth aspect of the present invention provides a computer program product, which adopts the following technical solution: A computer program product includes software code, wherein the program in the software code performs the steps of the all-condition adaptive cruise control method for an intelligent connected vehicle as described in the first aspect of the present invention.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention identifies the current driving conditions of intelligent connected vehicles based on real-time operating data, and combines this with information about objects around the vehicle to further drive the vehicle's automatic acceleration and deceleration, thereby achieving adaptive cruise control. This solves the problem of control accuracy issues in intelligent connected vehicles where the adaptive cruise speed is too fast or too slow under different operating conditions, improving overall vehicle safety and driving comfort. Attached Figure Description The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0016] Figure 1 This is a flowchart of the all-condition adaptive cruise control method for intelligent connected vehicles in Embodiment 1 of the present invention; Figure 2 This is an architecture diagram of the all-condition adaptive cruise control method for intelligent connected vehicles in Embodiment 1 of the present invention; Figure 3 This is an architecture diagram of the adaptive cruise control in Embodiment 1 of the present invention; Figure 4 This is a structural block diagram of the all-condition adaptive cruise control system for intelligent connected vehicles in Embodiment 2 of the present invention. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0020] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0021] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0022] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0023] Example 1 Embodiment 1 of this invention introduces a method for all-condition adaptive cruise control of intelligent connected vehicles.

[0024] like Figure 1 The method for all-condition adaptive cruise control of an intelligent connected vehicle, as shown, includes: Acquire real-time operating data of intelligent connected vehicles and information on targets around the vehicles; Based on the acquired real-time operating data, the current driving condition of the vehicle is identified; Based on the identified current driving conditions of the vehicle and the information on surrounding objects, the system automatically accelerates and decelerates the vehicle to complete the all-condition adaptive cruise control of the intelligent connected vehicle.

[0025] like Figure 2 and Figure 3 As shown, the vehicle controller identifies driving conditions by collecting signals such as slope and wheel speed. At the same time, it combines the target object information transmitted by the camera and outputs control commands to drive the vehicle to achieve automatic acceleration and deceleration, ensuring that the vehicle can achieve adaptive cruise control under different conditions.

[0026] This embodiment uses an adaptive cruise system to achieve all-condition adaptive cruise control for intelligent connected vehicles.

[0027] The adaptive cruise control system in this embodiment includes a vehicle controller, wheel speed sensors, an ABS controller, a slope sensor, a camera perception controller, a drive system controller, and a braking system controller. The vehicle controller, as the brain of the adaptive cruise control system, mainly performs condition identification and adaptive cruise control decisions. The wheel speed sensors collect the speeds of the four wheels, the ABS controller provides accurate vehicle speed signals, the slope sensor obtains the driving slope, and the camera perception controller obtains the distance and speed of the target object ahead. Finally, combined with the execution functions of the drive system controller (which controls the vehicle to move forward through motor rotation) and the braking system controller (which controls the vehicle to decelerate and brake), adaptive cruise control of the intelligent connected vehicle is realized under all operating conditions.

[0028] The vehicle controller receives the speeds of the four wheels of the vehicle via wheel speed sensors, and records them as follows: , , , Simultaneously obtained via CAN bus Speed ​​signal According to wheel speed signals and The slip ratio of each of the four wheels was calculated using the vehicle speed signal. , , , The calculation formula is:

[0029]

[0030]

[0031]

[0032] Compare the slip ratios of the four wheels to obtain the maximum value. ,Right now Then calculate the average of the remaining three slip ratios. The calculation formula is:

[0033] Based on the average slip ratio With the maximum value Calculate the slip ratio coefficient ,Right now .

[0034] If the slip ratio coefficient More than 85%, that is If all four wheel speeds are normal, the driving condition is considered normal. If the slip ratio coefficient Less than or equal to 85% and greater than 50%, that is If so, it is determined that the wheel has slightly skidded, and the driving condition is a low-friction condition, that is... If the slip ratio coefficient Less than or equal to 50%, that is If this occurs, it is determined that the wheel has severely skidded, and the driving condition is a wet and slippery condition. .

[0035] The vehicle controller obtains the actual slope signal from the slope sensor. Set the baseline slope as follows: If the actual slope is greater than the reference slope, that is If the actual slope is less than the baseline slope, then the vehicle is considered to be uphill; if the actual slope is less than the baseline slope, then the vehicle is considered to be uphill. If the actual slope is less than 0 and the absolute value of the slope is greater than the reference slope, then the vehicle is considered to be traveling on a flat road; if the actual slope value is less than 0 and the absolute value of the slope is greater than the reference slope, then the vehicle is considered to be traveling on a flat road. If so, the vehicle is determined to be downhill.

[0036] By combining slip ratio and gradient signals, the final driving condition of the vehicle is obtained. If the driving condition is normal and the vehicle is traveling uphill, then the driving condition is determined to be an uphill condition. If the driving condition is normal and the road is downhill, then the driving condition is determined to be a downhill condition. If the driving conditions are normal and the road is flat, then the driving conditions are still considered normal and are recorded as follows: .

[0037] If the vehicle's operating condition calculated based on the slip ratio is a low-adhesion condition or a wet-slip condition, then... In this case, there is no need to determine whether the vehicle is on an uphill or downhill slope; it will still be judged as a wet or slippery working condition or a low-adhesion working condition.

[0038] In summary, the formula for calculating vehicle operating conditions is as follows:

[0039] The vehicle controller obtains target vehicle information transmitted by the camera controller via the CAN bus, including distance signals to the target vehicle. Effective value of target object signal target vehicle speed signal Time of collision with the target vehicle Camera malfunction information Simultaneously acquire throttle signal Brake pedal signal Adaptive cruise control switch signal Set the baseline following distance. The minimum safe distance is Maximum cruising speed .

[0040] The vehicle controller receives a throttle opening of less than 5, a brake pedal opening of less than 5, and a valid cruise control switch signal, while the camera displays no fault information. Then the vehicle enters adaptive cruise control request mode, that is... ; If the vehicle is operating under normal conditions and enters adaptive cruise control request mode, that is... Then adjust the vehicle parameters. Following distance. equal to the baseline following distance ,Right now Minimum safe distance equal to the baseline minimum safety distance ,Right now At the same time, the vehicle enters adaptive cruise control mode, that is ; If the vehicle is operating under low-adjustment conditions and enters adaptive cruise control request mode, that is... Then adjust the vehicle parameters. Following distance. equal to the baseline following distance The product of the ratio coefficient of slip ratio, i.e. Minimum safe distance equal to the baseline minimum safety distance 1.5 times the product of the inverse of the slip ratio coefficient, i.e. At the same time, the vehicle enters adaptive cruise control mode, that is ; If the vehicle is driving in slippery conditions and enters adaptive cruise control request mode, that is... If so, the vehicle parameters will be adjusted. The system will immediately exit adaptive cruise control mode. , , ; If the vehicle is driving uphill and enters adaptive cruise control request mode, that is... If necessary, adjust the vehicle parameters. Calculate the slope ratio coefficient based on the absolute value of the slope and the baseline slope value. ,Right now Following distance equal to the baseline following distance Slope ratio coefficient Product, i.e. Minimum safe distance Equal to the minimum safe distance of the benchmark ,Right now At the same time, the vehicle enters adaptive cruise control mode, that is ; If the vehicle is driving downhill and enters adaptive cruise control request mode, that is... Then adjust the vehicle parameters. Following distance. equal to the baseline following distance Slope ratio coefficient Product, i.e. Minimum safe distance equal to the baseline minimum safety distance Slope proportionality coefficient product times, that is ,in For calibration values, and At the same time, the vehicle enters adaptive cruise control mode, that is ; In summary, following distance minimum safe distance The calculation formula is:

[0041] If the vehicle enters adaptive cruise control mode, that is The vehicle controller calculates the following distance. minimum safe distance At the same time, combined with the distance signal to the target vehicle Effective value of target object signal target vehicle speed signal It determines whether the vehicle's adaptive cruise control mode is following mode or cruise control mode.

[0042] To ensure sufficient reaction time and braking distance, the final safe distance must be calculated based on the vehicle's speed. The calculation formula is:

[0043] in For the maximum allowable braking deceleration of the braking system, This represents the current vehicle speed.

[0044] If the target object signal is valid The value remains at 1, then the timer begins. Duration greater than If the signal from the target vehicle is valid, then the signal from the target vehicle is deemed valid. If the target object signal is valid If the value remains at 0, the timer will begin. Duration greater than If the signal from the target vehicle is invalid, the target is lost. The formula for calculating the target vehicle signal status is:

[0045] If the vehicle enters adaptive cruise control mode, the final safe distance Signal greater than the distance to the target vehicle And the target vehicle signal status Effective, and the target vehicle speed signal Less than the maximum cruising speed ,Right now: Then it enters the following mode, that is ; If the vehicle enters adaptive cruise control mode, the final safe distance Signal less than the distance to the target vehicle Or the target vehicle signal status Invalid, or target vehicle speed signal With maximum cruising speed The difference is greater than 3, that is Then exit the following mode and enter the cruise control mode, that is... ; In summary, the formula for determining the cruise mode is:

[0046] In this embodiment, if the vehicle is in cruise control mode, i.e. The vehicle controller will record the moment when it enters cruise control as At the same time, the vehicle speed at that moment Set to cruise control speed And it cannot exceed the maximum cruise speed setting, that is .

[0047] The vehicle's current speed is Set the reference torque to The vehicle controller calculates and obtains the drive torque. If the cruise control is set to a speed lower than the vehicle's actual speed, that is: Then the driving torque If the cruise control speed is greater than or equal to the current speed, that is: Then the driving torque The formula for calculating the driving torque in cruise control mode is:

[0048] If the vehicle is in follow mode, that is , by the final safe distance and distance from the target object Calculate distance deviation The formula is: ,according to Algorithm calculates driving acceleration The calculation formula is:

[0049] in, This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients. To avoid differences in vehicle speed... An improperly set coefficient leads to excessive acceleration. It is necessary to consult a table to obtain different proportional, integral, and derivative coefficients based on different vehicle speeds.

[0050] The vehicle controller is based on the drive acceleration. Calculate the drive torque in following mode If the vehicle is operating under normal conditions, that is... Then the driving torque ,in The vehicle weight; if the vehicle is operating under low-adhesion conditions, i.e. Then the driving torque , This is the slip ratio coefficient; if the vehicle is driving uphill, then... Then the driving torque ,in This is the gravity coefficient; if the vehicle is traveling downhill, then... Then the driving torque Then the following mode drives the torque. The calculation formula is:

[0051] In summary, adaptive cruise control drive torque The calculation formula is:

[0052] The vehicle controller will calculate the drive torque It is sent to the motor controller to control the vehicle to drive.

[0053] This embodiment categorizes adaptive cruise control exit modes into active and passive exit modes based on different exit conditions. If the brake pedal opening is greater than 5, or the accelerator pedal opening is greater than 5, that is: If it exits the adaptive cruise control mode, it is a proactive exit, i.e. If the camera transmits the collision time signal with the vehicle in front Too small, or the camera controller is faulty, or the cruise control switch mode is invalid, i.e.: Then exit the adaptive cruise control mode, denoted as The formula for exiting adaptive cruise control mode is:

[0054] If the exit mode is active exit and the brake pedal opening is greater than 5 (meaning the driver exits by pressing the brake), then the adaptive cruise control drive torque... To reduce torque to 0, a torque reduction gradient is set to avoid vehicle vibration caused by excessively rapid torque changes. Torque reduction time is ,Right now Seconds later If the exit mode is active exit and the throttle opening is greater than 5 (i.e., the driver presses the accelerator to exit), the vehicle controller will determine the exit mode based on the throttle opening signal and the current motor speed signal. The driver's desired torque is obtained by looking up the table. ,Right now Then the driving torque becomes the torque desired by the driver, that is... Actively disengage adaptive cruise control; if the vehicle's throttle opening is less than 5 and the brake pedal opening is less than 5, the adaptive cruise control mode can be automatically restored based on the cruise mode judgment conditions. If the exit mode is passive exit, and Drive torque It needs to be immediately reduced to 0, that is... At the same time, according to Calculate the corresponding deceleration based on the magnitude .like Then, slow braking will be applied, and the braking time will be [time period missing]. Braking deceleration is ;like Emergency braking will then be initiated, with the braking deceleration being the maximum permissible braking deceleration of the braking system. ,Right now ; If the camera controller is faulty, or the cruise control switch mode is invalid, i.e. Then, adaptive cruise control will be passively disengaged, and a torque reduction gradient will be set. Torque reduction time is ,Right now Seconds later Torque Braking begins after the temperature drops to 0. The braking time is set to 5 seconds, and the braking deceleration is [value missing]. .

[0055] In summary, the formulas for calculating the adaptive cruise control disengagement torque and braking deceleration are as follows:

[0056] The vehicle controller will calculate the deceleration Sending torque to the braking system to control vehicle braking, while simultaneously transmitting torque. Send the signal to the motor controller for driving or resetting. To improve driving safety, adaptive cruise control is passively disengaged and will resume once conditions are reset. It cannot automatically resume adaptive cruise control; the driver must manually operate the cruise control switch to re-enter adaptive cruise control mode.

[0057] This embodiment identifies the vehicle's current driving condition based on real-time operating data of the intelligent connected vehicle, and combines this with information about surrounding objects to further drive the vehicle's automatic acceleration and deceleration, thereby realizing adaptive cruise control. This solves the problem of control accuracy issues in intelligent connected vehicles where the adaptive cruise speed is too fast or too slow under different operating conditions, improving overall vehicle driving safety and driving comfort. Example 2 Embodiment 2 of the present invention introduces an all-condition adaptive cruise control system for intelligent connected vehicles.

[0058] like Figure 4 The all-condition adaptive cruise control system for intelligent connected vehicles shown includes: The acquisition module is configured to acquire real-time operating data of intelligent connected vehicles and information on targets around the vehicles; The identification module is configured to identify the current driving conditions of the vehicle based on the acquired real-time operating data; The control module is configured to drive the vehicle to automatically accelerate and decelerate based on the identified current driving conditions of the vehicle and the acquired information on the surrounding objects, thereby completing the all-condition adaptive cruise control of the intelligent connected vehicle.

[0059] The detailed steps are the same as those of the all-condition adaptive cruise control method for intelligent connected vehicles provided in Embodiment 1, and will not be repeated here.

[0060] Example 3 Embodiment 3 of the present invention provides a computer-readable storage medium.

[0061] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of a full-condition adaptive cruise control method for an intelligent connected vehicle as described in Embodiment 1 of the present invention.

[0062] The detailed steps are the same as those of the all-condition adaptive cruise control method for intelligent connected vehicles provided in Embodiment 1, and will not be repeated here.

[0063] Example 4 Embodiment 4 of the present invention provides an electronic device.

[0064] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps in the all-condition adaptive cruise control method for an intelligent connected vehicle as described in Embodiment 1 of the present invention.

[0065] The detailed steps are the same as those of the all-condition adaptive cruise control method for intelligent connected vehicles provided in Embodiment 1, and will not be repeated here.

[0066] Example 5 Embodiment 5 of the present invention provides a computer program product.

[0067] A computer program product includes software code, wherein the program in the software code performs the steps of the all-condition adaptive cruise control method for intelligent connected vehicles as described in Embodiment 1 of the present invention.

[0068] The detailed steps are the same as those of the all-condition adaptive cruise control method for intelligent connected vehicles provided in Embodiment 1, and will not be repeated here.

[0069] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0070] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0071] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0072] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0073] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0074] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0075] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A method for all-condition adaptive cruise control of intelligent connected vehicles, characterized in that, include: Acquire real-time operating data of the intelligent connected vehicle and information about objects around the vehicle; the acquired real-time operating data of the intelligent connected vehicle includes at least the speeds of the four wheels of the vehicle, and calculate the wheel slip ratio coefficient based on the acquired four wheel speeds. ,Right now ,in, The average slip ratio , This represents the maximum slip ratio. , , , , These are the slip ratios of the four wheels, , , , , , , , These are the speeds of the four wheels of the vehicle, respectively. For vehicle ABS speed signal; Based on the acquired real-time operating data, the current driving condition of the vehicle is identified as follows: when the obtained wheel slip ratio coefficient exceeds the second set threshold, the wheel is normal and the vehicle is in normal operating condition; when the obtained wheel slip ratio coefficient does not exceed the first set threshold, the wheel has severe sideslip and the vehicle is in wet and slippery operating condition; when the obtained wheel slip ratio coefficient is between the first set threshold and the second set threshold, the wheel has slight sideslip and the vehicle is in low-traction operating condition. Based on the identified current driving conditions of the vehicle and the information on surrounding objects, the system automatically accelerates and decelerates the vehicle to complete the all-condition adaptive cruise control of the intelligent connected vehicle.

2. The all-condition adaptive cruise control method for intelligent connected vehicles as described in claim 1, characterized in that, The real-time operating data of the intelligent connected vehicles also includes the slope signal of the vehicle; when the slope signal of the vehicle is greater than the reference slope, the vehicle is in an uphill running state; when the absolute value of the slope signal of the vehicle is less than the reference slope, the vehicle is in a flat running state; when the slope signal of the vehicle is less than zero and the absolute value of the slope exceeds the reference slope, the vehicle is in a downhill running state.

3. The all-condition adaptive cruise control method for intelligent connected vehicles as described in claim 1, characterized in that, The identified current driving conditions of the vehicle include normal conditions, low-adhesion conditions, wet and slippery conditions, uphill conditions, and downhill conditions.

4. The all-condition adaptive cruise control method for intelligent connected vehicles as described in claim 1, characterized in that, The intelligent connected vehicle's all-condition adaptive cruise control includes following cruise and constant speed cruise.

5. A full-condition adaptive cruise control system for intelligent connected vehicles, characterized in that, include: The acquisition module is configured to acquire real-time operating data of the intelligent connected vehicle and information about objects around the vehicle; the acquired real-time operating data of the intelligent connected vehicle includes at least the speeds of the vehicle's four wheels, and a wheel slip ratio coefficient is calculated based on the acquired four wheel speeds. ,Right now ,in, The average slip ratio , This represents the maximum slip ratio. , , , , These are the slip ratios of the four wheels, , , , , , , , These are the speeds of the four wheels of the vehicle, respectively. For vehicle ABS speed signal; The identification module is configured to identify the current driving condition of the vehicle based on the acquired real-time operating data. Specifically, when the obtained wheel slip ratio coefficient exceeds a second set threshold, the wheels are normal and the vehicle is in normal operating condition; when the obtained wheel slip ratio coefficient does not exceed a first set threshold, the wheels have experienced severe sideslip and the vehicle is in a wet and slippery condition; when the obtained wheel slip ratio coefficient is between the first and second set thresholds, the wheels have experienced slight sideslip and the vehicle is in a low-traction condition. The control module is configured to drive the vehicle to automatically accelerate and decelerate based on the identified current driving conditions of the vehicle and the acquired information on the surrounding objects, thereby completing the all-condition adaptive cruise control of the intelligent connected vehicle.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the all-condition adaptive cruise control method for intelligent connected vehicles as described in any one of claims 1-4.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of the all-condition adaptive cruise control method for intelligent connected vehicles as described in any one of claims 1-4.

8. A computer program product, comprising software code, characterized in that, The program in the software code executes the steps of the all-condition adaptive cruise control method for intelligent connected vehicles as described in any one of claims 1-4.

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