Vehicle driving control method, device and equipment

Abstract

The present application discloses a vehicle driving control method, device and equipment, relating to the field of vehicle control. The method includes: obtaining the first driving state data of the vehicle currently and the second driving state data of the target vehicle; determining the current vehicle distance between the vehicle and the target vehicle, and the target vehicle distance between the vehicle and the target vehicle; based on a preset acceleration planning model, determining the acceleration control strategy of the vehicle according to the first driving state data, the second driving state data, the current vehicle distance and the target vehicle distance, where the acceleration planning model is determined based on a piecewise function; and controlling the driving state of the vehicle according to the acceleration control strategy. The present application can simply and quickly calculate the acceleration planning results under different working conditions, with small calculation amount, less occupied computing resources, easy to implement. At the same time, the acceleration planning results conform to the human driving habits, which can effectively improve the comfort of the passengers and drivers.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and particularly to a vehicle driving control method, device and equipment. Background Art

[0002] In the intelligent driving system configured in a vehicle, for example: AEB (Autonomous Emergency Braking) or ACC (Adaptive Cruise Control) needs to precisely control the acceleration of the vehicle to achieve the goal of precisely controlling the braking distance or following distance.

[0003] In the related art, a PID (Proportional-Integral-Derivative) controller is used to plan and adjust the acceleration of the vehicle. The PID controller is based on a feedback control method that takes the difference between the acceleration target value and the current acceleration value as the input, and there is a certain lag; and the PID controller is mainly based on a linear proportional link, and the same set of parameters is difficult to adapt to different working conditions, so a large amount of parameter calibration and matching work is required. Summary of the Invention

[0004] In order to more simply and efficiently achieve precise control of the vehicle driving state, this application provides a vehicle driving control method, device and equipment. The technical solutions are as follows:

[0005] In a first aspect, this application provides a vehicle driving control method, and the method includes:

[0006] Obtain the first driving state data of the vehicle currently and the second driving state data of the target vehicle;

[0007] Determine the current distance between the vehicle and the target vehicle, and the target distance between the vehicle and the target vehicle;

[0008] Based on a preset acceleration planning model, determine the acceleration control strategy of the vehicle according to the first driving state data, the second driving state data, the current distance and the target distance, and the acceleration planning model is determined based on a piecewise function;

[0009] Control the driving state of the vehicle according to the acceleration control strategy.

[0010] Optionally, the acceleration control strategy includes an acceleration holding strategy and an acceleration changing strategy.

[0011] The step of determining the acceleration control strategy of the vehicle according to the first driving state data, the second driving state data, the current distance and the target distance based on a preset acceleration planning model includes:

[0012] Based on the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance, calculate the parameter value of a key parameter, where the key parameter characterizes the acceleration in the acceleration maintaining strategy.

[0013] Based on the first driving state data and the parameter value of the key parameter, determine the parameter value of the first time parameter of the acceleration control strategy, where the first time parameter characterizes the starting time point of the acceleration maintaining strategy.

[0014] Optionally, the determining the acceleration control strategy of the vehicle based on a preset acceleration planning model according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance further includes:

[0015] Obtain an initial acceleration time-domain characteristic according to the preset acceleration planning model, where the acceleration time-domain characteristic is expressed as a piecewise linear function of acceleration and time;

[0016] Determine the constraint conditions of the acceleration time-domain characteristic according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance;

[0017] Determine the parameter values of each target parameter in the acceleration time-domain characteristic according to the constraint conditions, the parameter value of the key parameter, and the parameter value of the first time parameter, to obtain a target acceleration time-domain characteristic;

[0018] Determine the acceleration maintaining strategy and the acceleration change strategy of the vehicle according to the target acceleration time-domain characteristic.

[0019] Optionally, the calculating the parameter value of the key parameter according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance includes:

[0020] Determine the first speed in the first driving state data and the second speed in the second driving state data;

[0021] Based on a preset uniform acceleration condition, calculate the parameter value of the key parameter according to the first speed, the second speed, the current vehicle distance, and the target vehicle distance.

[0022] Optionally, the method further includes:

[0023] When the parameter value of the key parameter is lower than a preset threshold, determine the acceleration extreme value of the vehicle;

[0024] Determine the acceleration holding strategy of the vehicle according to the extreme value of the acceleration. In the acceleration holding strategy, the acceleration at which the vehicle travels is a fixed value, and the acceleration change strategy of the vehicle is empty.

[0025] Optionally, the method further includes:

[0026] Determine the timing characteristics of the parameter values of the target parameters;

[0027] When the timing characteristics do not meet the preset timing constraint conditions, update the parameter values of the key parameters according to a preset change amount;

[0028] According to the updated parameter values of the key parameters, recalculate and determine the parameter values of the target parameters in the acceleration time domain characteristics.

[0029] Optionally, the acceleration change strategy includes a first acceleration change strategy and a second acceleration change strategy. The first time parameter also represents the termination time point of the first acceleration change strategy. Determining the parameter values of the target parameters in the acceleration time domain characteristics according to the constraint conditions, the parameter values of the key parameters, and the parameter values of the first time parameter includes:

[0030] Determine the parameter values of the second time parameter and the third time parameter in the acceleration time domain characteristics according to the constraint conditions, the parameter values of the key parameters, and the parameter values of the first time parameter;

[0031] The second time parameter represents the starting time point of the second acceleration change strategy, and the third time parameter represents the termination time point of the second acceleration change strategy.

[0032] Optionally, controlling the driving state of the vehicle according to the acceleration control strategy includes:

[0033] Sequentially execute the first acceleration change strategy, the acceleration holding strategy, and the second acceleration change strategy to control the driving state of the vehicle.

[0034] In a second aspect, the present application provides a vehicle driving control device, and the device includes:

[0035] A data acquisition module, configured to acquire the first driving state data of the vehicle and the second driving state data of the target vehicle;

[0036] A vehicle distance determination module, configured to determine the current vehicle distance between the vehicle and the target vehicle, and the target vehicle distance between the vehicle and the target vehicle;

[0037] A calculation module, configured to determine an acceleration control strategy for the vehicle based on a preset acceleration planning model according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance, where the acceleration planning model is determined based on a piecewise function;

[0038] A control module, configured to control the driving state of the vehicle according to the acceleration control strategy.

[0039] In a third aspect, the present application provides a computer-readable storage medium, in which at least one instruction or at least one program segment is stored, and the at least one instruction or at least one program segment is loaded and executed by a processor to implement a vehicle driving control method as described in the first aspect.

[0040] In a fourth aspect, the present application provides a computer device, which includes a processor and a memory, and at least one instruction or at least one program segment is stored in the memory, and the at least one instruction or at least one program segment is loaded and executed by the processor to implement a vehicle driving control method as described in the first aspect.

[0041] In a fifth aspect, the present application provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes a vehicle driving control method as described in the first aspect.

[0042] A vehicle driving control method, device and equipment provided by the present application have the following technical effects:

[0043] The present application obtains the first driving state data of the vehicle and the second driving state data of the target vehicle; and determines the current vehicle distance between the vehicle and the target vehicle, and the target vehicle distance between the vehicle and the target vehicle; and then determines an acceleration control strategy for the vehicle based on a preset acceleration planning model according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance, where the acceleration planning model is determined based on a piecewise function; thus, the driving state of the vehicle can be controlled according to the acceleration control strategy. The method provided by the present application can simply and quickly calculate the acceleration planning results for different target vehicle distances or target driving states, adapt to different working conditions, has a small amount of calculation, occupies less computing resources, is easy to implement, and at the same time, the acceleration planning results conform to the human driving habit, which can effectively improve the comfort of the passengers.

[0044] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0046] Figure 1 It is a schematic flowchart of a vehicle driving control method provided by an embodiment of the present application.

[0047] Figure 2 It is a schematic flowchart of a method for determining an acceleration control strategy of a vehicle provided by an embodiment of the present application.

[0048] Figure 3 It is a schematic flowchart of another method for determining an acceleration control strategy of a vehicle provided by an embodiment of the present application.

[0049] Figure 4 It is a schematic flowchart of a method for calculating the parameter values of key parameters provided by an embodiment of the present application.

[0050] Figure 5 It is a schematic flowchart of a method for performing a feasibility judgment based on key parameters provided by an embodiment of the present application.

[0051] Figure 6 It is a schematic flowchart of a method for determining the parameter values of each target parameter in the acceleration time domain characteristics provided by an embodiment of the present application.

[0052] Figure 7 It is a schematic diagram of a vehicle driving control method in an intelligent vehicle following scenario provided by an embodiment of the present application.

[0053] Figure 8 It is a schematic diagram of an acceleration time domain characteristic represented by a piecewise function provided by an embodiment of the present application.

[0054] Figure 9 It is a schematic flowchart of another vehicle driving control method in an intelligent vehicle following scenario provided by an embodiment of the present application.

[0055] Figure 10 It is a schematic diagram of a vehicle driving control device provided by an embodiment of the present application.

[0056] Figure 11It is a schematic diagram of the hardware structure of a device provided by an embodiment of the present application for implementing a vehicle driving control method. Detailed implementation manners

[0057] In order to more simply and efficiently achieve precise control of the vehicle driving state, an embodiment of the present application provides a vehicle driving control method, device and equipment. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout.

[0058] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above accompanying drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server including a series of steps or units does not necessarily need to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0059] The following introduces a vehicle driving control method provided by the present application. Figure 1 It is a flowchart of a vehicle driving control method provided by an embodiment of the present application. The present application provides method operation steps as described in the embodiment or flowchart, but based on routine or non-creative labor, it may include more or fewer operation steps. The order of steps listed in the embodiment is only one way among the execution orders of many steps, and does not represent the only execution order. When actually executed by a system or server product, it can be executed in the order of the method shown in the embodiment or the accompanying drawings or executed in parallel (for example, in an environment of parallel processors or multi-threaded processing). Please refer to Figure 1 , a vehicle driving control method provided by an embodiment of the present application may include the following steps:

[0060] S110: Obtain the first driving state data of the vehicle currently and the second driving state data of the target vehicle.

[0061] In the embodiments of the present application, in order to achieve the goal of accurately controlling the braking distance or following distance of an intelligent driving vehicle, an acceleration planning model is designed to replace the feedback control method based on PID. In this acceleration planning model, the inputs of the model include the current driving state data of the host vehicle (i.e., the first driving state data) and the current driving state data of the target vehicle (i.e., the second driving state data). It can be understood that when the host vehicle is in the automatic following driving mode, the host vehicle can follow the target vehicle. In addition, the target vehicle can also be a surrounding vehicle in any direction of the host vehicle. When the host vehicle needs to accurately control its driving state according to the driving state of the target vehicle for stable following or safe driving. The above driving state data includes but is not limited to vehicle speed, vehicle acceleration, vehicle jerk, vehicle driving trajectory, etc.

[0062] Optionally, the host vehicle obtains the vehicle driving state data of the target vehicle through sensors such as vehicle radars or obtains the vehicle driving state data of the target vehicle based on V2V communication technology (Vehicle to Vehicle communication, a wireless technology for transmitting data between vehicles).

[0063] S120: Determine the current vehicle distance between the vehicle and the target vehicle, and the target vehicle distance between the vehicle and the target vehicle.

[0064] In the embodiments of the present application, the inputs of the above acceleration planning model further include the current vehicle distance and the target vehicle distance between the host vehicle and the target vehicle, so that the acceleration planning model plans the acceleration of the host vehicle according to the above first driving state data, second driving state data, current vehicle distance and target vehicle distance, so that the host vehicle maintains the target vehicle distance from the target vehicle after a certain time.

[0065] Optionally, the host vehicle determines the current vehicle distance between itself and the target vehicle through sensors such as vehicle radars or based on V2V communication technology (Vehicle to Vehicle communication, a wireless technology for transmitting data between vehicles).

[0066] Optionally, the target vehicle distance can be the vehicle distance set by the intelligent driving system of the host vehicle, such as the vehicle distance threshold for stable following in the automatic following driving mode or a value within the vehicle distance range, or the vehicle safety distance threshold defined by the vehicle safety system. The above vehicle distance can also be dynamically adjusted according to the vehicle driving state (such as vehicle speed), vehicle driving mode (such as fully automatic driving, semi-automatic driving, etc.) or road section scenario (such as highway section, urban expressway, mountain road, etc.). The present application does not limit this.

[0067] S130: Based on a preset acceleration planning model, determine an acceleration control strategy for the vehicle according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance. The acceleration planning model is determined based on a piecewise function.

[0068] In the embodiment of the present application, the designed acceleration planning model plans and calculates the acceleration change characteristics of the host vehicle according to the incoming parameter data, forms an acceleration control strategy for the host vehicle, and outputs it to the electronic brake control module of the host vehicle. The braking force output by the electronic brake control module is used to control the driving state of the host vehicle.

[0069] In the embodiment of the present application, considering the comfort of the driver and passengers and the driving habits of humans, the acceleration planning model is determined based on a piecewise function. Exemplarily, if the current vehicle speed of the host vehicle is greater than that of the target vehicle, in order to maintain the target vehicle distance, the calculated acceleration change characteristics can be manifested as gradually increasing the absolute value of the acceleration (at this time, the direction of the acceleration is opposite to the direction of the speed), keeping the acceleration unchanged for a period of time, and gradually decreasing the absolute value of the acceleration (at this time, the direction of the acceleration is also opposite to the direction of the speed).

[0070] It can be understood that the acceleration control strategy planned and determined in the embodiment of the present application covers the current moment to the moment when the control is completed, avoiding the hysteresis of the feedback control method based on the PID algorithm. At the same time, it is not necessary to calibrate the model parameters for different working conditions respectively, reducing the calculation difficulty and calculation amount, and being easy to implement. In addition, compared with using multiple PID controllers to track the target vehicle distance and the driving state data of the target vehicle, the output of the acceleration planning model designed in the present application is not affected by coupling.

[0071] In an embodiment of the present application, as Figure 2 shown, the acceleration control strategy includes an acceleration holding strategy and an acceleration change strategy. The step of determining the acceleration control strategy for the vehicle based on a preset acceleration planning model according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance may include the following steps:

[0072] S210: Calculate the parameter value of a key parameter according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance. The key parameter characterizes the acceleration in the acceleration holding strategy.

[0073] It can be understood that in the acceleration holding strategy, the parameter value of the key parameter, that is, the value of the acceleration, is a constant value.

[0074] Specifically, as Figure 4As shown, step S210 may include the following steps:

[0075] S211: Determine the first speed in the first driving state data and the second speed in the second driving state data.

[0076] S212: Based on a preset constant acceleration condition, calculate the parameter value of the key parameter according to the first speed, the second speed, the current vehicle distance, and the target vehicle distance.

[0077] Exemplarily, the constant acceleration condition may be that the acceleration remains unchanged within the time range from the current moment to the moment when the control is completed. Therefore, based on the kinematic model of the object, the first speed of the own vehicle in the first driving state data can be determined, the second speed of the target vehicle in the second driving state data can be determined, and by combining the difference between the current vehicle distance and the target vehicle distance, an acceleration value can be calculated, and this speed value can be used as the parameter value of the key parameter and applied in the acceleration maintaining strategy.

[0078] In the above embodiments, the acceleration control strategy is divided into an acceleration maintaining strategy and an acceleration changing strategy, and based on a preset constant acceleration condition, the acceleration data in the acceleration maintaining strategy is determined to improve the comfort of the passengers during the driving state control process. Further, the acceleration changing strategy can be further divided into a first acceleration changing strategy and a second acceleration changing strategy. In terms of the execution order, the acceleration maintaining strategy is in the middle order.

[0079] In an embodiment of the present application, a feasibility judgment is made according to the key parameter. If it is possible that the acceleration of the own vehicle performance cannot reach this parameter value, so as Figure 5 As shown, the method may further include:

[0080] S213: When the parameter value of the key parameter is lower than a preset threshold, determine the acceleration extreme value of the vehicle.

[0081] Exemplarily, relevant laws and regulations have clear requirements for the acceleration peak value or jerk (also called the rate of change of force, which is the rate of change of acceleration), etc. When the parameter value of the key parameter does not meet the specific requirements or cannot achieve a safe distance, the maximum or minimum acceleration value of the own vehicle can be determined.

[0082] S214: Determine the acceleration maintaining strategy of the vehicle according to the acceleration extreme value. In the acceleration maintaining strategy, the acceleration at which the vehicle travels is a fixed value, and the acceleration changing strategy of the vehicle is empty.

[0083] In the above embodiments, the key parameter representing the acceleration in the acceleration maintaining strategy is judged to improve the feasibility and safety of the model planning result.

[0084] S220: Determine the parameter value of the first time parameter of the acceleration control strategy according to the first driving state data and the parameter value of the key parameter, where the first time parameter characterizes the starting time point of the acceleration maintaining strategy.

[0085] In a feasible implementation manner, the acceleration change strategy can also be divided into a first acceleration change strategy and a second acceleration change strategy. In terms of the execution order, the acceleration maintaining strategy is in the middle order to improve the comfort of the driver and passengers. Exemplarily, determine the current first acceleration of the host vehicle in the first driving state data, and obtain a preset acceleration change rate (jerk). Calculate the parameter value of the first time parameter based on linear change. This first time parameter can not only characterize the starting time point of the acceleration maintaining strategy, but also characterize the ending time point of the first acceleration change strategy.

[0086] In the above embodiments, determine the relevant time parameters in the acceleration strategy according to the parameter value of the key parameter, and realize the segmented planning of the acceleration.

[0087] In an embodiment of the present application, as Figure 3 shown, based on the preset acceleration planning model, according to the first driving state data, the second driving state data, the current vehicle distance and the target vehicle distance, determining the acceleration control strategy of the vehicle may further include the following steps:

[0088] S230: Obtain the initial acceleration time domain characteristics according to the preset acceleration planning model, and the acceleration time domain characteristics are presented as a piecewise linear function of acceleration and time.

[0089] Exemplarily, the acceleration control strategy is divided into an acceleration maintaining strategy and an acceleration change strategy. The acceleration change strategy can also be divided into a first acceleration change strategy and a second acceleration change strategy. In terms of the execution order, the acceleration maintaining strategy is in the middle order. Therefore, according to the acceleration planning model designed based on the piecewise function, the target parameters of the acceleration time domain characteristics (i.e., the above piecewise linear function) may include but are not limited to the start and end times of the first acceleration change strategy, the start and end times of the acceleration maintaining strategy, the start and end times of the second acceleration change strategy, the acceleration change rate of the first acceleration change strategy, the acceleration change rate of the second acceleration change strategy, the acceleration of the acceleration maintaining strategy, etc.

[0090] S240: Determine the constraint conditions of the acceleration time domain characteristics according to the first driving state data, the second driving state data, the current vehicle distance and the target vehicle distance.

[0091] Exemplarily, in the following - vehicle mode, the constraint condition can be manifested as follows: at the moment when the acceleration control strategy is completed, after a certain period of acceleration and deceleration, the host vehicle will reach the same speed as the target vehicle, and after a certain period of driving, the vehicle - to - vehicle distance between the host vehicle and the target vehicle will change from the current vehicle - to - vehicle distance to the target vehicle - to - vehicle distance.

[0092] S250: Determine the parameter values of each target parameter in the acceleration time - domain characteristic according to the constraint condition, the parameter values of the key parameter, and the parameter values of the first time parameter, so as to obtain the target acceleration time - domain characteristic.

[0093] It can be understood that according to the piece - wise function, the constraint condition, and the determined key parameter and first time parameter, each target parameter in the piece - wise function can be solved, and each target parameter is also the target parameter of the above - mentioned acceleration time - domain characteristic.

[0094] In an exemplary embodiment, the acceleration change strategy includes a first acceleration change strategy and a second acceleration change strategy. The first time parameter also represents the termination time point of the first acceleration change strategy. To solve other target parameters, the method may further include the following steps:

[0095] S251: Determine the parameter values of the second time parameter and the third time parameter in the acceleration time - domain characteristic according to the constraint condition, the parameter values of the key parameter, and the parameter values of the first time parameter; the second time parameter represents the start time point of the second acceleration change strategy, and the third time parameter represents the termination time point of the second acceleration change strategy.

[0096] In the above - mentioned embodiment, the time parameters of each sub - strategy in the acceleration control strategy can be determined simply and quickly, that is, the execution order of each sub - strategy is clarified, which can effectively improve the comfort of the passengers.

[0097] In an exemplary embodiment, as Figure 6 shown, the step S250 may include the following steps:

[0098] S252: Determine the timing characteristics of the parameter values of each target parameter.

[0099] Exemplarily, determine the numerical value of the time parameter in the target parameter.

[0100] S253: When the timing characteristic does not meet the preset timing constraint condition, update the parameter value of the key parameter according to the preset change amount.

[0101] It can be understood that in the embodiments shown in steps S210 - S220, the key parameters of the acceleration maintenance strategy are determined first, and the parameter values of the key parameters are used as known conditions to solve the acceleration time-domain characteristics. When the target parameters in the acceleration time-domain characteristics do not meet the preset timing constraint conditions, obviously, the selection of the parameter values of the key parameters is incorrect. The parameter values of the key parameters can be updated based on the preset change amount (also called offset), and the parameter values of the target parameters in the acceleration time-domain characteristics are re-determined.

[0102] S254: According to the updated parameter values of the key parameters, re-calculate and determine the parameter values of each target parameter in the acceleration time-domain characteristics.

[0103] Optionally, in addition to the timing characteristics, the rationality of the parameter values of other types can also be verified based on common sense. If the result is unreasonable, the parameter values of the key parameters can also be updated, and then the parameter values of the target parameters in the acceleration time-domain characteristics are re-determined.

[0104] In the above embodiments, for the abnormal situation where the planning result is unreasonable, the key parameter values are iteratively re-determined until a reasonable acceleration planning result is output, ensuring the feasibility of the acceleration control strategy.

[0105] S260: According to the target acceleration time-domain characteristics, determine the acceleration maintenance strategy and the acceleration change strategy of the vehicle.

[0106] In the embodiments shown in the above steps S230 - S260, the acceleration planning model quickly determines the final acceleration time-domain characteristics based on the kinematic laws, and clarifies the acceleration control strategy, efficiently completing the planning of the acceleration.

[0107] S140: According to the acceleration control strategy, control the driving state of the vehicle.

[0108] Exemplarily, according to the time parameters determined in the above steps S220 and S251, sequentially execute the first acceleration change strategy, the acceleration maintenance strategy, and the second acceleration change strategy to control the driving state of the vehicle.

[0109] In the above embodiments, the acceleration control strategy is divided into three stages: change - maintain - change. On this basis, each stage can be further segmented and refined or the order can be exchanged, etc. The above methods are all within the protection scope of the present application and will not be elaborated here.

[0110] The following introduces a vehicle driving control method provided by the embodiments of the present application through a specific intelligent deceleration following scenario.

[0111] Specifically, as Figure 7As shown in the figure, an acceleration planning model based on piecewise function is designed to replace the PID controller. The input of the model includes: target vehicle distance d d 、The target speed v of the target vehicle t , current vehicle distance d0, initial vehicle speed v0 of the vehicle, initial acceleration a0 of the vehicle, after planning and calculation of the model, the target acceleration time domain characteristics are output and input to the wire control brake aP control module to execute the corresponding acceleration control strategy, so that the distance between the vehicle and the target vehicle reaches the target distance, and the speed is the same as the target speed. In the deceleration following scenario, according to the acceleration planning model and the acceleration change-maintain-change strategy combination determined by the human following driving habits, the acceleration time domain characteristics can be expressed as follows Figure 8 The piecewise function shown in the figure, where 0 is the start time of following the vehicle, t3 is the control completion time, a0 is the initial acceleration of the vehicle, k1 is the first acceleration change rate, t1 is the start time of acceleration maintenance, t2 is the end time of acceleration maintenance, k2 is the second acceleration change rate, and a1 is the acceleration value of the maintenance stage. Figure 8 The acceleration time domain characteristic shown is recorded as a(t), and a(t) is a function of acceleration changing with time. It can be understood that when the acceleration is positive, it means the same direction as the velocity; when the acceleration is negative, it means the opposite direction to the velocity. Obviously, a(t) is a piecewise linear function and should satisfy the following equation:

[0112]

[0113]

[0114] Formula (1) indicates that at the control completion time t3, the speed of the vehicle and the preceding vehicle is the same, v t Formula (2) indicates that at the control completion time t3, the distance between the vehicle and the preceding vehicle will reach the target following distance d d .

[0115] The above formula (1) and formula (2) can be combined to solve the specific expression of a(t), and the solution is the planning result.

[0116] Specifically, based on the above acceleration planning model, a verification process for the calculation results can be added. The processing flow can be as follows: Figure 9 As shown, for the scenario of decelerating and following a vehicle, in order to make the description of the process such as numerical comparison more concise and clear, deceleration is used instead of acceleration, and the deceleration represents the amount of speed reduction within a certain period of time. First, the initial value of a1 can be determined according to formula (3):

[0117]

[0118] The initial value is the average relative deceleration value after the following-distance control is completed. If this value is lower than the regulatory limit, it indicates that it is impossible to complete the decelerating following-distance according to the required deceleration during the following-distance process. At this time, the maximum deceleration value can be directly output to decelerate and a collision risk warning can be given; otherwise, continue with the solution calculation. Secondly, the termination time t1 of the first stage, which is also the starting time t1 of the second stage, can be determined according to formula (4) first, where abs represents taking the absolute value:

[0119]

[0120] If the solution result satisfies the time sequence, this linear characteristic programming is successful and the deceleration planning result can be directly output. If the solution result does not satisfy the time sequence, the value of a1 is decreased according to the calibrated deceleration change amount and the iteration calculation is continued until a result that satisfies the physical meaning is obtained.

[0121] An embodiment of the present application also provides a vehicle driving control device 1000, as Figure 10 shown. The device 1000 may include:

[0122] A data acquisition module 1010, configured to acquire the first driving state data of the vehicle and the second driving state data of the target vehicle.

[0123] A vehicle distance determination module 1020, configured to determine the current vehicle distance between the vehicle and the target vehicle, and the target vehicle distance between the vehicle and the target vehicle.

[0124] A calculation module 1030, configured to determine the acceleration control strategy of the vehicle based on a preset acceleration planning model according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance, and the acceleration planning model is determined based on a piecewise function.

[0125] A control module 1040, configured to control the driving state of the vehicle according to the acceleration control strategy.

[0126] Optionally, the calculation module 1030 may include:

[0127] A key parameter calculation unit, configured to calculate the parameter values of key parameters according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance, and the key parameters characterize the acceleration in the acceleration maintaining strategy;

[0128] A first time parameter calculation unit, configured to determine the parameter values of the first time parameter of the acceleration control strategy according to the first driving state data and the parameter values of the key parameters, and the first time parameter characterizes the starting time point of the acceleration maintaining strategy.

[0129] Optionally, the calculation module 1030 may further include:

[0130] A characteristic initialization unit, configured to obtain an initial acceleration time-domain characteristic according to the preset acceleration planning model, where the acceleration time-domain characteristic is expressed as a piecewise linear function of acceleration and time;

[0131] A constraint condition determination unit, configured to determine the constraint conditions of the acceleration time-domain characteristic according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance;

[0132] A characteristic determination unit, configured to determine the parameter values of each target parameter in the acceleration time-domain characteristic according to the constraint conditions, the parameter values of the key parameters, and the parameter values of the first time parameter, so as to obtain a target acceleration time-domain characteristic;

[0133] A strategy determination unit, configured to determine the acceleration maintenance strategy and the acceleration change strategy of the vehicle according to the target acceleration time-domain characteristic.

[0134] Optionally, the key parameter calculation unit may include:

[0135] A speed determination subunit, configured to determine the first speed in the first driving state data and the second speed in the second driving state data;

[0136] A key parameter calculation subunit, configured to calculate the parameter values of the key parameters based on a preset uniform acceleration condition according to the first speed, the second speed, the current vehicle distance, and the target vehicle distance.

[0137] Optionally, the key parameter calculation unit may further include:

[0138] An abnormality determination subunit, configured to determine the acceleration extreme value of the vehicle when the parameter value of the key parameter is lower than a preset threshold;

[0139] A strategy determination subunit, configured to determine the acceleration maintenance strategy of the vehicle according to the acceleration extreme value, where the acceleration at which the vehicle travels in the acceleration maintenance strategy is a fixed value, and the acceleration change strategy of the vehicle is empty.

[0140] Optionally, the device 1000 may further include a verification module 1050, and the verification module 1050 may include:

[0141] A timing feature determination unit, configured to determine the timing features of the parameter values of each target parameter;

[0142] A key parameter update unit, configured to update the parameter value of the key parameter by a preset variation amount when the timing feature does not meet the preset timing constraint condition;

[0143] An iterative calculation unit, configured to recalculate and determine the parameter values of the target parameters in the acceleration time domain characteristic according to the updated parameter value of the key parameter.

[0144] Optionally, the acceleration change strategy includes a first acceleration change strategy and a second acceleration change strategy, the first time parameter also represents the termination time point of the first acceleration change strategy, and the characteristic determination unit may include:

[0145] A second time parameter calculation subunit, configured to determine the parameter values of the second time parameter and the third time parameter in the acceleration time domain characteristic according to the constraint condition, the parameter value of the key parameter, and the parameter value of the first time parameter; the second time parameter represents the start time point of the second acceleration change strategy, and the third time parameter represents the termination time point of the second acceleration change strategy.

[0146] Optionally, the control module 1040 may include:

[0147] A strategy execution unit, configured to sequentially execute the first acceleration change strategy, the acceleration holding strategy, and the second acceleration change strategy to control the driving state of the vehicle.

[0148] It should be noted that for the device provided in the above embodiment, when implementing its functions, only the above-mentioned division of each functional module is used as an example. In actual applications, the above functions may be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0149] An embodiment of the present application provides a computer device, which includes a processor and a memory. At least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to implement a vehicle driving control method as provided in the above method embodiment.

[0150] Figure 11 A hardware structure diagram of a device for implementing a vehicle driving control method provided in an embodiment of the present application is shown. The device may participate in forming or include the device or system provided in the embodiment of the present application. As Figure 11As shown, the device 11 may include one or more processors 1102 (illustrated as 1102a, 1102b, ……, 1102n in the figure) (the processor 1102 may include, but is not limited to, processing devices such as a microprocessor MCU or a programmable logic device FPGA), a memory 1104 for storing data, and a transmission device 1106 for communication functions. In addition, it may further include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply, and / or a camera. Those of ordinary skill in the art can understand that Figure 11 the structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the device 11 may further include more or fewer components than Figure 11 shown in, or have a different configuration from Figure 11 that shown.

[0151] It should be noted that the above one or more processors 1102 and / or other data processing circuits can generally be referred to as "data processing circuits" herein. The data processing circuit can be embodied in software, hardware, firmware, or any combination thereof, in whole or in part. In addition, the data processing circuit can be a single independent processing module, or be incorporated in whole or in part into any one of the other elements in the device 11 (or mobile device). As involved in the embodiments of the present application, the data processing circuit is a kind of processor control (such as the selection of a variable resistance terminal path connected to an interface).

[0152] The memory 1104 can be used to store software programs and modules of application software, such as the program instructions / data storage devices corresponding to the methods described in the embodiments of the present application. The processor 1102 executes various functional applications and data processing by running the software programs and modules stored in the memory 1104, that is, implements the above-mentioned vehicle driving control method. The memory 1104 may include a high-speed random access memory, and may further include a non-volatile memory, such as one or more magnetic storage devices, a flash memory, or other non-volatile solid-state memories. In some instances, the memory 1104 may further include a memory remotely disposed relative to the processor 1102, and these remote memories can be connected to the device 11 through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0153] The transmission device 1106 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by the communication provider of device 11. In one example, the transmission device 1106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 1106 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0154] The display can be, for example, a touch-screen liquid crystal display (LCD), which enables the user to interact with the user interface of device 11 (or the mobile device).

[0155] An embodiment of the present application also provides a computer-readable storage medium, which can be arranged in a server to store at least one instruction or at least one program segment related to a vehicle driving control method in a method embodiment. The at least one instruction or the at least one program segment is loaded and executed by the processor to implement the vehicle driving control method provided in the above method embodiment.

[0156] Optionally, in this embodiment, the above storage medium can be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media that can store program codes such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs.

[0157] An embodiment of the present invention also provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above various optional embodiments.

[0158] As can be seen from the embodiments of the vehicle driving control method, device, and equipment provided by the present application above,

[0159] This application obtains the first driving state data of the vehicle and the second driving state data of the target vehicle currently; and determines the current distance between the vehicle and the target vehicle, as well as the target distance between the vehicle and the target vehicle; and then, based on a preset acceleration planning model, determines the acceleration control strategy of the vehicle according to the first driving state data, the second driving state data, the current distance and the target distance, and the acceleration planning model is determined based on a piecewise function; thus, the driving state of the vehicle can be controlled according to the acceleration control strategy. The method provided by this application can simply and quickly calculate the acceleration planning results for different target distances or target driving states, adapt to different working conditions, have a small amount of calculation, occupy less computing resources, are easy to implement, and at the same time the acceleration planning results conform to the human driving habits, which can effectively improve the comfort of the passengers and drivers.

[0160] It should be noted that: the above sequence of embodiments of this application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above specific embodiments of this application have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0161] Each embodiment in this application is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the device, equipment and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0162] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware, and the program can be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disc, etc.

[0163] The above are only the preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included in the protection scope of this application.

Claims

1. A vehicle driving control method, characterized in that, The method includes: Obtaining the first driving state data of the vehicle currently and the second driving state data of the target vehicle; Determining the current vehicle distance between the vehicle and the target vehicle, and the target vehicle distance between the vehicle and the target vehicle; Based on a preset acceleration planning model, determining the acceleration control strategy of the vehicle according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance, where the acceleration planning model is determined based on a piecewise function; the acceleration control strategy includes an acceleration maintaining strategy and an acceleration changing strategy; Controlling the driving state of the vehicle according to the acceleration control strategy so that the vehicle follows the target vehicle at the target vehicle distance; The acceleration control strategy is determined through the following steps: Obtaining the initial acceleration time-domain characteristics according to the preset acceleration planning model, where the acceleration time-domain characteristics are represented as a piecewise linear function of acceleration and time; Determining the constraint conditions of the acceleration time-domain characteristics according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance; Calculating the parameter values of key parameters according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance, where the key parameters characterize the acceleration in the acceleration maintaining strategy; Determining the parameter values of each target parameter in the acceleration time-domain characteristics according to the constraint conditions, the parameter values of the key parameters, and the parameter values of the first time parameter to obtain the target acceleration time-domain characteristics; the first time parameter characterizes the starting time point of the acceleration maintaining strategy; the parameter values of the first time parameter are determined based on the first driving state data and the parameter values of the key parameters; Determining the acceleration maintaining strategy and the acceleration changing strategy of the vehicle according to the target acceleration time-domain characteristics.

2. The vehicle driving control method according to claim 1, characterized in that The calculating the parameter values of the key parameters according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance includes: Determining the first speed in the first driving state data and the second speed in the second driving state data; Calculating the parameter values of the key parameters based on a preset uniform acceleration condition according to the first speed, the second speed, the current vehicle distance, and the target vehicle distance.

3. The vehicle driving control method according to claim 1, wherein The method further includes: When the parameter values of the key parameters are lower than a preset threshold, determining the acceleration extreme value of the vehicle; Determining the acceleration maintaining strategy of the vehicle according to the acceleration extreme value, where the acceleration at which the vehicle travels in the acceleration maintaining strategy is a fixed value, and the acceleration changing strategy of the vehicle is empty.

4. The vehicle driving control method according to claim 1, characterized in that The method further includes: Determining the timing characteristics of the parameter values of each target parameter; When the timing characteristics do not meet the preset timing constraint conditions, updating the parameter values of the key parameters by a preset change amount; Recalculating and determining the parameter values of each target parameter in the acceleration time-domain characteristics according to the updated parameter values of the key parameters.

5. The vehicle driving control method according to claim 1, wherein The first time parameter also characterizes the termination time point of the first acceleration change strategy. Determining the parameter values of each target parameter in the acceleration time domain characteristic according to the constraint condition, the parameter value of the key parameter, and the parameter value of the first time parameter includes: Determining the parameter value of the second time parameter and the parameter value of the third time parameter in the acceleration time domain characteristic according to the constraint condition, the parameter value of the key parameter, and the parameter value of the first time parameter; The second time parameter characterizes the start time point of the second acceleration change strategy, and the third time parameter characterizes the termination time point of the second acceleration change strategy.

6. The vehicle driving control method according to claim 5, characterized in that, Controlling the driving state of the vehicle according to the acceleration control strategy includes: Sequentially executing the first acceleration change strategy, the acceleration holding strategy, and the second acceleration change strategy to control the driving state of the vehicle.

7. A vehicle driving control device, characterized in that, The device includes: A data acquisition module, configured to acquire the first driving state data of the vehicle and the second driving state data of the target vehicle; A vehicle distance determination module, configured to determine the current vehicle distance between the vehicle and the target vehicle, and the target vehicle distance between the vehicle and the target vehicle; A calculation module, configured to determine the acceleration control strategy of the vehicle based on a preset acceleration planning model according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance. The acceleration planning model is determined based on a piecewise function; the acceleration control strategy includes an acceleration holding strategy and an acceleration change strategy; A control module, configured to control the driving state of the vehicle according to the acceleration control strategy so that the vehicle follows the target vehicle at the target vehicle distance; Wherein, the calculation module includes: A characteristic initialization unit, configured to obtain an initial acceleration time domain characteristic according to the preset acceleration planning model. The acceleration time domain characteristic is expressed as a piecewise linear function of acceleration and time; A constraint condition determination unit, configured to determine the constraint condition of the acceleration time domain characteristic according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance; A key parameter calculation unit, configured to calculate the parameter value of a key parameter according to the first driving state data, the second driving state data, the current vehicle distance, and the target vehicle distance. The key parameter characterizes the acceleration in the acceleration holding strategy; A characteristic determination unit, configured to determine the parameter values of each target parameter in the acceleration time domain characteristic according to the constraint condition, the parameter value of the key parameter, and the parameter value of the first time parameter to obtain a target acceleration time domain characteristic; the first time parameter characterizes the start time point of the acceleration holding strategy; the parameter value of the first time parameter is determined based on the first driving state data and the parameter value of the key parameter; A strategy determination unit, configured to determine the acceleration holding strategy and the acceleration change strategy of the vehicle according to the target acceleration time domain characteristic.

8. A computer device, characterized in that, The computer device includes a processor and a memory. At least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to perform a vehicle driving control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, in which at least one instruction or at least one program segment is stored, and the at least one instruction or at least one program segment is loaded and executed by a processor to implement a vehicle driving control method according to any one of claims 1 to 6.

Images