Follow-up control method, device and equipment based on autonomous vehicle

Abstract

The present disclosure provides a follow-up vehicle control method, device and equipment based on an automatic driving vehicle, relates to the field of artificial intelligence, in particular to the field of unmanned driving, automatic driving, planning control, intelligent traffic, Internet of Vehicles and intelligent cockpit, and the like. The specific implementation scheme is as follows: an actual distance between a current vehicle and a leading vehicle, a safety distance, a current speed of the leading vehicle in a current frame are obtained; if it is determined that the actual distance is greater than or equal to the safety distance, the current speed of the leading vehicle is determined as a first driving speed of the leading vehicle in each frame in a future time period; according to the first driving speed of the leading vehicle in each frame in the future time period, a second driving speed of the current vehicle in each frame in the future time period is determined; and the current vehicle is controlled to drive. It is guaranteed that the current vehicle can drive at a stable speed; the safety of the personnel in the current vehicle is guaranteed; and the safety threat caused by the rear vehicle of the current vehicle is reduced.

Description

Technical Field

[0001] The present disclosure relates to fields such as unmanned driving, autonomous driving, planning and control, intelligent transportation, vehicle networking and smart cockpit in artificial intelligence, and in particular to a vehicle following control method, device and equipment based on autonomous driving vehicles. Background Art

[0002] With the development of autonomous driving technology, autonomous vehicles have begun to be used. During the autonomous driving process, autonomous vehicles need to follow the vehicle in front of them.

[0003] How autonomous vehicles can safely follow other vehicles to ensure driving safety and the safety of personnel is an urgent problem that needs to be solved. Summary of the Invention

[0004] The present disclosure provides a vehicle following control method, device and equipment based on an autonomous driving vehicle for ensuring safe driving of the vehicle.

[0005] According to a first aspect of the present disclosure, a vehicle following control method based on an autonomous driving vehicle is provided, comprising:

[0006] Obtaining distance information between the current vehicle and a leading vehicle, and obtaining the current speed of the leading vehicle in the current frame; wherein the leading vehicle and the current vehicle are in a following relationship; the distance information includes an actual distance and a safe distance, wherein the safe distance represents the distance between the current vehicle and the leading vehicle to ensure safe driving;

[0007] If it is determined that the actual distance is greater than or equal to the safety distance, then determining the current speed of the leading vehicle as the first driving speed of the leading vehicle in each frame in the future time period;

[0008] According to the first driving speed of the guide vehicle in each frame in the future time period, the second driving speed of the current vehicle in each frame in the future time period is determined; and according to the second driving speed of the current vehicle in each frame in the future time period, the current vehicle is controlled to travel.

[0009] According to a second aspect of the present disclosure, a vehicle following control device based on an autonomous driving vehicle is provided, comprising:

[0010] a first acquiring unit configured to acquire distance information between a current vehicle and a leading vehicle, wherein the leading vehicle and the current vehicle are in a following relationship; the distance information includes an actual distance and a safe distance, wherein the safe distance represents a vehicle separation distance that ensures safe travel between the current vehicle and the leading vehicle;

[0011] a second acquiring unit, configured to acquire a current speed of the leading vehicle in a current frame;

[0012] a first determining unit, configured to determine, if it is determined that the actual distance is greater than or equal to the safety distance, a current speed of the guide vehicle as a first driving speed of the guide vehicle in each frame in a future time period;

[0013] a second determining unit, configured to determine a second driving speed of the current vehicle in each frame in the future time period according to the first driving speed of the leading vehicle in each frame in the future time period;

[0014] A control unit is used to control the current vehicle to travel according to the second travel speed of each frame of the current vehicle in a future time period.

[0015] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the above method.

[0016] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the above method.

[0017] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising: a computer program, wherein the computer program is stored in a readable storage medium, at least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program so that the electronic device executes the method described in the first aspect.

[0018] According to a sixth aspect of the present disclosure, an autonomous driving vehicle is provided, in which the electronic device provided by the third aspect is provided.

[0019] According to the technology disclosed in the present invention, the current speed of the leading vehicle in the current frame that is in a following relationship with the current vehicle is obtained, and the actual distance and safety distance between the current vehicle and the leading vehicle are obtained; if it is determined that the actual distance is greater than or equal to the safety distance, it is determined that it is safe for the current vehicle to follow the leading vehicle. The current speed of the leading vehicle in the current frame is determined to be the first driving speed of the leading vehicle in each frame in the future time period, and then the predicted speed of the leading vehicle in the future time period is obtained; thus, when it is determined that the actual distance is greater than or equal to the safety distance, the predicted speed of the leading vehicle in the future time period is uniformized. Based on the first driving speed of the leading vehicle in each frame in the future time period, the second driving speed of the current vehicle in each frame in the future time period is determined, and then the current vehicle is controlled to travel based on the second driving speed of the current vehicle in each frame in the future time period. The safety distance is calculated to ensure the safety of following the vehicle. When determining that the actual distance is greater than or equal to the safety distance, the predicted speed of the leading vehicle in the future time period is uniformized. Furthermore, the second driving speed of the current vehicle in each frame of the future time period is obtained based on the speed of the leading vehicle in the future time period. This ensures that the second driving speed of the current vehicle in each frame of the future time period is stable, ensuring that the current vehicle can follow the vehicle at a stable speed, ensuring the stability of the current vehicle's driving state and the safety of the people in the current vehicle, and reducing the safety threat posed to vehicles behind the current vehicle.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0022] Figure 1 This is a scene diagram that can implement the vehicle following embodiment of the present disclosure;

[0023] Figure 2 is a schematic diagram according to a first embodiment of the present disclosure;

[0024] Figure 3 is a schematic diagram according to a second embodiment of the present disclosure;

[0025] Figure 4 is a schematic diagram of lateral distances provided according to the present disclosure;

[0026] Figure 5 is a schematic diagram according to a third embodiment of the present disclosure;

[0027] Figure 6 is a schematic diagram according to a fourth embodiment of the present disclosure;

[0028] Figure 7 This is a diagram showing the speed change of the current vehicle in the future time period according to the present disclosure. Figure 1 ;

[0029] Figure 8 This is a diagram showing the speed change of the current vehicle in the future time period according to the present disclosure. Figure 2 ;

[0030] Figure 9 is a schematic diagram according to a fifth embodiment of the present disclosure;

[0031] Figure 10 is a schematic diagram according to a sixth embodiment of the present disclosure;

[0032] Figure 11 is a schematic diagram according to a seventh embodiment of the present disclosure;

[0033] Figure 12 A schematic block diagram of an example electronic device 1200 is shown, which may be used to implement embodiments of the present disclosure. DETAILED DESCRIPTION

[0034] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0035] With the development of autonomous driving technology, autonomous vehicles have begun to be used. During autonomous driving, autonomous vehicles need to follow the vehicle ahead (i.e., the "follow the vehicle ahead" scenario). This scenario is a common one in autonomous driving. Ensuring that autonomous vehicles can safely and stably follow the vehicle ahead is a key issue and technical challenge in autonomous driving technology.

[0036] Figure 1 This is a scene diagram that can implement the vehicle following embodiment of the present disclosure, such as Figure 1 As shown, the autonomous driving vehicle 101 needs to follow the vehicle 102 in front to perform autonomous driving. There are other vehicles 103 around the autonomous driving vehicle 101. Each vehicle travels in a lane formed by lane lines 104.

[0037] How autonomous vehicles can safely follow other vehicles to ensure driving safety and the safety of personnel is an urgent problem that needs to be solved.

[0038] In one example, an autonomous vehicle can obtain a predicted speed of a preceding vehicle, where the predicted speed is the speed of the preceding vehicle in a future time period and is predicted by the preceding vehicle or another control device. For example, the autonomous vehicle predicts the predicted speed of the preceding vehicle; or the autonomous vehicle receives the predicted speed of the preceding vehicle from another device or the preceding vehicle. The preceding vehicle can be a regular vehicle or an autonomous vehicle.

[0039] The autonomous vehicle determines its current predicted speed based on the predicted speed of the preceding vehicle. For example, the autonomous vehicle may use the preceding vehicle's predicted speed for the future time period as the current predicted speed for the future time period; or, alternatively, the autonomous vehicle may subtract a preset value from the preceding vehicle's predicted speed for the future time period to determine the current predicted speed for the future time period. The autonomous vehicle then uses the predicted speed to control the current autonomous vehicle's movement.

[0040] However, in the above-mentioned method, the autonomous vehicle constantly controls its driving based on the predicted speed of the vehicle ahead in the future. Consequently, the autonomous vehicle must constantly follow the driving status of the vehicle ahead to control its own driving. The process of the autonomous vehicle controlling its own driving based on the predicted speed of the vehicle ahead in the future is a very sensitive process. Complete reliance on the predicted speed of the vehicle ahead results in repeated fluctuations in the vehicle's state while following the vehicle ahead. This can lead to an extremely unstable driving state, potentially posing a safety hazard to those in the vehicle and to vehicles behind the autonomous vehicle.

[0041] For example, if the vehicle ahead first accelerates and then maintains a constant speed in the future time period, the autonomous vehicle also needs to accelerate first and then maintain a constant speed based on the predicted speed and predicted state of the vehicle ahead. However, during actual driving, the actual predicted speed of the vehicle ahead is a constant speed within a certain range (not an absolute constant speed). In the above process, the autonomous vehicle will first accelerate and then maintain a constant speed, which will reduce the distance between the autonomous vehicle and the vehicle ahead, resulting in a reduction in the safe distance between the two vehicles. The autonomous vehicle will then need to slow down again to avoid a collision, and the autonomous vehicle will slow down again. This will cause the autonomous vehicle to repeat the above process continuously, i.e., acceleration, constant speed, deceleration, acceleration, constant speed, and deceleration. This will cause the driving state of the autonomous vehicle to be very unstable, which may easily pose a safety hazard to the safety of people in the autonomous vehicle; it will also pose a safety threat to vehicles located behind the autonomous vehicle.

[0042] The present disclosure provides a vehicle following control method, device and equipment based on an autonomous driving vehicle, which are applied to technical fields such as unmanned driving, autonomous driving, planning and control, intelligent transportation, vehicle networking and intelligent cockpit in artificial intelligence, so as to achieve stable driving and ensure the stability of the vehicle's driving state.

[0043] Figure 2 is a schematic diagram according to the first embodiment of the present disclosure, as shown in Figure 2 As shown, the following control method based on the autonomous driving vehicle provided in this embodiment includes:

[0044] S201. Obtain distance information between the current vehicle and the guide vehicle, and obtain the current speed of the guide vehicle in the current frame; wherein the guide vehicle and the current vehicle are in a following relationship; the distance information includes an actual distance and a safe distance, and the safe distance represents the vehicle separation distance that ensures safe driving of the current vehicle and the guide vehicle.

[0045] For example, in this embodiment, the execution subject may be an autonomous vehicle, a controller on an autonomous vehicle, a remote device, a terminal device, a server, an electronic device, a vehicle following control device or device based on an autonomous vehicle, or other devices or equipment capable of executing the method of this embodiment. This embodiment is described with the execution subject being the controller on the autonomous vehicle.

[0046] When driving, a vehicle must follow the vehicle ahead. There is a leading vehicle ahead of the vehicle; the direction "ahead" refers to the direction along the vehicle's travel direction. The vehicle (the current vehicle) can be an autonomous vehicle. The leading vehicle is the vehicle that the current vehicle needs to follow.

[0047] The controller of the current vehicle can first obtain the distance information between the current vehicle and the leading vehicle. The controller of the current vehicle needs to obtain the actual distance between the current vehicle and the leading vehicle; in addition, the controller of the current vehicle also needs to obtain the safe distance between the current vehicle and the leading vehicle. The safe distance is the distance between the current vehicle and the leading vehicle, and the safe distance is the distance between the vehicles that ensures safe driving of both the current vehicle and the leading vehicle.

[0048] S202: If it is determined that the actual distance is greater than or equal to the safety distance, determine the current speed of the guiding vehicle, which is the first driving speed of the guiding vehicle in each frame in the future time period.

[0049] Exemplarily, the controller of the current vehicle compares the acquired actual distance with the safety distance to determine whether the actual distance is greater than the safety distance.

[0050] If the current vehicle's controller determines that the actual distance is greater than or equal to the safe distance, the current vehicle and the leading vehicle are considered safe, and the current vehicle's controller determines to follow the leading vehicle. In this embodiment, if the current vehicle's controller determines that the actual distance is greater than or equal to the safe distance, the current vehicle's controller determines to control the following process based directly on the obtained current speed of the leading vehicle in the current frame.

[0051] First, in this embodiment, if the current vehicle's controller determines that the actual distance is greater than or equal to the safety distance, the current vehicle's controller must first determine the predicted speed of the leading vehicle for the future time period. In this step, the current vehicle's controller determines the obtained current speed of the leading vehicle in the current frame as the first driving speed of the leading vehicle for each frame in the future time period. In other words, the current vehicle's controller determines the predicted speed of the leading vehicle for the future time period and performs a uniform speed process.

[0052] S203. Determine a second driving speed of the current vehicle in each frame in the future time period based on the first driving speed of the guide vehicle in each frame in the future time period; and control the current vehicle to travel based on the second driving speed of the current vehicle in each frame in the future time period.

[0053] Exemplarily, in step S202, the controller of the current vehicle obtains the predicted speed of the leading vehicle in the future time period, that is, obtains the first driving speed of the leading vehicle in each frame in the future time period; wherein, the first driving speed of the leading vehicle in each frame in the future time period is the current speed of the leading vehicle in the current frame.

[0054] The controller of the current vehicle predicts a second driving speed of the current vehicle in each frame in the future time period based on the acquired first driving speed of the leading vehicle in each frame in the future time period.

[0055] In one example, the future time period includes N frames, where N is a positive integer greater than or equal to 1; the controller of the current vehicle determines the first driving speed of the guided vehicle in the i-th frame in the future time period as the second driving speed of the current vehicle in the i-th frame in the future time period; i∈[1, N]; i is a positive integer greater than or equal to 1.

[0056] In another example, the future time period includes N frames, where N is a positive integer greater than or equal to 1; the controller of the current vehicle determines the second driving speed of the current vehicle in the i-th frame in the future time period based on the first driving speed of the guide vehicle in the i-th frame in the future time period and a preset acceleration; i∈[1, N]; i is a positive integer greater than or equal to 1.

[0057] In another example, the future time period includes N frames, where N is a positive integer greater than or equal to 1; the controller of the current vehicle adds a preset speed value to the first driving speed of the guided vehicle in the i-th frame in the future time period to obtain the second driving speed of the current vehicle in the i-th frame in the future time period; i∈[1, N]; i is a positive integer greater than or equal to 1.

[0058] The controller of the current vehicle can determine the predicted speed of the current vehicle for each frame in the future time period, that is, determine the second driving speed of the current vehicle for each frame in the future time period; the controller of the current vehicle can control the current vehicle to travel at the obtained second driving speed in the future time period based on the second driving speed of the current vehicle for each frame in the future time period.

[0059] Each frame mentioned above refers to each moment. Alternatively, each frame mentioned above refers to each moment every R moments; where R is a positive integer greater than or equal to 1.

[0060] In this embodiment, the current speed of the leading vehicle in the current frame, which is in a following relationship with the current vehicle, is obtained, and the actual distance and safety distance between the current vehicle and the leading vehicle are obtained. If the actual distance is determined to be greater than or equal to the safety distance, it is determined that it is safe for the current vehicle to follow the leading vehicle. The current speed of the leading vehicle in the current frame is determined to be the first driving speed of the leading vehicle in each frame in the future time period, and the predicted speed of the leading vehicle in the future time period is then obtained. When the actual distance is determined to be greater than or equal to the safety distance, the predicted speed of the leading vehicle in the future time period is uniformized. Based on the first driving speed of the leading vehicle in each frame in the future time period, the second driving speed of the current vehicle in each frame in the future time period is determined, and the current vehicle is controlled to travel based on the second driving speed of the current vehicle in each frame in the future time period. The safety distance is calculated to ensure the safety of following the vehicle. When determining that the actual distance is greater than or equal to the safety distance, the predicted speed of the leading vehicle in the future time period is uniformized. Furthermore, the second driving speed of the current vehicle in each frame of the future time period is obtained based on the speed of the leading vehicle in the future time period. This ensures that the second driving speed of the current vehicle in each frame of the future time period is stable, ensuring that the current vehicle can follow the vehicle at a stable speed, ensuring the stability of the current vehicle's driving state and the safety of the people in the current vehicle, and reducing the safety threat posed to vehicles behind the current vehicle.

[0061] In order to make readers more deeply understand the implementation principle of this disclosure, the following Figure 3-Figure 9 right Figure 2 The illustrated embodiment is further refined.

[0062] Figure 3 is a schematic diagram according to the second embodiment of the present disclosure, as shown in Figure 3 As shown, the following control method based on the autonomous driving vehicle provided in this embodiment includes:

[0063] S301. Determine a leading vehicle.

[0064] In one example, step S301 includes the following process:

[0065] Obtain the position information and driving direction of the surrounding vehicles adjacent to the current vehicle in the current frame, and obtain the driving direction and position information of the current vehicle in the current frame; determine the leading vehicle based on the position information of the surrounding vehicles adjacent to the current vehicle in the current frame, the driving direction of the surrounding vehicles adjacent to the current vehicle in the current frame, the driving direction of the current vehicle in the current frame, and the position information of the current vehicle in the current frame.

[0066] In one example, the guide vehicle is ahead of the current vehicle, the guide vehicle's travel direction in the current frame is the same as the current vehicle's, and the lateral distance between the guide vehicle and the current vehicle is less than a preset threshold. The lateral distance is the distance between the guide vehicle and the current vehicle in a direction perpendicular to the travel direction.

[0067] For example, in this embodiment, the execution subject may be an autonomous vehicle, a controller on an autonomous vehicle, a remote device, a terminal device, a server, an electronic device, a vehicle following control device or device based on an autonomous vehicle, or other devices or equipment capable of executing the method of this embodiment. This embodiment is described with the execution subject being the controller on the autonomous vehicle.

[0068] When a vehicle is traveling, it must follow the vehicle in front. The direction "front" refers to the direction along the vehicle's direction of travel. The vehicle (the current vehicle) may be an autonomous vehicle.

[0069] There are multiple surrounding vehicles adjacent to the current vehicle; a leading vehicle needs to be determined from these multiple surrounding vehicles. Then the current vehicle follows the leading vehicle to perform following control.

[0070] The current vehicle is equipped with sensors, millimeter-wave radars and other detection equipment; the detection equipment on the current vehicle can obtain the position information and driving direction of each surrounding vehicle adjacent to the current vehicle in the current frame; among them, the surrounding vehicles adjacent to the current vehicle are vehicles whose distance from the current vehicle is within a preset distance range.

[0071] The detection device on the current vehicle transmits the position information and driving direction of the detected surrounding vehicles in the current frame to the controller of the current vehicle.

[0072] The vehicle is equipped with a positioning unit and sensors. The positioning unit can determine the vehicle's position in the current frame. The sensors can detect the vehicle's direction in the current frame. The vehicle's controller then obtains the vehicle's direction and position in the current frame.

[0073] The controller of the current vehicle then determines a leading vehicle from each of the surrounding vehicles based on the position information and driving direction of each surrounding vehicle in the current frame, as well as the driving direction and position information of the current vehicle in the current frame. Thus, a leading vehicle is determined from each of the surrounding vehicles, allowing the current vehicle to follow the leading vehicle.

[0074] In one example, the controller of the current vehicle can determine the surrounding vehicles in front of the current vehicle based on the position information of each surrounding vehicle in the current frame and the position information of the front vehicle in the current frame. Then, the controller of the current vehicle determines the surrounding vehicles whose driving direction in the current frame is the same as that of the current vehicle from the surrounding vehicles in front of the current vehicle based on the driving direction of each surrounding vehicle in the current frame and the driving direction of the front vehicle in the current frame. Then, the controller of the current vehicle calculates the lateral distance between the surrounding vehicles with the same driving direction and the current vehicle based on the position information of the surrounding vehicles in the current frame and the position information of the front vehicle in the current frame; the controller of the current vehicle determines that the surrounding vehicle with a lateral distance less than a preset threshold (i.e., the one with the smallest lateral distance) is the leading vehicle. Then, the controller of the current vehicle determines that it needs to follow the leading vehicle.

[0075] The lateral distance refers to the distance between the leading vehicle and the current vehicle in a direction perpendicular to the driving direction.

[0076] For example, Figure 4 is a schematic diagram of the lateral distance provided by the present disclosure, such as Figure 4 As shown, the current vehicle 401 is traveling on the road, and 405 is a curb; there are multiple surrounding vehicles around the current vehicle 401, namely surrounding vehicle 402, surrounding vehicle 403, and surrounding vehicle 404. The controller of the current vehicle 401 obtains the position information and driving direction of each of the above-mentioned surrounding vehicles in the current frame, and obtains the position information and driving direction of the current vehicle 401 in the current frame. The controller of the current vehicle 401 determines that the driving direction of each of the above-mentioned surrounding vehicles and the current vehicle 401 are all the same; the controller of the current vehicle 401 determines that each of the above-mentioned surrounding vehicles is in front of the current vehicle 401. Then, the controller of the current vehicle 401 determines the lateral distance between each of the above-mentioned surrounding vehicles and the current vehicle 401; as shown Figure 4As shown, the controller of the current vehicle 401 determines the distance between the centerline 408 of the current vehicle 401 and the centerline 406 of the surrounding vehicle 402, and determines this distance as the lateral distance between the current vehicle 401 and the surrounding vehicle 402; the controller of the current vehicle 401 determines the distance between the centerline 408 of the current vehicle 401 and the centerline 407 of the surrounding vehicle 403, and determines this distance as the lateral distance between the current vehicle 401 and the surrounding vehicle 403; the controller of the current vehicle 401 determines the distance between the centerline 408 of the current vehicle 401 and the centerline 409 of the surrounding vehicle 404, and determines this distance as the lateral distance between the current vehicle 401 and the surrounding vehicle 404. If the controller of the current vehicle 401 determines that the lateral distance L between the current vehicle 401 and the surrounding vehicle 403 is the smallest (the lateral distance L is less than a preset threshold), then the surrounding vehicle 403 is determined to be the leading vehicle.

[0077] Based on the above method, the leading vehicle is determined, and the surrounding vehicle located in front of the current vehicle, with the same driving direction and the smallest lateral distance is determined as the leading vehicle; the leading vehicle can be correctly determined.

[0078] S302: Acquire the current speed of the guiding vehicle in the current frame, and acquire the vehicle speed of the current vehicle in the current frame.

[0079] Exemplarily, after determining the leading vehicle, the controller of the current vehicle needs to determine a safe distance between the current vehicle and the leading vehicle.

[0080] First, the guide vehicle is equipped with a speed sensor that can detect the current speed of the guide vehicle in the current frame. The speed sensor transmits the current speed of the guide vehicle to the controller of the current vehicle via the controller of the guide vehicle. The controller of the current vehicle thus obtains the current speed V1 of the guide vehicle in the current frame.

[0081] The current vehicle is provided with a speed sensor, which can collect the vehicle speed of the current vehicle in the current frame; thus, the controller of the current vehicle receives the vehicle speed V2 of the current vehicle in the current frame transmitted by the speed sensor.

[0082] S303: Obtain a first maximum deceleration of the leading vehicle, wherein the leading vehicle and the current vehicle are in a following relationship.

[0083] In one example, step S303 includes the following process:

[0084] The first step of step S303 is to obtain a first deceleration; wherein the first deceleration is an average of the maximum decelerations of the guiding vehicle in different scenarios, or the first deceleration is the maximum value of the maximum decelerations of the guiding vehicle in different scenarios, or the first deceleration is the maximum deceleration corresponding to the current scenario of the guiding vehicle, or the first deceleration is a preset value.

[0085] The second step of step S303 is to determine the sum of the first deceleration and a preset first positive number as the first maximum deceleration.

[0086] For example, the controller of the current vehicle needs to obtain the first maximum deceleration a1 of the leading vehicle, and then determine the safe distance between the leading vehicle and the leading vehicle based on the first maximum deceleration a1.

[0087] In one example, the controller of the current vehicle may obtain the first deceleration of the leading vehicle and add a preset first positive number to the first deceleration of the leading vehicle to obtain a first maximum deceleration a1 of the leading vehicle.

[0088] A first deceleration can be preset, which is the maximum deceleration of the leading vehicle during emergency braking. The current first deceleration is added to a preset first positive number to obtain the first maximum deceleration a1 of the leading vehicle. The first deceleration set in this case is the maximum deceleration of the leading vehicle during emergency braking, and this first deceleration needs to ensure the physical perception of the leading vehicle's passengers. Adding this first deceleration to a preset first positive number ensures that the resulting first maximum deceleration is slightly greater than the leading vehicle's daily maximum deceleration, ensuring a safe distance between the current vehicle and the leading vehicle. This is suitable for ensuring safe driving between the current vehicle and the leading vehicle.

[0089] The maximum deceleration of the guide vehicle in different scenarios can be obtained, wherein the maximum deceleration in each scenario is preset according to the vehicle category of the guide vehicle; scenarios include, for example, high-speed scenarios, traffic jam scenarios, urban road driving scenarios, rural road driving scenarios, etc. The average of the maximum decelerations in each scenario is calculated, and the average is determined as the first deceleration of the guide vehicle. The current first deceleration is added to a preset first positive number to obtain the first maximum deceleration a1 of the guide vehicle. The first maximum deceleration of the guide vehicle is then determined based on the average of the maximum decelerations of the guide vehicle in different scenarios. By comprehensively considering the maximum decelerations in different scenarios, the first maximum deceleration of the guide vehicle and the safe distance between the current vehicle and the guide vehicle obtained in this embodiment can be suitable for each scenario.

[0090] Alternatively, the maximum deceleration of the guide vehicle in different scenarios can be obtained, wherein the maximum deceleration in each scenario is preset according to the vehicle category of the guide vehicle; scenarios include, for example, high-speed scenarios, traffic jam scenarios, urban road driving scenarios, rural road driving scenarios, and so on. The maximum value of the maximum decelerations in each scenario is determined as the first deceleration of the guide vehicle. The current first deceleration is added to a preset first positive number to obtain the first maximum deceleration a1 of the guide vehicle. The first maximum deceleration of the guide vehicle is then determined based on the maximum value of the maximum decelerations of the guide vehicle in different scenarios; by comprehensively considering the maximum decelerations in different scenarios, the first maximum deceleration of the guide vehicle obtained in this embodiment is greater than or equal to the maximum deceleration in each scenario, and the safety distance between the current vehicle and the guide vehicle obtained subsequently is suitable for each scenario.

[0091] Alternatively, the maximum deceleration of the leading vehicle in the current scenario can be obtained, where the maximum deceleration in the current scenario is preset based on the vehicle type of the leading vehicle, such as a highway scenario, a traffic jam scenario, an urban road driving scenario, a rural road driving scenario, and so on. The current first deceleration is added to a preset first positive number to obtain the first maximum deceleration a1 of the leading vehicle. The first maximum deceleration is then obtained based on the maximum deceleration of the leading vehicle in the current scenario, ensuring that the obtained first maximum deceleration is consistent with the current scenario. This ensures that the subsequently obtained safe distance between the current vehicle and the leading vehicle is consistent with the current scenario, thereby ensuring safe driving of both the current vehicle and the leading vehicle.

[0092] S304: Obtain the second maximum deceleration of the current vehicle.

[0093] In one example, step S304 includes the following process:

[0094] The first step of step S304 is to obtain a second deceleration; wherein the second deceleration is an average of the maximum decelerations of the current vehicle in different scenarios, or the second deceleration is the maximum value of the maximum decelerations of the current vehicle in different scenarios, or the second deceleration is the maximum deceleration corresponding to the current scenario of the current vehicle, or the second deceleration is a preset value.

[0095] The second step of step S304 is to determine the sum of the second deceleration and a preset second positive number as the second maximum deceleration.

[0096] For example, the controller of the current vehicle needs to obtain the second maximum deceleration a2 of the current vehicle, and then determine the safe distance between the preceding vehicle and the leading vehicle based on the second maximum deceleration a2.

[0097] In one example, the controller of the current vehicle may obtain the second deceleration of the current vehicle and add a preset second positive number to the second deceleration of the current vehicle to obtain the second maximum deceleration a2 of the current vehicle.

[0098] A second deceleration can be preset, which is the maximum deceleration that ensures the current vehicle's driving experience. A preset second positive number is added to the current second deceleration to obtain the current vehicle's second maximum deceleration a2. This second deceleration plus the preset second positive number ensures that the resulting second maximum deceleration is slightly greater than the current vehicle's daily maximum deceleration, ensuring a safe distance between the current vehicle and the leading vehicle. This is suitable for ensuring safe driving between the current vehicle and the leading vehicle.

[0099] The maximum deceleration of the current vehicle in different scenarios can be obtained, wherein the maximum deceleration in each scenario is preset based on the vehicle category of the current vehicle; scenarios include, for example, high-speed scenarios, traffic jam scenarios, urban road driving scenarios, rural road driving scenarios, etc. The average of the maximum decelerations in each scenario is calculated, and the average is determined to be the second deceleration of the current vehicle. The current second deceleration is added to a preset second positive number to obtain the second maximum deceleration a2 of the current vehicle. The second maximum deceleration of the current vehicle is then determined based on the average of the maximum decelerations of the current vehicle in different scenarios. By comprehensively considering the maximum decelerations in different scenarios, the second maximum deceleration of the current vehicle and the safe distance between the current vehicle and the leading vehicle obtained in this embodiment can be suitable for various scenarios.

[0100] Alternatively, the maximum deceleration of the current vehicle in different scenarios can be obtained, wherein the maximum deceleration in each scenario is preset according to the vehicle category of the current vehicle; scenarios include, for example, high-speed scenarios, traffic jam scenarios, urban road driving scenarios, rural road driving scenarios, and so on. The maximum value of the maximum decelerations in each scenario is determined as the second deceleration of the current vehicle. The current second deceleration is added to a preset second positive number to obtain the second maximum deceleration a2 of the current vehicle. The second maximum deceleration of the current vehicle is then determined based on the maximum value of the maximum decelerations of the current vehicle in different scenarios; by comprehensively considering the maximum decelerations in different scenarios, the second maximum deceleration of the current vehicle obtained in this embodiment is greater than or equal to the maximum deceleration in each scenario, and the safety distance between the current vehicle and the leading vehicle obtained subsequently is suitable for each scenario.

[0101] Alternatively, the maximum deceleration of the current vehicle in the current scenario can be obtained, where the maximum deceleration in the current scenario is preset based on the vehicle category of the current vehicle, such as highway, traffic jam, urban road, rural road, etc. A preset second positive number is added to the current second deceleration to obtain the second maximum deceleration a2 of the current vehicle. The second maximum deceleration is then obtained based on the current vehicle's maximum deceleration in the current scenario, ensuring that the obtained second maximum deceleration is consistent with the current scenario. This ensures that the subsequently obtained safe distance between the current vehicle and the leading vehicle is consistent with the current scenario, thereby ensuring safe driving of the current vehicle and the leading vehicle.

[0102] S305: Determine a safe distance based on the current vehicle's speed in the current frame, the current speed of the lead vehicle in the current frame, the first maximum deceleration, and the second maximum deceleration. The safe distance represents the distance between the current vehicle and the lead vehicle that ensures safe travel.

[0103] In one example, step S305 includes the following process: determining first displacement information based on the current speed of the guiding vehicle and the first maximum deceleration of the guiding vehicle in the current frame, wherein the first displacement information represents the displacement of the guiding vehicle when decelerating; determining second displacement information based on the vehicle speed of the current vehicle in the current frame and the second maximum deceleration, wherein the second displacement information represents the displacement of the current vehicle when decelerating; determining a safety distance based on the first displacement information and the second displacement information.

[0104] In an example, the safe distance is safe distance =V2*V2 / (2*a2)-V1*V1 / (2*a1); wherein V1 is the current speed of the leading vehicle in the current frame, a1 is the first maximum deceleration; V2 is the vehicle speed of the current vehicle in the current frame, and a2 is the second maximum deceleration.

[0105] For example, the controller of the current vehicle obtains the current speed V1 of the leading vehicle in the current frame, as well as the current vehicle's speed V2 in the current frame. Furthermore, the controller of the current vehicle obtains the first maximum deceleration a1 of the leading vehicle, as well as the second maximum deceleration a2 of the current vehicle. Based on this information, the controller of the current vehicle calculates the safe distance between the current vehicle and the leading vehicle, thereby accurately calculating the safe distance between the current vehicle and the leading vehicle.

[0106] In one example, the controller of the current vehicle calculates the first displacement information of the leading vehicle during deceleration based on the current speed V1 of the leading vehicle and the first maximum deceleration a1 of the leading vehicle. For example, the first displacement information can be V1*V1 / (2*a1), thereby accurately calculating the first displacement information.

[0107] The controller of the current vehicle calculates the second displacement information of the current vehicle during deceleration based on the vehicle speed V2 of the current vehicle in the current frame and the second maximum deceleration a2 of the current vehicle. For example, the second displacement information can be V2*V2 / (2*a2), thereby accurately calculating the second displacement information.

[0108] The controller of the current vehicle calculates a safe distance between the current vehicle and the leading vehicle based on the first displacement information of the leading vehicle and the second displacement information of the current vehicle. The safe distance between the current vehicle and the leading vehicle can be accurately determined based on the current frame speed of the leading vehicle, the first maximum deceleration of the leading vehicle, the current frame speed of the current vehicle, and the first maximum deceleration of the current vehicle.

[0109] For example, the first displacement information can be V1*V1 / (2*a1), and the second displacement information can be V2*V2 / (2*a2). The first displacement information is the displacement of the leading vehicle, and the second displacement information is the displacement of the current vehicle. The leading vehicle is located in front of the current vehicle. The first displacement information can be subtracted from the second displacement information to obtain the safe distance distance =V2*V2 / (2*a2)-V1*V1 / (2*a1); or, the absolute value of the value obtained by subtracting the first displacement information from the second displacement information is determined as the safe distance. Subsequent processing is performed based on the obtained accurate safe distance.

[0110] S306: Obtain the actual distance between the current vehicle and the leading vehicle.

[0111] In one example, step S306 includes the following process:

[0112] Obtain the position information of the guide vehicle in the current frame and the position information of the current vehicle in the current frame; determine the actual distance based on the position information of the guide vehicle in the current frame and the position information of the current vehicle in the current frame.

[0113] For example, the controller of the current vehicle also needs to obtain the actual distance between the current vehicle and the leading vehicle.

[0114] The guide vehicle is provided with a positioning unit, which can determine the position information of the guide vehicle in the current frame; the positioning unit on the guide vehicle transmits the position information of the guide vehicle in the current frame to the controller of the current vehicle through the controller on the guide vehicle.

[0115] The current vehicle is provided with a positioning unit, which can determine the position information of the current vehicle in the current frame; the positioning unit on the current vehicle transmits the position information of the current vehicle in the current frame to the controller of the current vehicle.

[0116] The controller of the current vehicle determines the absolute value of the difference between the position information of the leading vehicle in the current frame and the position information of the current vehicle in the current frame as the actual distance between the current vehicle and the leading vehicle.

[0117] S307: If it is determined that the actual distance is greater than or equal to the safety distance, determine the current speed of the guiding vehicle, which is the first driving speed of the guiding vehicle in each frame in the future time period.

[0118] For example, this step may refer to the above-mentioned step S202 and will not be described in detail.

[0119] After step S306, execute step S307.

[0120] S308. If it is determined that the actual distance is less than the safety distance, obtain the predicted speed of the guiding vehicle for each frame in the future time period, and determine the predicted speed of the guiding vehicle for each frame in the future time period as the first driving speed of the guiding vehicle for each frame in the future time period.

[0121] For example, after step S306, if the controller of the current vehicle determines that the actual distance is less than the safe distance, it determines that uniformizing the future speed of the leading vehicle (i.e., determining the speed of the leading vehicle in the current frame to be the speed of the leading vehicle in each frame in the future time period) is unsafe for following control. The controller of the current vehicle determines that the speed of the current vehicle in the future time period can be planned based on the predicted speed of the leading vehicle in each frame in the future time period to ensure following safety.

[0122] The controller of the current vehicle can obtain a predicted speed for each frame of the leading vehicle in a future time period. The predicted speed is the speed predicted by the leading vehicle, or the predicted speed is the future speed of the leading vehicle predicted by a remote device. For example, the controller of the leading vehicle may predict the predicted speed of the leading vehicle in each frame of the future time period based on its own driving path and driving status using a path planning algorithm.

[0123] If the controller of the current vehicle determines that the actual distance is less than the safe distance, the controller of the current vehicle determines to use the predicted speed of the leading vehicle in each frame in the future time period to follow the vehicle; the controller of the current vehicle uses the obtained predicted speed of the leading vehicle in each frame in the future time period as the first driving speed of the leading vehicle in each frame in the future time period.

[0124] S309: Determine a second driving speed of the current vehicle in each frame in the future time period according to the first driving speed of the leading vehicle in each frame in the future time period.

[0125] For example, this step may refer to the above-mentioned step S203 and will not be described in detail.

[0126] After step S307 or step S308, step S309 may be executed.

[0127] S310: Control the current vehicle to travel according to the second travel speed of the current vehicle in each frame in the future time period.

[0128] Exemplarily, after step S309, step S310 is executed. This step can refer to the above-mentioned step S203 and will not be described in detail.

[0129] Each frame mentioned above refers to each moment. Alternatively, each frame mentioned above refers to each moment every R moments; where R is a positive integer greater than or equal to 1.

[0130] In this embodiment, based on the above-described embodiment, a leading vehicle is identified from the surrounding vehicles of the current vehicle, thereby enabling the current vehicle to follow the leading vehicle. A safe distance between the current vehicle and the leading vehicle is determined based on the leading vehicle's current speed in the current frame, the leading vehicle's first maximum deceleration, the current vehicle's speed in the current frame, and the current vehicle's second maximum deceleration. Furthermore, the actual distance between the current vehicle and the leading vehicle is determined. If the safe distance is determined to be greater than or equal to the actual distance, the future speed of the leading vehicle can be uniformized (i.e., the speed of the leading vehicle in the current frame is determined to be the speed of the leading vehicle in each frame in the future time period) to ensure that the current vehicle can travel stably based on the future speed of the leading vehicle, thereby ensuring the stability of the current vehicle's driving state. If the safe distance is determined to be less than the actual distance, uniformizing the future speed of the leading vehicle (i.e., the speed of the leading vehicle in the current frame is determined to be the speed of the leading vehicle in each frame in the future time period) is unsafe for vehicle-following control. Instead, the current vehicle's speed in the future time period can be planned based on the predicted speed of the leading vehicle in each frame in the future time period to ensure safe following.

[0131] Figure 5 is a schematic diagram according to the third embodiment of the present disclosure, as shown in Figure 5 As shown, the following control method based on the autonomous driving vehicle provided in this embodiment includes:

[0132] S501. Obtain distance information between the current vehicle and the guide vehicle, and obtain the current speed of the guide vehicle in the current frame; wherein the guide vehicle and the current vehicle are in a following relationship; the distance information includes an actual distance and a safe distance, and the safe distance represents the vehicle separation distance that ensures safe driving of the current vehicle and the guide vehicle.

[0133] For example, in this embodiment, the execution subject may be an autonomous vehicle, a controller on an autonomous vehicle, a remote device, a terminal device, a server, an electronic device, a vehicle following control device or device based on an autonomous vehicle, or other devices or equipment capable of executing the method of this embodiment. This embodiment is described with the execution subject being the controller on the autonomous vehicle.

[0134] This step may refer to the above-mentioned step S201, or refer to the above-mentioned steps S301-S306, and will not be repeated here.

[0135] S502: If it is determined that the actual distance is greater than or equal to the safety distance, determine the current speed of the guiding vehicle, which is the first driving speed of the guiding vehicle in each frame in the future time period.

[0136] Exemplarily, this step may refer to the above-mentioned step S202, or refer to the above-mentioned step S307, and will not be described in detail.

[0137] After step S501, step S502 is executed.

[0138] S503. If it is determined that the actual distance is less than the safety distance, obtain the predicted speed of the guiding vehicle in each frame in the future time period, and determine the predicted speed of the guiding vehicle in each frame in the future time period as the first driving speed of the guiding vehicle in each frame in the future time period.

[0139] For example, this step may refer to the above-mentioned step S308 and will not be described in detail.

[0140] After step S501, step S503 is executed.

[0141] S504: Obtaining a vehicle speed of the current vehicle in a current frame, and sampling, based on the vehicle speed of the current vehicle in the current frame and each of a plurality of preset accelerations, obtaining a predicted speed curve corresponding to each preset acceleration, wherein the predicted speed curve includes a speed of the current vehicle in each frame in a future time period;

[0142] For example, after step S502 or step S503, the controller of the current vehicle determines the first driving speed of the leading vehicle for each frame in the future time period. Then, the controller of the current vehicle needs to determine the second driving speed of the current vehicle for each frame in the future time period based on the first driving speed. The controller of the current vehicle can perform speed planning based on the first driving speed of the leading vehicle for each frame in the future time period and the speed of the current vehicle in the current frame to obtain the second driving speed of the current vehicle for each frame in the future time period.

[0143] First, the controller of the current vehicle obtains the vehicle speed of the current vehicle in the current frame during a previous process. The controller of the current vehicle pre-sets multiple accelerations. For each acceleration, the controller of the current vehicle performs sampling processing based on the vehicle speed of the current vehicle in the current frame and the current acceleration (based on the speed sampling processing of the speed and the acceleration, and the change over time), and generates a predicted speed curve corresponding to the current acceleration. The predicted speed curve represents the predicted speed value of the current vehicle at each frame (each moment) in the future time period, based on the vehicle speed of the current frame and the current acceleration, as they change over time.

[0144] S505 : Determine an optimal predicted speed curve among the predicted speed curves according to the first driving speed of the guided vehicle in each frame in the future time period.

[0145] For example, after step S504, the controller of the current vehicle selects an optimal predicted speed curve from the predicted speed curves obtained in step S504 based on the first driving speed of the leading vehicle in each frame in the future time period, that is, based on the driving speed of the leading vehicle in the future time period. The optimal predicted speed curve includes the predicted speed value of the current vehicle in each frame in the future time period.

[0146] Multiple predicted speed curves are sampled from the current vehicle's speed in the current frame and each preset acceleration. An optimal predicted speed curve is selected from each predicted speed curve; the optimal predicted speed curve includes the predicted speed value of the current vehicle for each frame in the future time period. By sampling, an optimal predicted speed curve corresponding to the optimal preset acceleration is determined based on the multiple preset accelerations. Consequently, an optimal predicted speed curve is obtained. The predicted speed value represented by the obtained predicted speed curve can ensure the driving stability of the current vehicle.

[0147] In one example, step S505 includes the following steps:

[0148] The first step of step S505 is to determine the position information of the guide vehicle in each frame in the future time period according to the first driving speed of the guide vehicle in each frame in the future time period.

[0149] The second step of step S505 is to determine the position information of the current vehicle in each frame in the future time period for each predicted speed curve according to the predicted speed curve; and to determine the distance information between the guide vehicle and the current vehicle in each frame in the future time period according to the position information of the guide vehicle in each frame in the future time period and the position information of the current vehicle in each frame in the future time period.

[0150] The third step of step S505 is to determine, for each predicted speed curve, the consumption value corresponding to the predicted speed curve based on the distance information of each frame between the guide vehicle and the current vehicle in the future time period, and the consumption value represents the accuracy of the predicted speed curve.

[0151] The fourth step of step S505 is to determine the predicted speed curve corresponding to the minimum consumption value as the optimal predicted speed curve.

[0152] In one example, the third step of step S505 includes the following process: for each predicted speed curve, the consumption value corresponding to the predicted speed curve is determined based on the distance information of each frame between the guide vehicle and the current vehicle in the future time period, the preset following distance, and the preset weight corresponding to the distance information of each frame.

[0153] In one example, the preset weight corresponding to the distance information of the i-th frame in the future time period is less than the preset weight corresponding to the distance information of the i-1-th frame in the future time period; wherein i is a positive integer greater than or equal to 1.

[0154] In one example, the consumption value is Among them, delta_s i To guide the distance information between the vehicle and the current vehicle in the i-th frame in the future time period, w i is the preset weight corresponding to the distance information of the i-th frame in the future time period, s_goal is the preset following distance; i∈[1,N]; i and N are both positive integers greater than or equal to 1; N is the number of frames in the future time period.

[0155] Exemplarily, in step S505, after obtaining multiple predicted speed curves, where each predicted speed curve corresponds to each preset acceleration, the controller of the current vehicle needs to determine an optimal predicted speed curve from the multiple predicted speed curves based on the first driving speed of each frame of the guided vehicle in the future time period.

[0156] First, the controller of the current vehicle has learned the first driving speed U of the guided vehicle in each frame in the future time period. i , where i∈[1, N]; i and N are both positive integers greater than or equal to 1; N is the number of frames in the future time period. The controller of the current vehicle will guide the vehicle to the first driving speed U of the i+1th frame in the future time period. i+1 , minus the first driving speed U of the leading vehicle in the i-th frame in the future time period i , we can get the acceleration value m of the guided vehicle in the i+1th frame in the future time period i+ 1; Then, the controller of the current vehicle is guided according to the first driving speed U of the i-th frame in the future time period. i , the acceleration value m of the guided vehicle in the i+1th frame in the future time period i+1 , the position information E of the guided vehicle in the i+1th frame in the future time period can be calculated i+1 =E i +U i *t i+1 +m i+1 *t i+1 *t i+1 / 2, where E i To guide the vehicle’s position information of the i-th frame in the future time period, t i+1 is the time difference between the i+1th frame and the ith frame in the future time period, m i+1 To guide the acceleration value of the vehicle in the i+1th frame in the future time period, i∈[1,N]; i and N are both positive integers greater than or equal to 1; N is the number of frames in the future time period.

[0157] Thus, the controller of the current vehicle determines the position information E of each frame of the leading vehicle in the future time period. i .

[0158] In step S502, since the speed of the guided vehicle in the future time period is uniformized, the acceleration value m of the guided vehicle in the i+1th frame in the future time period is i+1 , are all zero; and the first driving speed U of the vehicle in the i-th frame in the future time period is guided i are the same.

[0159] For step S503, the predicted speed of each frame of the guiding vehicle in the future time period is determined, and the speed of the guiding vehicle in the future time period is not uniformized, so as to determine the acceleration value m of the guiding vehicle in the i+1th frame in the future time period. i+1 , not necessarily zero.

[0160] For each predicted speed curve, the predicted speed curve represents the speed O of the current vehicle in the i-th frame in the future time period. i , where i∈[1, N]; i and N are both positive integers greater than or equal to 1; N is the number of frames in the future time period. Moreover, each predicted speed curve has a corresponding preset acceleration p; for each predicted speed curve, the preset acceleration p of each frame on the predicted speed curve is the same. The controller of the current vehicle is based on the speed O of the current vehicle in the i-th frame in the future time period. i , the preset acceleration p of the current vehicle in the i+1 frame in the future time period, and the position information Q of the current vehicle in the i+1 frame in the future time period can be calculated i+1 =Q i +O i *t i+1 +p*t i+1 *t i+1 / 2, where Q i is the position information of the current vehicle in the i-th frame in the future time period, t i+1 is the time difference between the i+1th frame and the i-th frame in the future time period, p is the preset acceleration of the current vehicle in the i+1th frame in the future time period, i∈[1,N]; i and N are both positive integers greater than or equal to 1; N is the number of frames in the future time period.

[0161] Thus, for each predicted speed curve, the controller of the current vehicle determines the position information Q of the current vehicle in the i-th frame in the future time period i .

[0162] For each predicted speed curve, the controller of the current vehicle calculates the position information E of the i-th frame of the guided vehicle in the future time period according to the position information E of the i-th frame of the guided vehicle in the future time period. i , the position information Q of the current vehicle in the i-th frame in the future time period i , perform subtraction calculation to obtain the distance information delta_s between the guide vehicle and the current vehicle in the i-th frame in the future time period i .

[0163] For each predicted speed curve, the current vehicle controller uses the distance information delta_s i , to determine an optimal predicted speed curve. For each predicted speed curve, the current vehicle controller can use the distance information delta_s i , determining the consumption value corresponding to the predicted speed curve, where the consumption value represents the accuracy of the predicted speed curve; the consumption value and the accuracy of the predicted speed curve are inversely proportional. Thus, the current vehicle controller determines the predicted speed curve corresponding to the minimum consumption value as the optimal predicted speed curve.

[0164] Therefore, for each predicted speed curve, the position of the current vehicle in the future time period is determined; then, based on the position of the guided vehicle in the future time period, an optimal predicted speed curve is determined; and a predicted speed curve with stable speed changes can be accurately obtained.

[0165] In one example, the controller of the current vehicle pre-sets a preset following distance s_goal, which is an empirical value. The preset following distance refers to the optimal distance between the current vehicle and the leading vehicle, and is a distance that ensures driving safety.

[0166] For each predicted speed curve, the controller of the current vehicle calculates the distance information delta_s between the leading vehicle and the current vehicle in the i-th frame in the future time period. i , set the corresponding preset weight w i .

[0167] Furthermore, for each predicted speed curve, the controller of the current vehicle calculates the distance information delta_s between the leading vehicle and the current vehicle in the i-th frame in the future time period. i , the preset following distance s_goal, and the distance information delta_s from the i-th frame i The corresponding preset weight w i , calculating the consumption value corresponding to the predicted speed curve. The preset weights corresponding to the distance information in the same frame may be different for different predicted speed curves. The consumption value of the predicted speed curve is analyzed based on the distance information between the leading vehicle and the current vehicle, the preset following distance, and the preset weights corresponding to the distance information in each frame. This accurately determines the accuracy of the predicted speed curve, ensuring that the optimal predicted speed curve enables the current vehicle to safely follow the vehicle.

[0168] In one example, for each predicted speed curve, the controller of the current vehicle can calculate the distance information delta_s between the leading vehicle and the current vehicle in the i-th frame in the future time period. i , the preset following distance s_goal, and the distance information delta_s from the i-th frame i The corresponding preset weight w i , calculate the consumption value corresponding to the predicted speed curve Where i∈[1,N]; i and N are both positive integers greater than or equal to 1; and N is the number of frames in the future time period. This method accurately determines the accuracy of the predicted speed curve, ensuring the optimal predicted speed curve, ensuring the distance between the current vehicle and the leading vehicle is closest to the preset following distance, and ensuring safe and stable following of the current vehicle.

[0169] As time passes, the accuracy of the speed on the predicted speed curve decreases, and the preset weight is set to be lower and lower. That is, the preset weight corresponding to the distance information of the i-th frame in the future time period is smaller than the preset weight corresponding to the distance information of the i-1-th frame in the future time period. This ensures that the consumption value of the analyzed predicted speed curve accurately reflects the accuracy of the predicted speed curve, and ensures that the optimal predicted speed curve obtained subsequently can ensure that the distance between the current vehicle and the leading vehicle is closest to the preset following distance.

[0170] S506 : Determine the speed of each frame in the optimal predicted speed curve as the second driving speed of the current vehicle in each frame in the future time period.

[0171] Exemplarily, through the above steps S504-505, an optimal predicted speed curve is determined; since the optimal predicted speed curve represents the speed of each frame of the current vehicle in the future time period; then, the controller of the current vehicle can determine the speed of each frame in the optimal predicted speed curve as the second driving speed of the current vehicle in each frame in the future time period.

[0172] S507 : Control the current vehicle to travel according to the second travel speed of the current vehicle in each frame in the future time period.

[0173] For example, after step S506, the controller of the front vehicle obtains the second driving speed of the current vehicle in each frame in the future time period; then the controller of the current vehicle controls the current vehicle to travel at the obtained second driving speed of each frame in the future time period to perform following vehicle control driving.

[0174] Each frame mentioned above refers to each moment. Alternatively, each frame mentioned above refers to each moment every R moments; where R is a positive integer greater than or equal to 1.

[0175] Based on the above embodiment, this embodiment samples multiple predicted speed curves by taking the vehicle speed of the current vehicle in the current frame and each preset acceleration; selects an optimal predicted speed curve from each predicted speed curve; the optimal predicted speed curve includes the predicted speed value of the current vehicle in each frame in the future time period. The accuracy of the predicted speed curve can be accurately determined, ensuring that the obtained optimal predicted speed curve can enable the current vehicle to follow the vehicle safely and stably. Moreover, the obtained optimal predicted speed curve can make the distance between the current vehicle and the leading vehicle closest to the preset following distance. During the process of the current vehicle following the vehicle, the problem of the current vehicle frequently accelerating and decelerating due to changes in the predicted speed of the vehicle ahead is reduced; it is ensured that the current vehicle can follow the vehicle at a stable speed; it is ensured that the driving state of the current vehicle is stable, and it is ensured that the safety of the people in the current vehicle is guaranteed.

[0176] Figure 6 is a schematic diagram according to a fourth embodiment of the present disclosure, as shown in Figure 6 As shown, the following control method based on the autonomous driving vehicle provided in this embodiment includes:

[0177] S601. Obtain distance information between the current vehicle and the guide vehicle, and obtain the current speed of the guide vehicle in the current frame; wherein the guide vehicle and the current vehicle are in a following relationship; the distance information includes an actual distance and a safe distance, and the safe distance represents the vehicle separation distance that ensures safe driving of the current vehicle and the guide vehicle.

[0178] For example, in this embodiment, the execution subject may be an autonomous vehicle, a controller on an autonomous vehicle, a remote device, a terminal device, a server, an electronic device, a vehicle following control device or device based on an autonomous vehicle, or other devices or equipment capable of executing the method of this embodiment. This embodiment is described with the execution subject being the controller on the autonomous vehicle.

[0179] This step may refer to the above-mentioned step S201, or refer to the above-mentioned steps S301-S306, and will not be repeated here.

[0180] S602: If it is determined that the actual distance is greater than or equal to the safety distance, determine the current speed of the guiding vehicle, which is the first driving speed of the guiding vehicle in each frame in the future time period.

[0181] Exemplarily, this step may refer to the above-mentioned step S202, or refer to the above-mentioned step S307, and will not be described in detail.

[0182] After step S601, step S602 is executed.

[0183] S603. If it is determined that the actual distance is less than the safety distance, obtain the predicted speed of the guiding vehicle in each frame in the future time period, and determine the predicted speed of the guiding vehicle in each frame in the future time period as the first driving speed of the guiding vehicle in each frame in the future time period.

[0184] For example, this step may refer to the above-mentioned step S308 and will not be described in detail.

[0185] After step S601, step S603 is executed.

[0186] S604: Input the first driving speed of the guided vehicle in each frame in the future time period into a preset prediction model, and output the second driving speed of the current vehicle in each frame in the future time period.

[0187] The preset prediction model is obtained by training according to a preset training set, and the preset training set includes the actual speeds of other vehicles and the actual speeds of vehicles that are in a following relationship with other vehicles.

[0188] For example, after step S602 or step S603, the controller of the current vehicle determines the first driving speed of the leading vehicle in each frame in the future time period; then, the controller of the current vehicle needs to determine the second driving speed of the current vehicle in each frame in the future time period based on the first driving speed.

[0189] Other devices pre-collect a preset training set, which includes the actual speeds of other vehicles and vehicles in a following relationship. The other devices input the preset training set into the initial model for training. After iterative training, a preset prediction model is generated. This preset prediction model is used to predict the vehicle's speed for each frame in the future time period.

[0190] The controller of the current vehicle may store the above-mentioned preset prediction model; the controller of the current vehicle inputs the first driving speed of the guided vehicle in each frame in the future time period obtained in step S602 or step S603 into the preset prediction model, and then predicts the second driving speed of the current vehicle in each frame in the future time period based on the preset prediction model.

[0191] Alternatively, the controller of the current vehicle transmits the first driving speed of the guiding vehicle for each frame in the future time period obtained in step S602 or step S603 to another device; the other device inputs the first driving speed of the guiding vehicle for each frame in the future time period into a preset prediction model, and then predicts the second driving speed of the current vehicle for each frame in the future time period based on the preset prediction model. The other device transmits the second driving speed of the current vehicle for each frame in the future time period to the controller of the current vehicle.

[0192] S605 : Control the current vehicle to travel according to the second travel speed of the current vehicle in each frame in the future time period.

[0193] For example, after step S604, the controller of the current vehicle obtains the second driving speed of the current vehicle in each frame in the future time period based on the first driving speed of the leading vehicle in the future time period; then the controller of the current vehicle controls the current vehicle to travel at the obtained second driving speed for each frame in the future time period to perform vehicle-following control driving.

[0194] Each frame mentioned above refers to each moment. Alternatively, each frame mentioned above refers to each moment every R moments; where R is a positive integer greater than or equal to 1.

[0195] In this embodiment, based on the above embodiment, the first driving speed of the leading vehicle in each frame in the future time period is processed based on a preset prediction model to obtain the second driving speed of the current vehicle in each frame in the future time period. This allows the current vehicle to easily and effectively determine its driving speed in the future time period, allowing the current vehicle to quickly obtain its driving speed in the future time period, thereby enabling timely and effective vehicle-following control.

[0196] Figure 7 This is a diagram showing the speed change of the current vehicle in the future time period according to the present disclosure. Figure 1 ,like Figure 7 As shown, the horizontal axis is time (frame) and the vertical axis is speed; Figure 7 Curve 1 in the middle represents the speed curve of the leading vehicle in the future time period. Curve 1 includes the predicted speed of the leading vehicle in each frame in the future time period. Curve 1 indicates that the leading vehicle will first accelerate and then maintain a constant speed. Curve 2 represents the speed curve of the current vehicle in the future time period. If the current vehicle directly follows the vehicle using Curve 1 instead of any of the above embodiments, the current vehicle's speed curve in the future time period will be Curve 2. The current vehicle will also need to accelerate and then maintain a constant speed in the future time period.

[0197] Therefore, the current vehicle needs to accelerate first and then maintain a constant speed. If the changes in the leading vehicle are complex, the current vehicle will have to keep changing, resulting in an unstable driving state of the autonomous vehicle, which can easily pose a safety hazard to the safety of people in the autonomous vehicle and also pose a safety threat to vehicles behind the autonomous vehicle. In addition, in reality, the actual predicted speed of the leading vehicle is a constant speed within a certain range (not an absolute constant speed). Since the leading vehicle cannot achieve an absolute constant speed, the current vehicle will believe that the leading vehicle is constantly accelerating, and the current vehicle will also plan and behave in a continuously accelerating manner, which can easily lead to collisions and unstable driving conditions.

[0198] Figure 8 This is a diagram showing the speed change of the current vehicle in the future time period according to the present disclosure. Figure 2 ,like Figure 8 As shown, the horizontal axis is time (frame) and the vertical axis is speed; Figure 7 Curve 3 in the middle is the speed curve of the guiding vehicle in the future time period. Curve 3 includes the predicted speed of the guiding vehicle in each frame in the future time period. Curve 3 represents that the guiding vehicle first accelerates and then maintains a uniform speed. Based on the above-mentioned situation of "the safety distance is greater than or equal to the actual distance", the speed of the guiding vehicle in the future time period is uniformized, that is, the current speed of the guiding vehicle in the current frame is determined as the first driving speed of the guiding vehicle in each frame in the future time period; curve 4 is obtained, and curve 4 is the speed curve formed by the first driving speed of the guiding vehicle in each frame in the future time period; at this time, it is determined that the guiding vehicle will travel at a uniform speed in the future time period. Then, using any embodiment of the present disclosure, the second driving speed of the current vehicle in each frame in the future time period can be obtained, that is, curve 5 is obtained, and curve 5 is the speed curve formed by the second driving speed of the current vehicle in each frame in the future time period; it can be seen that the overall acceleration of curve 5 planned for the current vehicle is relatively small, which can ensure that the current vehicle can perform stable following driving.

[0199] Figure 9 is a schematic diagram according to a fifth embodiment of the present disclosure, as shown in Figure 9 As shown, the following control device 900 based on the autonomous driving vehicle provided in this embodiment includes:

[0200] The first acquisition unit 901 is used to obtain the distance information between the current vehicle and the leading vehicle; wherein the leading vehicle and the current vehicle are in a following relationship; the distance information includes the actual distance and the safe distance, and the safe distance represents the vehicle interval distance that ensures that the current vehicle and the leading vehicle can travel safely.

[0201] The second acquiring unit 902 is configured to acquire the current speed of the leading vehicle in the current frame.

[0202] The first determining unit 903 is configured to determine the current speed of the guiding vehicle as the first driving speed of the guiding vehicle in each frame in the future time period if it is determined that the actual distance is greater than or equal to the safety distance.

[0203] The second determining unit 904 is configured to determine a second driving speed of the current vehicle in each frame in the future time period according to the first driving speed of the leading vehicle in each frame in the future time period.

[0204] The control unit 905 is configured to control the current vehicle to travel according to the second travel speed of the current vehicle in each frame in a future time period.

[0205] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0206] Figure 10 is a schematic diagram according to a sixth embodiment of the present disclosure, as shown in Figure 10 As shown, the following control device 1000 for an autonomous vehicle provided in this embodiment includes:

[0207] The first acquisition unit 1001 is used to obtain distance information between the current vehicle and the leading vehicle; wherein the leading vehicle and the current vehicle are in a following relationship; the distance information includes the actual distance and the safe distance, and the safe distance represents the vehicle spacing distance that ensures that the current vehicle and the leading vehicle can travel safely.

[0208] The second acquiring unit 1002 is configured to acquire the current speed of the leading vehicle in the current frame.

[0209] The first determining unit 1003 is configured to determine the current speed of the guiding vehicle, which is the first driving speed of the guiding vehicle in each frame in the future time period, if the actual distance is determined to be greater than or equal to the safety distance.

[0210] The second determining unit 1004 is configured to determine a second driving speed of the current vehicle in each frame in the future time period according to the first driving speed of the leading vehicle in each frame in the future time period.

[0211] The control unit 1005 is configured to control the current vehicle to travel according to the second travel speed of the current vehicle in each frame in a future time period.

[0212] In one example, the first acquiring unit 1001 includes:

[0213] The first acquisition module 10011 is used to obtain the vehicle speed of the current vehicle in the current frame.

[0214] The second acquisition module 10012 is used to acquire a first maximum deceleration of the leading vehicle.

[0215] The third acquisition module 10013 is used to obtain the second maximum deceleration of the current vehicle.

[0216] The first determination module 10014 is used to determine the safety distance according to the vehicle speed of the current vehicle in the current frame, the current speed of the leading vehicle in the current frame, the first maximum deceleration and the second maximum deceleration.

[0217] The fourth acquisition module 10015 is used to obtain the actual distance between the current vehicle and the leading vehicle.

[0218] In one example, the second acquisition module 10012 includes:

[0219] The first acquisition submodule 100121 is used to obtain a first deceleration; wherein the first deceleration is an average of the maximum decelerations of the guiding vehicle in different scenarios, or the first deceleration is the maximum value of the maximum decelerations of the guiding vehicle in different scenarios, or the first deceleration is the maximum deceleration corresponding to the current scenario of the guiding vehicle, or the first deceleration is a preset value.

[0220] The first determining submodule 100122 is configured to determine the sum of the first deceleration and a preset first positive number as the first maximum deceleration.

[0221] In one example, the third acquisition module 10013 includes:

[0222] The second acquisition submodule 100131 is used to obtain a second deceleration; wherein the second deceleration is the average of the maximum decelerations of the current vehicle in different scenarios, or the second deceleration is the maximum value of the maximum decelerations of the current vehicle in different scenarios, or the second deceleration is the maximum deceleration corresponding to the current scenario of the current vehicle, or the second deceleration is a preset value.

[0223] The second determining submodule 100132 is configured to determine the sum of the second deceleration and a preset second positive number as the second maximum deceleration.

[0224] In one example, the first determining module 10014 includes:

[0225] The second determining submodule 100141 is configured to determine first displacement information based on a current speed of the guiding vehicle and a first maximum deceleration of the guiding vehicle in a current frame, wherein the first displacement information represents a displacement of the guiding vehicle when the guiding vehicle decelerates.

[0226] The third determining submodule 100142 is configured to determine second displacement information according to the vehicle speed of the current vehicle in the current frame and the second maximum deceleration, wherein the second displacement information represents the displacement of the current vehicle when decelerating.

[0227] The fourth determining submodule 100143 is configured to determine a safety distance based on the first displacement information and the second displacement information.

[0228] In an example, the safe distance is safe distance =V2*V2 / (2*a2)-V1*V1 / (2*a1); wherein V1 is the current speed of the leading vehicle in the current frame, a1 is the first maximum deceleration; V2 is the vehicle speed of the current vehicle in the current frame, and a2 is the second maximum deceleration.

[0229] In one example, the apparatus provided in this embodiment further includes:

[0230] The third determination unit 1006 is used to obtain the predicted speed of the guiding vehicle in each frame in the future time period if it is determined that the actual distance is less than the safety distance, and determine the predicted speed of the guiding vehicle in each frame in the future time period as the first driving speed of the guiding vehicle in each frame in the future time period.

[0231] In one example, the second determining unit 1004 includes:

[0232] The second determination module 10041 is used to obtain the vehicle speed of the current vehicle in the current frame, and sample the vehicle speed of the current vehicle in the current frame and each preset acceleration of a plurality of preset accelerations to obtain a predicted speed curve corresponding to each preset acceleration, wherein the predicted speed curve includes the speed of the current vehicle in each frame in the future time period.

[0233] The third determining module 10042 is configured to determine an optimal predicted speed curve among the predicted speed curves according to the first driving speed of the guided vehicle in each frame in the future time period.

[0234] The fourth determining module 10043 is configured to determine the speed of each frame in the optimal predicted speed curve as the second driving speed of the current vehicle in each frame in the future time period.

[0235] In one example, the third determining module 10042 includes:

[0236] The fifth determining submodule 100421 is configured to determine the position information of the guiding vehicle in each frame in the future time period according to the first driving speed of the guiding vehicle in each frame in the future time period.

[0237] The sixth determination submodule 100422 is used to determine, for each predicted speed curve, the position information of the current vehicle in each frame in the future time period according to the predicted speed curve; and to determine the distance information between the leading vehicle and the current vehicle in each frame in the future time period according to the position information of the leading vehicle in each frame in the future time period and the position information of the current vehicle in each frame in the future time period.

[0238] The seventh determination submodule 100423 is used to determine, for each predicted speed curve, a consumption value corresponding to the predicted speed curve based on the distance information of each frame between the guide vehicle and the current vehicle in the future time period, where the consumption value represents the accuracy of the predicted speed curve.

[0239] The eighth determining submodule 100424 is configured to determine that the predicted speed curve corresponding to the minimum consumption value is the optimal predicted speed curve.

[0240] In one example, the seventh determination submodule 100423 is specifically used to: for each predicted speed curve, determine the consumption value corresponding to the predicted speed curve based on the distance information of each frame between the guiding vehicle and the current vehicle in the future time period, the preset following distance, and the preset weight corresponding to the distance information of each frame.

[0241] In one example, the preset weight corresponding to the distance information of the i-th frame in the future time period is less than the preset weight corresponding to the distance information of the i-1-th frame in the future time period; wherein i is a positive integer greater than or equal to 1.

[0242] In one example, the consumption value is Among them, delta_s i To guide the distance information between the vehicle and the current vehicle in the i-th frame in the future time period, w i is the preset weight corresponding to the distance information of the i-th frame in the future time period, s_goal is the preset following distance; i∈[1,N]; i and N are both positive integers greater than or equal to 1; N is the number of frames in the future time period.

[0243] In one example, the second determining unit 1004 is specifically configured to:

[0244] The first driving speed of the guided vehicle in each frame in the future time period is input into a preset prediction model, and the second driving speed of the current vehicle in each frame in the future time period is output; wherein the preset prediction model is obtained by training based on a preset training set, and the preset training set includes the actual speeds of other vehicles and the actual speeds of vehicles that are in a following relationship with other vehicles.

[0245] In one example, the apparatus provided in this embodiment further includes:

[0246] The third acquiring unit 1007 is configured to acquire the position information and driving directions of surrounding vehicles adjacent to the current vehicle in the current frame, and acquire the driving direction and position information of the current vehicle in the current frame.

[0247] The fourth determination unit 1008 is used to determine the leading vehicle based on the position information of the surrounding vehicles adjacent to the current vehicle in the current frame, the driving direction of the surrounding vehicles adjacent to the current vehicle in the current frame, the driving direction of the current vehicle in the current frame, and the position information of the current vehicle in the current frame.

[0248] In one example, the guide vehicle is in front of the current vehicle, the driving direction of the guide vehicle in the current frame is the same as the driving direction of the current vehicle in the current frame, and the lateral distance between the guide vehicle and the current vehicle is less than a preset threshold; wherein the lateral distance is the distance between the guide vehicle and the current vehicle in a direction perpendicular to the driving direction.

[0249] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0250] Figure 11 is a schematic diagram according to the seventh embodiment of the present disclosure, as shown in Figure 11 As shown, the electronic device 1100 in this embodiment may include: a processor 1101 and a memory 1102 .

[0251] Memory 1102 is used to store programs. Memory 1102 may include volatile memory, such as random-access memory (RAM), such as static random-access memory (SRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc. Memory may also include non-volatile memory, such as flash memory. Memory 1102 is used to store computer programs (such as applications and functional modules that implement the above-mentioned methods), computer instructions, etc. These computer programs and computer instructions may be partitioned and stored in one or more memories 1102. Furthermore, these computer programs, computer instructions, data, etc. may be called by processor 1101.

[0252] The aforementioned computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 1102 , and the aforementioned computer programs, computer instructions, etc. may be called by the processor 1101 .

[0253] The processor 1101 is configured to execute the computer program stored in the memory 1102 to implement the various steps in the method involved in the above embodiment.

[0254] For details, please refer to the relevant description in the previous method embodiment.

[0255] The processor 1101 and the memory 1102 may be independent structures or integrated structures. When the processor 1101 and the memory 1102 are independent structures, the memory 1102 and the processor 1101 may be coupled via a bus 1103 .

[0256] The electronic device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0257] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0258] According to an embodiment of the present disclosure, the present disclosure further provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the solution provided by any of the above embodiments.

[0259] According to an embodiment of the present disclosure, the present disclosure also provides a computer program product, which includes: a computer program, the computer program is stored in a readable storage medium, at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the solution provided by any of the above embodiments.

[0260] Figure 12 A schematic block diagram of an example electronic device 1200 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided as examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0261] like Figure 12As shown, the device 1200 includes a computing unit 1201, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1202 or a computer program loaded from a storage unit 1208 into a random access memory (RAM) 1203. Various programs and data required for the operation of the device 1200 can also be stored in the RAM 1203. The computing unit 1201, the ROM 1202, and the RAM 1203 are connected to each other via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0262] Various components in device 1200 are connected to I / O interface 1205, including an input unit 1206, such as a keyboard and mouse; an output unit 1207, such as various types of displays and speakers; a storage unit 1208, such as a magnetic disk and optical disk; and a communication unit 1209, such as a network card, a modem, a wireless communication transceiver, etc. Communication unit 1209 allows device 1200 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0263] The computing unit 1201 can be a variety of general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the computing unit 1201 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 1201 performs the various methods and processes described above, such as the following control method for an autonomous vehicle. For example, in some embodiments, the following control method for an autonomous vehicle can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1208. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 1200 via the ROM 1202 and / or the communication unit 1209. When the computer program is loaded into the RAM 1203 and executed by the computing unit 1201, one or more steps of the following control method for an autonomous vehicle described above can be performed. Alternatively, in other embodiments, the computing unit 1201 may be configured to execute the vehicle following control method based on the autonomous driving vehicle in any other appropriate manner (e.g., by means of firmware).

[0264] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0265] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0266] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0267] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0268] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0269] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0270] According to an embodiment of the present disclosure, the present disclosure also provides an autonomous driving vehicle, in which the electronic device provided by the above embodiment is provided.

[0271] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0272] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A vehicle following control method based on an autonomous driving vehicle, comprising: Obtaining distance information between the current vehicle and a leading vehicle, and obtaining the current speed of the leading vehicle in the current frame; wherein the leading vehicle and the current vehicle are in a following relationship; the distance information includes an actual distance and a safe distance, wherein the safe distance represents the distance between the current vehicle and the leading vehicle to ensure safe driving; If it is determined that the actual distance is greater than or equal to the safety distance, then determining the current speed of the leading vehicle as the first driving speed of the leading vehicle in each frame in the future time period; determining a second driving speed of the current vehicle in each frame in the future time period based on the first driving speed of the guide vehicle in each frame in the future time period; and controlling the current vehicle to travel based on the second driving speed of the current vehicle in each frame in the future time period; If it is determined that the actual distance is less than the safety distance, obtaining a predicted speed of the leading vehicle in each frame in the future time period, and determining the predicted speed of the leading vehicle in each frame in the future time period as a first driving speed of the leading vehicle in each frame in the future time period; According to the first driving speed of the guide vehicle in each frame in the future time period, the second driving speed of the current vehicle in each frame in the future time period is determined; and according to the second driving speed of the current vehicle in each frame in the future time period, the current vehicle is controlled to travel.

2. The method according to claim 1, wherein The obtaining of the safe distance between the current vehicle and the leading vehicle includes: Obtaining a vehicle speed of the current vehicle in a current frame, and obtaining a first maximum deceleration of the lead vehicle and a second maximum deceleration of the current vehicle; The safety distance is determined according to the vehicle speed of the current vehicle in the current frame, the leading vehicle current speed of the leading vehicle in the current frame, the first maximum deceleration, and the second maximum deceleration.

3. The method according to claim 2, wherein: Obtaining a first maximum deceleration of the lead vehicle includes: Obtaining a first deceleration; wherein the first deceleration is an average of the maximum decelerations of the guide vehicle in different scenarios, or the first deceleration is a maximum value among the maximum decelerations of the guide vehicle in different scenarios, or the first deceleration is the maximum deceleration corresponding to the current scenario of the guide vehicle, or the first deceleration is a preset value; The sum of the first deceleration and a preset first positive number is determined to be the first maximum deceleration.

4. The method according to claim 2, wherein: Obtaining the second maximum deceleration of the current vehicle, comprising: Obtaining a second deceleration; wherein the second deceleration is an average of the maximum decelerations of the current vehicle in different scenarios, or the second deceleration is a maximum value among the maximum decelerations of the current vehicle in different scenarios, or the second deceleration is the maximum deceleration corresponding to the current scenario of the current vehicle, or the second deceleration is a preset value; The sum of the second deceleration and a preset second positive number is determined to be the second maximum deceleration.

5. The method according to any one of claims 2 to 4, wherein: Determining the safety distance according to a current speed of the leading vehicle in a current frame, a speed of the current vehicle in a current frame, the first maximum deceleration, and the second maximum deceleration includes: determining first displacement information based on a current speed of the guide vehicle in a current frame and the first maximum deceleration, wherein the first displacement information represents a displacement of the guide vehicle when the guide vehicle is decelerated; determining second displacement information based on the vehicle speed of the current vehicle in the current frame and the second maximum deceleration, wherein the second displacement information represents the displacement of the current vehicle when decelerating; The safety distance is determined according to the first displacement information and the second displacement information.

6. The method according to claim 5, wherein: The safety distance is ； in, is the current speed of the leading vehicle in the current frame, is the first maximum deceleration; is the vehicle speed of the current vehicle in the current frame, is the second maximum deceleration.

7. The method according to any one of claims 1 to 4 and 6, wherein: Determining a second driving speed of the current vehicle in each frame in a future time period according to the first driving speed of the guide vehicle in each frame in a future time period includes: Obtaining a vehicle speed of the current vehicle in a current frame, and sampling, based on the vehicle speed of the current vehicle in the current frame and each of a plurality of preset accelerations, obtaining a predicted speed curve corresponding to each of the preset accelerations, the predicted speed curve including a speed of the current vehicle in each frame in a future time period; determining an optimal predicted speed curve among the predicted speed curves according to a first driving speed of the guide vehicle in each frame in a future time period; The speed of each frame in the optimal predicted speed curve is determined as the second driving speed of each frame of the current vehicle in the future time period.

8. The method according to claim 7, wherein: Determining an optimal predicted speed curve among the predicted speed curves according to the first driving speed of the guide vehicle in each frame in the future time period includes: determining position information of the guide vehicle in each frame in the future time period according to a first driving speed of the guide vehicle in each frame in the future time period; For each of the predicted speed curves, determining the position information of the current vehicle in each frame in the future time period according to the predicted speed curve; and determining the distance information between the leading vehicle and the current vehicle in each frame in the future time period according to the position information of the leading vehicle in each frame in the future time period and the position information of the current vehicle in each frame in the future time period; For each of the predicted speed curves, determining a consumption value corresponding to the predicted speed curve based on distance information between the guide vehicle and the current vehicle in each frame in a future time period, wherein the consumption value represents the accuracy of the predicted speed curve; The predicted speed curve corresponding to the minimum consumption value is determined to be the optimal predicted speed curve.

9. The method according to claim 8, wherein For each of the predicted speed curves, determining a consumption value corresponding to the predicted speed curve based on distance information of each frame between the leading vehicle and the current vehicle in a future time period includes: For each of the predicted speed curves, the consumption value corresponding to the predicted speed curve is determined based on the distance information of each frame between the guide vehicle and the current vehicle in the future time period, the preset following distance, and the preset weight corresponding to the distance information of each frame.

10. The method according to claim 9, wherein: The preset weight corresponding to the distance information of the i-th frame in the future time period is less than the preset weight corresponding to the distance information of the i-1-th frame in the future time period; wherein i is a positive integer greater than or equal to 1.

11. The method according to claim 9 or 10, wherein: The consumption value is ; in, is the distance information between the guide vehicle and the current vehicle in the i-th frame in the future time period, is the preset weight corresponding to the distance information of the i-th frame in the future time period, is the preset following distance; ; i and N are both positive integers greater than or equal to 1; N is the number of frames in the future time period.

12. The method according to any one of claims 1 to 4 and 6, wherein: Determining a second driving speed of the current vehicle in each frame in a future time period according to the first driving speed of the guide vehicle in each frame in a future time period includes: Inputting the first driving speed of the guide vehicle in each frame in the future time period into a preset prediction model, and outputting the second driving speed of the current vehicle in each frame in the future time period; The preset prediction model is obtained by training according to a preset training set, and the preset training set includes the actual speeds of other vehicles and the actual speeds of vehicles that are in a following relationship with the other vehicles.

13. The method according to any one of claims 1-4, 6, 8-10, further comprising: Obtaining position information and driving directions of surrounding vehicles adjacent to the current vehicle in the current frame, and obtaining the driving direction and position information of the current vehicle in the current frame; The leading vehicle is determined based on the position information of the surrounding vehicles adjacent to the current vehicle in the current frame, the driving direction of the surrounding vehicles adjacent to the current vehicle in the current frame, the driving direction of the current vehicle in the current frame, and the position information of the current vehicle in the current frame.

14. The method according to claim 13, wherein The leading vehicle is in front of the current vehicle, the driving direction of the leading vehicle in the current frame is the same as the driving direction of the current vehicle in the current frame, and the lateral distance between the leading vehicle and the current vehicle is less than a preset threshold; The lateral distance is the distance between the leading vehicle and the current vehicle in a direction perpendicular to the driving direction.

15. A vehicle following control device based on an autonomous driving vehicle, comprising: a first acquiring unit configured to acquire distance information between a current vehicle and a leading vehicle, wherein the leading vehicle and the current vehicle are in a following relationship; the distance information includes an actual distance and a safe distance, wherein the safe distance represents a vehicle separation distance that ensures safe travel between the current vehicle and the leading vehicle; a second acquiring unit, configured to acquire a current speed of the leading vehicle in a current frame; a first determining unit, configured to determine, if it is determined that the actual distance is greater than or equal to the safety distance, a current speed of the guide vehicle as a first driving speed of the guide vehicle in each frame in a future time period; a second determining unit, configured to determine a second driving speed of the current vehicle in each frame in the future time period according to the first driving speed of the leading vehicle in each frame in the future time period; A control unit, configured to control the current vehicle to travel according to a second travel speed of the current vehicle in each frame in a future time period; The third determination unit is used to obtain the predicted speed of the guide vehicle in each frame in the future time period if it is determined that the actual distance is less than the safety distance, and determine the predicted speed of the guide vehicle in each frame in the future time period as the first driving speed of the guide vehicle in each frame in the future time period.

16. The device according to claim 15, wherein The first acquiring unit includes: A first acquisition module is used to acquire the vehicle speed of the current vehicle in the current frame; a second acquisition module, configured to acquire a first maximum deceleration of the leading vehicle; A third acquisition module is used to acquire the second maximum deceleration of the current vehicle; a first determining module, configured to determine the safety distance based on a vehicle speed of the current vehicle in a current frame, a current speed of the leading vehicle in the current frame, the first maximum deceleration, and the second maximum deceleration; The fourth acquisition module is used to obtain the actual distance between the current vehicle and the leading vehicle.

17. The device according to claim 16, wherein The second acquisition module includes: a first acquisition submodule, configured to acquire a first deceleration; wherein the first deceleration is an average of the maximum decelerations of the guide vehicle in different scenarios, or the first deceleration is a maximum value among the maximum decelerations of the guide vehicle in different scenarios, or the first deceleration is a maximum deceleration corresponding to a current scenario of the guide vehicle, or the first deceleration is a preset value; The first determining submodule is configured to determine the sum of the first deceleration and a preset first positive number as the first maximum deceleration.

18. The device according to claim 16, wherein The third acquisition module includes: a second acquisition submodule, configured to acquire a second deceleration; wherein the second deceleration is an average of the maximum decelerations of the current vehicle in different scenarios, or the second deceleration is a maximum value among the maximum decelerations of the current vehicle in different scenarios, or the second deceleration is a maximum deceleration corresponding to the current scenario of the current vehicle, or the second deceleration is a preset value; The second determining submodule is configured to determine the sum of the second deceleration and a preset second positive number as the second maximum deceleration.

19. The device according to any one of claims 16 to 18, wherein: The first determining module includes: a second determining submodule, configured to determine first displacement information based on a current speed of the guide vehicle in a current frame and the first maximum deceleration, wherein the first displacement information represents a displacement of the guide vehicle when decelerating; a third determining submodule, configured to determine second displacement information based on the vehicle speed of the current vehicle in a current frame and the second maximum deceleration, wherein the second displacement information represents the displacement of the current vehicle when decelerating; The fourth determining submodule is configured to determine the safety distance according to the first displacement information and the second displacement information.

20. The device according to claim 19, wherein The safety distance is ； in, is the current speed of the leading vehicle in the current frame, is the first maximum deceleration; is the vehicle speed of the current vehicle in the current frame, is the second maximum deceleration.

21. The device according to any one of claims 15 to 18 and 20, wherein: The second determining unit includes: a second determining module, configured to obtain a vehicle speed of the current vehicle in a current frame, and sample, based on the vehicle speed of the current vehicle in the current frame and each of a plurality of preset accelerations, to obtain a predicted speed curve corresponding to each of the preset accelerations, the predicted speed curve including a speed of the current vehicle in each frame in a future time period; a third determining module, configured to determine an optimal predicted speed curve among the predicted speed curves according to the first driving speed of the guide vehicle in each frame in a future time period; The fourth determining module is configured to determine the speed of each frame in the optimal predicted speed curve as the second driving speed of each frame of the current vehicle in a future time period.

22. The device according to claim 21, wherein The third determining module includes: A fifth determining submodule, configured to determine position information of the leading vehicle in each frame in the future time period according to the first driving speed of the leading vehicle in each frame in the future time period; a sixth determination submodule, configured to determine, for each of the predicted speed curves, position information of the current vehicle in each frame in a future time period based on the predicted speed curve; and determine, based on the position information of the leading vehicle in each frame in the future time period and the position information of the current vehicle in each frame in the future time period, distance information between the leading vehicle and the current vehicle in each frame in the future time period; a seventh determination submodule, configured to determine, for each of the predicted speed curves, a consumption value corresponding to the predicted speed curve based on distance information between the guide vehicle and the current vehicle in each frame in a future time period, wherein the consumption value represents the accuracy of the predicted speed curve; The eighth determining submodule is configured to determine a predicted speed curve corresponding to a minimum consumption value, which is the optimal predicted speed curve.

23. The device according to claim 22, wherein The seventh determining submodule is specifically configured to: For each of the predicted speed curves, the consumption value corresponding to the predicted speed curve is determined based on the distance information of each frame between the guide vehicle and the current vehicle in the future time period, the preset following distance, and the preset weight corresponding to the distance information of each frame.

24. The device according to claim 23, wherein The preset weight corresponding to the distance information of the i-th frame in the future time period is less than the preset weight corresponding to the distance information of the i-1-th frame in the future time period; wherein i is a positive integer greater than or equal to 1.

25. The device according to claim 23 or 24, wherein The consumption value is ； in, is the distance information between the guide vehicle and the current vehicle in the i-th frame in the future time period, is the preset weight corresponding to the distance information of the i-th frame in the future time period, is the preset following distance; ; i and N are both positive integers greater than or equal to 1; N is the number of frames in the future time period.

26. The device according to any one of claims 15 to 18 and 20, wherein: The second determining unit is specifically configured to: Inputting the first driving speed of the guide vehicle in each frame in the future time period into a preset prediction model, and outputting the second driving speed of the current vehicle in each frame in the future time period; The preset prediction model is obtained by training according to a preset training set, and the preset training set includes the actual speeds of other vehicles and the actual speeds of vehicles that are in a following relationship with the other vehicles.

27. The apparatus according to any one of claims 15 to 18, 20, 22 to 24, further comprising: a third acquiring unit, configured to acquire position information and driving directions of surrounding vehicles adjacent to the current vehicle in a current frame, and to acquire the driving direction and position information of the current vehicle in the current frame; The fourth determination unit is used to determine the leading vehicle based on the position information of the surrounding vehicles adjacent to the current vehicle in the current frame, the driving direction of the surrounding vehicles adjacent to the current vehicle in the current frame, the driving direction of the current vehicle in the current frame, and the position information of the current vehicle in the current frame.

28. The apparatus according to claim 27, wherein The leading vehicle is in front of the current vehicle, the driving direction of the leading vehicle in the current frame is the same as the driving direction of the current vehicle in the current frame, and the lateral distance between the leading vehicle and the current vehicle is less than a preset threshold; The lateral distance is the distance between the leading vehicle and the current vehicle in a direction perpendicular to the driving direction.

29. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 14.

30. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-14.

31. A computer program product comprising a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 14.

32. An autonomous driving vehicle, wherein the electronic device according to claim 29 is provided in the autonomous driving vehicle.

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