A vehicle cruise control method and device

Abstract

The application discloses a vehicle cruise control method and device, the method comprising: acquiring the road condition of the lane where the vehicle is located. When the road condition of the lane where the vehicle is located is a congestion condition, the target following distance of the vehicle in the congestion condition is calculated according to the vehicle operation parameter and the congestion parameter of the lane where the vehicle is located. The following distance range is determined according to the target following distance, and the vehicle is controlled to travel in the following distance range. In the embodiment of the application, whether the lane where the vehicle is located has a congestion condition is determined. When the congestion condition exists, the target following distance in the congestion condition is calculated based on the vehicle operation parameter and the congestion parameter of the lane where the vehicle is located, and the following distance range is acquired, and the vehicle is controlled according to the following distance range, so that the safe driving of the vehicle is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle cruise control method and device. BACKGROUND

[0002] The adaptive cruise system is an intelligent automatic control system installed on a vehicle. In the process of driving, if the distance between the vehicle and the vehicle in front of the lane where the vehicle is located is too small, the cruise control unit in the adaptive cruise system can coordinate with the braking system and engine control system on the vehicle to keep the vehicle and the vehicle in front always at a safe distance.

[0003] The existing adaptive cruise control algorithm applied to the adaptive cruise system can only meet the safe driving needs of the driver when the traffic condition is good. When the lane where the vehicle is located is in a congested working condition, the vehicle following distance calculated based on the existing adaptive cruise control algorithm cannot achieve precise vehicle control, and in severe cases, it can cause vehicle accidents. SUMMARY

[0004] To solve the above technical problems, the present application provides a vehicle cruise control method and device for determining the following distance range when the road where the vehicle is located is in a congested working condition, so as to control the safe driving of the vehicle.

[0005] To achieve the above purpose, the technical scheme provided by the embodiments of the present application is as follows:

[0006] The present application provides a vehicle cruise control method, which comprises:

[0007] Obtaining the road working condition of the lane where the vehicle is located;

[0008] When the road working condition of the lane where the vehicle is located is a congested working condition, calculating the target following distance of the vehicle in the congested working condition according to the vehicle operating parameters and the congested parameters of the lane where the vehicle is located;

[0009] Determining the following distance range according to the target following distance, and controlling the vehicle to drive within the following distance range.

[0010] Optionally, the obtaining of the road working condition of the lane where the vehicle is located comprises:

[0011] Obtaining the perception target coefficient of the vehicle, the perception speed coefficient of the vehicle and the navigation congestion coefficient of the vehicle;

[0012] Calculating the product of the perception target coefficient, the perception speed coefficient and the navigation congestion coefficient, and determining the product as the congestion coefficient of the lane where the vehicle is located;

[0013] If the congestion coefficient of the lane where the vehicle is located meets a preset condition, it is determined that the working condition of the lane where the vehicle is located is a congestion working condition.

[0014] Optionally, the obtaining of the perception target coefficient of the vehicle comprises:

[0015] The lane coefficient of the lane where the vehicle is located, the number of target vehicles in the lane where the vehicle is located, the basic target value of the lane where the vehicle is located, and the target gain of the lane where the vehicle is located are obtained.

[0016] The perception target coefficient of the vehicle is calculated according to the lane coefficient of the lane where the vehicle is located, the number of target vehicles in the lane where the vehicle is located, the basic target value of the lane where the vehicle is located, and the target gain of the lane where the vehicle is located.

[0017] Optionally, the obtaining of the perception speed coefficient of the vehicle comprises:

[0018] The number of target vehicles in the lane where the vehicle is located and the speed of the target vehicles in the lane where the vehicle is located are obtained.

[0019] The average speed of the target vehicles in the lane where the vehicle is located is calculated according to the number of target vehicles in the lane where the vehicle is located and the speed of the target vehicles in the lane where the vehicle is located.

[0020] The perception speed coefficient of the vehicle is obtained according to the average speed of the target vehicles in the lane where the vehicle is located and a perception speed coefficient table.

[0021] Optionally, the obtaining of the navigation congestion coefficient of the vehicle comprises:

[0022] The congestion distance of the congestion point of the lane where the vehicle is located is obtained.

[0023] The navigation congestion coefficient of the vehicle is obtained according to the congestion distance and a navigation congestion coefficient table.

[0024] Optionally, when the road working condition of the lane where the vehicle is located is a congestion working condition, the target following distance of the vehicle in the congestion working condition is calculated according to the vehicle running parameter and the lane congestion parameter of the vehicle, comprising:

[0025] When the working condition of the lane where the vehicle is located is a congestion working condition, the target following distance of the vehicle in the congestion working condition is calculated according to the speed of the vehicle, the set following distance of the vehicle, the following distance of the vehicle, and the congestion coefficient; the lane congestion parameter of the vehicle comprises the congestion coefficient.

[0026] Optionally, the method further comprises:

[0027] When the working condition of the lane where the vehicle is located is the congestion working condition, the vehicle is controlled to perform brake pre-filling, to reduce the pre-set gap of the brake disc and the friction plate and not to apply brake force.

[0028] Optionally, the method further comprises:

[0029] Obtaining the working condition of the adjacent lane of the lane where the vehicle is located;

[0030] When the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating the target start-up acceleration of the vehicle according to the congestion parameter of the lane where the vehicle is located.

[0031] Then, the control of the vehicle to travel in the following distance range according to the target following distance comprises:

[0032] The control of the vehicle to travel in the following distance range according to the target following distance and the control of the vehicle according to the start-up acceleration range determined according to the target start-up acceleration of the vehicle.

[0033] Optionally, the calculation of the target start-up acceleration of the vehicle according to the congestion parameter of the lane where the vehicle is located when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition comprises:

[0034] When the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating the target start-up acceleration of the vehicle according to the relative distance between the vehicle and a target vehicle, the relative acceleration between the vehicle and the target vehicle, the relative speed between the vehicle and the target vehicle, the maximum allowed start-up acceleration of the vehicle and the congestion coefficient.

[0035] Optionally, the method further comprises:

[0036] When the working condition of the lane where the vehicle is located is the normal working condition and the working condition of the adjacent lane is the congestion working condition, calculating the target set speed and the target following distance of the vehicle.

[0037] Determining a following distance range according to the target following distance;

[0038] Controlling the vehicle according to the following distance range and the target set speed.

[0039] Optionally, the calculation of the target set speed of the vehicle when the working condition of the lane where the vehicle is located is the normal working condition and the working condition of the adjacent lane is the congestion working condition comprises:

[0040] When the operating condition of the lane in which the vehicle is located is a normal operating condition and the operating condition of the adjacent lane is the congested operating condition, the product of the driver's set target speed and the set speed congestion coefficient is calculated, and the product is determined as the target set speed of the vehicle; the set speed congestion coefficient is determined according to the current speed of the vehicle.

[0041] Optionally, the method further includes:

[0042] When the operating condition of the lane where the vehicle is located is the normal operating condition and the operating condition of the adjacent lane is the congested operating condition, the vehicle is controlled to perform brake pre-filling, reducing the preset gap between the brake disc and the friction plate without applying braking force.

[0043] The present application also provides a vehicle cruise control device, characterized in that the device includes:

[0044] A first acquisition unit is used to acquire the road condition of the lane where the vehicle is located;

[0045] a first calculation unit, configured to calculate, when the road condition of the lane where the vehicle is located is a congested condition, a target following distance of the vehicle under the congested condition based on the vehicle operating parameters and the congestion parameters of the lane where the vehicle is located;

[0046] A control unit is used to determine a following distance range according to the target following distance and control the vehicle to travel within the following distance range.

[0047] Through the above technical solution, it can be seen that this application has the following beneficial effects:

[0048] An embodiment of the present application provides a vehicle cruise control method and device, the method comprising: obtaining the road condition of the lane where the vehicle is located. When the road condition of the lane where the vehicle is located is a congested condition, calculating the target following distance of the vehicle under the congested condition based on the vehicle operating parameters and the congestion parameters of the lane where the vehicle is located. Determine the following distance range based on the target following distance, and control the vehicle to travel within the following distance range. In an embodiment of the present application, it is determined whether there is a congested condition in the lane where the vehicle is located. When a congested condition exists, the target following distance under the congested condition is calculated and the following distance range is obtained based on the vehicle operating parameters and the congestion parameters of the lane where the vehicle is located, and the vehicle is controlled according to the following distance range to ensure safe driving of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0050] Figure 1 A flow chart of a vehicle cruise control method provided for an embodiment of the present application;

[0051] Figure 2 A flow chart of another vehicle cruise control method provided for an embodiment of the present application;

[0052] Figure 3 A flow chart of another vehicle cruise control method provided for an embodiment of the present application;

[0053] Figure 4 A schematic diagram of a vehicle cruise control device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the above objectives, characteristics and advantages of the present application more apparent, comprehensible and easy to understand, the embodiments of the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0055] In order to facilitate understanding and explaining the technical solutions provided by the embodiments of the present application, the background art of the technical solutions provided by the present application will be introduced first.

[0056] An adaptive cruise control (ACC) system is an intelligent automatic control system improved from the existing constant speed cruise. During the driving of a vehicle, environmental information such as vehicles, pedestrians, non-motor vehicles, lane lines, traffic signs, diverging intersections and guide lines can be obtained by environmental perception sensors such as radars or cameras installed on the front part and outside of the vehicle. The ACC system, like the traditional constant speed cruise system, needs the driver to set a target speed and select or default a safe following distance. The safe following distance is related to the speed of the vehicle. The ACC controller can control the driving torque or drag torque output by the vehicle power system and the brake torque output by the vehicle brake system based on the target speed set by the driver, the following distance, and the relative speed and relative distance feedback from the environmental perception sensors, so as to keep the vehicle and the front vehicle at a safe following distance at all times, thereby further liberating the driver's feet.

[0057] Specifically, in practice, if there is no target vehicle in front of the vehicle, the driver can choose to turn on the adaptive cruise function. Under the adaptive cruise function, the vehicle will enter the constant speed cruise mode. The target vehicle includes the vehicle directly in front of the vehicle.

[0058] When a target vehicle appears in front of the vehicle, the speed of the vehicle is lower than the target speed set by the driver, and the relative distance to the front vehicle is less than the safe following distance set by the driver, the ACC controller of the vehicle decides a deceleration request value, and the vehicle acts according to the deceleration request value, so as to reach the same speed as the front vehicle and the safe following distance set by the driver. When the front vehicle gradually accelerates, the vehicle accelerates following the front vehicle, but the speed of the vehicle does not exceed the target speed set by the driver.

[0059] The existing adaptive cruise technology is suitable for traffic conditions with good highway conditions, and can meet the safe and comfortable control of the driver. However, when the traffic in the lane where the vehicle is located is congested, dangerous situations such as slow driving of the target vehicle followed by the vehicle, frequent cutting in and out, and abrupt merging of the target in the adjacent lane may occur. These dangerous situations expose the limitations of the performance of the traditional adaptive cruise algorithm, such as the target in the adjacent lane cutting in too far when the following distance is too far in the congested working condition; or when there is no effective target in the lane where the vehicle is located and the adjacent lane is congested, the vehicle drives at a higher set speed, which causes potential traffic accident risks; or the target vehicle brakes too slowly in the congested working condition, which makes the vehicle request weak braking, causing the driver to lack confidence in the function.

[0060] Based on this, the embodiment of the present application provides a vehicle cruise control method and device, the method comprising: acquiring the road working condition of the lane where the vehicle is located. When the road working condition of the lane where the vehicle is located is a congested working condition, calculating the target following distance of the vehicle in the congested working condition according to the vehicle operating parameter and the congested parameter of the lane where the vehicle is located. Determine the following distance range according to the target following distance, and control the vehicle to drive in the following distance range. In the embodiment of the present application, whether the lane where the vehicle is located is in a congested working condition is determined. When there is a congested working condition, the target following distance in the congested working condition is calculated, the expected following distance range in the congested working condition is obtained, and the vehicle is controlled according to the following distance range, so as to ensure the safe driving of the vehicle.

[0061] Reference is made to Figure 1 , Figure 1 A flowchart of a vehicle cruise control method provided by the embodiment of the present application. The method can be applied to an ACC controller, as shown in Figure 1 The method comprises S101-S103:

[0062] S101: Acquire the road working condition of the lane where the vehicle is located.

[0063] Obtain the road condition of the lane where the vehicle is located, and control the vehicle according to the road condition of the lane where the vehicle is located. The road condition of the lane where the vehicle is located includes a congestion condition and a normal condition. In practice, the slow movement of large trucks on the road, lane junctions, and accidents on the lane can all cause congestion on the road where the vehicle is located. The normal condition can be understood as a non-congestion condition. It should be noted that, for the sake of convenience and subsequent description, the lane where the vehicle is located is referred to as the current lane, and the vehicle in the lane where the vehicle is located is referred to as the current vehicle.

[0064] In specific implementation, obtaining the road condition of the lane where the vehicle is located includes:

[0065] Obtain the perception target coefficient of the vehicle, the perception speed coefficient of the vehicle, and the navigation congestion coefficient of the vehicle.

[0066] Calculate the product of the perception target coefficient, the perception speed coefficient, and the navigation congestion coefficient, and determine the product as the congestion coefficient of the lane where the vehicle is located.

[0067] If the congestion coefficient of the lane where the vehicle is located meets a preset condition, the road condition of the lane where the vehicle is located is determined as a congestion condition.

[0068] The congestion coefficient is the main parameter for determining whether the road where the vehicle is located is congested. In fact, the road condition of the lane where the vehicle is located is determined by calculating the congestion coefficient of the lane where the vehicle is located.

[0069] In the embodiments of the present application, the congestion coefficient of the lane where the vehicle is located = perception target coefficient * perception speed coefficient * navigation congestion coefficient. As an example, the preset condition is that the congestion coefficient of the lane where the vehicle is located exceeds the preset congestion coefficient threshold value within a preset time period.

[0070] In specific implementation, obtaining the perception target coefficient of the vehicle includes:

[0071] Obtain the lane coefficient of the lane where the vehicle is located, the number of target vehicles in the lane where the vehicle is located, the basic target value of the lane where the vehicle is located, and the target gain of the lane where the vehicle is located.

[0072] Calculate the perception target coefficient of the vehicle according to the lane coefficient of the lane where the vehicle is located, the number of target vehicles in the lane where the vehicle is located, the basic target value of the lane where the vehicle is located, and the target gain of the lane where the vehicle is located.

[0073] As an example, the lane coefficient of the lane where the vehicle is located, the number of target vehicles in the lane where the vehicle is located, the basic target value of the lane where the vehicle is located, and the target gain of the lane where the vehicle is located are collected by the environmental perception sensors such as radars or cameras installed on the front and outside of the vehicle and transmitted to the ACC controller.

[0074] In the embodiment of the present application, the calculation formula of the perception target coefficient of the vehicle is:

[0075] X=G*(R+jL)=G*R(1+jL / R)

[0076] wherein X is the perception target coefficient of the vehicle, and G is the lane coefficient of the lane where the vehicle is located. The lane coefficient G is different for different lanes. For example, the lane coefficient G of the lane where the vehicle is located is set to 1.1, and the lane coefficient G of the adjacent lane of the lane where the vehicle is located is set to 1, which can eliminate the influence of the occlusion of the target in the lane where the vehicle is located on the perception target coefficient.

[0077] j is the number of perception target vehicles in the lane where the vehicle is located. The perception target vehicle is the vehicle followed by the vehicle in front or the vehicle in the adjacent lane that may perform dangerous operations such as car jamming.

[0078] R and L are both calibration parameters. R is the basic target value of the lane where the vehicle is located, which is initially set to 1. L is the target gain of the lane where the vehicle is located, which can be set to 0.03. If G is 1, L represents that the perception target coefficient increases by 0.03 for each additional target vehicle. It should be noted that the value of R is different for the lane where the vehicle is located and the adjacent lane of the lane where the vehicle is located, and the value of L is also different.

[0079] Taking the lane where the vehicle is located as an example, if there are 3 perception target vehicles in the lane where the vehicle is located, the lane coefficient of the lane where the vehicle is located is set to 1.1. Then the perception target coefficient of the lane where the vehicle is located is X=G*(R+jL)=1.1*(1+3*0.03)=1.199.

[0080] In specific implementation, the perception speed coefficient of the vehicle is obtained, including:

[0081] The number of perception target vehicles in the lane where the vehicle is located and the speed of the perception target vehicle in the lane where the vehicle is located are obtained.

[0082] The perception target average speed in the lane where the vehicle is located is calculated according to the number of perception target vehicles in the lane where the vehicle is located and the speed of the perception target vehicle in the lane where the vehicle is located.

[0083] The perception speed coefficient of the vehicle is obtained according to the perception target average speed in the lane where the vehicle is located and the perception speed coefficient table.

[0084] It should be noted that the number of perception target vehicles in the lane where the vehicle is located and the speed of the perception target vehicle in the lane where the vehicle is located can be collected by the environmental perception sensor such as the radar or camera installed on the front and outside of the vehicle and transmitted to the ACC controller.

[0085] In the embodiment of the present application, the calculation formula of the perception target average speed in the lane where the vehicle is located is:

[0086]

[0087] wherein, V is the average speed of the perceived target in the lane where the vehicle is located, j is the number of perceived target vehicles in the lane where the vehicle is located, v is the speed of the perceived target vehicle in the lane where the vehicle is located, n is a certain vehicle in the perceived target vehicle in the lane where the vehicle is located, n is a positive integer, and n is 1 to j.

[0088] In addition, after obtaining the average speed of the perceived target in the lane where the vehicle is located, the perceived speed coefficient of the vehicle corresponding to the average speed of the perceived target in the lane where the vehicle is located can be obtained by querying the perceived speed coefficient table. Referring to Table 1, Table 1 is a perceived speed coefficient table. The perceived speed coefficient table of the vehicle can be obtained by calibration in advance. As shown in Table 1, when the average speed of the perceived target is 8.33, the perceived speed coefficient of the vehicle in the lane where the vehicle is located can be obtained as 1.5. Figure 1

[0089] Table 1: Perceived speed coefficient table

[0090]

[0091] In a specific implementation, the navigation congestion coefficient of the vehicle is obtained, including:

[0092] The congestion distance between the vehicle and the congestion point in the lane where the vehicle is located is obtained.

[0093] The navigation congestion coefficient of the vehicle is obtained according to the congestion distance and the navigation congestion coefficient table.

[0094] It should be noted that the congestion distance between the vehicle and the congestion point in the lane where the vehicle is located can be collected by the environmental perception sensor such as the radar or the camera installed on the front part of the vehicle and the outside of the vehicle and transmitted to the ACC controller.

[0095] After obtaining the congestion distance between the vehicle and the congestion point in the lane where the vehicle is located, the navigation congestion coefficient of the vehicle corresponding to the congestion distance can be obtained by querying the navigation congestion coefficient table according to the obtained congestion distance. Referring to Table 2, Table 2 is a navigation congestion coefficient table. As shown in Table 2, if the congestion distance between the vehicle and the congestion point in the lane where the vehicle is located is 10, the corresponding navigation congestion coefficient can be obtained as 1.6.

[0096] Table 2: Navigation congestion coefficient table

[0097]

[0098] S102: When the road condition of the lane where the vehicle is located is a congestion condition, the target following distance of the vehicle in the congestion condition is calculated according to the vehicle operating parameter and the congestion parameter of the lane where the vehicle is located.

[0099] ​When the road condition of the lane where the vehicle is located is determined to be a congestion condition, a target following distance of the vehicle in the congestion condition is calculated according to a vehicle running parameter and a lane congestion parameter of the lane where the vehicle is located.

[0100] The vehicle running parameter includes a vehicle speed, a set following time distance of the vehicle, and a following stop distance of the vehicle, and the lane congestion parameter is a congestion coefficient of the lane where the vehicle is located.

[0101] In the embodiment of the application, when the road condition of the lane where the vehicle is located is a congestion condition, a target following distance of the vehicle in the congestion condition is calculated according to a vehicle running parameter and a lane congestion parameter of the lane where the vehicle is located, which includes:

[0102] When the road condition of the lane where the vehicle is located is a congestion condition, a target following distance of the vehicle in the congestion condition is calculated according to a vehicle speed, a set following time distance of the vehicle, a following stop distance of the vehicle, and a congestion coefficient. The lane congestion parameter includes the congestion coefficient.

[0103] In specific implementation, the calculation formula of the target following distance of the vehicle in the congestion condition is:

[0104] S1=vt / Z+d0

[0105] S1 is the target following distance of the vehicle in the congestion condition. S1 is the expected following distance of the vehicle in the congestion condition, which is a safe following distance of the vehicle. v is the vehicle speed, t is the set following time distance of the vehicle, d0 is the following stop distance of the vehicle, and Z is the congestion coefficient of the lane where the vehicle is located.

[0106] In addition, it should be noted that if the lane where the vehicle is located is in a normal condition, the calculation formula of the expected following distance of the vehicle is:

[0107] S=vt+d0

[0108] S is the expected following distance of the vehicle in the normal condition. v is the vehicle speed, t is the set following time distance of the vehicle, and d0 is the following stop distance of the vehicle.

[0109] S103: determining a following distance range according to the target following distance, and controlling the vehicle to drive in the following distance range.

[0110] The following distance range is determined according to the target following distance, and the following distance range is the expected following distance range when the lane where the vehicle is located is in a congestion condition.

[0111] In this way, since the congestion coefficient is considered in the calculation of the target following distance, the target following distance of the vehicle in the congestion condition calculated is smaller than the following distance in the normal condition. When in the congestion condition, the vehicle is controlled to drive in the expected following distance range, so that the vehicle can avoid the cut-in phenomenon of the vehicles on the adjacent lane.

[0112] It should be noted that when the working condition of the lane where the vehicle is located is the congestion working condition, the ACC controller also needs to control the vehicle to perform brake pre-filling, reduce the brake disc and friction plate preset gap and not apply brake force. In specific implementation, the ACC controller issues a brake pre-filling instruction to the brake system, so that the brake system performs brake pre-filling, that is, the brake system performs pre-pressing in advance, eliminates the brake structure gap, and ensures that when the sensing target vehicle in the adjacent lane performs emergency lane blocking to the lane where the vehicle is located, the vehicle can respond to the requested braking in a shorter time, thereby ensuring the driving safety under the congestion working condition.

[0113] In this way, when the working condition of the lane where the vehicle is located is the congestion working condition, by controlling the vehicle distance between the vehicle and the preceding vehicle to be within the following distance range of the vehicle and performing pre-pressing of the vehicle control system in advance, the lane blocking phenomenon of the vehicle on the adjacent lane can be avoided, and the driving safety of the vehicle can be ensured.

[0114] The vehicle cruise control method provided in the embodiment of the present application includes: acquiring the road working condition of the lane where the vehicle is located. When the road working condition of the lane where the vehicle is located is the congestion working condition, the target following distance of the vehicle under the congestion working condition is calculated according to the vehicle operating parameter and the congestion parameter of the lane where the vehicle is located. The following distance range is determined according to the target following distance, and the vehicle is controlled to travel within the following distance range. In the embodiment of the present application, whether the lane where the vehicle is located is in the congestion working condition is determined. When the congestion working condition exists, the target following distance under the congestion working condition is calculated, the following distance range is acquired, and the vehicle is controlled according to the following distance range, so as to ensure the safe driving of the vehicle.

[0115] When the lane where the vehicle is located is in the congestion working condition, in order to control the vehicle more safely, whether the adjacent lane of the lane where the vehicle is located is congested also needs to be considered, and the control parameter of the vehicle is acquired in combination with the congestion condition of the adjacent lane. The vehicle is controlled based on the control parameter, so as to ensure the safe driving of the vehicle. The control parameter includes the target following distance of the vehicle, the target start acceleration of the vehicle and the target set speed of the vehicle described in the embodiment of the present application. For details, refer to Figure 2 , Figure 2 The flow chart of another vehicle cruise control method provided in the embodiment of the present application is shown in FIG. 2. As shown in FIG. 2, the method includes S201-S203. Figure 2

[0116] S201: Acquire the working condition of the adjacent lane of the lane where the vehicle is located.

[0117] In specific implementation, the working condition of the adjacent lane is acquired by calculating the congestion coefficient of the adjacent lane of the lane where the vehicle is located. The working condition of the adjacent lane includes the congestion working condition and the normal working condition. It should be noted that the method for calculating the congestion coefficient of the adjacent lane can refer to S101, which will not be described herein again.​

[0118] It can be understood that, as shown in Figure 2 , as an example, step S201 can be located after S102, but the execution order of S101 and S201 in the embodiments of the present application is not limited. The contents of S101-S102 are as described in the previous embodiments, which will not be repeated here.

[0119] S202: When the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is a congestion working condition, the target start-up acceleration of the vehicle is calculated according to the congestion parameter of the lane where the vehicle is located.

[0120] When it is determined that the working conditions of the lane where the vehicle is located and the adjacent lane are both congestion working conditions, the target start-up acceleration of the vehicle can be calculated according to the congestion parameter of the lane where the vehicle is located.

[0121] Specifically, when the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is a congestion working condition, the target start-up acceleration of the vehicle is calculated, including:

[0122] When the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is a congestion working condition, the target start-up acceleration of the vehicle is calculated according to the relative distance between the vehicle and the target vehicle, the relative acceleration between the vehicle and the target vehicle, the relative speed between the vehicle and the target vehicle, the maximum allowed start-up acceleration of the vehicle, and the congestion coefficient.

[0123] In the embodiments of the present application, the formula for calculating the target start-up acceleration of the vehicle is:

[0124] a1=min[A,(2*Rel S +m*Rela+n*Rel V )*max(1,Z)]

[0125] Wherein, a1 is the target start-up acceleration of the vehicle when the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is a congestion working condition, A is the maximum allowed start-up acceleration of the vehicle, Rel S is the relative distance between the vehicle and the target vehicle, Rel a is the relative acceleration between the vehicle and the target vehicle, Rel V is the relative speed between the vehicle and the target vehicle, l, m, n are variable calibration values corresponding thereto, and Z is the congestion coefficient. Wherein, the target vehicle is the vehicle followed by the vehicle in front of the lane where the vehicle is located, and the target vehicle belongs to the perception target vehicle.

[0126] In addition, it should be noted that when at least one of the working condition of the lane where the vehicle is located and the working condition of the adjacent lane is a normal working condition, the formula for calculating the start-up acceleration of the vehicle is:

[0127] a=l*RelS +m*Rel a +n*Rel V

[0128] wherein a is the start-up acceleration of the vehicle when at least one of the working condition of the lane where the vehicle is located and the working condition of the adjacent lane is normal, Rel S is the relative distance between the vehicle and the target vehicle, Rel a is the relative acceleration between the vehicle and the target vehicle, Rel V is the relative speed between the vehicle and the target vehicle, and l, m and n are variable calibration values corresponding thereto.

[0129] It can be seen that, since the target start-up acceleration a1 of the vehicle is increased compared with a when the working condition of the lane where the vehicle is located is congestion and the working condition of the adjacent lane is congestion, the start-up of the vehicle is faster, which can facilitate the vehicle to avoid the vehicles of the adjacent lane to cut in.

[0130] When the working condition of the lane where the vehicle is located is congestion and the working condition of the adjacent lane is congestion, S103 comprises S203 as follows:

[0131] S203: determining a following distance range according to the target following distance, controlling the vehicle to travel in the following distance range, and determining a start-up acceleration range according to the target start-up acceleration of the vehicle, and controlling the vehicle according to the start-up acceleration range.

[0132] According to the above description of S101-S103, when the lane where the vehicle is located is congestion, the target following distance at this time needs to be calculated, and the following distance range needs to be determined, which is the expected following distance range when the working condition of the lane where the vehicle is located is congestion.

[0133] And when the working condition of the adjacent lane is also congestion, the start-up acceleration range of the vehicle also needs to be calculated, which is the expected start-up acceleration range when the working condition of the lane where the vehicle is located is congestion and the working condition of the adjacent lane is congestion.

[0134] In this way, in the case that the working condition of the lane where the vehicle is located is congestion and the working condition of the adjacent lane is congestion, the safe control of the vehicle is performed in combination with the calculated following distance range and start-up acceleration range.

[0135] In addition, when the working condition of the lane where the vehicle is located is congestion and the working condition of the adjacent lane is congestion, the brake system still needs to be pre-pressurized in advance. Therefore, in the case that the working condition of the lane where the vehicle is located is congestion and the working condition of the adjacent lane is congestion, the vehicle can be controlled based on the following distance range and the start-up acceleration range of the vehicle, and the control system can be pre-pressurized in advance, so as to ensure the driving safety of the vehicle.

[0136] The vehicle cruise control method provided by the embodiment of the application comprises: acquiring a road condition of a lane where a vehicle is located. When the road condition of the lane where the vehicle is located is a congestion condition, a target following distance of the vehicle in the congestion condition is calculated according to a vehicle operating parameter and a lane congestion parameter of the lane where the vehicle is located. A condition of a neighboring lane of the lane where the vehicle is located is acquired. When the condition of the lane where the vehicle is located is the congestion condition and the condition of the neighboring lane is the congestion condition, a target start-up acceleration of the vehicle is calculated according to the lane congestion parameter of the lane where the vehicle is located. A following distance range is determined according to the target following distance, the vehicle is controlled to travel in the following distance range, a start-up acceleration range is determined according to the target start-up acceleration of the vehicle, and the vehicle is controlled according to the start-up acceleration range. When the condition of the lane where the vehicle is located is the congestion condition and the condition of the neighboring lane is the congestion condition, the start-up acceleration is increased, the following distance is shortened, and the vehicle is comprehensively controlled by combining the following distance range and the start-up acceleration range, so as to avoid lane cutting of the neighboring lane and ensure driving safety of the vehicle.

[0137] In addition, there may also be a case that the condition of the lane where the vehicle is located is a normal condition and the condition of the neighboring lane is the congestion condition. At this time, due to congestion of the neighboring lane, a driver of the neighboring lane may find an opportunity to change lanes to the lane where the vehicle is located. Since the opportunity of lane changing of the neighboring lane is uncertain, it may cause no effective braking distance space of the vehicle, resulting in a rear-end collision accident. Therefore, in the case that the condition of the lane where the vehicle is located is the normal condition and the condition of the neighboring lane is the congestion condition, lane cutting of the vehicle of the neighboring lane still needs to be avoided.

[0138] Specifically, when the condition of the lane where the vehicle is located is the normal condition and the condition of the neighboring lane is the congestion condition, a target set speed and a target following distance of the vehicle are calculated.

[0139] A following distance range is determined according to the target following distance.

[0140] The vehicle is controlled according to the following distance range and the target set speed.

[0141] When the condition of the lane where the vehicle is located is the normal condition and the condition of the neighboring lane is the congestion condition, the target set speed of the vehicle is calculated, comprising:

[0142] When the condition of the lane where the vehicle is located is the normal condition and the condition of the neighboring lane is the congestion condition, a product of a driver set target speed and a set speed congestion coefficient is calculated, and the product is determined as the target set speed of the vehicle. The set speed congestion coefficient is determined according to a current speed of the vehicle.

[0143] The driver sets a target vehicle speed in advance, and when the current vehicle speed is less than the target vehicle speed set by the driver, the vehicle is controlled to accelerate, and when the vehicle speed reaches the target vehicle speed set by the driver, the vehicle is controlled to travel at the target vehicle speed set by the driver. It should be understood that when the working condition of the lane is a normal working condition and the working condition of the adjacent lane is a congestion working condition, the target setting speed of the vehicle calculated is an optimization of the target vehicle speed set by the driver, and when the current vehicle speed is less than the target setting speed, the vehicle is controlled to accelerate, and when the vehicle speed reaches the target setting speed, the vehicle is controlled to travel at the target setting speed.

[0144] In the embodiment of the present application, the calculation formula of the target setting speed of the vehicle is as follows:

[0145] V set1 = V Drvrset *K set

[0146] V set1 is the target setting speed of the vehicle when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition, V Drvrset is the target vehicle speed set by the driver, and K set is a setting speed congestion coefficient, and K set is related to the current vehicle speed. The setting speed congestion coefficient K set is obtained according to a setting speed congestion coefficient table. The relationship between the setting speed congestion coefficient K set and the current vehicle speed is shown in Table 3, which is a setting speed congestion coefficient table. When the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition, the target setting speed is obtained by considering the setting speed congestion coefficient, and the vehicle is controlled to travel at the target setting speed.

[0147] Table 3 Setting speed congestion coefficient table

[0148]

[0149] In addition, when the condition that the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition is not met, the calculation formula of the target setting speed of the vehicle is as follows:

[0150] V set = V Drvrset

[0151] V set is the setting speed of the vehicle when the condition that the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition is not met, and V Drvrset is the target vehicle speed set by the driver.

[0152] When the vehicle's lane is in normal operating conditions and the adjacent lane is in congested conditions, in order to avoid the risk of rear-end collision caused by the vehicle's limited braking distance due to a vehicle in the congested adjacent lane suddenly cutting into the vehicle's lane, the driver of the restricted vehicle sets the target speed to the target set speed V set1 The calculated target speed V of the vehicle set1 It will be relatively reduced, improving driving safety.

[0153] It should be noted that when the operating condition of the lane where the vehicle is located is normal and the operating condition of the adjacent lane is congested, the target following distance can be calculated according to the calculation formula of S1 in S102, which will not be repeated here.

[0154] Furthermore, when the vehicle's lane is operating normally and the adjacent lane is congested, the vehicle still needs to be controlled to perform brake pre-fill, reducing the preset gap between the brake disc and friction pad without applying braking force. Specifically, when the vehicle's lane is operating normally and the adjacent lane is congested, the vehicle is controlled based on the target speed and following distance range, and the control system pre-builds pressure to prevent vehicles from cutting in from the adjacent lane and ensure safe driving.

[0155] See also Figure 3 , Figure 3 This is a flow chart of another vehicle cruise control method provided by an embodiment of the present application. Figure 3 As shown in the figure, the lane the vehicle is in is the host lane, and the adjacent lane is the side lane. During driving, four situations may occur: the host lane is congested and the side lane is normal; the host lane is congested and the side lane is congested; the host lane is normal and the side lane is congested; and the host lane is normal and the side lane is normal.

[0156] When the lane is in congestion and the adjacent lane is in normal condition, the vehicle is controlled to start the Prefill pre-pressure building mode and the following distance congestion mode.

[0157] When the lane is congested and the adjacent lane is congested, the vehicle is controlled to start the Prefill pre-pressure building mode, the following distance congestion mode and the starting acceleration congestion mode.

[0158] When the lane is in normal working condition and the adjacent lane is in congested condition, the vehicle is controlled to start the Prefill pre-pressure building mode, the following distance congestion mode and the set speed congestion mode.

[0159] When the current lane and the adjacent lane are in normal operating conditions, the vehicle is controlled to enter non-congestion mode, that is, normal mode.

[0160] It should be noted that the prefill pre-press mode is that the control system needs to pre-press in advance. In the following distance congestion mode, the target following distance of the vehicle needs to be calculated, and the vehicle is controlled to travel in the following distance range determined based on the target following distance. In the start-up acceleration congestion mode, the target start-up acceleration of the vehicle needs to be calculated, and the vehicle is controlled to travel in the start-up acceleration range determined based on the target start-up acceleration. In the set speed congestion mode, the target set speed of the vehicle needs to be calculated, and the vehicle is controlled according to the target set speed.

[0161] The vehicle cruise control method provided by the embodiment of the application is designed for the case that the current lane and the adjacent lane are in congestion or normal working conditions. When the current lane or the adjacent lane is in congestion, the target set speed, the target following distance and the target start-up acceleration calculated are used for vehicle control, which is essentially to set the target speed, the following distance and the start-up acceleration of the vehicle for the driver, and the safety of vehicle control is improved.

[0162] Referring to Figure 4 , Figure 4 A schematic diagram of a vehicle cruise control device provided by the embodiment of the application is shown in FIG. 1. As shown in FIG. 1, the device includes: Figure 4

[0163] The first acquisition unit 401 is configured to acquire the road working condition of the lane where the vehicle is located.

[0164] The first calculation unit 402 is configured to calculate the target following distance of the vehicle in the congestion working condition according to the vehicle operating parameters and the congestion parameters of the lane where the vehicle is located when the road working condition of the lane where the vehicle is located is in congestion.

[0165] The control unit 403 is configured to determine the following distance range according to the target following distance, and control the vehicle to travel in the following distance range.

[0166] Optionally, in some embodiments of the application, the first acquisition unit 401 includes:

[0167] The first acquisition sub-unit is configured to acquire the perception target coefficient of the vehicle, the perception speed coefficient of the vehicle and the navigation congestion coefficient of the vehicle.

[0168] The first calculation sub-unit is configured to calculate the product of the perception target coefficient, the perception speed coefficient and the navigation congestion coefficient, and determine the product as the congestion coefficient of the lane where the vehicle is located.

[0169] The second acquisition sub-unit is configured to acquire the working condition of the lane where the vehicle is located as congestion when the congestion coefficient of the lane where the vehicle is located meets the preset condition. ​

[0170] Optionally, in some embodiments of the present application, the first obtaining subunit comprises:

[0171] The third obtaining subunit is configured to obtain a lane coefficient of the lane where the vehicle is located, a number of perceived target vehicles of the lane where the vehicle is located, a basic target value of the lane where the vehicle is located, and a target gain of the lane where the vehicle is located.

[0172] The second calculating subunit is configured to calculate the perceived target coefficient of the vehicle according to the lane coefficient of the lane where the vehicle is located, the number of target vehicles of the lane where the vehicle is located, the basic target value of the lane where the vehicle is located, and the target gain of the lane where the vehicle is located.

[0173] Optionally, in some embodiments of the present application, the first obtaining subunit comprises:

[0174] The fourth obtaining subunit is configured to obtain a number of perceived target vehicles of the lane where the vehicle is located, and a speed of the perceived target vehicles of the lane where the vehicle is located.

[0175] The third calculating subunit is configured to calculate a perceived target average speed of the lane where the vehicle is located according to the number of perceived target vehicles of the lane where the vehicle is located and the speed of the perceived target vehicles of the lane where the vehicle is located.

[0176] The fifth obtaining subunit is configured to obtain a perceived speed coefficient of the vehicle according to the perceived target average speed of the lane where the vehicle is located and a perceived speed coefficient table.

[0177] Optionally, in some embodiments of the present application, the first obtaining subunit comprises:

[0178] The sixth obtaining subunit is configured to obtain a congestion distance of a congestion point of the lane where the vehicle is located.

[0179] The seventh obtaining subunit is configured to obtain a navigation congestion coefficient of the vehicle according to the congestion distance and a navigation congestion coefficient table.

[0180] Optionally, in some embodiments of the present application, the first calculating unit 402 comprises:

[0181] The fourth calculating subunit is configured to calculate a target following distance of the vehicle in the congestion working condition according to the speed of the vehicle, the set following distance of the vehicle, the following distance when stopping of the vehicle, and the congestion coefficient when the working condition of the lane where the vehicle is located is the congestion working condition; and the congestion parameter of the lane where the vehicle is located comprises the congestion coefficient.

[0182] Optionally, in some embodiments of the present application, the device further comprises:

[0183] The first brake pre-filling unit is configured to control the vehicle to perform brake pre-filling when the working condition of the lane where the vehicle is located is the congestion working condition, so as to reduce the pre-set gap between the brake disc and the friction plate and not apply brake force.

[0184] Optionally, in some embodiments of the present application, the device further comprises:

[0185] The second acquisition unit is configured to acquire the working condition of the adjacent lane of the lane where the vehicle is located.

[0186] The second calculation unit is configured to calculate the target start-up acceleration of the vehicle according to the congestion parameter of the lane where the vehicle is located when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition.

[0187] The control unit 403 is specifically configured to: determine a following distance range according to the target following distance, control the vehicle to travel in the following distance range, and determine a start-up acceleration range according to the target start-up acceleration of the vehicle, and control the vehicle according to the start-up acceleration range.

[0188] Optionally, in some embodiments of the present application, the second calculation unit is specifically configured to: calculate the target start-up acceleration of the vehicle according to the relative distance between the vehicle and a target vehicle, the relative acceleration between the vehicle and the target vehicle, the relative speed between the vehicle and the target vehicle, the maximum allowed start-up acceleration of the vehicle, and the congestion coefficient when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition.

[0189] Optionally, in some embodiments of the present application, the device further comprises:

[0190] The third calculation unit is configured to calculate the target set speed and the target following distance of the vehicle when the working condition of the lane where the vehicle is located is the normal working condition and the working condition of the adjacent lane is the congestion working condition.

[0191] The determination unit is configured to determine a following distance range according to the target following distance.

[0192] The vehicle control unit is configured to control the vehicle according to the following distance range and the target set speed.

[0193] Optionally, in some embodiments of the present application, the third calculation unit is specifically configured to: calculate the product of the target vehicle speed set by the driver and the set speed congestion coefficient when the working condition of the lane where the vehicle is located is the normal working condition and the working condition of the adjacent lane is the congestion working condition, and determine the product as the target set speed of the vehicle; and the set speed congestion coefficient is determined according to the current speed of the vehicle.

[0194] Optionally, in some embodiments of the present application, the device further comprises:

[0195] The second brake prefill unit is configured to control the vehicle to perform brake prefill, reduce a brake disc and a brake pad preset gap, and not apply a brake force when the working condition of the lane where the vehicle is located is the normal working condition and the working condition of the adjacent lane is the congestion working condition.

[0196] The vehicle cruise control device provided by the embodiments of the present application acquires the road working condition of the lane where the vehicle is located. When the road working condition of the lane where the vehicle is located is the congestion working condition, the target following distance of the vehicle in the congestion working condition is calculated according to the vehicle running parameter and the congestion parameter of the lane where the vehicle is located. The following distance range is determined according to the target following distance, and the vehicle is controlled to travel in the following distance range. In the embodiments of the present application, whether the congestion working condition exists in the lane where the vehicle is located is determined. When the congestion working condition exists, the target following distance in the congestion working condition is calculated, the following distance range is acquired, and the vehicle is controlled according to the following distance range, so as to ensure the safe driving of the vehicle.

[0197] From the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment methods can be implemented by means of software and the necessary general hardware platforms. Based on such an understanding, the technical solutions of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network communication device such as a media gateway, etc.) execute the methods described in the various embodiments or some parts of the embodiments.

[0198] It should be noted that the various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the method disclosed by the embodiments, since it corresponds to the system disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the system part.

[0199] It should also be noted that the terms "comprising", "containing", or any other variant thereof in the specification are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0200] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and, while certain embodiments according to the principles set forth herein have been shown and described, various modifications and substitutions can be made by those skilled in the art without departing from the spirit and scope of the application as set forth in the following claims. Therefore, the application is not intended to be limited to the embodiments disclosed herein, but rather is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle cruise control method, characterized in that: The method comprises: Obtaining a perception target coefficient of a vehicle, a perception speed coefficient of the vehicle, and a navigation congestion coefficient of the vehicle; Calculating a product of the perception target coefficient, the perception speed coefficient, and the navigation congestion coefficient, and determining the product as the congestion coefficient of the lane where the vehicle is located; When the congestion coefficient of the lane where the vehicle is located meets a preset condition, obtaining the operating condition of the lane where the vehicle is located as a congested operating condition; When the road condition of the lane where the vehicle is located is a congested condition, calculating a target following distance for the vehicle under the congested condition based on the vehicle operating parameters and the congestion parameters of the lane where the vehicle is located; determining a following distance range according to the target following distance, and controlling the vehicle to travel within the following distance range; The step of obtaining the vehicle's perception target coefficient includes: Obtaining a lane coefficient of the lane where the vehicle is located, the number of perceived target vehicles in the lane where the vehicle is located, a basic target value of the lane where the vehicle is located, and a target gain of the lane where the vehicle is located; The perception target coefficient of the vehicle is calculated based on the lane coefficient of the lane where the vehicle is located, the number of target vehicles in the lane where the vehicle is located, the basic target value of the lane where the vehicle is located, and the target gain of the lane where the vehicle is located.

2. The method according to claim 1, characterized in that Obtaining a perceived speed coefficient of the vehicle, including: Obtaining the number of perceived target vehicles in the lane where the vehicle is located and the speed of the perceived target vehicles in the lane where the vehicle is located; Calculating a perceived target average speed of the lane where the vehicle is located according to the number of perceived target vehicles in the lane where the vehicle is located and the speeds of the perceived target vehicles in the lane where the vehicle is located; The perceived speed coefficient of the vehicle is obtained according to a table of perceived target average speed and perceived speed coefficient of the lane in which the vehicle is located.

3. The method according to claim 1, characterized in that Obtaining the navigation congestion coefficient of the vehicle, including: Obtaining a congestion distance between the vehicle and a congestion point in the lane where the vehicle is located; The navigation congestion coefficient of the vehicle is obtained according to the congestion distance and the navigation congestion coefficient table.

4. The method according to claim 1, wherein When the road condition of the lane where the vehicle is located is a congested condition, calculating the target following distance of the vehicle under the congested condition according to the vehicle operating parameters and the congestion parameters of the lane where the vehicle is located includes: When the operating condition of the lane where the vehicle is located is a congested condition, the target following distance of the vehicle under the congested condition is calculated based on the vehicle speed, the set following time distance of the vehicle, the following stopping distance of the vehicle and the congestion coefficient; the congestion parameters of the lane where the vehicle is located include the congestion coefficient.

5. The method according to claim 1, wherein The method further comprises: When the operating condition of the lane where the vehicle is located is a congested condition, the vehicle is controlled to perform brake pre-filling, reducing the preset gap between the brake disc and the friction plate without applying braking force.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Obtaining the operating conditions of adjacent lanes to the lane where the vehicle is located; When the operating condition of the lane where the vehicle is located is the congested operating condition and the operating condition of the adjacent lane is the congested operating condition, calculating the target starting acceleration of the vehicle according to the congestion parameter of the lane where the vehicle is located; Then, determining a following distance range according to the target following distance and controlling the vehicle to travel within the following distance range includes: A following distance range is determined according to the target following distance, and the vehicle is controlled to travel within the following distance range. A starting acceleration range is determined according to the target starting acceleration of the vehicle, and the vehicle is controlled according to the starting acceleration range.

7. The method according to claim 6, characterized in that When the operating condition of the lane where the vehicle is located is the congested operating condition and the operating condition of the adjacent lane is the congested operating condition, calculating the target starting acceleration of the vehicle according to the congestion parameter of the lane where the vehicle is located includes: When the operating condition of the lane where the vehicle is located is the congested operating condition and the operating condition of the adjacent lane is the congested operating condition, the target starting acceleration of the vehicle is calculated based on the relative distance between the vehicle and the target vehicle, the relative acceleration between the vehicle and the target vehicle, the relative speed between the vehicle and the target vehicle, the maximum allowable starting acceleration of the vehicle, and the congestion coefficient.

8. The method according to claim 6, characterized in that The method further comprises: When the operating condition of the lane where the vehicle is located is a normal operating condition and the operating condition of the adjacent lane is the congested operating condition, calculating a target set speed and a target following distance of the vehicle; determining a following distance range according to the target following distance; The vehicle is controlled according to the following distance range and the target set speed.

9. The method according to claim 8, characterized in that When the operating condition of the lane where the vehicle is located is the normal operating condition and the operating condition of the adjacent lane is the congested operating condition, calculating the target set speed of the vehicle includes: When the operating condition of the lane in which the vehicle is located is a normal operating condition and the operating condition of the adjacent lane is the congested operating condition, the product of the driver's set target speed and the set speed congestion coefficient is calculated, and the product is determined as the target set speed of the vehicle; the set speed congestion coefficient is determined according to the current speed of the vehicle.

10. The method according to claim 6, characterized in that The method further comprises: When the operating condition of the lane where the vehicle is located is the normal operating condition and the operating condition of the adjacent lane is the congested operating condition, the vehicle is controlled to perform brake pre-filling, reducing the preset gap between the brake disc and the friction plate without applying braking force.

11. A vehicle cruise control device, characterized in that: Applicable to executing the method according to any one of claims 1 to 10, the apparatus comprising: a first acquisition unit configured to acquire a perception target coefficient of a vehicle, a perception speed coefficient of the vehicle, and a navigation congestion coefficient of the vehicle; calculate a product of the perception target coefficient, the perception speed coefficient, and the navigation congestion coefficient, and determine the product as a congestion coefficient of a lane in which the vehicle is located; and determine that an operating condition of the lane in which the vehicle is located is a congested operating condition when the congestion coefficient of the lane in which the vehicle is located satisfies a preset condition; a first calculation unit, configured to calculate, when the road condition of the lane where the vehicle is located is a congested condition, a target following distance of the vehicle under the congested condition based on the vehicle operating parameters and the congestion parameters of the lane where the vehicle is located; A control unit is used to determine a following distance range according to the target following distance and control the vehicle to travel within the following distance range.

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