Vehicle longitudinal control method, device and vehicle

Abstract

The present invention discloses a vehicle longitudinal control method, device, and vehicle. The method comprises: obtaining a current distance between a controlled vehicle and a target vehicle, wherein the target vehicle is located in front of the controlled vehicle; obtaining a tracking time for the controlled vehicle when the current distance is within a preset interval, wherein the tracking time is based on the average traffic volume and average speed of the controlled vehicle within the target distance; and determining the current driving speed of the controlled vehicle based on a first speed of the target vehicle, the current distance, the target distance, and the tracking time. The present invention solves the technical problems of inaccurate longitudinal control of the controlled vehicle and low vehicle driving safety, which exist in related technologies.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to the field of longitudinal control technology, and more specifically to a vehicle longitudinal control method, device, and vehicle. Background Art

[0002] Assisted driving has been developing rapidly recently, with features like adaptive cruise control now widely adopted in production vehicles. Longitudinal control technology is a relatively mature approach, proven in many production vehicles. Conventional longitudinal control technology uses perception to determine the target vehicle's operating status and then makes logical decisions based on this information to switch between braking and driving. However, current longitudinal control technology only considers the target vehicle's operating status, resulting in a simplistic control logic. This leads to inaccurate longitudinal control of the vehicle and reduced vehicle safety.

[0003] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0004] The embodiments of the present invention provide a vehicle longitudinal control method, device, and vehicle, to at least solve the technical problems existing in the related art of inaccurate vehicle longitudinal control and low vehicle driving safety.

[0005] According to one aspect of an embodiment of the present invention, a vehicle longitudinal control method is provided, comprising: obtaining a current distance between a controlled vehicle and a target vehicle, wherein the target vehicle is located in front of the controlled vehicle; when the current distance is a preset interval distance, obtaining a tracking time of the controlled vehicle, wherein the tracking time is obtained based on an average traffic volume and an average speed of the controlled vehicle within the target distance; and determining a current driving speed of the controlled vehicle based on a first speed of the target vehicle, the current distance, the target distance, and the tracking time.

[0006] Optionally, when the current distance is a preset interval distance, obtaining the tracking time of the controlled vehicle includes: obtaining the average traffic flow and the average speed within the target distance within a preset time interval; calculating the average traffic density within the target distance based on the average traffic flow and the average speed; obtaining a preset tracking time coefficient and a tracking time bias coefficient; and calculating the tracking time based on the average traffic density, the tracking time coefficient and the tracking time bias coefficient.

[0007] Optionally, the above-mentioned target distance includes a first lane section, a second lane section and a third lane section, and the above-mentioned acquisition of the average traffic flow within the above-mentioned target distance within the preset time interval includes: acquiring the number of first vehicles entering the above-mentioned first lane section, the number of third vehicles entering the above-mentioned third lane section, and the number of second vehicles cutting into the above-mentioned second lane section; acquiring the first weight coefficient corresponding to the above-mentioned first lane section, the second weight coefficient corresponding to the above-mentioned second lane section and the third weight coefficient corresponding to the above-mentioned third lane section; and calculating the above-mentioned average traffic flow based on the above-mentioned first number of vehicles, the second number of vehicles, the third number of vehicles, the first weight coefficient, the second weight coefficient and the third weight coefficient.

[0008] Optionally, the above-mentioned target distance includes a first lane section, a second lane section and a third lane section, and the above-mentioned acquisition of the average vehicle speed within the above-mentioned target distance within the preset time interval includes: acquiring the first driving speed of the first vehicle entering the above-mentioned first lane section, the second driving speed of the second vehicle entering the above-mentioned second lane section, and the third driving speed of the second vehicle entering the above-mentioned third lane section; acquiring the first weight coefficient corresponding to the above-mentioned first lane section, the second weight coefficient corresponding to the above-mentioned second lane section and the third weight coefficient corresponding to the above-mentioned third lane section; and calculating the above-mentioned average vehicle speed based on the above-mentioned first driving speed, the second driving speed, the third driving speed, the first weight coefficient, the second weight coefficient and the third weight coefficient.

[0009] Optionally, when the current distance is less than the lower limit value of the preset interval distance, the method further includes: obtaining the relative speed between the controlled vehicle and the target vehicle, and the relative acceleration between the controlled vehicle and the target vehicle; judging whether the relative speed is greater than a first preset speed, and judging whether the relative acceleration is greater than a preset acceleration; if the relative speed is less than or equal to the first preset speed, and / or the relative acceleration is less than or equal to the preset acceleration, performing braking control on the controlled vehicle.

[0010] Optionally, when the current distance is greater than the upper limit of the preset interval distance, the method further includes: controlling the current driving speed of the controlled vehicle to be a second preset speed.

[0011] According to another aspect of an embodiment of the present invention, a vehicle longitudinal control device is further provided, including: a first acquisition module, used to obtain the current distance between the controlled vehicle and the target vehicle, wherein the target vehicle is located in front of the controlled vehicle; a second acquisition module, used to obtain the tracking time of the controlled vehicle when the current distance is a preset interval distance, wherein the tracking time is obtained based on the average traffic flow and average speed of the controlled vehicle within the target distance; a determination module, used to determine the current driving speed of the controlled vehicle based on the first speed of the target vehicle, the current distance, the target distance and the tracking time.

[0012] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided. The non-volatile storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executed by any one of the above-mentioned vehicle longitudinal control methods.

[0013] According to another aspect of an embodiment of the present invention, an electronic device is also provided, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any one of the above-mentioned vehicle longitudinal control methods.

[0014] According to another aspect of an embodiment of the present invention, a vehicle is further provided, wherein the vehicle is configured to execute any one of the above-mentioned vehicle longitudinal control methods.

[0015] In an embodiment of the present invention, a vehicle longitudinal control method is adopted to obtain the current distance between the controlled vehicle and a target vehicle, wherein the target vehicle is located in front of the controlled vehicle; when the current distance is a preset interval distance, the tracking time of the controlled vehicle is obtained, wherein the tracking time is obtained based on the average traffic flow and average speed of the controlled vehicle within the target distance; based on the first speed of the target vehicle, the current distance, the target distance and the tracking time, the current driving speed of the controlled vehicle is determined, thereby achieving the purpose of adaptively adjusting the current driving speed according to the traffic flow and the vehicle driving distance, thereby achieving the technical effect of improving the longitudinal control accuracy of the self-vehicle and the vehicle driving safety, and further solving the technical problems of inaccurate longitudinal control of the self-vehicle and low vehicle driving safety existing in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 is a flow chart of a vehicle longitudinal control method according to an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of an optional current position relationship between a target vehicle and a controlled vehicle according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of an optional current position relationship between a target vehicle and other vehicles according to an embodiment of the present invention;

[0020] Figure 4 is a schematic structural diagram of a vehicle longitudinal control device according to an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] Existing vehicle longitudinal control schemes primarily encompass the following aspects: One is a longitudinal control method for autonomous vehicles with environmental adaptability. This method considers road slope information, vehicle load information, and vehicle status information, achieving this through weighted feedforward and feedback control components. This significantly improves longitudinal control accuracy, but it does not consider the impact of traffic flow on longitudinal control. Another is an adaptive cruise control scheme that considers driving behavior. This approach comprehensively analyzes driver behavior and designs a behavior-based adaptive cruise control system in follow-up mode. While ensuring safety, it enhances the driver's driving experience and improves driver acceptance and acceptance of the adaptive cruise control system. However, this scheme does not consider the impact of traffic flow on the longitudinal control strategy. Another approach integrates and processes current driving data collected in real time during the controlled vehicle's operation into standardized current driving data; receives a user-selected target driving style and obtains a target longitudinal control strategy that matches the target driving style; and outputs longitudinal control commands based on the standardized current driving data and the target longitudinal control strategy to execute intelligent vehicle longitudinal control. However, this method only considers the controlled vehicle's historical situation and does not consider external environmental factors such as traffic flow.

[0025] It can be seen that longitudinal control technology is a relatively mature method that has been verified on many mass-produced models. Conventional longitudinal control technology obtains the operating status of the target vehicle based on perception, and performs logical judgment based on the operating status of the target vehicle to achieve switching between braking and driving. However, the vehicle longitudinal control method in the existing technology only considers the operating status of the target vehicle, and the control method is relatively simple, without considering the traffic volume on the road. It should be noted that in the actual driving process, the driver will dynamically adjust the driving logic according to the degree of road congestion and the overall traffic speed. In more congested and high-speed situations, the braking and driving should be switched more actively to be safer. In more spacious and slow-moving traffic, the braking and driving should be switched more passively to obtain a more comfortable riding experience.

[0026] Based on the above problems, according to an embodiment of the present invention, a method embodiment of vehicle longitudinal control is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0027] Figure 1 is a flow chart of a vehicle longitudinal control method according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0028] Step S102, obtaining a current distance between the controlled vehicle and a target vehicle, wherein the target vehicle is located in front of the controlled vehicle;

[0029] Step S104: when the current distance is a preset interval distance, obtaining a tracking time of the controlled vehicle, wherein the tracking time is obtained based on an average traffic volume and an average speed of the controlled vehicle within a target distance;

[0030] Step S106 , determining the current speed of the controlled vehicle based on the first speed of the target vehicle, the current distance, the target distance, and the tracking time.

[0031] Optionally, the target vehicle may be, but is not limited to, a closest path vehicle (CIPV), i.e., the vehicle closest to the controlled vehicle in the current lane; the controlled vehicle may be, but is not limited to, an autonomous driving vehicle. In the embodiment of the present invention, there is no specific limitation on the type of the target vehicle.

[0032] Optionally, the target distance can be represented by, but is not limited to, headway time, wherein the headway time is used to represent the time difference between the front ends of the two vehicles (i.e., the target vehicle and the controlled vehicle) passing the same location. It can generally be calculated by dividing the headway distance between the front and rear vehicles by the speed of the rear vehicle. The preset interval distance can be understood as a comfortable interval distance, within which the controlled vehicle can be controlled to pass the tracking time t track Keep the target distance mentioned above. Figure 2 In the diagram of the current position relationship between the target vehicle and the controlled vehicle, the target vehicle is traveling in front of the controlled vehicle. Intervals 2 and 3 are the comfort interval distance ranges. The current distance between the two vehicles is within the comfort interval distance, and the target distance is maintained. That is, when the controlled vehicle is within the comfort interval distance range corresponding to intervals 2 and 3, at this time, at the tracking time t track The controlled vehicle reaches the target distance with the target vehicle within a certain time.

[0033] Optionally, the preset interval distance (ie, the comfort interval distance) can be represented by, but is not limited to, the headway, wherein the preset interval distance S comfortable The speed V of the controlled vehicle vehicle is positively correlated, and is expressed by the formula S comfortable =t comfortable V vehicle .

[0034] Optionally, the first speed V of the target vehicle is obtained. front , the current distance X between the target vehicle and the controlled vehicle front 、The above target distance D targetAnd the above tracking time t track Then, the current speed V of the controlled vehicle is calculated by the following formula: vehicle_now =V front +(X front -D target ) / t track .

[0035] It should be noted that, in the embodiment of the invention, the above-mentioned tracking time is obtained based on the average traffic flow and average speed of the above-mentioned controlled vehicle within the target distance, that is, when determining the current driving speed of the controlled vehicle, the current driving road conditions of the controlled vehicle are fully considered, that is, the average traffic flow and average speed of the controlled vehicle within the target distance are considered, thereby effectively improving the accuracy of the current driving speed and ensuring driving safety.

[0036] In an embodiment of the present invention, a vehicle longitudinal control method is adopted to obtain the current distance between the controlled vehicle and a target vehicle, wherein the target vehicle is located in front of the controlled vehicle; when the current distance is a preset interval distance, the tracking time of the controlled vehicle is obtained, wherein the tracking time is obtained based on the average traffic flow and average speed of the controlled vehicle within the target distance; based on the first speed of the target vehicle, the current distance, the target distance and the tracking time, the current driving speed of the controlled vehicle is determined, thereby achieving the purpose of adaptively adjusting the current driving speed according to the traffic flow and the vehicle driving distance, thereby achieving the technical effect of improving the longitudinal control accuracy of the self-vehicle and the vehicle driving safety, and further solving the technical problems of inaccurate longitudinal control of the self-vehicle and low vehicle driving safety existing in the related art.

[0037] In an optional embodiment, when the current distance is a preset interval distance, obtaining the tracking time of the controlled vehicle includes:

[0038] Obtaining the average traffic volume and the average vehicle speed within the target distance within a preset time interval;

[0039] Calculate the average traffic density within the target distance based on the average traffic volume and the average vehicle speed;

[0040] Obtaining a preset tracking time coefficient and tracking time bias coefficient;

[0041] The tracking time is calculated based on the average traffic density, the tracking time coefficient, and the tracking time bias coefficient.

[0042] Optionally, the average traffic flow Q and the average vehicle speed V within the target distance within a preset time interval are obtained, and on this basis, the average traffic flow density K=Q / V within the target distance is calculated; the preset tracking time coefficient k and tracking time bias coefficient p are obtained, and the tracking time t is calculated. track =k / K+p.

[0043] It should be noted that the tracking time t track The speed at which the target vehicle and the controlled vehicle maintain the target distance can be adjusted, so the tracking time t is set appropriately. track It is possible to realize adaptive adjustment of the speed of the controlled vehicle in the following process. In the embodiment of the present invention, when calculating the above tracking time t track When calculating the tracking time, the information such as the average traffic flow Q / the average vehicle speed V and the average traffic density within the target distance within the preset time interval is comprehensively considered, thereby improving the accuracy of tracking time acquisition.

[0044] Optionally, after determining the above tracking time t track Then, the first speed V of the target vehicle is obtained. front , the current distance X between the target vehicle and the controlled vehicle front 、The above target distance D target , and on this basis calculate the current speed V of the controlled vehicle vehicle_now =V front +(X front -D target ) / t track .

[0045] In an optional embodiment, the target distance includes a first lane section, a second lane section, and a third lane section, and obtaining the average traffic flow within the target distance within a preset time interval includes:

[0046] Obtaining the number of first vehicles entering the first lane section, the number of third vehicles entering the third lane section, and the number of second vehicles cutting into the second lane section;

[0047] Obtaining a first weight coefficient corresponding to the first lane section, a second weight coefficient corresponding to the second lane section, and a third weight coefficient corresponding to the third lane section;

[0048] The average traffic flow is calculated based on the first number of vehicles, the second number of vehicles, the third number of vehicles, the first weight coefficient, the second weight coefficient and the third weight coefficient.

[0049] Optionally, the target distance is divided into three lane intervals according to the relative position between the vehicle within the target distance and the controlled vehicle, for example, Figure 3 As shown, the first lane section can be the lane section located to the left of the controlled vehicle; the first lane section can be the lane section located directly in front of the controlled vehicle; the first lane section can be the lane section located to the right of the controlled vehicle. The lengths of the first lane section, the second lane section, and the third lane section are all target distances.

[0050] Optionally, record the preset time interval t of the first lane interval interval The first number of vehicles n1 in the lane, the third lane interval preset time interval t interval The third number of vehicles n3 in the preset time interval t interval The number of second vehicles n2 that cut into the second lane section; and obtain the first weight coefficient w1 corresponding to the first lane section, the second weight coefficient w2 corresponding to the second lane section, and the third weight coefficient w3 corresponding to the third lane section; the first number of vehicles n1, the second number of vehicles n2, the third number of vehicles n3, the first weight coefficient w1, the second weight coefficient w2, and the third weight coefficient w3, calculate the preset time interval t interval The average traffic volume in the area Q=(n1w1+n2w2+n3w3) / t interval .

[0051] In an optional embodiment, the target distance includes a first lane section, a second lane section, and a third lane section, and obtaining the average vehicle speed within the target distance within a preset time interval includes:

[0052] Obtaining a first driving speed of a first vehicle entering the first lane section, a second driving speed of a second vehicle entering the second lane section, and a third driving speed of a second vehicle entering the third lane section;

[0053] Obtaining a first weight coefficient corresponding to the first lane section, a second weight coefficient corresponding to the second lane section, and a third weight coefficient corresponding to the third lane section;

[0054] The average vehicle speed is calculated based on the first driving speed, the second driving speed, the third driving speed, the first weight coefficient, the second weight coefficient, and the third weight coefficient.

[0055] Optionally, record at preset time intervals t interval The first driving speed V of the first vehicle entering the first lane section 1i(i.e., the speed of the i-th vehicle in the first lane section above), at the preset time interval t interval The second driving speed V of the second vehicle entering the second lane section 2i (i.e., the speed of the i-th vehicle in the second lane section) and at the preset time interval t interval The third driving speed V of the third vehicle entering the third lane section 3i (i.e., the speed of the i-th vehicle in the third lane section); and obtain the first weight coefficient w1 corresponding to the first lane section, the second weight coefficient w2 corresponding to the second lane section, and the third weight coefficient w3 corresponding to the third lane section; the first number of vehicles n1, the second number of vehicles n2, the third number of vehicles n3, the first weight coefficient w1, the second weight coefficient w2, and the third weight coefficient w3, on this basis, calculate the preset time interval t interval Average vehicle speed V = w1∑V 1i +w2∑V 2i +w3∑V 3i .

[0056] In an optional embodiment, when the current distance is less than the lower limit of the preset interval distance, the method further includes:

[0057] Obtaining the relative speed between the controlled vehicle and the target vehicle, and the relative acceleration between the controlled vehicle and the target vehicle;

[0058] Determining whether the relative speed is greater than a first preset speed, and determining whether the relative acceleration is greater than a preset acceleration;

[0059] If the relative speed is less than or equal to the first preset speed, and / or the relative acceleration is less than or equal to the preset acceleration, braking control is performed on the controlled vehicle.

[0060] Optionally, if the relative speed is greater than the first preset speed, and the relative acceleration is greater than the preset acceleration, braking control is not performed on the controlled vehicle.

[0061] Optionally, the relative speed V between the controlled vehicle and the target vehicle relative It can be expressed as V relative =V front -V vehicle , where V front is the speed of the target vehicle, V vehicle is the speed of the controlled vehicle; the relative acceleration a between the controlled vehicle and the target vehicle relative It can be expressed as a relative =a front-a vehicle , where a front is the acceleration of the target vehicle, a vehicle is the acceleration of the controlled vehicle.

[0062] Optionally, the current distance between the controlled vehicle and the target vehicle is less than the lower limit of the preset interval distance, that is, Figure 2 In the case of interval 1, according to the relative speed V relative and the above relative acceleration a relative Determine whether to perform braking control on the controlled vehicle. If the relative speed is greater than the first preset speed (i.e., V relative >V thread ), and the relative acceleration is greater than the preset acceleration (i.e. a relative >a thread ), then no braking control is performed on the controlled vehicle; if the relative speed is less than the first preset speed (ie V relative <V thread ), and the relative acceleration is greater than the preset acceleration (i.e. a relative >a thread ), then the controlled vehicle is braked; if the relative speed is less than the first preset speed (ie V relative <V thread ), and the relative acceleration is less than the preset acceleration (i.e. a relative ＜ a thread ), then the controlled vehicle is braked; if the relative speed is greater than the first preset speed (ie V relative >V thread ), and the relative acceleration is less than the preset acceleration (i.e. a relative <a thread ), then the above-mentioned controlled vehicle is braked.

[0063] In an optional embodiment, when the current distance is greater than the upper limit of the preset interval distance, the method further includes:

[0064] The current running speed of the controlled vehicle is controlled to be a second preset speed.

[0065] Optionally, when the current distance is greater than the upper limit of the preset interval distance, that is, when the controlled vehicle is located in interval 4, the controlled vehicle is controlled to move forward at a second preset speed.

[0066] This embodiment also provides a vehicle longitudinal control device for implementing the aforementioned embodiments and preferred implementations. Details already described will not be repeated. As used below, the terms "module," "unit," and "device" may refer to a combination of software and / or hardware that implements a predetermined function. While the devices described in the following embodiments are preferably implemented in software, hardware, or a combination of software and hardware, is also possible and contemplated.

[0067] According to an embodiment of the present invention, there is also provided an embodiment of a device for implementing the above-mentioned vehicle longitudinal control method. Figure 4 FIG. 1 is a schematic structural diagram of a vehicle longitudinal control device according to an embodiment of the present invention. Figure 4 As shown, the above-mentioned vehicle longitudinal control device includes: a first acquisition module 400, a second acquisition module 402 and a determination module 404, wherein:

[0068] The first acquisition module 400 is configured to acquire a current distance between the controlled vehicle and a target vehicle, wherein the target vehicle is located in front of the controlled vehicle;

[0069] The second acquisition module 402 is connected to the first acquisition module 400 and is configured to acquire the tracking time of the controlled vehicle when the current distance is a preset interval distance, wherein the tracking time is acquired based on the average traffic volume and average speed of the controlled vehicle within the target distance;

[0070] The determination module 404 is connected to the second acquisition module 402 and is configured to determine the current speed of the controlled vehicle based on the first speed of the target vehicle, the current distance, the target distance, and the tracking time.

[0071] In an embodiment of the present invention, the first acquisition module 400 is provided for acquiring the current distance between the controlled vehicle and the target vehicle, wherein the target vehicle is located in front of the controlled vehicle; the second acquisition module 402 is connected to the first acquisition module 400 and is used to acquire the tracking time of the controlled vehicle when the current distance is a preset interval distance, wherein the tracking time is acquired based on the average traffic flow and average speed of the controlled vehicle within the target distance; the determination module 404 is connected to the second acquisition module 402 and is used to determine the current driving speed of the controlled vehicle based on the first speed of the target vehicle, the current distance, the target distance and the tracking time, thereby achieving the purpose of adaptively adjusting the current driving speed according to the traffic flow and the vehicle driving distance, thereby achieving the technical effect of improving the longitudinal control accuracy of the self-vehicle and the vehicle driving safety, thereby solving the technical problems of inaccurate longitudinal control of the self-vehicle and low vehicle driving safety existing in the related art.

[0072] Optionally, the above-mentioned second acquisition module includes: a first acquisition unit, used to obtain the above-mentioned average traffic flow and the above-mentioned average vehicle speed within the above-mentioned target distance within a preset time interval; a first calculation unit, used to calculate the average traffic density within the above-mentioned target distance based on the above-mentioned average traffic flow and the above-mentioned average vehicle speed; a second acquisition unit, used to obtain a preset tracking time coefficient and tracking time bias coefficient; a second calculation unit, used to calculate the above-mentioned tracking time based on the above-mentioned average traffic density, the above-mentioned tracking time coefficient and the above-mentioned tracking time bias coefficient.

[0073] Optionally, the above-mentioned first acquisition unit includes: a third acquisition unit, used to obtain the number of first vehicles entering the above-mentioned first lane interval, the number of third vehicles entering the above-mentioned third lane interval, and the number of second vehicles cutting into the above-mentioned second lane interval; a fourth acquisition unit, used to obtain the first weight coefficient corresponding to the above-mentioned first lane interval, the second weight coefficient corresponding to the above-mentioned second lane interval, and the third weight coefficient corresponding to the above-mentioned third lane interval; a third calculation unit, which calculates the above-mentioned average traffic flow based on the above-mentioned first number of vehicles, the second number of vehicles, the third number of vehicles, the first weight coefficient, the second weight coefficient and the third weight coefficient.

[0074] Optionally, the above-mentioned first acquisition unit includes: a fifth acquisition unit, used to obtain the first driving speed of the first vehicle entering the above-mentioned first lane interval, the second driving speed of the second vehicle entering the above-mentioned second lane interval, and the third driving speed of the second vehicle entering the above-mentioned third lane interval; a sixth acquisition unit, used to obtain the first weight coefficient corresponding to the above-mentioned first lane interval, the second weight coefficient corresponding to the above-mentioned second lane interval, and the third weight coefficient corresponding to the above-mentioned third lane interval; a fourth calculation unit, which calculates the above-mentioned average vehicle speed based on the above-mentioned first driving speed, second driving speed, third driving speed, first weight coefficient, second weight coefficient and third weight coefficient.

[0075] Optionally, the above-mentioned device also includes: a seventh acquisition unit, used to obtain the relative speed between the above-mentioned controlled vehicle and the above-mentioned target vehicle, and the relative acceleration between the above-mentioned controlled vehicle and the above-mentioned target vehicle; a first judgment unit, used to judge whether the above-mentioned relative speed is greater than the first preset speed, and to judge whether the above-mentioned relative acceleration is greater than the preset acceleration; a first control unit, used to perform braking control on the above-mentioned controlled vehicle if the above-mentioned relative speed is less than or equal to the above-mentioned first preset speed, and / or the above-mentioned relative acceleration is less than or equal to the above-mentioned preset acceleration.

[0076] Optionally, the above-mentioned device further includes: a second control unit, used to control the current driving speed of the above-mentioned controlled vehicle to be a second preset speed.

[0077] It should be noted that the above modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0078] It should be noted that the first acquisition module 400, the second acquisition module 402, and the determination module 404 described above correspond to steps S102 to S106 in the embodiment. The examples and application scenarios implemented by these modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above embodiment. It should be noted that the above modules, as part of the device, can be run on a computer terminal.

[0079] It should be noted that the optional or preferred implementation of this embodiment can be found in the relevant description in the embodiment, which will not be repeated here.

[0080] The above-mentioned vehicle longitudinal control device may further include a processor and a memory. The above-mentioned first acquisition module 400, second acquisition module 402 and determination module 404 are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to implement corresponding functions.

[0081] The processor includes a core, which retrieves the corresponding program unit from memory. There can be one or more cores. Memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory includes at least one memory chip.

[0082] According to an embodiment of the present application, an embodiment of a non-volatile storage medium is further provided. Optionally, in this embodiment, the non-volatile storage medium includes a stored program, wherein when the program is executed, the device containing the non-volatile storage medium is controlled to execute any of the above-mentioned vehicle longitudinal control methods.

[0083] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group, and the non-volatile storage medium includes a stored program.

[0084] Optionally, when the program is running, the device where the non-volatile storage medium is located is controlled to perform the following functions: obtaining the current distance between the controlled vehicle and the target vehicle, wherein the target vehicle is located in front of the controlled vehicle; when the current distance is a preset interval distance, obtaining the tracking time of the controlled vehicle, wherein the tracking time is obtained based on the average traffic volume and average speed of the controlled vehicle within the target distance; determining the current driving speed of the controlled vehicle based on the first speed of the target vehicle, the current distance, the target distance and the tracking time.

[0085] Optionally, when the program is running, the device where the non-volatile storage medium is located is controlled to perform the following functions: obtain the above-mentioned average traffic flow and the above-mentioned average vehicle speed within the above-mentioned target distance within a preset time interval; calculate the average traffic density within the above-mentioned target distance based on the above-mentioned average traffic flow and the above-mentioned average vehicle speed; obtain a preset tracking time coefficient and a tracking time bias coefficient; calculate the above-mentioned tracking time based on the above-mentioned average traffic density, the above-mentioned tracking time coefficient and the above-mentioned tracking time bias coefficient.

[0086] Optionally, when the program is running, the device where the non-volatile storage medium is located is controlled to perform the following functions: obtain the number of first vehicles entering the above-mentioned first lane interval, the number of third vehicles entering the above-mentioned third lane interval, and the number of second vehicles cutting into the above-mentioned second lane interval; obtain the first weight coefficient corresponding to the above-mentioned first lane interval, the second weight coefficient corresponding to the above-mentioned second lane interval, and the third weight coefficient corresponding to the above-mentioned third lane interval; based on the above-mentioned first number of vehicles, the second number of vehicles, the third number of vehicles, the first weight coefficient, the second weight coefficient and the third weight coefficient, calculate the above-mentioned average traffic flow.

[0087] Optionally, the above-mentioned computer program product, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: obtaining the first driving speed of the first vehicle entering the above-mentioned first lane interval, the second driving speed of the second vehicle entering the above-mentioned second lane interval, and the third driving speed of the second vehicle entering the above-mentioned third lane interval; obtaining the first weight coefficient corresponding to the above-mentioned first lane interval, the second weight coefficient corresponding to the above-mentioned second lane interval, and the third weight coefficient corresponding to the above-mentioned third lane interval; and calculating the above-mentioned average vehicle speed based on the above-mentioned first driving speed, second driving speed, third driving speed, first weight coefficient, second weight coefficient and third weight coefficient.

[0088] Optionally, when the program is running, the device where the non-volatile storage medium is located is controlled to perform the following functions: obtaining the relative speed between the above-mentioned controlled vehicle and the above-mentioned target vehicle, and the relative acceleration between the above-mentioned controlled vehicle and the above-mentioned target vehicle; judging whether the above-mentioned relative speed is greater than a first preset speed, and judging whether the above-mentioned relative acceleration is greater than a preset acceleration; if the above-mentioned relative speed is less than or equal to the above-mentioned first preset speed, and / or the above-mentioned relative acceleration is less than or equal to the above-mentioned preset acceleration, then performing braking control on the above-mentioned controlled vehicle.

[0089] Optionally, when the program is running, the device where the non-volatile storage medium is located is controlled to perform the following function: controlling the current driving speed of the above-mentioned controlled vehicle to be a second preset speed.

[0090] According to an embodiment of the present application, an embodiment of a processor is further provided. Optionally, in this embodiment, the processor is used to run a program, wherein the program executes any of the above-mentioned vehicle longitudinal control methods when it is run.

[0091] According to an embodiment of the present application, an embodiment of a computer program product is also provided. When executed on a data processing device, the computer program product is suitable for executing a program that initializes any one of the steps of the vehicle longitudinal control method described above.

[0092] Optionally, the above-mentioned computer program product, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: obtaining the current distance between the controlled vehicle and the target vehicle, wherein the above-mentioned target vehicle is located in front of the above-mentioned controlled vehicle; when the above-mentioned current distance is a preset interval distance, obtaining the tracking time of the above-mentioned controlled vehicle, wherein the above-mentioned tracking time is obtained based on the average traffic flow and average speed of the above-mentioned controlled vehicle within the target distance; determining the current driving speed of the above-mentioned controlled vehicle based on the first speed of the above-mentioned target vehicle, the above-mentioned current distance, the above-mentioned target distance and the above-mentioned tracking time.

[0093] Optionally, the above-mentioned computer program product, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: obtaining the above-mentioned average traffic flow and the above-mentioned average vehicle speed within the above-mentioned target distance within a preset time interval; calculating the average traffic density within the above-mentioned target distance based on the above-mentioned average traffic flow and the above-mentioned average vehicle speed; obtaining a preset tracking time coefficient and a tracking time bias coefficient; and calculating the above-mentioned tracking time based on the above-mentioned average traffic density, the above-mentioned tracking time coefficient and the above-mentioned tracking time bias coefficient.

[0094] Optionally, the above-mentioned computer program product, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: obtaining the number of first vehicles entering the above-mentioned first lane interval, the number of third vehicles entering the above-mentioned third lane interval, and the number of second vehicles cutting into the above-mentioned second lane interval; obtaining the first weight coefficient corresponding to the above-mentioned first lane interval, the second weight coefficient corresponding to the above-mentioned second lane interval, and the third weight coefficient corresponding to the above-mentioned third lane interval; and calculating the above-mentioned average traffic flow based on the above-mentioned first number of vehicles, the second number of vehicles, the third number of vehicles, the first weight coefficient, the second weight coefficient, and the third weight coefficient.

[0095] Optionally, the above-mentioned computer program product, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: obtaining the first driving speed of the first vehicle entering the above-mentioned first lane interval, the second driving speed of the second vehicle entering the above-mentioned second lane interval, and the third driving speed of the second vehicle entering the above-mentioned third lane interval; obtaining the first weight coefficient corresponding to the above-mentioned first lane interval, the second weight coefficient corresponding to the above-mentioned second lane interval, and the third weight coefficient corresponding to the above-mentioned third lane interval; and calculating the above-mentioned average vehicle speed based on the above-mentioned first driving speed, second driving speed, third driving speed, first weight coefficient, second weight coefficient and third weight coefficient.

[0096] Optionally, the above-mentioned computer program product, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: obtaining the relative speed between the above-mentioned controlled vehicle and the above-mentioned target vehicle, and the relative acceleration between the above-mentioned controlled vehicle and the above-mentioned target vehicle; judging whether the above-mentioned relative speed is greater than a first preset speed, and judging whether the above-mentioned relative acceleration is greater than a preset acceleration; if the above-mentioned relative speed is less than or equal to the above-mentioned first preset speed, and / or the above-mentioned relative acceleration is less than or equal to the above-mentioned preset acceleration, then performing braking control on the above-mentioned controlled vehicle.

[0097] Optionally, the above-mentioned computer program product, when executed on a data processing device, is suitable for executing a program that is initialized with the following method steps: controlling the current driving speed of the above-mentioned controlled vehicle to a second preset speed.

[0098] like Figure 5 As shown, an embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: obtaining a current distance between a controlled vehicle and a target vehicle, wherein the target vehicle is located in front of the controlled vehicle; when the current distance is a preset interval distance, obtaining a tracking time of the controlled vehicle, wherein the tracking time is obtained based on an average traffic volume and an average speed of the controlled vehicle within the target distance; and determining a current driving speed of the controlled vehicle based on a first speed of the target vehicle, the current distance, the target distance, and the tracking time.

[0099] Optionally, when executing the program, the processor is also used to implement the following steps: obtaining the above-mentioned average traffic flow and the above-mentioned average vehicle speed within the above-mentioned target distance within a preset time interval; calculating the average traffic density within the above-mentioned target distance based on the above-mentioned average traffic flow and the above-mentioned average vehicle speed; obtaining a preset tracking time coefficient and a tracking time bias coefficient; and calculating the above-mentioned tracking time based on the above-mentioned average traffic density, the above-mentioned tracking time coefficient and the above-mentioned tracking time bias coefficient.

[0100] Optionally, when executing the program, the processor is also used to implement the following steps: obtaining the number of first vehicles entering the above-mentioned first lane section, the number of third vehicles entering the above-mentioned third lane section, and the number of second vehicles cutting into the above-mentioned second lane section; obtaining the first weight coefficient corresponding to the above-mentioned first lane section, the second weight coefficient corresponding to the above-mentioned second lane section, and the third weight coefficient corresponding to the above-mentioned third lane section; and calculating the above-mentioned average traffic flow based on the above-mentioned first number of vehicles, the second number of vehicles, the third number of vehicles, the first weight coefficient, the second weight coefficient, and the third weight coefficient.

[0101] Optionally, when executing the program, the processor is also used to implement the following steps: obtaining the first driving speed of the first vehicle entering the above-mentioned first lane interval, the second driving speed of the second vehicle entering the above-mentioned second lane interval, and the third driving speed of the second vehicle entering the above-mentioned third lane interval; obtaining the first weight coefficient corresponding to the above-mentioned first lane interval, the second weight coefficient corresponding to the above-mentioned second lane interval, and the third weight coefficient corresponding to the above-mentioned third lane interval; and calculating the above-mentioned average vehicle speed based on the above-mentioned first driving speed, second driving speed, third driving speed, first weight coefficient, second weight coefficient and third weight coefficient.

[0102] Optionally, when executing the program, the processor is also used to implement the following steps: obtaining the relative speed between the above-mentioned controlled vehicle and the above-mentioned target vehicle, and the relative acceleration between the above-mentioned controlled vehicle and the above-mentioned target vehicle; judging whether the above-mentioned relative speed is greater than a first preset speed, and judging whether the above-mentioned relative acceleration is greater than a preset acceleration; if the above-mentioned relative speed is less than or equal to the above-mentioned first preset speed, and / or the above-mentioned relative acceleration is less than or equal to the above-mentioned preset acceleration, then performing braking control on the above-mentioned controlled vehicle.

[0103] Optionally, when executing the program, the processor is further used to implement the following steps: controlling the current driving speed of the above-mentioned controlled vehicle to be a second preset speed.

[0104] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0105] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the above modules can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0107] The modules described above as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0108] In addition, the functional modules in various embodiments of the present invention may be integrated into a single processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules.

[0109] If the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable non-volatile storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a non-volatile storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned non-volatile storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, and other media that can store program code.

[0110] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A vehicle longitudinal control method, characterized in that: include: Obtaining a current distance between a controlled vehicle and a target vehicle, wherein the target vehicle is located in front of the controlled vehicle; When the current distance is a preset interval distance, obtaining a tracking time of the controlled vehicle, wherein the tracking time is obtained based on an average traffic flow and an average speed of the controlled vehicle within a target distance, and the tracking time needs to obtain the average traffic flow and the average speed within the target distance within a preset time interval; Calculating an average traffic density within the target distance based on the average traffic volume and the average vehicle speed, and obtaining a preset tracking time coefficient and a tracking time bias coefficient; The tracking time is calculated based on the average traffic density, the tracking time coefficient, and the tracking time bias coefficient, wherein the determination process of the tracking time is shown in the following expression: track =k / K+p, where K represents the average traffic density K=Q / V, Q represents the average traffic volume, V represents the average vehicle speed, k represents the tracking time coefficient, and p represents the tracking time bias coefficient; determining a current travel speed of the controlled vehicle based on the first speed of the target vehicle, the current distance, the target distance, and the pursuit time; Among them, when the current distance is less than the lower limit value of the preset interval distance, the method also includes: obtaining the relative speed between the controlled vehicle and the target vehicle, and the relative acceleration between the controlled vehicle and the target vehicle; judging whether the relative speed is greater than a first preset speed, and judging whether the relative acceleration is greater than a preset acceleration; if the relative speed is less than or equal to the first preset speed, and / or the relative acceleration is less than or equal to the preset acceleration, performing braking control on the controlled vehicle.

2. The method according to claim 1, characterized in that When the current distance is a preset interval distance, obtaining the tracking time of the controlled vehicle includes: Obtaining the average traffic flow and the average vehicle speed within the target distance within a preset time interval; Calculating an average traffic density within the target distance based on the average traffic volume and the average vehicle speed; Obtaining a preset tracking time coefficient and tracking time bias coefficient; The tracking time is calculated according to the average traffic density, the tracking time coefficient and the tracking time bias coefficient.

3. The method according to claim 2, characterized in that The target distance includes a first lane section, a second lane section, and a third lane section. The obtaining of the average traffic flow within the target distance within a preset time interval includes: Acquire the number of first vehicles entering the first lane section, the number of third vehicles entering the third lane section, and the number of second vehicles cutting into the second lane section; Obtaining a first weight coefficient corresponding to the first lane section, a second weight coefficient corresponding to the second lane section, and a third weight coefficient corresponding to the third lane section; The average traffic flow is calculated based on the first number of vehicles, the second number of vehicles, the third number of vehicles, the first weight coefficient, the second weight coefficient and the third weight coefficient.

4. The method according to claim 2, characterized in that The target distance includes a first lane section, a second lane section, and a third lane section. The obtaining of the average vehicle speed within the target distance within a preset time interval includes: Obtaining a first driving speed of a first vehicle entering the first lane section, a second driving speed of a second vehicle entering the second lane section, and a third driving speed of a second vehicle entering the third lane section; Obtaining a first weight coefficient corresponding to the first lane section, a second weight coefficient corresponding to the second lane section, and a third weight coefficient corresponding to the third lane section; The average vehicle speed is calculated based on the first driving speed, the second driving speed, the third driving speed, the first weight coefficient, the second weight coefficient, and the third weight coefficient.

5. The method according to any one of claims 1 to 4, characterized in that When the current distance is greater than an upper limit of the preset interval distance, the method further includes: The current running speed of the controlled vehicle is controlled to be a second preset speed.

6. A vehicle longitudinal control device, characterized in that: include: A first acquisition module is configured to acquire a current distance between a controlled vehicle and a target vehicle, wherein the target vehicle is located in front of the controlled vehicle; The second acquisition module is configured to acquire the tracking time of the controlled vehicle when the current distance is a preset interval distance, wherein the tracking time is acquired based on the average traffic flow and average speed of the controlled vehicle within the target distance, and the tracking time needs to acquire the average traffic flow and average speed within the target distance within a preset time interval; calculate the average traffic density within the target distance based on the average traffic flow and the average speed, and acquire a preset tracking time coefficient and tracking time bias coefficient; calculate the tracking time based on the average traffic density, the tracking time coefficient, and the tracking time bias coefficient, wherein the determination process of the tracking time is shown in the following expression: track =k / K+p, where K represents the average traffic density, K=Q / V, Q represents the average traffic volume, V represents the average vehicle speed, k represents the tracking time coefficient, and p represents the tracking time bias coefficient; a determination module, configured to determine a current traveling speed of the controlled vehicle based on the first speed of the target vehicle, the current distance, the target distance, and the tracking time; In which, the device is also used to: when the current distance is less than the lower limit value of the preset interval distance, obtain the relative speed between the controlled vehicle and the target vehicle, and the relative acceleration between the controlled vehicle and the target vehicle; determine whether the relative speed is greater than a first preset speed, and determine whether the relative acceleration is greater than a preset acceleration; if the relative speed is less than or equal to the first preset speed, and / or the relative acceleration is less than or equal to the preset acceleration, then perform braking control on the controlled vehicle.

7. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor and executed by the vehicle longitudinal control method according to any one of claims 1 to 5.

8. An electronic device, characterized in that: The method comprises one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle longitudinal control method according to any one of claims 1 to 5.

9. A vehicle, characterized in that: The vehicle is configured to execute the vehicle longitudinal control method according to any one of claims 1 to 5.

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