Automatic driving vehicle control method, device and electronic equipment

Abstract

The present application provides an automatic driving vehicle control method, device and electronic device, the method comprising: firstly determining the relative speed and relative vehicle distance between the vehicle and the preceding vehicle based on the acquired first vehicle speed, second vehicle speed and vehicle distance information, and determining the driving state of the vehicle based on the relative vehicle speed, relative vehicle distance and a preset driving state curve, and when the vehicle is in a gliding control state, controlling the vehicle to decelerate at a gliding deceleration without using braking deceleration, thereby avoiding frequent switching between driving and braking, effectively saving fuel consumption, and using gliding deceleration between driving and braking to smoothly decelerate, thereby improving the riding experience of passengers.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to an autonomous driving vehicle control method, device and electronic equipment. Background Art

[0002] With the development of current electronic equipment and the acceleration of the process of automobile intelligence, there are more and more intelligent auxiliary devices on current vehicles, giving drivers more intelligent driving experience and better safety assistance. Especially in the past few years, the field of commercial vehicle intelligent driving has developed rapidly.

[0003] In existing solutions, in order to pursue the accuracy of following distance and following speed from a safety perspective, frequent braking and drive switching will occur during driving, which will increase the fuel consumption of the driverless vehicle, thereby making the vehicle's fuel economy and riding experience unable to be guaranteed. Summary of the invention

[0004] In view of this, the purpose of this application is to provide an autonomous driving vehicle control method, device and electronic device to save fuel consumption and improve the riding experience.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling an autonomous driving vehicle, which is applied to a controller of an autonomous driving vehicle, the method comprising: obtaining a first speed of the autonomous driving vehicle, a second speed of a leading vehicle, and a distance between the autonomous driving vehicle and the leading vehicle; determining the relative speed and relative distance between the autonomous driving vehicle and the leading vehicle based on the first speed, the second speed, and the distance; determining a driving state of the autonomous driving vehicle based on the relative speed, the relative distance, and a preset driving state curve; wherein the preset driving state curve is generated based on a historical relative speed and a historical relative distance, and the driving state includes at least a cruise control state, a gliding control state, and a following control state; if the driving state is a gliding control state, controlling the autonomous driving vehicle to decelerate at a gliding deceleration.

[0006] Furthermore, the above method also includes: if the driving state is a cruise control state, controlling the autonomous driving vehicle to travel at the current acceleration; if the driving state is a following control state, controlling the autonomous driving vehicle to decelerate at a set deceleration; wherein the set deceleration is greater than the coasting deceleration.

[0007] Furthermore, the above-mentioned step of determining the driving state of the autonomous driving vehicle based on the relative vehicle speed, the relative vehicle distance and the preset driving state curve includes: dividing the preset coordinate system into a cruise control area, a gliding control area and a following control area according to the preset driving state curve; wherein the preset coordinate system is a coordinate system with the relative speed of the autonomous driving vehicle and the preceding vehicle as the horizontal coordinate and the relative vehicle distance between the autonomous driving vehicle and the preceding vehicle as the vertical coordinate; determining the driving state of the autonomous driving vehicle according to the area where the coordinate points of the relative vehicle speed and the relative vehicle distance in the preset coordinate system are located.

[0008] Furthermore, the above-mentioned step of dividing the preset coordinate system into a cruise control area, a coasting control area and a following control area according to the preset driving state curve includes: in the target quadrant of the preset coordinate system, the area formed by the coordinate points where the relative vehicle distance is between 0 and the preset driving state curve is determined as the following control area; the area formed by the coordinate points where the relative vehicle distance is between the preset driving state curve and the designated straight line is determined as the coasting control area; wherein the slope of the designated straight line is determined based on the preset driving state curve and the maximum detection distance corresponding to the automatic driving vehicle; and the other areas in the target quadrant except the following control area and the coasting control area are determined as the cruise control area.

[0009] Furthermore, the above method also includes: dividing the following control area into at least two sub-areas based on historical driving information of the autonomous driving vehicle; wherein the historical driving information is used to characterize the driver's driving habits, and the maximum relative vehicle distance corresponding to the first sub-area in any two adjacent sub-areas is equal to the minimum relative vehicle distance corresponding to the second sub-area; when the relative vehicle distance corresponding to the autonomous driving vehicle is in the target sub-area, controlling the deceleration of the autonomous driving vehicle to be greater than the minimum deceleration corresponding to the target sub-area.

[0010] Furthermore, the above-mentioned step of dividing the following control area into at least two sub-areas based on historical driving information includes: determining driving attributes based on the historical driving information of the autonomous driving vehicle; wherein the driving attributes include conservative attributes and aggressive attributes; determining the number of sub-areas in the following control area based on the driving attributes, wherein the number of sub-areas corresponding to the conservative attributes is less than the number of sub-areas corresponding to the aggressive attributes; and dividing the following control area into multiple sub-areas according to the determined number of sub-areas.

[0011] Furthermore, the above method also includes: adjusting the proportion of the cruise control area, the gliding control area and the following control area according to the historical driving information of the autonomous driving vehicle; wherein the historical driving information is used to characterize the driving habits of the autonomous driving vehicle.

[0012] In a second aspect, an embodiment of the present application further provides an autonomous driving vehicle control device, which is applied to a controller of an autonomous driving vehicle, and the device includes: an acquisition module, used to acquire a first speed of the autonomous driving vehicle, a second speed of a leading vehicle, and a distance between the autonomous driving vehicle and the leading vehicle; a relative information determination module, used to determine the relative speed and relative distance between the autonomous driving vehicle and the leading vehicle based on the first speed, the second speed and the distance; a driving state determination module, used to determine the driving state of the autonomous driving vehicle based on the relative speed, the relative distance and a preset driving state curve; wherein the preset driving state curve is generated based on the historical relative speed and the historical relative distance, and the driving state includes at least a cruise control state, a gliding control state and a following control state; a control module, used to control the autonomous driving vehicle to decelerate at a gliding deceleration if the driving state is a gliding control state.

[0013] In a third aspect, an embodiment of the present application also provides an electronic device, including a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the autonomous driving vehicle control method of the first aspect mentioned above.

[0014] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the autonomous driving vehicle control method of the first aspect mentioned above.

[0015] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0016] The above-mentioned autonomous driving vehicle control method, device and electronic device provided in the embodiments of the present application first determine the relative speed and relative vehicle distance between the vehicle and the preceding vehicle based on the acquired first vehicle speed, second vehicle speed and vehicle distance information, and determine the driving state of the vehicle based on the relative speed, relative vehicle distance and a preset driving state curve. When the vehicle is in a gliding control state, the vehicle is controlled to decelerate at a gliding deceleration without using braking to decelerate, thereby avoiding frequent switching between driving and braking, effectively saving fuel consumption, and using gliding deceleration to smoothly decelerate between driving and braking, thereby improving the riding experience of passengers.

[0017] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0018] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic diagram of the hardware structure of an autonomous driving vehicle;

[0021] Figure 2 A flowchart of an autonomous driving vehicle control method provided in an embodiment of the present application;

[0022] Figure 3 A flowchart of another autonomous driving vehicle control method provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of a preset coordinate system provided in an embodiment of the present application;

[0024] Figure 5 A schematic diagram of a vehicle-following graded braking provided in an embodiment of the present application;

[0025] Figure 6 A flowchart of an automatic driving vehicle control method in a practical application scenario provided by an embodiment of the present application;

[0026] Figure 7 A schematic diagram of the structure of an autonomous driving vehicle control device provided in an embodiment of the present application;

[0027] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0029] With the development of current electronic equipment and the acceleration of the process of automobile intelligence, there are more and more intelligent auxiliary devices on current vehicles, giving drivers more intelligent driving experience and better safety assistance. Especially in the past few years, the field of commercial vehicle intelligent driving has developed rapidly. Compared with passenger cars, commercial vehicles have a more urgent demand for fuel economy of intelligent driving functions.

[0030] In previous solutions, fuel economy is more of an important factor considered by vehicle components such as engines and gearboxes. The present invention also takes fuel economy performance as an important part of longitudinal following control, and proposes a commercial vehicle following control technology that can be optimized based on fuel economy and driver riding experience. Compared with passenger cars, commercial vehicles have larger coasting deceleration and engine reverse torque. In the past, more functions would frequently brake and drive during driving in order to pursue the accuracy of following distance and following speed, so that the vehicle's fuel economy and driver riding experience cannot be guaranteed.

[0031] Based on this, the embodiments of the present application provide an autonomous driving vehicle control method, device and electronic device to save fuel consumption and improve the riding experience.

[0032] Before explaining the embodiment of the present invention in detail, the hardware structure of the automatic driving vehicle of the embodiment of the present invention is first introduced. Figure 1 The hardware structure diagram of the autonomous driving vehicle shown in FIG. 1 is a schematic diagram of the hardware structure of the autonomous driving vehicle, wherein the autonomous driving vehicle 100 includes one or more processing devices 102 and one or more storage devices 104. Optionally, the autonomous driving vehicle 100 may also include an input device 106, an output device 108, and one or more information acquisition devices 110, and these components are interconnected via a bus system 112 and / or other forms of connection mechanisms (not shown). It should be noted that Figure 1 The components and structure of the autonomous driving vehicle 100 shown are exemplary only and are not restrictive. The autonomous driving vehicle may have Figure 1 Some components in it may also have other components and structures.

[0033] The processing device 102 may be a device including a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, which may process data of other components in the autonomous driving vehicle 100, and may also control other components in the autonomous driving vehicle 100 to perform autonomous driving vehicle control functions.

[0034] The storage device 104 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on a computer-readable storage medium, and the processing device 102 may run the program instructions to implement the client functions and / or other desired functions in the embodiments of the present application (implemented by the processing device) described below. Various applications and various data, such as various data used and / or generated by the application, may also be stored in the computer-readable storage medium.

[0035] The input device 106 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.

[0036] The output device 108 may output various information (eg, images or sounds) to the outside (eg, a user), and may include one or more of a display, a speaker, and the like.

[0037] The information collection device 110 can obtain information such as speed or distance, and store the collected information in the storage device 104 for use by other components.

[0038] Exemplarily, the components in the method, device and electronic device for implementing the autonomous driving vehicle control according to the embodiments of the present application may be integrated or dispersed, such as integrating the processing device 102, storage device 104, input device 106 and output device 108 into one, and setting the information collection device 110 at a designated location where information can be collected.

[0039] Figure 2 A flowchart of a method for controlling an autonomous driving vehicle provided in an embodiment of the present application, the method being applied to a controller of an autonomous driving vehicle, with reference to Figure 2 , the method comprises the following steps:

[0040] S202: Acquire a first speed of the autonomous driving vehicle, a second speed of the preceding vehicle, and a distance between the autonomous driving vehicle and the preceding vehicle;

[0041] During vehicle driving, there are two types of control: lateral control and longitudinal control. Lateral control mainly refers to the vehicle's steering control, such as lane keeping and automatic lane change. Longitudinal control of the vehicle mainly includes two aspects: cruise control and following control.

[0042] Cruise control means that there is no vehicle ahead within a preset distance in front of the vehicle, or the relative distance and relative speed between the vehicle ahead and the vehicle exceed the target following distance. During cruise control, the vehicle will maintain the set desired speed, that is, a certain acceleration.

[0043] Following control means that when there is a vehicle ahead within a preset distance in front of your vehicle, in order to ensure a safe following distance between your vehicle and the vehicle ahead, you need to control the speed of the vehicle, such as slowing down, to ensure that the relative distance between the vehicle ahead and your vehicle is within the target following distance.

[0044] In order to obtain the first speed, the second speed and the distance information, the information collection device in the embodiment of the present application can be specifically various sensors, for example, a speed sensor that can detect the speed of the self-driving vehicle and the speed of the front vehicle is installed in the self-driving vehicle, and a distance sensor that can detect the distance between the front vehicle and the self-driving vehicle is also installed. Through the sensors, the first speed of the self-driving vehicle, the second speed of the front vehicle and the distance between the front vehicle and the self-driving vehicle are obtained.

[0045] S204: Determine a relative vehicle speed and a relative vehicle distance between the automatic driving vehicle and the preceding vehicle according to the first vehicle speed, the second vehicle speed, and the vehicle distance;

[0046] After obtaining the speed and distance through the sensor, the relative speed and relative distance between the front vehicle and the self-vehicle need to be calculated based on the speed and distance. The relative speed can be obtained by subtracting the second speed of the front vehicle from the first speed of the self-vehicle. If the relative speed is greater than zero, it means that the speed of the front vehicle is greater than the speed of the self-vehicle, that is, the front vehicle is faster than the self-vehicle. At this time, the relative distance will gradually increase due to the faster speed of the front vehicle.

[0047] If the relative vehicle speed is less than zero, it means that the speed of the front vehicle is less than the speed of the vehicle itself, that is, the front vehicle is slower than the vehicle itself. At this time, the relative distance between the two vehicles will gradually decrease.

[0048] S206: Determine the driving state of the automatic driving vehicle according to the relative vehicle speed, the relative vehicle distance and a preset driving state curve; wherein the preset driving state curve is generated according to the historical relative vehicle speed and the historical relative vehicle distance, and the driving state at least includes a cruise control state, a gliding control state and a following vehicle control state;

[0049] The preset driving state curve is information that has been drawn in advance and stored in a storage device. In order to obtain the preset driving state curve, it is first necessary to obtain the distance information and speed information within a certain historical time period, and draw a curve that can reflect the relative distance and relative speed based on the relationship function between the distance information and the speed information. Based on the drawn preset driving state curve, at the current moment or at any moment after the current moment, after detecting the relative speed and relative distance between the autonomous driving vehicle and the vehicle in front, it can be determined which part of the preset driving state curve the autonomous driving vehicle is located in, such as above the curve, in the curve, or below the curve. Different positions of the curve represent the relative relationship between the vehicle and the vehicle in front. For example, if the distance is far and the vehicle in front is faster than the vehicle, then the vehicle is in a cruise control state and can continue to drive without slowing down. If the distance between the two vehicles is close and the vehicle in front is slower than the vehicle, it means that the vehicle is in a following vehicle control state and needs to slow down by braking or sliding.

[0050] S208: If the driving state is the gliding control state, control the automatic driving vehicle to decelerate at the gliding deceleration.

[0051] The coasting control state refers to the way that when the vehicle speed reaches a certain speed, the accelerator is released and the vehicle coasts by the drag of the engine. It can be used to decelerate in non-emergency situations to avoid excessive use of brakes. The deceleration during coasting with gear engaged is the coasting deceleration.

[0052] The above-mentioned autonomous driving vehicle control method provided in the embodiment of the present application first determines the relative speed and relative vehicle distance between the vehicle and the preceding vehicle based on the acquired first vehicle speed, second vehicle speed and vehicle distance information, and determines the driving state of the vehicle based on the relative vehicle speed, relative vehicle distance and a preset driving state curve. When the vehicle is in a gliding control state, the vehicle is controlled to decelerate at a gliding deceleration without using braking to decelerate, thereby avoiding frequent switching between driving and braking, effectively saving fuel consumption, and using gliding deceleration to smoothly decelerate between driving and braking, thereby improving the riding experience of passengers.

[0053] In some possible implementations, if it is determined that the driving state is in the cruise control state, it means that the distance to the leading vehicle is far or there is no leading vehicle, and the vehicle can continue to drive at the current speed without deceleration. If it is determined that the driving state is in the following vehicle control state, it means that the target vehicle distance needs to be maintained to avoid the need to use braking to decelerate due to the vehicle distance being too close. Therefore, the above method may further include:

[0054] (1) If the driving state is the cruise control state, control the autonomous driving vehicle to drive at the current acceleration;

[0055] (2) If the driving state is the following vehicle control state, control the automatic driving vehicle to decelerate at a set deceleration; wherein the set deceleration is greater than the coasting deceleration.

[0056] In this way, during the braking and acceleration switching process of the autonomous driving vehicle, gliding deceleration is also added to avoid excessive fuel consumption caused by frequent braking and acceleration, achieving energy-saving effects.

[0057] Figure 3 Another autonomous driving vehicle control method provided by an embodiment of the present application is shown, which focuses on how to determine the driving state of the autonomous driving vehicle according to a preset driving state curve, such as Figure 3 As shown, the method specifically comprises the following steps:

[0058] S302: Acquire a first speed of the autonomous driving vehicle, a second speed of the preceding vehicle, and a distance between the autonomous driving vehicle and the preceding vehicle;

[0059] S304: Determine a relative vehicle speed and a relative vehicle distance between the automatic driving vehicle and a preceding vehicle according to the first vehicle speed, the second vehicle speed, and the vehicle distance;

[0060] The above steps S302-S304 are similar to steps S202-S204 in the above embodiment of the present application and will not be repeated here.

[0061] S306: Dividing the preset coordinate system into a cruise control area, a coasting control area, and a following control area according to the preset driving state curve; wherein the preset coordinate system is a coordinate system composed of a relative speed between the autonomous driving vehicle and the preceding vehicle as a horizontal coordinate and a relative distance between the autonomous driving vehicle and the preceding vehicle as a vertical coordinate;

[0062] The relative speed is used as the horizontal coordinate and the relative vehicle distance is used as the vertical coordinate to form a preset coordinate system, and the origin of the preset coordinate system is that the relative speed and the relative vehicle distance are both zero. It can be understood that if the relative distance is a negative number, it means that the front vehicle is behind the vehicle. Therefore, this situation is not considered within the scope of the embodiment of the present application, that is, the embodiment of the present application only considers the division of each area in the two quadrants where the vertical coordinate is greater than zero.

[0063] Specifically, each area in the preset coordinate system can be divided as follows:

[0064] In the target quadrant of the preset coordinate system, the area formed by the coordinate points where the relative vehicle distance is between 0 and the preset driving state curve is determined as the following control area; the area formed by the coordinate points where the relative vehicle distance is between the preset driving state curve and the designated straight line is determined as the gliding control area; wherein the slope of the designated straight line is determined based on the preset driving state curve and the maximum detection distance corresponding to the automatic driving vehicle, and the other areas in the target quadrant except the following control area and the gliding control area are determined as the cruise control area.

[0065] S308: Determine the driving state of the automatic driving vehicle according to the area where the coordinate points of the relative vehicle speed and the relative vehicle distance in the preset coordinate system are located;

[0066] After the relative vehicle speed and relative vehicle distance are detected and calculated by the sensor, the coordinate point corresponding to the relative vehicle distance and relative vehicle speed can be found in the preset coordinate system, and the driving state of the autonomous driving vehicle can be determined by judging the area to which the coordinate point belongs.

[0067] Combine the following Figure 4 , which details how to determine the preset driving state curve and how to determine each control area in the preset coordinate system. Figure 4 This is a schematic diagram of the preset coordinate system. First, the maximum detection distance of the sensor is set. In the embodiment of the present application, 100m is taken as an example. The current desired following distance (Ddesired) is calculated according to the driver's set time interval and the speed of the vehicle:

[0068] Ddesired=Vego*TimeGapset+Dsafe

[0069] The relative distance between the preceding vehicle and the vehicle is the vertical axis (Drel), and the relative speed between the preceding vehicle and the vehicle (Vrel) is the horizontal axis. The following formula is used to construct the following Figure 4 The preset driving state curve is shown.

[0070]

[0071] The above formula expresses the relationship between the distance, speed and deceleration of the vehicle when it is coasting. It is necessary to divide the switching between following the vehicle and cruising according to this curve. decel is the coasting deceleration of the vehicle with gear, and the intersection of the constructed curve and the maximum detection distance and (0, D desired ) and extend it to get Figure 4 The straight line in .

[0072] Figure 4In the left area of ​​the two quadrants where the relative vehicle distance is greater than zero, the intersection of the two lines can be divided into three areas to the right, corresponding to the cruise control area (①), the coasting control area (the left shaded part ②) and the following control area (③). In the cruise control area, the vehicle can drive normally according to the current set speed. When the vehicle drives to the coasting area with gear, the vehicle can reduce the speed to achieve the desired following distance by reducing the driving torque of the vehicle with gear while losing the least kinetic energy of the vehicle. In this way, the smooth switching between following control and cruise control can be achieved without sending the braking deceleration. If the vehicle is currently in the following control area below the coasting control area with gear, it is no longer possible to safely achieve the target following distance by simply reducing the torque of the vehicle with gear coasting. Therefore, this area is defined as the following control area, and additional braking of the vehicle braking system is required to safely achieve the target following distance.

[0073] exist Figure 4 In the right area of ​​the two quadrants where the relative vehicle distance is greater than zero, set the minimum following distance line ( Figure 4 In the right part of the figure, the straight line parallel to the horizontal axis is shown. At this time, since the speed of the front vehicle is faster than that of the self-vehicle, the relative distance between the two vehicles will become larger and larger. Therefore, as long as it is above the minimum following distance line (⑤), it is set as the cruise control area. In this area, the vehicle does not need additional braking. In the area below the minimum following distance line (shaded area ④), at this time, since the relative distance between the front vehicle and the self-vehicle is too close, additional braking is required to increase the relative distance to ensure safe driving. This area is set as the following control area.

[0074] Figure 4 The bold diagonal line in the figure represents the desired controlled following distance D of the following vehicle at different relative vehicle speeds. DesiredCtrl According to mathematical calculation, its expression can be obtained as follows:

[0075] D rel =T*Vrel+D desired

[0076]

[0077] The slope T of this straight line can be obtained by constructing the intersection of the curve and the maximum detection distance (V rel , 100) and (0, D desired ) can be directly obtained by using the two points. In this way, the vehicle's coasting deceleration can be utilized to the maximum extent, achieving stable switching between cruise control and following control, while improving the fuel economy of the vehicle during driving.

[0078] S310: If the driving state is the gliding control state, control the automatic driving vehicle to decelerate at the gliding deceleration.

[0079] The above embodiment divides the preset coordinate system into a cruise control area, a gliding control area and a following control area through a preset driving state curve. In the specific driving process, it is only necessary to determine in which area the coordinate points corresponding to the current relative vehicle speed and relative vehicle distance fall, so as to quickly and accurately determine the driving state of the vehicle, and then adopt different deceleration strategies. Since the preset driving state curve is drawn according to the historical speed and vehicle distance of the autonomous driving vehicle, the area division result obtained according to the preset driving state curve is more accurate.

[0080] Due to the different driving habits of each autonomous driving vehicle, some autonomous driving vehicles are more conservative and hope that the driving and riding process is relatively smooth, while some autonomous driving vehicles are more aggressive and hope that the vehicle travels faster. Therefore, in order to improve the riding experience of passengers, the embodiment of the present application adopts a graded braking strategy during the driving process in the following vehicle control state. Specifically, the following steps A10-A12 are included:

[0081] A10: Divide the following control area into at least two sub-areas based on historical driving information of the autonomous driving vehicle; wherein the historical driving information of the autonomous driving vehicle is used to characterize the driving habits of the autonomous driving vehicle, and the maximum relative vehicle distance corresponding to the first sub-area of ​​any two adjacent sub-areas is equal to the minimum relative vehicle distance corresponding to the second sub-area;

[0082] Specifically, the following control area can be divided into two or more sub-areas according to different driving habits. For example, if the driving behavior is more aggressive, it can be divided into 4 sub-areas, and if the driving behavior is more conservative, it can be divided into 2 sub-areas. Based on this, the above step A10 can specifically include:

[0083] (1) determining driving attributes based on historical driving information of the autonomous driving vehicle; wherein the driving attributes include conservative attributes and aggressive attributes;

[0084] (2) determining the number of sub-areas in the following control area according to the driving attributes, wherein the number of sub-areas corresponding to the conservative attributes is less than the number of sub-areas corresponding to the aggressive attributes;

[0085] (3) Divide the following vehicle control area into multiple sub-areas according to the determined number of sub-areas.

[0086] A12: When the relative vehicle distance corresponding to the autonomous driving vehicle is in the target sub-area, the deceleration of the autonomous driving vehicle is greater than the minimum deceleration corresponding to the target sub-area.

[0087] Different graded braking strategies can be set according to the aggressiveness of the following type set by the algorithm. According to different graded braking strategies, the current target following distance is divided into N areas. The first area is the self-vehicle coasting following control area. In this area, since the actual following distance of the vehicle is relatively small from the target following distance, the maximum lower limit of braking deceleration is set to the vehicle's self-vehicle coasting deceleration. In this way, the following distance can be achieved under the premise of meeting fuel economy. The second area is the comfortable deceleration following control area. In this area, the vehicle needs to brake to meet the driver's set following distance. At the same time, considering the comfort experience of the driver and passengers, the lower limit of deceleration in this area is the comfortable deceleration. The comfortable deceleration is greater than the self-vehicle coasting deceleration, which can achieve a better deceleration effect and make the driver more comfortable.

[0088] The area after that is the safe deceleration area, which can be adjusted according to the driver's driving style. When the driver's driving style is more conservative, the deceleration levels in this area will be set more sparsely. If the driver's driving style is more aggressive, the deceleration levels in this area will be set more densely.

[0089] like Figure 5 The following vehicle graded braking diagram is shown in the figure. Figure 5 In the present invention, according to the historical driving information of the autonomous driving vehicle, the following area is divided into three areas, namely, the first safety braking area, the second safety braking area and the third safety braking area. Specifically, the first safety braking area can be set to the first 1 / 3 of the desired controlled following distance, the second safety braking area can be the middle of the desired controlled following distance, and the third safety braking area is set to the last 1 / 3 of the desired controlled following distance.

[0090] In this way, the riding experience of the driver and passengers can be guaranteed to the greatest extent while ensuring safety. At the same time, the division of the geared sliding control area and the comfortable deceleration area can also be adjusted in time according to the driver's driving style.

[0091] Furthermore, the proportion of each area can be adjusted according to different driving behavior habits. Based on this, the above method provided in the embodiment of the present application may also include:

[0092] The proportions of the cruise control area, the gliding control area and the following control area are adjusted according to historical driving information of the autonomous driving vehicle; wherein the historical driving information is used to characterize the driving habits of the autonomous driving vehicle.

[0093] For example, if the driver is conservative, the area of ​​coasting with gear and comfort braking can be set to be narrower, and the area of ​​safety braking can be wider and less graded (that is, the deceleration of safety braking is set to be relatively larger), so that the following distance can be better maintained. If the driver is aggressive, the area of ​​coasting with gear and comfort braking can be set to be wider, and the area of ​​safety braking can be set to be more graded, so that the following distance will take longer to return to the expected distance, but relatively speaking, there will be less braking.

[0094] The above embodiment adjusts the proportion of the gliding control area and the cruise control area, and divides the following control area into more detailed sub-areas according to driving habits, so that the driving process is more in line with the driver's behavioral habits, and effectively improves the driving and riding experience.

[0095] Figure 6 A flow chart of a control method for an autonomous driving vehicle in an actual application scenario provided by an embodiment of the present invention, such as Figure 6 As shown, the method specifically comprises the following steps:

[0096] S602: Divide the vehicle following control area into four areas according to the historical behavior information of the vehicle, namely, a comfortable deceleration area, a first safe deceleration area, a second safe deceleration area, and a third safe deceleration area;

[0097] S604: judging whether the vehicle is in the coasting area with gear according to the preset driving state curve and the current relative distance and relative speed of the vehicle. If yes, executing step S620, otherwise executing step S606;

[0098] S606: Determine whether the vehicle is in a comfortable deceleration area, if yes, execute step S618, otherwise, execute step S608;

[0099] S608: Determine whether the vehicle is in the first safe deceleration area, if yes, execute step S616, otherwise, execute step S610;

[0100] S610: Determine whether the vehicle is in the second safe deceleration area, if yes, execute step S614, otherwise, execute step S612;

[0101] S612: Use the third safety deceleration as the lower limit of deceleration to reduce the speed;

[0102] S614: Use the second safety deceleration as the lower limit of deceleration to reduce the speed;

[0103] S616: Use the first safety deceleration as the lower limit of deceleration to reduce the speed;

[0104] S618: Use the comfortable deceleration as the lower limit of deceleration to reduce the speed;

[0105] S620: Use the gear-engaged coasting deceleration as the deceleration to reduce the speed.

[0106] Based on the above method embodiment, the present application embodiment also provides an automatic driving vehicle control device, see Figure 7 As shown, the device is applied to a controller of an autonomous driving vehicle, and the device includes:

[0107] An acquisition module 702 is used to acquire a first speed of the autonomous driving vehicle, a second speed of the preceding vehicle, and a distance between the autonomous driving vehicle and the preceding vehicle;

[0108] A relative information determination module 704, configured to determine a relative vehicle speed and a relative vehicle distance between the autonomous driving vehicle and a preceding vehicle according to the first vehicle speed, the second vehicle speed and the vehicle distance;

[0109] A driving state determination module 706 is used to determine the driving state of the automatic driving vehicle according to the relative vehicle speed, the relative vehicle distance and a preset driving state curve; wherein the preset driving state curve is generated according to the historical relative vehicle speed and the historical relative vehicle distance, and the driving state at least includes a cruise control state, a gliding control state and a following vehicle control state;

[0110] The control module 708 is used to control the automatic driving vehicle to decelerate at a coasting deceleration when the driving state is a coasting control state.

[0111] The above-mentioned automatic driving vehicle control device provided in the embodiment of the present application first determines the relative speed and relative vehicle distance between the vehicle and the preceding vehicle based on the acquired first vehicle speed, second vehicle speed and vehicle distance information, and determines the driving state of the vehicle based on the relative vehicle speed, relative vehicle distance and a preset driving state curve. When the vehicle is in a gliding control state, the vehicle is controlled to decelerate at a gliding deceleration without using braking to decelerate, thereby avoiding frequent switching between driving and braking, effectively saving fuel consumption, and using gliding deceleration to smoothly decelerate between driving and braking, thereby improving the riding experience of passengers.

[0112] The above-mentioned device is also used to: if the driving state is a cruise control state, control the autonomous driving vehicle to travel at the current acceleration; if the driving state is a following control state, control the autonomous driving vehicle to decelerate at a set deceleration; wherein the set deceleration is greater than the coasting deceleration.

[0113] The driving state determination module 706 is further used to: divide the preset coordinate system into a cruise control area, a gliding control area and a following control area according to a preset driving state curve; wherein the preset coordinate system is a coordinate system composed of the relative speed of the autonomous driving vehicle and the preceding vehicle as the horizontal coordinate and the relative vehicle distance between the autonomous driving vehicle and the preceding vehicle as the vertical coordinate; determine the driving state of the autonomous driving vehicle according to the area where the coordinate points of the relative vehicle speed and the relative vehicle distance in the preset coordinate system are located.

[0114] The above process of dividing the preset coordinate system into a cruise control area, a coasting control area and a following control area according to the preset driving state curve includes: in the target quadrant of the preset coordinate system, the area formed by the coordinate points where the relative vehicle distance is between 0 and the preset driving state curve is determined as the following control area; the area formed by the coordinate points where the relative vehicle distance is between the preset driving state curve and the designated straight line is determined as the coasting control area; wherein the slope of the designated straight line is determined based on the preset driving state curve and the maximum detection distance corresponding to the automatic driving vehicle; and the other areas in the target quadrant except the following control area and the coasting control area are determined as the cruise control area.

[0115] The above-mentioned device is also used to: divide the following control area into at least two sub-areas according to the historical driving information of the autonomous driving vehicle; wherein the historical driving information is used to characterize the driving habits of the driver, and the maximum relative vehicle distance corresponding to the first sub-area in any two adjacent sub-areas is equal to the minimum relative vehicle distance corresponding to the second sub-area; when the relative vehicle distance corresponding to the autonomous driving vehicle is in the target sub-area, the deceleration of the autonomous driving vehicle is controlled to be greater than the minimum deceleration corresponding to the target sub-area.

[0116] The above process of dividing the following control area into at least two sub-areas based on historical driving information includes: determining driving attributes based on the historical driving information of the autonomous driving vehicle; wherein the driving attributes include conservative attributes and aggressive attributes; determining the number of sub-areas in the following control area based on the driving attributes, wherein the number of sub-areas corresponding to the conservative attributes is less than the number of sub-areas corresponding to the aggressive attributes; and dividing the following control area into multiple sub-areas according to the determined number of sub-areas.

[0117] The above-mentioned device is also used to: adjust the proportion of the cruise control area, the gliding control area and the following control area according to the historical driving information of the autonomous driving vehicle; wherein the historical driving information is used to characterize the driving habits of the autonomous driving vehicle.

[0118] The autonomous driving vehicle control device provided in the embodiment of the present application has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for parts not mentioned in the embodiment of the above-mentioned device, reference may be made to the corresponding contents in the aforementioned autonomous driving vehicle control method embodiment.

[0119] The present application also provides an electronic device, such as Figure 7 As shown, it is a schematic diagram of the structure of the electronic device, wherein the electronic device includes a processor 1501 and a memory 1502, the memory 1502 stores computer executable instructions that can be executed by the processor 1501, and the processor 1501 executes the computer executable instructions to implement the above-mentioned autonomous driving vehicle control method.

[0120] exist Figure 7 In the illustrated embodiment, the electronic device further includes a bus 1503 and a communication interface 1504 , wherein the processor 1501 , the communication interface 1504 and the memory 1502 are connected via the bus 1503 .

[0121] Among them, the memory 1502 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 1504 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 1503 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 1503 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0122] Processor 1501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 1501. The above processor 1501 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor are combined and performed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor 1501 reads the information in the memory and combines its hardware to complete the steps of the autonomous driving vehicle control method of the aforementioned embodiment.

[0123] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned autonomous driving vehicle control method. The specific implementation can be found in the aforementioned method embodiment, which will not be repeated here.

[0124] The computer program products of the autonomous driving vehicle control method, device and electronic device provided in the embodiments of the present application include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments, which will not be repeated here.

[0125] Unless otherwise specifically stated, the relative steps, numerical expressions and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0126] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0127] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0128] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for controlling an automatic driving vehicle, characterized in that: The method is applied to a controller of an autonomous driving vehicle, and the method comprises: Acquire a first vehicle speed of the autonomous driving vehicle, a second vehicle speed of a preceding vehicle, and a vehicle distance between the autonomous driving vehicle and the preceding vehicle; Determine a relative vehicle speed and a relative vehicle distance between the automatic driving vehicle and the preceding vehicle according to the first vehicle speed, the second vehicle speed, and the vehicle distance; The preset coordinate system is divided into a cruise control area, a coasting control area and a following control area according to a preset driving state curve; wherein the preset coordinate system is a coordinate system composed of a relative speed between the autonomous driving vehicle and the preceding vehicle as a horizontal coordinate and a relative vehicle distance between the autonomous driving vehicle and the preceding vehicle as a vertical coordinate; Determining the driving state of the automatic driving vehicle according to the area where the coordinate points of the relative vehicle speed and the relative vehicle distance in the preset coordinate system are located; wherein the preset driving state curve is generated according to the historical relative vehicle speed and the historical relative vehicle distance, and the driving state at least includes a cruise control state, a gliding control state, and a following vehicle control state; If the driving state is the coasting control state, controlling the automatic driving vehicle to decelerate at a coasting deceleration; According to the historical driving information of the autonomous driving vehicle, the following control area is divided into at least two sub-areas; wherein the historical driving information is used to characterize the driving habits of the driver, and the maximum relative vehicle distance corresponding to the first sub-area of ​​any two adjacent sub-areas is equal to the minimum relative vehicle distance corresponding to the second sub-area; When the relative vehicle distance corresponding to the autonomous driving vehicle is in a target sub-area, the deceleration of the autonomous driving vehicle is controlled to be greater than the minimum deceleration corresponding to the target sub-area.

2. The method according to claim 1, characterized in that The method further comprises: If the driving state is the cruise control state, controlling the automatic driving vehicle to travel at the current acceleration; If the driving state is the following vehicle control state, the automatic driving vehicle is controlled to decelerate at a set deceleration; wherein the set deceleration is greater than the coasting deceleration.

3. The method according to claim 1, characterized in that The step of dividing the preset coordinate system into a cruise control area, a coasting control area, and a following control area according to the preset driving state curve comprises: In the target quadrant of the preset coordinate system, an area formed by coordinate points between the relative vehicle distance 0 and the preset driving state curve is determined as a following control area; Determine the area formed by the coordinate points of the relative vehicle distance between the preset driving state curve and the specified straight line as the sliding control area; wherein the slope of the specified straight line is determined based on the preset driving state curve and the maximum detection distance corresponding to the automatic driving vehicle; The other areas in the target quadrant except the following control area and the coasting control area are determined as cruise control areas.

4. The method according to claim 1, characterized in that: The step of dividing the following vehicle control area into at least two sub-areas according to the historical driving information comprises: Determining driving attributes based on historical driving information of the autonomous driving vehicle; wherein the driving attributes include conservative attributes and aggressive attributes; Determining the number of sub-areas in the following control area according to the driving attribute, wherein the number of sub-areas corresponding to the conservative attribute is less than the number of sub-areas corresponding to the aggressive attribute; The vehicle following control area is divided into a plurality of sub-areas according to the determined number of the sub-areas.

5. The method according to claim 1, characterized in that: The method further comprises: The proportions of the cruise control area, the gliding control area and the following control area are adjusted according to historical driving information of the autonomous driving vehicle; wherein the historical driving information is used to characterize the driving habits of the autonomous driving vehicle.

6. An automatic driving vehicle control device, characterized in that: The device is applied to a controller of an autonomous driving vehicle, and the device comprises: an acquisition module, configured to acquire a first speed of the autonomous driving vehicle, a second speed of a preceding vehicle, and a distance between the autonomous driving vehicle and the preceding vehicle; a relative information determination module, configured to determine a relative vehicle speed and a relative vehicle distance between the automatic driving vehicle and the preceding vehicle according to the first vehicle speed, the second vehicle speed and the vehicle distance; A driving state determination module, configured to divide a preset coordinate system into a cruise control area, a coasting control area, and a following vehicle control area according to a preset driving state curve; wherein the preset coordinate system is a coordinate system composed of a relative speed between the autonomous driving vehicle and the preceding vehicle as a horizontal coordinate and a relative vehicle distance between the autonomous driving vehicle and the preceding vehicle as a vertical coordinate; and determine the driving state of the autonomous driving vehicle according to an area where coordinate points of the relative vehicle speed and the relative vehicle distance in the preset coordinate system are located; wherein the preset driving state curve is generated according to a historical relative vehicle speed and a historical relative vehicle distance, and the driving state includes at least a cruise control state, a coasting control state, and a following vehicle control state; A control module, used for controlling the autonomous driving vehicle to decelerate at a coasting deceleration if the driving state is the coasting control state; dividing the following control area into at least two sub-areas according to the historical driving information of the autonomous driving vehicle; wherein the historical driving information is used to characterize the driving habits of the driver, and the maximum relative vehicle distance corresponding to the first sub-area of ​​any two adjacent sub-areas is equal to the minimum relative vehicle distance corresponding to the second sub-area; and when the relative vehicle distance corresponding to the autonomous driving vehicle is in a target sub-area, controlling the deceleration of the autonomous driving vehicle to be greater than the minimum deceleration corresponding to the target sub-area.

7. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 1 to 5.

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