A cruise control method and device, electronic equipment and storage medium

Abstract

The present disclosure provides a cruise control method and device, electronic equipment and storage medium, relates to the field of artificial intelligence, in particular to the car-road cooperation and intelligent traffic technology. The specific implementation scheme comprises the following steps: when a target vehicle drives into the sensing area of a target road side device in a cruise state, obtaining the current driving information and the front road section information of the target vehicle from the target road side device; and controlling the cruise state of the target vehicle according to the current driving information and the front road section information. The present disclosure provides the data required for cruise control for vehicles through car-road cooperation technology, so that the vehicle itself does not need to store high-precision map data, and the vehicle end does not need to have a large storage space. Moreover, the data obtained by the car-road cooperation technology is real-time data, so that the cruise control based on real-time data is more accurate.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of artificial intelligence, in particular to the field of vehicle-road cooperation and intelligent transportation technology, and more particularly to a cruise control method and device, an electronic device, a storage medium and a computer program product. BACKGROUND

[0002] With the development of automobile intelligence, auxiliary driving functions have received more and more widespread attention. Adaptive cruise control, as an important function in auxiliary driving, can replace the driver's control of the accelerator and brake pedal in a specific environment, relieve the driver's fatigue problem after long-term driving, and improve the comfort of driving. SUMMARY

[0003] The present disclosure provides a cruise control method, device, electronic device, storage medium and computer program product.

[0004] According to an aspect of the present disclosure, a cruise control method is provided, comprising:

[0005] When a target vehicle enters the sensing area of a target road side device in a cruise state, obtaining the current driving information and the front road section information of the target vehicle from the target road side device;

[0006] Controlling the cruise state of the target vehicle according to the current driving information and the front road section information.

[0007] According to an aspect of the present disclosure, a cruise control device is provided, comprising:

[0008] A data acquisition module configured to, when a target vehicle enters the sensing area of a target road side device in a cruise state, obtain the current driving information and the front road section information of the target vehicle from the target road side device;

[0009] A cruise control module configured to control the cruise state of the target vehicle according to the current driving information and the front road section information.

[0010] According to another aspect of the present disclosure, an electronic device is provided, comprising:

[0011] At least one processor; and

[0012] A memory in communication with the at least one processor; wherein

[0013] 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 cruise control method of any embodiment of the present disclosure.

[0014] According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the cruise control method of any embodiment of the present disclosure.

[0015] According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the cruise control method of any embodiment of the present disclosure.

[0016] According to the technology of the present disclosure, the vehicle is provided with the data required for cruise control through vehicle-road cooperative technology, so that the vehicle itself does not need to store high-precision map data, and the vehicle end does not need to have a large storage space. The data obtained by the vehicle-road cooperative technology is real-time data, so that the cruise control based on real-time data is more accurate.

[0017] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0019] Figure 1 is a flowchart of a cruise control method provided by an embodiment of the present disclosure;

[0020] Figure 2 is a flowchart of another cruise control method provided by an embodiment of the present disclosure;

[0021] Figure 3 is a flowchart of another cruise control method provided by an embodiment of the present disclosure;

[0022] Figure 4 is a flowchart of another cruise control method provided by an embodiment of the present disclosure;

[0023] Figure 5 is a structural diagram of a cruise control device provided by an embodiment of the present disclosure;

[0024] Figure 6 is a block diagram of an electronic device for implementing the cruise control method of an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] Exemplary embodiments of the present disclosure are described herein below with reference to the accompanying drawings, in which various details are set forth to facilitate an understanding of the embodiments of the present disclosure. However, it will be apparent to those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, for the purpose of clarity and a concise description, descriptions of well-known functions and constructions are omitted from the following description.

[0026] In the embodiments of the present disclosure, the anticipatory cruise refers to a cruise mode in which an engine and a gearbox are coordinately controlled according to front road information, and a speed change is finally controlled. This cruise mode can effectively relieve driving fatigue and save fuel. In an optional anticipatory cruise scheme, a high-precision map can be stored in advance in a vehicle, and then a position of the vehicle is determined according to a positioning system of the vehicle. Then, front road information of the vehicle from a current position of the vehicle is obtained from the high-precision map according to the current position of the vehicle. Thus, the engine and the gearbox can be controlled according to the front road data obtained from the high-precision map, so as to realize dynamic adjustment of the vehicle speed. However, this scheme still has some disadvantages. The high-precision map data needs a large amount of storage space at the vehicle end, and the map data is offline data with a long update cycle, which leads to poor timeliness of the front road information obtained from the map, and further causes certain influence on the accuracy of the cruise control. Based on this, a cruise control method based on the car-road cooperation technology is proposed, which mainly provides high-timeliness data required for anticipatory cruise control of the vehicle based on the car-road cooperation technology. For a specific implementation process, refer to the following embodiments.

[0027] Figure 1 FIG. 1 is a flowchart of a cruise control method according to an embodiment of the present disclosure. The embodiment can be applied to a case in which high-timeliness road data required for accurate change of a vehicle speed according to road information is provided for the vehicle through the car-road cooperation technology in an anticipatory cruise control scenario. The method can be executed by a cruise control device. The device is realized in a software and / or hardware manner, and is integrated on an electronic device. The electronic device can be a vehicle terminal, for example, a controller device of an engine or a gearbox on the vehicle.

[0028] Specifically, referring to FIG. 1, the cruise control method is as follows. Figure 1

[0029] S101, when a target vehicle enters a sensing area of a target road-side device in a cruise state, current driving information and front road section information of the target vehicle are obtained from the target road-side device.

[0030] ​Car-road cooperation refers to mutual cooperation among vehicles, roadside devices, and cloud devices for cooperative perception, cooperative calculation, and cooperative decision-making control to solve a series of problems such as limited single-vehicle perception range, insufficient reliability, and vehicle behavior game. Among them, the roadside device plays a role in connecting roadside facilities and transmitting road information to vehicles and cloud devices. The roadside device is usually installed on both sides of the road where the vehicle travels. Specifically, the roadside device includes cameras, millimeter wave radars, and laser radars, and the like. In the embodiment of the present disclosure, after the target vehicle enters the sensing area of the target roadside device in a cruise state, the target roadside device can be triggered to collect data required for the target vehicle to predict the cruise, such as triggering the laser radar and the camera of the roadside device to collect the front road information of the target vehicle in the visible area, mainly according to the heading of the target vehicle, to collect the front road segment information of the target vehicle. For example, the roadside device obtains the shape, direction, curvature, slope, lane, road traffic sign, signal light, and moving speed and direction of the obstacle (such as pedestrians, other vehicles, etc.) on the road of the front road of the target vehicle through the sensor, and sends the collected information as the front road segment information of the target vehicle to the terminal device on the target vehicle, so that the terminal device on the target vehicle controls the cruise according to the obtained data according to the steps of S102.

[0031] The current driving information of the target vehicle can include the heading (such as the path direction or the path reverse direction) of the target vehicle, the current speed, the current lane (such as the emergency lane, the single lane, the leftmost lane, the rightmost lane, etc.), the position reliability, the time difference between the message sending time and the positioning subsystem calculating the vehicle position, and the position offset parameter, etc. The position offset parameter refers to the distance between the current position of the target vehicle and the starting point of the path. After detecting the current driving information of the target vehicle, the target roadside device sends it to the terminal device of the target vehicle, so that the terminal device of the target vehicle controls the cruise state according to the obtained current driving information of the target vehicle according to the steps of S102.

[0032] S102, controlling the cruise state of the target vehicle according to the current driving information and the front road segment information.

[0033] In the embodiments of the present disclosure, the front road section information is optionally the road section information of a preset distance in front of the target vehicle. For example, the front road section information can be the road information of a road section 2 kilometers in front of the vehicle, or the road information of a road section 8 kilometers in front of the vehicle, or the road information of a road section 2 kilometers in front of the vehicle and a road section 8 kilometers in front of the target vehicle is provided to the target vehicle at the same time. After receiving the high-precision front road section information, the terminal device of the target vehicle can determine the slope position and the corresponding slope value of the road in front of the target vehicle, the curvature and the curvature value of the road in front of the target vehicle, and the signal sign of the road in front of the target vehicle according to the front road section information, and then estimate the time of reaching the road section with slope or curvature according to the current cruising speed of the target vehicle included in the current driving information, and then control the cruising state of the target vehicle according to the slope value or the curvature value before reaching. Optionally, different slope intervals and different curvature intervals are pre-defined, and each slope interval and each curvature interval corresponds to an optimal cruising speed, so that if it is determined that the slope or the region of a road section in front of the target vehicle is in a target slope interval or a target curvature interval, the cruising speed of the target vehicle is controlled before the target vehicle reaches the road section, so that the cruising speed of the target vehicle when driving on the road section is exactly equal to the optimal cruising speed corresponding to the target slope interval or the target curvature interval.

[0034] It should be noted that, in order to ensure the accuracy of the cruise control, in addition to referring to the current driving information and the front road section information of the target vehicle transmitted by the roadside device, the self-information of the target vehicle such as the acceleration, the rotation speed, the body position, and the attitude of the target vehicle can also be referred to, and these information can be obtained by the sensor arranged on the target vehicle.

[0035] In the embodiments of the present disclosure, the vehicle-to-road coordination technology provides the data required for the cruise control of the vehicle, so that the vehicle itself does not need to store the high-precision map data, and the vehicle end does not need to have a large storage space. The data obtained by the vehicle-to-road coordination technology is real-time data, so that the vehicle cruise control scheme in the present disclosure is based on real-time data, which can ensure that the vehicle cruise control is more accurate.

[0036] Figure 2 is a flow diagram of another cruise control method according to the embodiments of the present disclosure. Referring to Figure 2 , the cruise control method is as follows:

[0037] S201, when the target vehicle enters the sensing area of the target roadside device in the cruising state, the cruise message in a preset format sent by the target roadside device is received based on the vehicle wireless communication technology, and the current driving information and the front road section information of the target vehicle are obtained from the cruise message.

[0038] The vehicle wireless communication technology can be a vehicle to everything (V2X) communication technology. The target roadside device and the target vehicle establish a communication link through the V2X communication technology, so that the target roadside device and the target vehicle can transmit data to each other through the communication link. When the target vehicle enters the sensing area of the target roadside device in the cruise state, the terminal device on the target vehicle can receive a preset format of cruise message sent by the target roadside device through the communication link. The data format of the message can be set according to actual needs, which is not limited herein. Then, the received cruise message is parsed according to a preset parsing specification of the cruise message. For example, according to the message type flag in the cruise message, the message including the current driving information of the target vehicle and the message including the front road segment information are obtained. Then, the different types of messages are parsed to obtain detailed current driving information and front road segment information. The current driving information at least includes the speed (i.e., the cruise speed of the target vehicle when entering the sensing area of the target roadside device, which can be detected by the roadside device or actively reported by the vehicle) and the position offset parameter (the distance between the current position of the target vehicle and the starting point of the path, which refers to the starting point of the road where the target vehicle is currently located). The front road segment information includes the type and value of at least one position point on the road in front of the target vehicle, and the type includes at least one of the slope (such as a linearly transformed slope or a step-by-step transformed slope), the curvature, the speed limit, the barrier-free road, and the road condition. It should be noted that when the target roadside device detects the road information in front of the vehicle, it actually detects the type and value of each position point on the road in front of the vehicle. The front road segment information sent to the target vehicle is actually the type and value of different position points on the front road segment. In addition, since the road within a preset distance in front of the vehicle can be divided into multiple road segments according to a preset distance, the sent front road segment information can also include the information of the division point. Moreover, the front road segment information also includes a flag for judging whether the information is retransmission information. It should be noted that the data required for cruise control is sent to the vehicle in the form of a message, which can not only ensure the speed of data transmission, but also ensure the safety of data transmission.

[0039] In the embodiments of the present application, before receiving the cruise message, an authentication message can also be received, and after the authentication is passed, the cruise message including the current driving information and the front road segment information of the vehicle is received, so as to ensure the safety of the data received by the vehicle.

[0040] On this basis, the cruise state of the target vehicle is controlled according to the current driving information and the front road segment information. For details, please refer to S202-S204.

[0041] S202, based on the type and value of different position points on the road in front of the target vehicle included in the front road segment information, a road segment graph of the road in front of the target vehicle is constructed.

[0042] Optionally, the front road segment information is directly connected to obtain a road segment graph of the front road, and each point in the road segment graph is associated with a type-value key-value pair, for example, the key-value pair can be "slope-10 degrees". It should be noted that according to the front road segment information sent by the roadside device, a road segment graph including slope, curvature and speed limit information can be constructed, so that the vehicle can quickly obtain high-time-efficiency information of the front road segment without storing a high-precision map, thereby providing a guarantee for precise control of the cruise state of the vehicle

[0043] S203, determining a target position of the target vehicle in the road segment graph according to the position offset parameter.

[0044] The position offset parameter represents the distance between the current position of the target vehicle and the starting point of the path, so after obtaining the position offset parameter, the target position of the target vehicle in the road segment graph can be determined in combination with the road segment graph.

[0045] S204, determining the time for the target vehicle to reach each position point of the front road from the target position according to the vehicle speed, and controlling the cruise state of the target vehicle in advance according to the type and value of each position point.

[0046] After determining the target position of the target vehicle in the road segment graph, the time for the target vehicle to reach each position point of the front road from the target position can be determined according to the current cruise speed of the target vehicle and the distance between the target position and each position point, and the cruise state of the target vehicle can be controlled in advance according to the type and value of each position point, for example, accelerating or decelerating in advance. In an optional embodiment, controlling the cruise state of the target vehicle in advance according to the type and value of each position point includes: determining the slope value of each position point, and if the slope value is an uphill or the current cruise speed is lower than the minimum speed limit value, increasing the fuel injection amount and air intake amount of the engine of the target vehicle to control the target vehicle to accelerate before reaching the position point; or, determining the slope value of each position point, and if the slope value is a downhill or the current cruise speed is greater than the maximum speed limit value, controlling the engine brake and downshift to control the target vehicle to decelerate. In addition, the cruise state can also be controlled according to the curvature of the position point, for example, if the curvature of the position point in front of the vehicle is greater than a preset threshold, the cruise speed is reduced to ensure the safety of the vehicle passing through the curved road segment and avoid dangerous drifting of the vehicle due to excessive speed. In this way, through this predictive cruise control, the effect of reducing fuel consumption and improving driving safety can be achieved.

[0047] According to the front road section information sent by the roadside device, a road section graph including slope, curvature and speed limit information can be constructed, so that the vehicle can quickly obtain high-time-effect information of the road section in front of the vehicle without storing a high-precision map, and further provide guarantee for accurately controlling the cruise state of the vehicle. Moreover, according to the slope, speed limit and curvature of each position point, the cruise speed is controlled to be self-adaptive, which can not only reduce fuel consumption, but also improve driving safety.

[0048] Figure 3 is a flowchart of another cruise control method according to an embodiment of the present disclosure. Referring to Figure 3 , the cruise control method is specifically as follows:

[0049] S301, when the target vehicle enters the sensing area of the target roadside device in the cruise state, a cruise message in a preset format sent by the target roadside device is received based on a vehicle wireless communication technology, and current driving information, front road section information, intersection information of the front road and attribute information of the front road of the target vehicle are obtained from the cruise message.

[0050] In the embodiment of the present disclosure, the target roadside device can obtain the current driving information and the front road section information of the target vehicle, and can also perceive and obtain the intersection information of the front road and the attribute information of the front road of the target vehicle. Therefore, the terminal device of the target vehicle can also obtain the intersection information of the front road and the attribute information of the front road according to the type identification of the message. The intersection information of the front road includes: road vehicle priority, whether it is the last intersection of the specified path, relative angle with the parent path, road type (highway or controlled access road, separated up-and-down road, non-separated up-and-down road, roundabout, etc.), new path probability at the intersection, etc. The attribute information of the front road includes: number of lanes in the driving direction, number of lanes of the reverse road in the driving direction, whether the road is a separated up-and-down road, effective speed limit type (current city default speed limit, traffic sign speed limit, night speed limit, daytime speed limit, speed limit in a certain time period, speed limit in rainy weather, speed limit in snowy weather, etc.), road type, functional road grade (highway, national road, provincial road, etc.), whether it belongs to the urban construction area, whether the road is a bridge, whether it is a tunnel, etc. It should be noted that the terminal of the target vehicle obtains the intersection information of the front road and the attribute information of the front road in order to obtain more detailed information of the front road of the vehicle, and to provide guarantee for constructing a real-time road map on the vehicle terminal.

[0051] S302, according to the front road section information, the intersection information of the front road and the attribute information of the front road, a road map is constructed, so as to control the cruise state of the target vehicle according to the road map and the current driving information.

[0052] In the embodiments of the present disclosure, after the current driving information, the front road section information, the intersection information of the front road and the attribute information of the front road of the vehicle are obtained through the step of S301, a detailed road map can be directly constructed based on these information, so as to control the cruise state of the target vehicle according to the road map and the current driving information, for example, the target position of the target vehicle in the road map is determined according to the position offset parameter in the current driving information, and then the time for the target vehicle to reach each position point of the front road from the target position is determined according to the vehicle speed, and the cruise state of the target vehicle is controlled in advance according to the type and value of each position point. The specific control process can be referred to in the above embodiments, and will not be described here.

[0053] In the embodiments of the present disclosure, more front road information is obtained from the roadside device, a more accurate road map can be constructed, and the subsequent accurate cruise state control is ensured.

[0054] Figure 4 is a flow diagram of another cruise control method according to the embodiments of the present disclosure. Referring to Figure 4 , the cruise control method is as follows:

[0055] S401, when the target vehicle enters the sensing area of the target roadside device in the cruise state, a preset format of cruise message sent by the target roadside device is received based on the vehicle wireless communication technology, and it is judged whether the update flag of the front road section information is included in the cruise message.

[0056] Optionally, whether the update flag of the front road section information is included in the cruise message is determined according to the value of the preset flag bit of the cruise message, for example, the value is 1, which indicates that the update flag of the front road section information is included, and then the step of S402 is executed.

[0057] S402, if the newly changed front road section information is included in the received cruise message, the cruise state of the target vehicle is controlled based on the newly changed front road section information and the current driving information.

[0058] If the newly changed front road section information is included in the received cruise message, the road section map of the front road is reconstructed according to the changed front road information, and then the target position of the target vehicle position in the road section map is determined according to the position offset parameter in the current driving information, and then the time for the target vehicle to reach each position point of the front road from the target position is determined according to the vehicle speed, and the cruise state of the target vehicle is controlled in advance according to the type and value of each position point. It should be noted that, since the high-precision map update cycle is relatively long, it cannot provide high-time-efficiency road data, resulting in poor accuracy of the cruise control based on the high-precision map. On the contrary, the roadside device can obtain real-time road data, and the vehicle can ensure the accuracy of the cruise control based on the real-time road data fed back by the roadside device.

[0059] In the embodiments of the present disclosure, when the front road information is changed, the cruise state of the vehicle is controlled by using the changed information. In this way, the cruise control accuracy can be ensured by using the data with high real-time performance to control the cruise state of the vehicle.

[0060] On the basis of the above-mentioned embodiments, in order to facilitate understanding, the specific contents included in the cruise message are now explained. The cruise message includes an address declaration message, a fault diagnosis message, a first ADASIS message, a second ADASIS message, and a third ADASIS message. The first ADASIS message includes current driving information, front road intersection information, and attribute information. The second ADASIS message includes road section information within a first preset distance in front of the vehicle. The third ADASIS message includes road section information within a second preset distance in front of the vehicle.

[0061] The address declaration message is actually an authentication message. Only after the address declaration message is accepted and verified, other messages can be transmitted, so as to ensure the safety of data transmission.

[0062] The fault diagnosis message is a message for diagnosing faults of the electronic horizon device. According to the message, it can be determined whether other transmitted messages are accurate. For example, if it is determined from the message that the electronic horizon device is faulty, the other transmitted messages are not accurate.

[0063] The first ADASIS message mainly includes current driving information, front road intersection information, and front road attribute information. The current driving information is used to describe the information of the current driving state of the vehicle. The information can include the following information:

[0064] (1) Vehicle heading information, the following vehicle can control the vehicle cruise state according to the information and in combination with the curvature information of the road. (2) Current vehicle speed, for the vehicle to know its own driving speed. (3) Current lane information, since the vehicle does not store a high-precision map, the vehicle can use the information to know the lane position it is in. (4) Position reliability information, for measuring the accuracy of the position information sent by the roadside device to the vehicle, the vehicle can judge whether the information sent by the roadside device is accurate according to the position reliability information, and discard the data when the reliability is lower than a preset threshold. (5) Time difference between the time when the message is sent and the time when the positioning subsystem calculates the vehicle position, for indicating that the vehicle cannot perform cruise control according to the information fed back by the roadside within this time difference. (6) Candidate position, the optional position provided by the roadside for the vehicle. (7) Current path index, since there can be multiple intersections in front of the vehicle, each of which is the starting point of a new path, the current path index is used to indicate the path where the current vehicle is located. (8) Message cycle count information, the vehicle can use this value to detect whether there is a missing message. (9) Position offset, i.e. the distance between the current position of the vehicle and the starting point of the path, the vehicle can determine the position of the vehicle in the constructed road map according to this information. (10) Information type, which is the flag information indicating the first ADASIS message, the vehicle can determine which message according to the value of the information type.

[0065] The intersection information of the front road describes the intersection information of the path, and each intersection is the starting point of the new path. Specifically, it includes the following information: (1) lane number information of the driving direction; (2) lane number information of the reverse road of the driving direction; (3) road vehicle priority information (i.e. the vehicle has priority or needs to avoid relative to the path conflict vehicle); (4) whether it is the last intersection on the specified path; (5) road type information (such as high-speed or controlled access road, separated up-and-down road, non-separated up-and-down road, roundabout, etc.); (6) whether it is a complex intersection information; (7) functional road grade information; (8) new path probability information at the intersection (i.e. the probability of the vehicle turning at the intersection); (9) path index information, used to represent the existing insertion road. After obtaining the above (1)-(9) information, the vehicle can construct a road graph including intersection information according to the information, and then understand the intersection information of the existing intersection in front of the road. In addition to the above information, it also includes: (10) position offset, i.e. the distance between the current position of the vehicle and the starting point of the path, the vehicle can determine the position of the vehicle in the constructed road graph according to this information; (11) whether there is information update in the sent information, the vehicle can update the constructed road graph according to this information; (12) message retransmission information, the vehicle can determine whether the message is retransmitted according to this information; (13) message cycle count information, the vehicle can use this value to detect whether there is a missing message; (14) information type, which is a flag information indicating the first ADASIS message, the vehicle can determine which message according to the value of the information type.

[0066] The front road attribute information encapsulates some important configuration files in the message, and specifically includes the following information: (1) lane number information of the driving direction; (2) lane number of the reverse direction of the driving direction; (3) the road is an up-and-down line separated road; (4) road type (for example, expressway / controlled road of non-branch road, multi-lane, single-lane, roundabout, traffic square, parallel road, expressway, or branch / road of controlled access road, branch / road, service road, or forward road, parking lot entrance or exit, service area entrance or exit, pedestrian exclusive area); (5) whether it belongs to a complex intersection; (6) functional road grade (for example, expressway, national road, provincial road, etc.). The vehicle can understand the road basic attribute information through the above (1)-(6) information. Further, it also includes: (7) effective speed limit type (for example, traffic sign speed limit, night speed limit, daytime speed limit, speed limit in a certain time period, rain speed limit, snow speed limit); (8) effective speed limit information (speed limit information related to weather, time period, workday weekend, etc., speed limit obtained according to the weather, time, etc. at that time), so that the vehicle can determine whether the road is speed limited, the size of the speed limit value according to the information of (7)-(8), and then can perform cruise control according to the speed limit information. In addition, it also includes: (9) road passing probability, which is used by the vehicle to judge whether the front road can pass smoothly; (10) whether it passes the urban construction area; (11) whether the road is a bridge; (12) whether the road is a tunnel; in this way, through the information of (10)-(12), the vehicle can judge whether the front road passes the urban construction area, whether it is a bridge, and whether it is a tunnel; (13) path index information of the road section; (14) position offset, that is, the distance between the current position of the vehicle and the starting point of the path, which can be used by the vehicle to determine the position of the vehicle in the constructed road graph; (15) information retransmission, which can be used by the vehicle to judge whether the message is retransmitted; (16) message cycle count information, which can be used by the vehicle to detect whether there is a lost message; (17) whether there is information update in the sent information, which can be used by the vehicle to update the constructed road graph locally; (18) information type, which is flag information indicating the first ADASIS message, and the vehicle can determine which message according to the value of the information type.

[0067] The second ADASIS message includes road segment information within a first preset distance (e.g., 2km) ahead of the vehicle. The third ADASIS message includes road segment information within a second preset distance (e.g., 8km) ahead of the vehicle. The information in both messages is similar, except that the length of the road segments given is different. Taking the third ADASIS message as an example, it mainly includes the following information: (1) Profile value of position offset. For the road segment ahead of the vehicle, it is divided according to a preset length. For example, an 8km road segment is divided into eight 1km road segments, and the value of the dividing point is the Profile value. Therefore, the Profile value of position offset is used to indicate which road segment the vehicle is on. (2) Whether there is information update in the sent messages. The vehicle can understand the changes in the road ahead in a timely manner and update the constructed road map locally based on this information. (3) Information retransmission information. The vehicle can use this information to determine whether the message is a retransmission. (4) Control points, which are the position points determined at preset distances (e.g., 15m) on the road ahead. (5) Control point type (e.g., curvature, route number type, gradient (Step); 4: gradient (Linear), barrier-free path, road conditions, shift sign location, road changes ahead, etc.). The vehicle can determine the gradient and curvature of the control point ahead based on the control point it is close to at the current position, and then perform cruise control based on the gradient and curvature of the control point ahead. (6) Profile value is the path index, which indicates whether there is an intersection on the segment where the vehicle is currently located. (7) Position offset, which is the distance between the vehicle's current position and the starting point of the path. The vehicle can determine its position in the constructed road map based on this information. (8) Message loop count information. The vehicle can use this value to detect whether there are any lost messages. (9) Message type is the flag information indicating the third ADASIS message. The vehicle can determine which type of message it is based on the value of the message type.

[0068] Figure 5 This is a schematic diagram of a cruise control device according to an embodiment of the present disclosure. This embodiment is applicable to predictable cruise control scenarios where vehicle-to-infrastructure (V2I) technology provides vehicles with the necessary high-timeliness road data, thereby controlling vehicle speed to change precisely according to road information. See also... Figure 5 The device includes:

[0069] The data acquisition module 501 is used to acquire the current driving information and the road section information ahead of the target vehicle from the target roadside device when the target vehicle enters the sensing area of ​​the target roadside device in a cruising state.

[0070] Cruise control module 502 is used to control the cruise status of the target vehicle based on current driving information and road information ahead.

[0071] On the basis of the above-mentioned embodiments, optionally, the data acquisition module comprises:

[0072] The data acquisition unit is configured to receive a cruise message in a preset format sent by the target roadside device based on the vehicle wireless communication technology, and acquire the current driving information and the front road section information of the target vehicle from the cruise message.

[0073] On the basis of the above-mentioned embodiments, optionally, the current driving information at least comprises a speed and a position offset parameter of the target vehicle; and the front road section information comprises a type and a value of at least one position point on the forward road of the target vehicle, and the type comprises at least one of a slope, a curvature and a speed limit.

[0074] On the basis of the above-mentioned embodiments, optionally, the cruise control module comprises:

[0075] The mapping unit is configured to construct a road section map of the forward road based on the types and values of different position points on the forward road comprised in the front road section information;

[0076] The position determination unit is configured to determine a target position of the target vehicle in the road section map according to the position offset parameter;

[0077] The control unit is configured to determine a time for the target vehicle to reach each position point on the forward road from the target position according to the vehicle speed, and control the cruise state of the target vehicle in advance according to the types and values of the position points.

[0078] On the basis of the above-mentioned embodiments, optionally, the control unit is further configured to:

[0079] increase an engine fuel injection amount and an air intake amount of the target vehicle according to a slope value or a speed limit value of each position point to control the target vehicle to accelerate; or

[0080] control engine braking and downshift according to the slope value or the speed limit value of each position point to control the target vehicle to decelerate.

[0081] On the basis of the above-mentioned embodiments, optionally, the cruise message further comprises intersection information of the forward road and attribute information of the forward road;

[0082] Correspondingly, the device further comprises:

[0083] The mapping module is configured to construct a road map according to the front road section information, the intersection information of the forward road and the attribute information of the forward road, so as to control the cruise state of the target vehicle according to the road map and the current driving information.

[0084] On the basis of the above-mentioned embodiments, optionally, the device further comprises:

[0085] The change control module is configured to, if the received cruise message includes newly changed front road section information, control the cruise state of the target vehicle based on the newly changed front road section information and current driving information.

[0086] The cruise control device provided by the embodiments of the present disclosure can execute the cruise control method provided by any of the embodiments of the present disclosure, and has the corresponding function modules and beneficial effects of the execution method. The content not described in detail in the embodiments can refer to the description in any of the method embodiments of the present disclosure.

[0087] In the technical solutions of the present disclosure, the acquisition, storage and application of user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0088] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium and a computer program product.

[0089] Figure 6 A schematic block diagram of an example electronic device 600 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 laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present disclosure described and / or claimed in this document.

[0090] As shown in Figure 6 The device 600 includes a computing unit 601 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 602 or a computer program loaded into a random access memory (RAM) 603 from a storage unit 608. Various programs and data required for the operation of the device 600 can also be stored in the RAM 603. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0091] A number of components in the device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a magnetic disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information / data with other devices over a computer network, such as the Internet, and / or various telecommunication networks.

[0092] The computing unit 601 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 601 performs various methods and processes described above, such as the cruise control method. For example, in some embodiments, the cruise control method can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded onto the RAM 603 and executed by the computing unit 601, one or more steps of the cruise control method described above can be performed. Alternatively, in other embodiments, the computing unit 601 can be configured to perform the cruise control method by any other appropriate means, such as by means of firmware.

[0093] Various implementations of the systems and techniques described above herein can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0094] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package, or entirely on a remote machine or server.

[0095] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The 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, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0096] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0097] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0098] The computer system can include clients and servers. This relationship can be. The servers are typically remote from the clients with the interactions between them occurring over a communication network. The relationship between client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The servers can be cloud servers, servers of a distributed system, or servers incorporating blockchain.

[0099] It should be understood that various forms of flow shown above can be used with orders of the steps being re-sequenced, added, or deleted. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present disclosure are achieved, which are not limited herein.

[0100] The specific implementation described above does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A cruise control method, comprising: obtaining, from a target roadside device, current driving information, front road section information, intersection information of a front road, and attribute information of the front road of a target vehicle when the target vehicle enters a sensing area of the target roadside device in a cruise state, wherein the target vehicle does not store high-definition map data by itself; constructing a road map according to the front road section information, the intersection information of the front road, and the attribute information of the front road; determining a target position of the target vehicle in the road map according to a position offset parameter in the current driving information, determining a time for the target vehicle to reach each position point of the front road from the target position according to a vehicle speed, and controlling a cruise state of the target vehicle in advance according to types and values of each position point; if the cruise message sent by the target roadside device includes newly changed front road section information, controlling the cruise state of the target vehicle based on the newly changed front road section information and the current driving information.

2. The method of claim 1, wherein, obtaining, from the target roadside device, the current driving information and the front road section information of the target vehicle, comprising: receiving a cruise message in a preset format sent by the target roadside device based on a vehicle wireless communication technology, and obtaining the current driving information and the front road section information of the target vehicle from the cruise message.

3. The method of claim 1 or 2, wherein, The current driving information at least includes a speed and a position offset parameter of the target vehicle, and the front road section information includes types and values of at least one position point on a front road of the target vehicle, the types including at least one of slope, curvature, and speed limit. 4.The method of claim 3, further comprising: constructing a road section map of the front road based on different types and values of position points on the front road included in the front road section information; determining a target position of the target vehicle position in the road section map according to the position offset parameter; determining a time for the target vehicle to reach each position point of the front road from the target position according to a vehicle speed, and controlling a cruise state of the target vehicle in advance according to types and values of each position point.

5. The method of claim 4, wherein, controlling the cruise state of the target vehicle in advance according to types and values of each position point, comprising: increasing an engine fuel injection amount and an air intake amount of the target vehicle to control the target vehicle to accelerate according to a slope value or a speed limit value of each position point; or controlling engine braking and downshifting to control the target vehicle to decelerate according to the slope value or the speed limit value of each position point.

6. The method of claim 2, wherein, The cruise message includes an address declaration message, a fault diagnosis message, a first ADASIS message, a second ADASIS message, and a third ADASIS message, the first ADASIS message includes current driving information, intersection information of a front road, and attribute information of the front road, and the second ADASIS message includes road section information within a first preset distance in front of a vehicle. The third ADASIS message includes road section information within a second preset distance in front of the vehicle. 7.A cruise control device, comprising: a data acquisition module, configured to acquire, from the target roadside equipment, current driving information, front road section information, intersection information of a front road, and attribute information of the front road of the target vehicle after the target vehicle enters a sensing area of the target roadside equipment in a cruise state, wherein the target vehicle does not store high-precision map data by itself; a mapping module, configured to construct a road map according to the front road section information, the intersection information of the front road, and the attribute information of the front road; a cruise state control module, configured to determine a target position of the target vehicle in the road map according to a position offset parameter in the current driving information, determine a time for the target vehicle to reach each position point of the front road from the target position according to a vehicle speed, and control the cruise state of the target vehicle in advance according to types and values of the position points. a change control module, configured to control the cruise state of the target vehicle based on newly changed front road section information and current driving information if the newly changed front road section information is included in a received cruise message.

8. The apparatus of claim 7, wherein, The data acquisition module includes: a data acquisition unit, configured to receive a cruise message in a preset format sent by the target roadside equipment based on a vehicle wireless communication technology, and acquire the current driving information and the front road section information of the target vehicle from the cruise message.

9. The apparatus of claim 7 or 8, wherein, The current driving information at least includes a speed and a position offset parameter of the target vehicle, and the front road section information includes types and values of at least one position point on a front road of the target vehicle, the types including at least one of a slope, a curvature, and a speed limit.

10. The apparatus according to claim 9, further comprising a cruise control module, the cruise control module including: a mapping unit, configured to construct a road section map of the front road based on different position point types and values on the front road included in the front road section information; a position determination unit, configured to determine a target position of the target vehicle position in the road section map according to the position offset parameter; a control unit, configured to determine a time for the target vehicle to reach each position point of the front road from the target position according to a vehicle speed, and control the cruise state of the target vehicle in advance according to types and values of the position points.

11. The apparatus of claim 10, wherein, The control unit is further configured to: increase an engine fuel injection amount and an air intake amount of the target vehicle to control the target vehicle to accelerate according to a slope value or a speed limit value of each position point; or control engine braking and downshift to control the target vehicle to decelerate according to the slope value or the speed limit value of each position point.

12. The apparatus of claim 8, wherein, The cruise message includes an address declaration message, a fault diagnosis message, a first ADASIS message, a second ADASIS message, and a third ADASIS message, the first ADASIS message including current driving information, intersection information of a front road, and attribute information of the front road, the second ADASIS message including road section information within a first preset distance in front of the vehicle, and the third ADASIS message including road section information within a second preset distance in front of the vehicle.

13. An electronic device, comprising: at least one processor; and ​ ​ a memory in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the cruise control method of any one of claims 1-6.

14. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, the computer instructions are for causing the computer to perform the cruise control method of any one of claims 1-6.

15. A computer program product comprising a computer program which, when executed by a processor, implements the cruise control method of any one of claims 1-6.

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