A target selection method, device, computer device, readable storage medium and motor vehicle

Abstract

The present invention discloses a target selection method, device, computer device, readable storage medium and motor vehicle, which relates to the technical field of motor vehicles and is used for target selection during vehicle adaptive cruise. The targets selected by vehicle adaptive cruise include main target, secondary target, left target, right target, cut-in target and cut-out target, and the method comprises the following steps: acquiring the motion information of the host vehicle, the motion information of potential targets and road information; calculating the offset between the potential targets and the host vehicle; calculating the boundary of the target selection area during vehicle adaptive cruise; and determining the main target, secondary target, left target, right target, cut-in target and cut-out target of vehicle adaptive cruise according to the boundary of the target selection area and the offset between the potential targets and the host vehicle. The technical solution provided by the present invention makes a target selection for the adaptive cruise control system comprehensively and accurately.

Description

Technical Field

[0001] The present invention relates to the technical field of motor vehicles, and in particular to a target selection method, device, computer device, readable storage medium and motor vehicle. Background Art

[0002] Adaptive Cruise Control (ACC) is an intelligent assisted driving function that can free the driver's feet and only requires operating the steering wheel to control the vehicle to maintain a safe distance from the vehicle ahead on urban roads and highways. The adaptive cruise control system mainly consists of a target selection module, a state control module, a longitudinal control module, and an alarm module. Considering the influence of each dangerous target on the motion state of the vehicle itself comprehensively is of great significance for controlling the longitudinal speed and acceleration of the vehicle itself.

[0003] At present, the research on the adaptive cruise control system is relatively complete. It mainly controls the vehicle to maintain a safe distance from the selected target vehicle according to the fusion information of radar and camera, etc. Therefore, accurately selecting the following vehicle target is the premise for realizing safe following. However, due to the insufficient consideration of dangerous targets in the existing adaptive cruise control, it fails to consider all possible dangerous targets for longitudinal control, there is a risk of ignoring important following vehicle targets, and it only considers vehicles with a path similar to the vehicle itself and the same driving direction, while not dealing with some special obstacles, such as oncoming vehicles, permanently stationary vehicles, pedestrians, two-wheel vehicles, etc. At the same time, the lateral detection ability of the current adaptive cruise control function is limited, and it is easy to lose or select the wrong target in scenarios such as lane change, turning, or when the target vehicle quickly cuts in at a close distance, posing a safety hazard. Summary of the Invention

[0004] To solve the foregoing problems, the present invention provides a target selection method to comprehensively and accurately make target selection for the adaptive cruise control system.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A target selection method for selecting a judgment target during vehicle adaptive cruise. The judgment targets selected during vehicle adaptive cruise include a main target, a secondary target, a left target, a right target, a cut-in target, and a cut-out target. The target selection method includes the following steps:

[0007] Obtain the motion information of the vehicle itself, the motion information of potential targets, and the road information; and calculate the offset between the potential target and the vehicle itself according to the motion information of the vehicle itself, the motion information of potential targets, and the road information;

[0008] Calculate the boundary of the target selection area during vehicle adaptive cruise;

[0009] Based on the boundary of the target selection area and the offset between the potential target and the host vehicle, determine the primary target, secondary target, left target, right target, cut-in target, and cut-out target of the vehicle's adaptive cruise control.

[0010] Optionally, when the speed and time headway of the host vehicle meet the preset conditions and the host vehicle does not turn or change lanes, the offset between the potential target and the host vehicle is the difference between the perpendicular distance from the potential target to the center line of the lane and the perpendicular distance from the host vehicle to the center line of the lane;

[0011] When the speed and time headway of the host vehicle do not meet the preset conditions and the host vehicle turns or changes lanes, calculating the offset between the potential target and the host vehicle includes the following steps:

[0012] Calculate the predicted curvature of the host vehicle in the host vehicle coordinate system according to the following formula:

[0013]

[0014] where, K COG is the predicted curvature, δ is the front wheel angle, l is the wheelbase, I f and I r are the distances from the vehicle's center of mass to the front and rear wheel axles respectively, c f and c r are the stiffnesses of the front and rear wheels respectively, m is the mass of the host vehicle, and v is the longitudinal speed of the host vehicle;

[0015] Calculate the predicted turning radius R in the host vehicle coordinate system according to the following formula COG :

[0016]

[0017] Calculate the slip angle θ of the host vehicle according to the following formula slip :

[0018]

[0019] Calculate the predicted curvature K of the host vehicle based on the rear wheels according to the following formula rear :

[0020]

[0021] Calculate the offset between the potential target and the host vehicle according to the following formula:

[0022]

[0023] where, μ is the speed coefficient of the host vehicle, is the yaw rate of the host vehicle, k is the comprehensive coefficient, θ obj is the heading angle of the potential target, x is the longitudinal distance between the potential target and the host vehicle, and y is the lateral distance between the potential target and the host vehicle.

[0024] Optionally, when the speed and time headway of the host vehicle do not meet the preset conditions and the host vehicle makes a turn or a lane change, after calculating the offset between the potential target and the host vehicle, filter the calculated offset.

[0025] Optionally, the target selection area includes a standard area and an extended area, and both the standard area and the extended area include an inner boundary and an outer boundary;

[0026] The formula for the inner boundary of the extended area is:

[0027]

[0028] where E in_left is the left inner boundary of the extended area, E in_right is the right inner boundary of the extended area, W e_funnel is the width of the extended area, α1 is the correction coefficient of the adjacent road, α e is the look-up table coefficient of the extended area, W lane is the lane width;

[0029] The formula for the outer boundary of the extended area is:

[0030]

[0031] where E out_left is the left outer boundary of the extended area, E out_right is the right outer boundary of the extended area, and α2 is the widening coefficient of the outer boundary relative to the inner boundary;

[0032] When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value, the formula for the inner boundary of the standard area is:

[0033]

[0034] where S in_left is the left side of the inner boundary of the standard area, S in_right is the right side of the inner boundary of the standard area, W s_funnel is the width of the standard area, β is the correction coefficient for the right side of the inner boundary and the outer boundary of the standard area when the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value; Δd inner_right is the correction value for the inner boundary when the host vehicle turns right or changes lanes; D laneposition is the vertical distance between the host vehicle and the center line of the lane; α s is the look-up table coefficient of the standard area;

[0035] The formula for the outer boundary of the standard area is:

[0036]

[0037] Among them, S out_left is the left side of the outer boundary of the standard area, and S out_right is the right side of the outer boundary of the standard area, and Δd outer_right is the correction value of the outer boundary when the vehicle turns right or changes lanes;

[0038] When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is less than the pre-calibrated value, the calculation formula for the inner boundary of the standard area is:

[0039]

[0040] Among them, Δd inner_left is the correction value of the inner boundary when the vehicle turns left or changes lanes;

[0041] The calculation formula for the outer boundary of the standard area is:

[0042]

[0043] Among them, Δd outer_left is the correction value of the outer boundary when the vehicle turns left or changes lanes.

[0044] Optionally, the determination conditions of the main target include:

[0045] If the offset of the current potential target is within the standard area and there is no main target currently, set the current potential target as the main target;

[0046] If the offset of the current potential target is within the standard area, if the longitudinal distance between the current potential target and the host vehicle is greater than the longitudinal distance between the main target and the host vehicle, the difference between the two longitudinal distances is less than the maximum overlap distance of vision, the standard deviation of the longitudinal distance between the current potential target and the host vehicle is within the calibrated range, and at the same time the current potential target is a fusion target and the main target is a radar detection target, replace the current potential target with the main target;

[0047] If the offset of the current potential target is within the standard area, if the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the main target and the host vehicle, select the current potential target as the main target;

[0048] If the offset of the current potential target is within the standard area, if the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the main target and the host vehicle, and the main target is not a motorcycle or a bicycle, and the difference between the two longitudinal distances is greater than the maximum overlap distance of vision, lower the main target to a secondary target.

[0049] Optionally, the determination conditions of the secondary target include:

[0050] The offset of the current potential target is within the standard area, there is no secondary target currently, the current potential target is not a motorcycle, the current primary target is not a bicycle, and the difference between the longitudinal distance between the current primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle is greater than the maximum overlapping distance of vision, then select the current potential target as the secondary target;

[0051] The offset of the current potential target is within the standard area, there is a secondary target currently, the difference between the longitudinal distance between the current primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle is greater than the maximum overlapping distance of vision, and when the longitudinal distance between the current potential target and the host vehicle is smaller than the longitudinal distance between the current secondary target and the host vehicle, then select the current potential target as the secondary target.

[0052] Optionally, the determination conditions for the left target and the right target include:

[0053] The offset of the current potential target is between the standard area and the extended area, and there is no left target or right target currently; when the offset of the current potential target is positive, the offset of the current potential target is the left target, and when the offset of the current potential target is negative, the offset of the current potential target is the right target;

[0054] When the longitudinal distance between the current potential target and the host vehicle is smaller than the longitudinal distance between the existing left target or right target and the host vehicle, when the offset of the current potential target is positive, the offset of the current potential target is the left target, and when the offset of the current potential target is negative, the offset of the current potential target is the right target.

[0055] Optionally, the determination conditions for the cut-in target and the cut-out target include:

[0056] The longitudinal distance between the current potential target and the host vehicle is greater than the minimum prediction distance and less than the preset maximum distance, the vehicle type of the current potential target is known, and the vehicle speed of the current potential target is greater than the minimum prediction speed;

[0057] The rate of change of the offset of the current potential target at the current moment. If within the preset prediction time, the offset of the current potential target will be less than the boundary of the extended area, then take the current potential target as the cut-in target;

[0058] If there is a primary target currently, and within the preset prediction time, the offset of the current potential target will be greater than the boundary of the extended area, then take the current potential target as the cut-out target.

[0059] Optionally, when determining the primary target, secondary target, left target, right target, cut-in target, and cut-out target of the vehicle's adaptive cruise according to the target selection area boundary and calculating the offset between the potential target and the host vehicle, if there is a current primary target, the fusion data of the current potential target is lost, and the current potential target is shown to be within the standard area, then judge the difference and ratio between the longitudinal distance between the primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle. If the preset conditions are not met, the current potential target is an invalid target;

[0060] If the longitudinal distance between the current cut-in target and the host vehicle is greater than the longitudinal distance between the primary target and the host vehicle, the current cut-in target is an invalid target;

[0061] After determining the primary target, recalculate and judge the information of the primary target. If the fusion data of the current primary target is lost while the current secondary target exists, and the longitudinal distance between the current primary target and the host vehicle is less than the maximum overlapping distance of vision with the longitudinal distance between the current primary target and the host vehicle, then the current secondary target replaces the current primary target.

[0062] The present invention has the following beneficial effects:

[0063] The technical solution provided by the present invention not only considers longitudinal control with a single primary target, but also comprehensively considers target vehicles in six states of primary, secondary, left, right, cut-in, and cut-out around the host vehicle, which is beneficial to comprehensively analyzing the danger of road obstacles and considering how to control the movement of the host vehicle in multiple situations. At the same time, the technical solution provided by the present invention takes into account the type of target vehicle, the source of perception information, and the motion state, discriminates the effectiveness of the judgment target, and uses it as a constraint condition for judging target selection, further ensuring the accuracy of judging target selection.

[0064] The technical solution provided by the present invention calculates the offset between the potential target and the host vehicle in two ways: road information and host vehicle kinematics, and divides the target selection area into a standard area and an extended area. For adaptive cruise control, it judges whether the vehicle is changing lanes or turning according to information such as the position, heading angle, and turn signal of the host vehicle. Combining the foregoing information, the target selection area is widened or narrowed according to the speed of the host vehicle. The standard area can ensure the accuracy of selecting the primary target, and the extended area can greatly broaden the target detection range, making up for misselection and missed selection caused by perception errors.

[0065] Correspondingly, the present invention also provides a target selection device for selecting judgment targets during vehicle adaptive cruise. The targets selected by vehicle adaptive cruise include a primary target, a secondary target, a left target, a right target, a cut-in target, and a cut-out target. The target selection device includes an offset calculation module, a boundary calculation module, and a target selection module;

[0066] The offset calculation module is configured to calculate the offset between the potential target and the host vehicle based on the host vehicle motion information, the potential target motion information, and the road information;

[0067] The boundary calculation module is configured to calculate the boundary of the target selection area during the vehicle adaptive cruise;

[0068] The target selection module is configured to determine the primary target, secondary target, left target, right target, cut-in target, and cut-out target of the vehicle adaptive cruise according to the boundary of the target selection area and the offset between the potential target and the host vehicle.

[0069] Optionally, when the speed and time headway of the host vehicle meet the preset conditions and the host vehicle does not steer or change lanes, the offset calculation module calculates the offset between the potential target and the host vehicle as the difference between the vertical distance from the potential target to the center line of the lane and the vertical distance from the host vehicle to the center line of the lane;

[0070] When the speed and time headway of the host vehicle do not meet the preset conditions and the host vehicle steers or changes lanes, the offset calculation module calculates the offset between the potential target and the host vehicle, including the following steps:

[0071] Calculate the predicted curvature of the host vehicle in the host vehicle coordinate system according to the following formula:

[0072]

[0073] where K COG is the predicted curvature, δ is the front wheel angle, l is the wheelbase, I f and I r are the distances from the vehicle center of mass to the front and rear wheel axles respectively, c f and c r are the stiffnesses of the front and rear wheels respectively, m is the mass of the host vehicle, and ν is the longitudinal speed of the host vehicle;

[0074] Calculate the predicted turning radius R of the host vehicle in the host vehicle coordinate system according to the following formula COG :

[0075]

[0076] Calculate the slip angle θ of the host vehicle according to the following formula slip :

[0077]

[0078] Calculate the predicted curvature K of the host vehicle based on the rear wheels according to the following formula rear :

[0079]

[0080] Calculate the offset between the potential target and the host vehicle according to the following formula

[0081]

[0082] Among them, μ is the vehicle speed coefficient of the host vehicle, is the yaw rate of the host vehicle, k is the comprehensive coefficient, θ obj is the heading angle of the potential target, x is the longitudinal distance between the potential target and the host vehicle, and y is the lateral distance between the potential target and the host vehicle.

[0083] Optionally, when the vehicle speed and time headway of the host vehicle do not meet the preset conditions and the host vehicle steers or changes lanes, after calculating the offset between the potential target and the host vehicle, the offset calculation module filters the calculated offset.

[0084] Optionally, the target selection area calculated by the boundary calculation module includes a standard area and an extended area, and both the standard area and the extended area include an inner boundary and an outer boundary;

[0085] The formula for calculating the inner boundary of the extended area by the boundary calculation module is:

[0086]

[0087] Among them, E in_left is the left inner boundary of the extended area, E in_right is the right inner boundary of the extended area, W e_funnel is the width of the extended area, α1 is the correction coefficient of the adjacent road, α e is the look-up table coefficient of the extended area, W lane is the lane width;

[0088] The formula for calculating the outer boundary of the extended area is:

[0089]

[0090] Among them, E out_left is the left outer boundary of the extended area, E out_right is the right outer boundary of the extended area, and α2 is the widening coefficient of the outer boundary relative to the inner boundary;

[0091] When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value, the formula for calculating the inner boundary of the standard area by the boundary calculation module is:

[0092]

[0093] Among them, S in_left is the left side of the inner boundary of the standard area, S in_right is the right side of the inner boundary of the standard area, W s_funnelis the width of the standard area, β is the correction coefficient for the inner and outer boundaries of the standard area on the right side when the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value; Δd inner_right is the correction value for the inner boundary when the host vehicle turns right or changes lanes; D laneposition is the vertical distance of the host vehicle from the center line of the lane; α s is the look-up table coefficient of the standard area;

[0094] The formula for calculating the outer boundary of the standard area by the boundary calculation module is:

[0095]

[0096] Among them, S out_left is the left side of the outer boundary of the standard area, S out_right is the right side of the outer boundary of the standard area, Δd outer_right is the correction value for the outer boundary when the host vehicle turns right or changes lanes;

[0097] When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is less than the pre-calibrated value, the formula for calculating the inner boundary of the standard area by the boundary calculation module is:

[0098]

[0099] Among them, Δd inner_left is the correction value for the inner boundary when the host vehicle turns left or changes lanes;

[0100] The formula for calculating the outer boundary of the standard area by the boundary calculation module is:

[0101]

[0102] Among them, Δd outer_left is the correction value for the outer boundary when the host vehicle turns left or changes lanes.

[0103] Optionally, the conditions for the target selection module to determine the main target include:

[0104] If the offset of the current potential target is within the standard area and there is no main target currently, set the current potential target as the main target;

[0105] If the offset of the current potential target is within the standard area, if the longitudinal distance between the current potential target and the host vehicle is greater than the longitudinal distance between the main target and the host vehicle, the difference between the two longitudinal distances is less than the maximum overlap distance of vision, the standard deviation of the longitudinal distance between the current potential target and the host vehicle is within the calibrated range, and at the same time the current potential target is a fusion target and the main target is a radar detection target, replace the current potential target with the main target;

[0106] The offset of the current potential target is within the standard area. If the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the primary target and the host vehicle, the current potential target is selected as the primary target;

[0107] The offset of the current potential target is within the standard area. If the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the primary target and the host vehicle, the primary target is not a motorcycle or a bicycle, and the difference between the two longitudinal distances is greater than the maximum overlapping distance of vision, the primary target is demoted to a secondary target.

[0108] Optionally, the conditions for the target selection module to determine the secondary target include:

[0109] The offset of the current potential target is within the standard area. There is no current secondary target. The current potential target is not a motorcycle. The current primary target is not a bicycle. The difference between the longitudinal distance between the current primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle is greater than the maximum overlapping distance of vision. The current potential target is selected as the secondary target;

[0110] The offset of the current potential target is within the standard area. There is a current secondary target. The difference between the longitudinal distance between the current primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle is greater than the maximum overlapping distance of vision, and when the longitudinal distance between the current potential target and the host vehicle is smaller than the longitudinal distance between the current secondary target and the host vehicle, the current potential target is selected as the secondary target.

[0111] Optionally, the conditions for the target selection module to determine the left target and the right target include:

[0112] The offset of the current potential target is between the standard area and the extended area. There is no current left target or right target; when the offset of the current potential target is positive, the offset of the current potential target is the left target, and when the offset of the current potential target is negative, the offset of the current potential target is the right target;

[0113] When the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the existing left target or right target and the host vehicle, when the offset of the current potential target is positive, the offset of the current potential target is the left target, and when the offset of the current potential target is negative, the offset of the current potential target is the right target.

[0114] Optionally, the conditions for the target selection module to determine the cut-in target and the cut-out target include:

[0115] The longitudinal distance between the current potential target and the host vehicle is greater than the minimum prediction distance and less than the preset maximum distance. The vehicle type of the current potential target is known, and the vehicle speed of the current potential target is greater than the minimum prediction speed;

[0116] The rate of change of the bias of the current potential target at the current moment. If the bias of the current potential target is less than the boundary of the expansion area within the preset prediction time, the current potential target is used as the cut-in target;

[0117] If there is a current main target and the bias of the current potential target is greater than the boundary of the expansion area within the preset prediction time, the current potential target is used as the cut-out target.

[0118] Optionally, when the target selection module determines the main target, secondary target, left target, right target, cut-in target, and cut-out target for the vehicle's adaptive cruise, if there is a current main target, the fusion data of the current potential target is lost, and the current potential target is shown to be within the standard area, then the difference and ratio of the longitudinal distance between the main target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle are judged. If the preset conditions are not met, the current potential target is an invalid target;

[0119] If the longitudinal distance between the current cut-in target and the host vehicle is greater than the longitudinal distance between the main target and the host vehicle, the current cut-in target is an invalid target;

[0120] After determining the main target, the information of the main target is recalculated and judged. If the fusion data of the current main target is lost while the current secondary target exists, and the longitudinal distance between the current main target and the host vehicle and the longitudinal distance between the current main target and the host vehicle are less than the maximum overlap distance of vision, then the current secondary target replaces the current main target.

[0121] The beneficial effects of the target selection device provided by the present invention are similar to the reasoning process of the beneficial effects of the foregoing target selection method, and will not be elaborated here.

[0122] Meanwhile, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the above is implemented.

[0123] Moreover, the present invention also provides a motor vehicle, which has an adaptive cruise function. When the motor vehicle operates the adaptive cruise function, the judgment target for the adaptive cruise is selected by the target selection method described in any one of the foregoing;

[0124] Or the motor vehicle has the target selection device described in any one of the foregoing;

[0125] Or the motor vehicle has the foregoing computer device;

[0126] Or the motor vehicle has the foregoing computer-readable storage medium, and when the computer program is executed by a processor, the target selection method described in any one of the foregoing is implemented.

[0127] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and the accompanying drawings. The best embodiments or means of the present invention will be shown in detail in combination with the accompanying drawings, but it is not a limitation to the technical solution of the present invention. In addition, these features, elements, and components that appear in each of the following texts and drawings are multiple, and different symbols or numbers are marked for convenience of representation, but they all represent components with the same or similar structures or functions. Description of the Drawings

[0128] The present invention will be further described below in conjunction with the accompanying drawings:

[0129] Figure 1 is the overall flowchart of the embodiment of the present invention;

[0130] Figure 2 is the effect diagram of the embodiment of the present invention; Specific Embodiments

[0131] The technical solutions of the embodiments of the present invention will be explained and described below in conjunction with the accompanying drawings of the embodiments of the present invention. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative efforts all fall within the protection scope of the present invention.

[0132] As used in this specification, the phrase "one embodiment" or "example" or "instance" means that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment of the present patent disclosure. The appearances of the phrase "in one embodiment" in various positions in the specification do not necessarily refer to the same embodiment.

[0133] Embodiment:

[0134] As Figure 1 shown, this embodiment provides a target selection method for the selection of judgment targets during vehicle adaptive cruise. The judgment target refers to the reference object used by the vehicle to judge whether the vehicle needs to decelerate or accelerate during the operation of adaptive cruise. In this embodiment, the targets selected by the vehicle for adaptive cruise include the main target, the secondary target, the left target, the right target, the cut-in target, and the cut-out target. The target selection method includes the following steps:

[0135] Obtain the motion information of the host vehicle, the motion information of potential targets, and the road information. The motion information includes, but is not limited to, the position of the host vehicle, the front wheel angle, the longitudinal speed, the yaw rate, the heading angle, etc., as well as other physical quantities that can characterize the vehicle motion, all of which are motion information. The road information includes the lane centerline information, the perpendicular distance between the target or the host vehicle or the obstacle and the lane centerline, etc. The aforementioned information can be collected by the visual information acquisition device, the radar information acquisition device, etc. carried by the host vehicle. This is prior art and will not be elaborated here. And calculate the offset between the potential target and the host vehicle based on the aforementioned information. Calculating the offset between the potential target and the host vehicle is the key to the target selection method provided in this embodiment, and includes the following steps:

[0136] When the vehicle speed and time headway of the host vehicle meet the preset conditions and the host vehicle does not turn or change lanes, the offset between the potential target and the host vehicle is the difference between the perpendicular distance from the potential target to the lane centerline and the perpendicular distance from the host vehicle to the lane centerline. The two perpendicular distances can be directly obtained visually. The potential target refers to an object that may be selected as the judgment target for adaptive cruise, which may be a vehicle in front or a fixed obstacle ahead on the road. The time headway is the ratio of the longitudinal distance between the host vehicle and the vehicle ahead to the vehicle speed of the host vehicle, and the preset conditions are flexibly set by those skilled in the art according to actual needs and vehicle calibration situations and will not be limited here

[0137] When the vehicle speed and time headway of the host vehicle do not meet the preset conditions and the host vehicle turns or changes lanes, calculating the offset between the potential target and the host vehicle includes the following steps:

[0138] Calculate the predicted curvature of the host vehicle in the host vehicle coordinate system according to the following formula:

[0139]

[0140] where K COG is the predicted curvature, δ is the front wheel angle, l is the wheelbase, I f and I r are the distances from the vehicle center of mass to the front and rear wheel axles respectively, c f and c r are the stiffnesses of the front and rear wheels respectively, m is the mass of the host vehicle, and c is the longitudinal speed of the host vehicle. These physical quantities are related physical quantities of the host vehicle, so they can be directly obtained by the sensors of the host vehicle;

[0141] Calculate the predicted turning radius R in the host vehicle coordinate system according to the following formula COG :

[0142]

[0143] Calculate the slip angle θ of the host vehicle according to the following formula slip :

[0144]

[0145] The predicted curve K of the vehicle based on the rear wheels is calculated according to the following formula: rear :

[0146]

[0147] The bias between the potential target and the vehicle is calculated according to the following formula:

[0148]

[0149] Among them, μ is the vehicle speed coefficient, is the yaw rate of the vehicle, and k is the comprehensive coefficient, which comprehensively considers the heading angle of the vehicle, the speed of the vehicle, the longitudinal distance of the target, the time interval, and the variance of the angle change. obj is the heading angle of the potential target, x is the longitudinal distance between the potential target and the vehicle, and y is the lateral distance between the potential target and the vehicle. In this step, the comprehensive coefficient and the vehicle speed coefficient are flexibly selected by those skilled in the art according to actual conditions and are not limited here.

[0150] After calculating the offset between the potential target and the vehicle according to the above calculation formula, the calculated offset needs to be filtered. In this embodiment, the filtering method is a conventional technical means known in the art, such as adding weights, etc., which is not limited here.

[0151] After completing the calculation of the offset, calculate the boundary of the target selection area during the vehicle's adaptive cruise control. The boundary of the target selection area is related to the road width, longitudinal distance, vertical distance between the vehicle and the center line of the lane, and the speed of the vehicle. When turning and changing lanes, the size of the target selection area needs to be widened or reduced accordingly. In the case of a left turn, the left side is expanded and the right side is reduced. When turning right, the left side is reduced and the right side is expanded. The change value is obtained by looking up the table based on the vehicle speed. Under normal circumstances, it does not change. The target selection area is funnel-shaped, including a standard area and an extended area. The standard area is a narrower funnel, and the extended area is a wider funnel. The standard area is within the extended area. Both the standard area and the extended area include inner and outer boundaries.

[0152] The calculation formula for the inner boundary of the expansion area is:

[0153]

[0154] Among them, E in_left is the left inner boundary of the extended area, E in_right is the right inner boundary of the extended area, W e_funnel is the width of the expansion area, α1 is the correction coefficient of the adjacent road, α e is the table lookup coefficient for the extended area, W lane is the lane width;

[0155] The calculation formula for the outer boundary of the expansion area is as follows:

[0156]

[0157] Among them, E out_left is the left outer boundary of the expansion area, E out_right is the right outer boundary of the expansion area, and α2 is the widening coefficient of the outer boundary relative to the inner boundary.

[0158] The calculation of the standard area is divided into two cases. When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value, the calculation formula for the inner boundary of the standard area is as follows:

[0159]

[0160] Among them, S in_left is the left side of the inner boundary of the standard area, S in_right is the right side of the inner boundary of the standard area, W s_funnel is the width of the standard area, β is the correction coefficient for the right side of the inner boundary and the outer boundary of the standard area when the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value; Δd inner_right is the correction value for the inner boundary when the host vehicle turns right or changes lanes. In the case of the host vehicle going straight, the value of Δd inner_right is 0. In the case of the host vehicle turning right or changing lanes, the value of Δd inner_right is selected by those skilled in the art according to the calibration during tuning; D laneposition is the vertical distance from the host vehicle to the center line of the lane; α s is the look-up table coefficient of the standard area;

[0161] The calculation formula for the outer boundary of the standard area is as follows:

[0162]

[0163] Among them, S out_left is the left side of the outer boundary of the standard area, S out_right is the right side of the outer boundary of the standard area, Δd outer_right is the correction value for the outer boundary when the host vehicle turns right or changes lanes. In the case of the host vehicle going straight, the value of Δd outer_right is 0. In the case of the host vehicle turning right or changing lanes, the value of Δd outer_right is selected by those skilled in the art according to the calibration during tuning.

[0164] When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is less than the pre-calibrated value, the calculation formula for the inner boundary of the standard area is as follows:

[0165]

[0166] Among them, Δd inner_left is the correction value for the inner boundary when the host vehicle turns left or changes lanes. When the host vehicle goes straight, the value of Δd inner_left is 0. When the host vehicle turns left or changes lanes, the value of Δd inner_left is selected by those skilled in the art according to the calibration during tuning.

[0167] The calculation formula for the outer boundary of the standard area is:

[0168]

[0169] Among them, Δd outer_left is the correction value for the outer boundary when the host vehicle turns left or changes lanes. When the host vehicle goes straight, the value of Δd outer_left is 0. When the host vehicle turns left or changes lanes, the value of Δd outer_left is selected by those skilled in the art according to the calibration during tuning.

[0170] In this step, the pre-calibration value is the calibration value flexibly determined by those skilled in the art according to the actual situation when tuning the vehicle. The setting of the pre-calibration value belongs to the prior art of adaptive cruise control and is not limited herein. For the widths of the standard area and the extended area, they can be obtained by multiplying the lane width by their respective different look-up table coefficients. The correction coefficient, correction value, and auxiliary correction coefficient involved in this step are flexibly set by those skilled in the art according to the calibration requirements.

[0171] The target selection method provided in this embodiment calculates the offset between the potential target and the host vehicle in two ways: road information and host vehicle kinematics, and divides the target selection area into a standard area and an extended area. For adaptive cruise control, it determines whether the vehicle is changing lanes or turning based on information such as the host vehicle's position, heading angle, and turn signal. Combining the foregoing information, it widens or narrows the target selection area according to the host vehicle's speed. The standard area can ensure the accuracy of selecting the main target, and the extended area can greatly broaden the target detection range to make up for the misselection and missed selection caused by perception errors.

[0172] After calculating the offset, based on the boundary of the target selection area and the offsets of the potential targets and the host vehicle, the main target, secondary target, left target, right target, cut-in target, and cut-out target of the vehicle's adaptive cruise are determined. This embodiment does not only consider one main target, but instead selects multiple targets to participate in the control simultaneously. By comparing the boundary of the target selection area with the offsets of each potential target from the host vehicle, it can be determined whether the potential target is within the target selection area and whether it is in the standard area or the extended area. The main target and the secondary target must be selected from the potential targets in the standard area, while the left target, right target, cut-in target, and cut-out target are selected from the potential targets outside the standard area but within the extended area.

[0173] In this step, all potential targets are traversed, and then various types of targets are determined according to the following conditions. For the sake of clarity, the "longitudinal distance" mentioned below refers to the longitudinal distance between the potential target and the host vehicle, specifically as follows:

[0174] The determination conditions for the main target include:

[0175] If the offset of the current potential target is within the standard area and there is no main target currently, set the current potential target as the main target;

[0176] If the offset of the current potential target is within the standard area, and if the longitudinal distance of the current potential target is greater than the longitudinal distance of the main target, the difference between the two longitudinal distances is less than the maximum overlap distance of vision, the standard deviation of the longitudinal distance of the current potential target is within the calibrated range, and at the same time the current potential target is a fused target while the main target is a radar detection target, replace the current potential target with the main target. In this condition, the maximum overlap distance of vision is directly obtained by the vision sensor, and the calibrated range is also calibrated by those skilled in the art according to actual needs during vehicle tuning. The fused target refers to the current potential target generated by the fusion of vision and radar.

[0177] If the offset of the current potential target is within the standard area and the longitudinal distance of the current potential target is less than the longitudinal distance of the main target, select the current potential target as the main target;

[0178] If the offset of the current potential target is within the standard area, and if the longitudinal distance of the current potential target is less than the longitudinal distance of the main target vehicle, the main target is not a motorcycle or a bicycle, and the difference between the two longitudinal distances is greater than the maximum overlap distance of vision, demote the main target to a secondary target.

[0179] The determination conditions for the secondary target include:

[0180] The bias of the current potential target is within the standard area, there is no secondary target currently, the current potential target is not a motorcycle, the current primary target is not a bicycle, and the difference between the longitudinal distance of the current primary target and the longitudinal distance of the current potential target is greater than the maximum overlap distance of vision, then select the current potential target as the secondary target;

[0181] The bias of the current potential target is within the standard area, there is a secondary target currently, the difference between the longitudinal distance of the current primary target and the longitudinal distance of the current potential target is greater than the maximum overlap distance of vision, and when the longitudinal distance of the current potential target is smaller than the longitudinal distance of the current secondary target, then select the current potential target as the secondary target.

[0182] The determination conditions for the left target and the right target include:

[0183] The bias of the current potential target is between the standard area and the extended area, and there is no left target or right target currently; when the bias of the current potential target is positive, the bias of the current potential target is the left target, and when the bias of the current potential target is negative, the bias of the current potential target is the right target;

[0184] When the longitudinal distance of the current potential target is smaller than the longitudinal distance of the existing left target or right target, when the bias of the current potential target is positive, the bias of the current potential target is the left target, and when the bias of the current potential target is negative, the bias of the current potential target is the right target.

[0185] The determination conditions for the cut-in target and the cut-out target include:

[0186] The longitudinal distance of the current potential target is greater than the minimum prediction distance and at the same time less than the preset maximum distance, the vehicle type of the current potential target is known, and the vehicle speed of the previous potential target is greater than the minimum prediction speed;

[0187] The change rate of the bias of the current potential target at the current moment. If within the preset prediction time, the bias of the current potential target will be less than the boundary of the extended area, then take the current potential target as the cut-in target;

[0188] If there is a primary target currently, and within the preset prediction time, the bias of the current potential target will be greater than the boundary of the extended area, then take the current potential target as the cut-out target.

[0189] During the process of determining various types of targets, the following special situations may also occur. This embodiment also gives technical solutions for the following special situations:

[0190] If there is a current primary target, the fusion data of the current potential target is lost, and the current potential target is shown to be within the standard area, then the difference and ratio of the longitudinal distance between the primary target and the longitudinal distance of the current potential target are judged. If the preset conditions are not met, the current potential target is an invalid target. In this condition, the fusion data refers to the fusion data of visual data and radar data, and the preset conditions are set by those skilled in the art according to the actual situation and are not limited herein.

[0191] If the longitudinal distance between the current cut-in target and the host vehicle is greater than the longitudinal distance between the primary target and the host vehicle, the current cut-in target is an invalid target;

[0192] After determining the primary target, the information of the primary target is recalculated and judged. If the fusion data of the current primary target is lost while the current secondary target exists, and the longitudinal distance between the current primary target and the current primary target is less than the maximum overlap distance of vision, then the current secondary target replaces the current primary target.

[0193] Figure 2 For the effect diagram of the target selection method provided in this embodiment, after six targets are selected, their position information, speed, acceleration, offset, etc. are respectively input to the controller to calculate the longitudinal acceleration, and the final output decisions of multiple controllers are comprehensively considered to select an optimal longitudinal acceleration for the longitudinal control of the host vehicle.

[0194] The technical solution provided in this embodiment not only considers a single primary target for longitudinal control, but also comprehensively considers the target vehicles in six states of primary, secondary, left, right, cut-in, and cut-out around the host vehicle, which is conducive to comprehensively analyzing the danger of road obstacles and considering how to control the movement of the host vehicle in various situations. At the same time, the technical solution provided by the present invention considers the type of target vehicle, the source of perception information, and the motion state, judges the effectiveness of the target, and uses it as a constraint condition for target selection to further ensure the accuracy of target selection.

[0195] Meanwhile, this embodiment also provides a target selection device for selecting a judgment target during vehicle adaptive cruise. The targets selected for vehicle adaptive cruise include a primary target, a secondary target, a left target, a right target, a cut-in target, and a cut-out target. The target selection device includes an offset calculation module, a boundary calculation module, and a target selection module.

[0196] The offset calculation module is used to calculate the offset between the potential target and the host vehicle according to the host vehicle motion information, the potential target motion information, and the road information. When the vehicle speed and time-to-go of the host vehicle meet the preset conditions and the host vehicle does not turn or change lanes, the offset calculation module calculates the offset between the potential target and the host vehicle as the difference between the perpendicular distance from the potential target to the center line of the lane and the perpendicular distance from the host vehicle to the center line of the lane;

[0197] When the vehicle speed and time headway of the host vehicle do not meet the preset conditions and the host vehicle steers or changes lanes, the offset calculation module calculates the offset between the potential target and the host vehicle, including the following steps:

[0198] Calculate the predicted curvature of the host vehicle in the host vehicle coordinate system according to the following formula:

[0199]

[0200] where, K COG is the predicted curvature, δ is the front wheel steering angle, l is the wheelbase, I f and I r are the distances from the vehicle center of mass to the front and rear wheel axles respectively, c f and C r are the stiffnesses of the front and rear wheels respectively, m is the mass of the host vehicle, and ν is the longitudinal speed of the host vehicle;

[0201] Calculate the predicted turning radius R of the host vehicle in the host vehicle coordinate system according to the following formula COG :

[0202]

[0203] Calculate the slip angle θ of the host vehicle according to the following formula slip :

[0204]

[0205] Calculate the predicted curvature K of the host vehicle based on the rear wheels according to the following formula rear :

[0206]

[0207] Calculate the offset between the potential target and the host vehicle according to the following formula

[0208]

[0209] where, μ is the vehicle speed coefficient of the host vehicle, is the yaw rate of the host vehicle, k is the comprehensive coefficient, θ obj is the heading angle of the potential target, x is the longitudinal distance between the potential target and the host vehicle, and y is the lateral distance between the potential target and the host vehicle.

[0210] Moreover, when the vehicle speed and time headway of the host vehicle do not meet the preset conditions and the host vehicle steers or changes lanes, after the offset calculation module calculates the offset between the potential target and the host vehicle, it filters the calculated offset. The filtering mentioned here has the general technical meaning in this field, and the technical means used for filtering are also the conventional technical means in this field, which will not be elaborated here.

[0211] The boundary calculation module is used to calculate the boundaries of the target selection area during the adaptive cruise of the vehicle, including the standard area and the extended area. Both the standard area and the extended area include an inner boundary and an outer boundary.

[0212] The calculation formula for the inner boundary of the extended area calculated by the boundary calculation module is:

[0213]

[0214] Among them, E in_left is the left inner boundary of the extended area, E in_right is the right inner boundary of the extended area, W e_funnel is the width of the extended area, α1 is the correction coefficient of the adjacent road, α e is the look-up table coefficient of the extended area, W lane is the lane width;

[0215] The calculation formula for the outer boundary of the extended area is:

[0216]

[0217] Among them, E out_left is the left outer boundary of the extended area, E out_right is the right outer boundary of the extended area, and α2 is the widening coefficient of the outer boundary relative to the inner boundary;

[0218] When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value, the calculation formula for the inner boundary of the standard area calculated by the boundary calculation module is:

[0219]

[0220] Among them, S in_left is the left side of the inner boundary of the standard area, S in_right is the right side of the inner boundary of the standard area, W s_funnel is the width of the standard area, β is the correction coefficient for the right side of the inner boundary and the outer boundary of the standard area when the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value; Δd inner_right is the correction value for the inner boundary when the host vehicle turns right or changes lanes; D laneposition is the vertical distance from the host vehicle to the center line of the lane; α s is the look-up table coefficient of the standard area;

[0221] The calculation formula for the outer boundary of the standard area calculated by the boundary calculation module is:

[0222]

[0223] Among them, S out_left is the left side of the outer boundary of the standard area, S out_rightOn the right side of the outer boundary of the standard area, Δd outer_right is the correction value for the outer boundary when the host vehicle turns right or changes lanes;

[0224] When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is less than the pre-calibrated value, the calculation formula for the inner boundary of the standard area calculated by the boundary calculation module is:

[0225]

[0226] where, Δd innerleft is the correction value for the inner boundary when the host vehicle turns left or changes lanes;

[0227] The calculation formula for the outer boundary of the standard area calculated by the boundary calculation module is:

[0228]

[0229] where Δd outerleft is the correction value for the outer boundary when the host vehicle turns left or changes lanes.

[0230] The target selection module is used to determine the main target, secondary target, left target, right target, cut-in target and cut-out target of the vehicle adaptive cruise according to the target selection area boundary and the offset between the potential target and the host vehicle.

[0231] The conditions for the target selection module to determine the main target include:

[0232] If the offset of the current potential target is within the standard area and there is no main target currently, set the current potential target as the main target;

[0233] If the offset of the current potential target is within the standard area, if the longitudinal distance of the current potential target is greater than the longitudinal distance of the main target, the difference between the two longitudinal distances is less than the maximum overlap distance of vision, the standard deviation of the longitudinal distance of the current potential target is within the calibrated range, and at the same time the current potential target is a fused target and the main target is a radar detection target, replace the main target with the current potential target;

[0234] If the offset of the current potential target is within the standard area, if the longitudinal distance of the current potential target is less than the longitudinal distance of the main target, select the current potential target as the main target;

[0235] If the offset of the current potential target is within the standard area, if the longitudinal distance of the current potential target is less than the longitudinal distance of the main target, the main target is not a motorcycle or a bicycle, and the difference between the two longitudinal distances is greater than the maximum overlap distance of vision, downgrade the main target to a secondary target.

[0236] The conditions for the target selection module to determine the secondary target include:

[0237] The bias of the current potential target is within the standard area, there is no secondary target currently, the current potential target is not a motorcycle, the current primary target is not a bicycle, and the difference between the longitudinal distance of the current primary target and the longitudinal distance of the current potential target is greater than the maximum overlap distance of vision, then select the current potential target as the secondary target;

[0238] The bias of the current potential target is within the standard area, there is a secondary target currently, the difference between the longitudinal distance of the current primary target and the longitudinal distance of the current potential target is greater than the maximum overlap distance of vision, and when the longitudinal distance of the current potential target is smaller than the longitudinal distance of the current secondary target, then select the current potential target as the secondary target.

[0239] The conditions for the target selection module to determine the left target and the right target include:

[0240] The bias of the current potential target is between the standard area and the extended area, and there is no left target or right target currently; when the bias of the current potential target is positive, the bias of the current potential target is the left target, and when the bias of the current potential target is negative, the bias of the current potential target is the right target;

[0241] When the longitudinal distance of the current potential target is smaller than the longitudinal distance of the existing left target or right target, when the bias of the current potential target is positive, the bias of the current potential target is the left target, and when the bias of the current potential target is negative, the bias of the current potential target is the right target.

[0242] The conditions for the target selection module to determine the cut-in target and the cut-out target include:

[0243] The longitudinal distance of the current potential target is greater than the minimum prediction distance and less than the preset maximum distance, the vehicle type of the current potential target is known, and the vehicle speed of the current potential target is greater than the minimum prediction speed;

[0244] The change rate of the bias of the current potential target at the current moment. If within the preset prediction time, the bias of the current potential target will be less than the boundary of the extended area, then regard the current potential target as the cut-in target;

[0245] If there is a primary target currently, and within the preset prediction time, the bias of the current potential target will be greater than the boundary of the extended area, then regard the current potential target as the cut-out target.

[0246] When the target selection module determines the primary target, secondary target, left target, right target, cut-in target and cut-out target for vehicle adaptive cruise, if there is a primary target currently, the fusion data of the current potential target is lost, and the current potential target is shown to be within the standard area, then judge the difference and ratio between the longitudinal distance of the primary target and the longitudinal distance of the current potential target. If the preset conditions are not met, then the current potential target is an invalid target;

[0247] If the longitudinal distance of the current cut-in target is greater than that of the main target, the current cut-in target is an invalid target;

[0248] After determining the main target, recalculate and judge the information of the main target. If the fusion data of the current main target is lost while the current secondary target exists, and the longitudinal distance of the current main target is less than the maximum overlap distance of vision with the longitudinal distance of the current main target, then the current secondary target replaces the current main target.

[0249] Meanwhile, this embodiment also provides a computer device, including a memory and a processor. When the computer program stored in the memory is executed by the processor, the processor is caused to execute the steps of the above target selection method.

[0250] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. Accordingly, the computer program can be stored in a non-volatile computer-readable storage medium, and when the computer program is executed, the methods of any of the above embodiments can be implemented. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in this application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0251] Moreover, this embodiment also provides a motor vehicle with an adaptive cruise function. When the motor vehicle provided in this embodiment operates the adaptive cruise function, the judgment target of the adaptive cruise is selected by the foregoing target selection method;

[0252] Or the motor vehicle has the foregoing target selection device;

[0253] Or the motor vehicle has the foregoing computer device;

[0254] Alternatively, the mobile vehicle has the aforementioned computer-readable storage medium, and when the computer program is executed by a processor, the aforementioned target selection method is implemented.

[0255] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A target selection method for selecting a target during the adaptive cruise of a vehicle, characterized in that The judgment targets selected for vehicle adaptive cruise include the primary target, secondary target, left target, right target, cut-in target, and cut-out target. The target selection method includes the following steps: Obtain the motion information of the host vehicle, the motion information of potential targets, and road information; and calculate the offset between the potential target and the host vehicle based on the motion information of the host vehicle, the motion information of potential targets, and road information; Calculate the boundary of the target selection area during vehicle adaptive cruise; Determine the primary target, secondary target, left target, right target, cut-in target, and cut-out target for vehicle adaptive cruise according to the boundary of the target selection area and the offset between the potential target and the host vehicle; The determination conditions for the primary target include: If the offset of the current potential target is within the standard area and there is no primary target currently, set the current potential target as the primary target; If the offset of the current potential target is within the standard area, and if the longitudinal distance between the current potential target and the host vehicle is greater than the longitudinal distance between the primary target and the host vehicle, the difference between the two longitudinal distances is less than the maximum overlap distance of vision, the standard deviation of the longitudinal distance between the current potential target and the host vehicle is within the calibrated range, and at the same time the current potential target is a fused target and the primary target is a radar detection target, replace the primary target with the current potential target; If the offset of the current potential target is within the standard area, and if the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the primary target and the host vehicle, select the current potential target as the primary target; If the offset of the current potential target is within the standard area, and if the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the primary target and the host vehicle, the primary target is not a motorcycle or a bicycle, and the difference between the two longitudinal distances is greater than the maximum overlap distance of vision, downgrade the primary target to a secondary target; The determination conditions for the secondary target include: If the offset of the current potential target is within the standard area, there is no secondary target currently, the current potential target is not a motorcycle, the current primary target is not a bicycle, and the difference between the longitudinal distance between the current primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle is greater than the maximum overlap distance of vision, select the current potential target as the secondary target; If the offset of the current potential target is within the standard area, there is a secondary target currently, the difference between the longitudinal distance between the current primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle is greater than the maximum overlap distance of vision, and if the longitudinal distance between the current potential target and the host vehicle is smaller than the longitudinal distance between the current secondary target and the host vehicle, select the current potential target as the secondary target.

2. The target selection method according to claim 1, wherein When the speed and time-to-go of the host vehicle meet the preset conditions and the host vehicle does not turn or change lanes, the offset between the potential target and the host vehicle is the difference between the perpendicular distance from the potential target to the center line of the lane and the perpendicular distance from the host vehicle to the center line of the lane; When the speed and time-to-go of the host vehicle do not meet the preset conditions and the host vehicle turns or changes lanes, calculating the offset between the potential target and the host vehicle includes the following steps: Calculate the predicted curvature of the host vehicle in the host vehicle coordinate system according to the following formula: Among them, KCOG is the predicted curvature, is the front wheel steering angle, l is the wheelbase, and are the distances from the vehicle's center of mass to the front and rear wheel axles respectively, and are the stiffnesses of the front and rear wheels respectively, m is the mass of the vehicle itself, is the longitudinal speed of the vehicle itself; Calculate the predicted turning radius RCOG in the host vehicle coordinate system according to the following formula: Calculate the slip angle θslip of the host vehicle according to the following formula: Calculate the predicted curvature Krear of the host vehicle based on the rear wheels according to the following formula: Calculate the offset between the potential target and the host vehicle according to the following formula: Among them, is the vehicle speed coefficient of the host vehicle, is the yaw rate of the host vehicle, k is the comprehensive coefficient, θobj is the heading angle of the potential target, x is the longitudinal distance between the potential target and the host vehicle, and y is the lateral distance between the potential target and the host vehicle.

3. The target selection method according to claim 2, wherein When the speed and time headway of the host vehicle do not meet the preset conditions and the host vehicle steers or changes lanes, after calculating the offset between the potential target and the host vehicle, filter the calculated offset.

4. The target selection method according to claim 1, wherein The target selection area includes a standard area and an extended area, and both the standard area and the extended area include an inner boundary and an outer boundary; The formula for calculating the inner boundary of the extended area is: Where Ein_left is the left inner boundary of the extended area, Ein_right is the right inner boundary of the extended area, We_funnel is the width of the extended area, α1 is the correction coefficient of the adjacent road, αe is the look-up table coefficient of the extended area, and Wlane is the lane width; The formula for calculating the outer boundary of the extended area is: Where Eout_left is the left outer boundary of the extended area, Eout_right is the right outer boundary of the extended area, and α2 is the widening coefficient of the outer boundary relative to the inner boundary; When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value, the formula for calculating the inner boundary of the standard area is: Where Sin_left is the left side of the inner boundary of the standard area, Sin_right is the right side of the inner boundary of the standard area, Ws_funnel is the width of the standard area, β is the correction coefficient for the right side of the inner boundary and outer boundary of the standard area when the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value; Δdinner_right is the correction value for the inner boundary when the host vehicle steers or changes lanes to the right; Dlaneposition is the vertical distance of the host vehicle from the center line of the lane; αs is the look-up table coefficient of the standard area; The formula for calculating the outer boundary of the standard area is: Where Sout_left is the left side of the outer boundary of the standard area, Sout_right is the right side of the outer boundary of the standard area, and Δdouter_right is the correction value for the outer boundary when the host vehicle steers or changes lanes to the right; When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is less than the pre-calibrated value, the formula for calculating the inner boundary of the standard area is: Where Δdinner_left is the correction value for the inner boundary when the host vehicle steers or changes lanes to the left; The formula for calculating the outer boundary of the standard area is: Where Δdouter_left is the correction value for the outer boundary when the host vehicle steers or changes lanes to the left.

5. The target selection method according to claim 1, characterized in that, The determination conditions for the left target and the right target include: The offset of the current potential target is between the standard area and the extended area, and there is no left target or right target currently; when the offset of the current potential target is positive, the offset of the current potential target is the left target, and when the offset of the current potential target is negative, the offset of the current potential target is the right target; When the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the existing left target or right target and the host vehicle, when the offset of the current potential target is positive, the offset of the current potential target is the left target, and when the offset of the current potential target is negative, the offset of the current potential target is the right target.

6. The target selection method according to claim 1, wherein The determination conditions for the cut-in target and the cut-out target include: The longitudinal distance between the current potential target and the host vehicle is greater than the minimum prediction distance and less than the preset maximum distance. The vehicle type of the current potential target is known, and the speed of the current potential target is greater than the minimum prediction speed; The rate of change of the offset of the current potential target at the current moment. If, within the preset prediction time, the offset of the current potential target will be less than the boundary of the extended area, the current potential target is taken as the cut-in target; If there is a primary target currently, and within the preset prediction time, the offset of the current potential target will be greater than the boundary of the extended area, the current potential target is taken as the cut-out target.

7. The target selection method according to claim 1, wherein When determining the primary target, secondary target, left target, right target, cut-in target, and cut-out target of the vehicle adaptive cruise according to the boundary of the target selection area and the offset between the potential target and the host vehicle, if there is a primary target currently, the fusion data of the current potential target is lost, and the current potential target is shown to be within the standard area, then judge the difference and ratio between the longitudinal distance between the primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle. If the preset conditions are not met, the current potential target is an invalid target; If the longitudinal distance between the current cut-in target and the host vehicle is greater than the longitudinal distance between the primary target and the host vehicle, the current cut-in target is an invalid target; After determining the primary target, recalculate and judge the information of the primary target. If the fusion data of the current primary target is lost while the current secondary target exists, and the longitudinal distance between the current primary target and the host vehicle is less than the maximum overlapping distance of vision with the longitudinal distance between the current primary target and the host vehicle, then the current secondary target replaces the current primary target.

8. A target selection device for selecting a target during the adaptive cruise of a vehicle, characterized in that The judgment targets selected by the vehicle adaptive cruise include the primary target, secondary target, left target, right target, cut-in target, and cut-out target. The target selection device includes an offset calculation module, a boundary calculation module, and a target selection module; The offset calculation module is used to calculate the offset between the potential target and the host vehicle according to the motion information of the host vehicle, the motion information of the potential target, and the road information; The boundary calculation module is used to calculate the boundary of the target selection area during vehicle adaptive cruise; The target selection module is used to determine the primary target, secondary target, left target, right target, cut-in target, and cut-out target of the vehicle adaptive cruise according to the boundary of the target selection area and the offset between the potential target and the host vehicle; The conditions for the target selection module to determine the primary target include: The offset of the current potential target is within the standard area, and there is no primary target currently, then set the current potential target as the primary target; The offset of the current potential target is within the standard area. If the longitudinal distance between the current potential target and the host vehicle is greater than the longitudinal distance between the primary target and the host vehicle, the difference between the two longitudinal distances is less than the maximum overlapping distance of vision, the standard deviation of the longitudinal distance between the current potential target and the host vehicle is within the calibrated range, and at the same time the current potential target is a fusion target and the primary target is a radar detection target, then replace the current potential target with the primary target; The offset of the current potential target is within the standard area. If the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the primary target and the host vehicle, select the current potential target as the primary target; The offset of the current potential target is within the standard region. If the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the primary target and the host vehicle, the primary target is not a motorcycle or a bicycle, and the difference between the two longitudinal distances is greater than the maximum overlapping distance of vision, the primary target is demoted to a secondary target; The conditions for the target selection module to determine the secondary target include: The offset of the current potential target is within the standard region, there is no current secondary target, the current potential target is not a motorcycle, the current primary target is not a bicycle, and the difference between the longitudinal distance between the current primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle is greater than the maximum overlapping distance of vision, then the current potential target is selected as the secondary target; The offset of the current potential target is within the standard region, there is a current secondary target, the difference between the longitudinal distance between the current primary target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle is greater than the maximum overlapping distance of vision, and when the longitudinal distance between the current potential target and the host vehicle is smaller than the longitudinal distance between the current secondary target and the host vehicle, the current potential target is selected as the secondary target.

9. The target selection device according to claim 8, wherein When the vehicle speed and time-to-go of the host vehicle meet the preset conditions and the host vehicle does not turn or change lanes, the offset calculation module calculates the offset between the potential target and the host vehicle as the difference between the perpendicular distance from the potential target to the lane centerline and the perpendicular distance from the host vehicle to the lane centerline; When the vehicle speed and time-to-go of the host vehicle do not meet the preset conditions and the host vehicle turns or changes lanes, the offset calculation module calculates the offset between the potential target and the host vehicle, including the following steps: Calculate the predicted curvature of the host vehicle in the host vehicle coordinate system according to the following formula: where, KCOG is the predicted curvature, is the front wheel steering angle, l is the wheelbase, and are the distances from the vehicle's center of mass to the front and rear wheel axles respectively, and are the stiffnesses of the front and rear wheels respectively, m is the mass of the host vehicle, is the longitudinal speed of the host vehicle; Calculate the predicted turning radius RCOG in the host vehicle coordinate system according to the following formula: Calculate the slip angle θslip of the host vehicle according to the following formula: Calculate the predicted curvature Krear of the host vehicle based on the rear wheels according to the following formula: Calculate the offset between the potential target and the host vehicle according to the following formula: Among them, is the vehicle speed coefficient of the host vehicle, is the yaw rate of the host vehicle, k is a comprehensive coefficient, θobj is the heading angle of the potential target, x is the longitudinal distance between the potential target and the host vehicle, and y is the lateral distance between the potential target and the host vehicle.

10. The target selection device according to claim 9, characterized in that, When the vehicle speed and time-to-go of the host vehicle do not meet the preset conditions and the host vehicle turns or changes lanes, after the offset calculation module calculates the offset between the potential target and the host vehicle, it filters the calculated offset.

11. The target selection device according to claim 10, characterized in that, The target selection region calculated by the boundary calculation module includes a standard region and an extended region, and both the standard region and the extended region include an inner boundary and an outer boundary; The formula for the boundary calculation module to calculate the inner boundary of the extended region is: where Ein_left is the left inner boundary of the extended region, Ein_right is the right inner boundary of the extended region, We_funnel is the width of the extended region, α1 is the correction coefficient of the adjacent road, αe is the look-up table coefficient of the extended region, and Wlane is the lane width; The formula for the outer boundary of the extended region is: where Eout_left is the left outer boundary of the extended region, Eout_right is the right outer boundary of the extended region, and α2 is the widening coefficient of the outer boundary relative to the inner boundary; When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value, the formula for the boundary calculation module to calculate the inner boundary of the standard region is: Among them, Sin_left is the left side of the inner boundary of the standard area, Sin_right is the right side of the inner boundary of the standard area, Ws_funnel is the width of the standard area, β is the correction coefficient for the right sides of the inner and outer boundaries of the standard area when the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is greater than the pre-calibrated value; Δdinner_right is the correction value for the inner boundary when the host vehicle turns right or changes lanes; Dlaneposition is the vertical distance of the host vehicle from the center line of the lane; αs is the look-up table coefficient of the standard area. The calculation formula for the outer boundary of the standard area by the boundary calculation module is: Among them, Sout_left is the left side of the outer boundary of the standard area, Sout_right is the right side of the outer boundary of the standard area, and Δdouter_right is the correction value for the outer boundary when the host vehicle turns right or changes lanes. When the longitudinal distance between the host vehicle and the vehicle in front of the host vehicle is less than the pre-calibrated value, the calculation formula for the inner boundary of the standard area by the boundary calculation module is: Among them, Δdinner_left is the correction value for the inner boundary when the host vehicle turns left or changes lanes. The calculation formula for the outer boundary of the standard area by the boundary calculation module is: Among them, Δdouter_left is the correction value for the outer boundary when the host vehicle turns left or changes lanes.

12. The target selection device according to claim 8, characterized in that, The conditions for the target selection module to determine the left target and the right target include: The offset of the current potential target is between the standard area and the extended area, and there is no left target or right target currently; when the offset of the current potential target is positive, the offset of the current potential target is the left target, and when the offset of the current potential target is negative, the offset of the current potential target is the right target. When the longitudinal distance between the current potential target and the host vehicle is less than the longitudinal distance between the existing left target or right target and the host vehicle, when the offset of the current potential target is positive, the offset of the current potential target is the left target, and when the offset of the current potential target is negative, the offset of the current potential target is the right target.

13. The target selection device according to claim 10, characterized in that The conditions for the target selection module to determine the cut-in target and the cut-out target include: The longitudinal distance between the current potential target and the host vehicle is greater than the minimum prediction distance and less than the preset maximum distance, the vehicle type of the current potential target is known, and the vehicle speed of the current potential target is greater than the minimum prediction speed. The change rate of the offset of the current potential target at the current moment. If within the preset prediction time, the offset of the current potential target will be less than the boundary of the extended area, the current potential target is taken as the cut-in target. If there is a main target currently, and within the preset prediction time, the offset of the current potential target will be greater than the boundary of the extended area, the current potential target is taken as the cut-out target.

14. The target selection device according to claim 8, characterized in that, When the target selection module determines the main target, secondary target, left target, right target, cut-in target, and cut-out target for the vehicle's adaptive cruise control, if there is a current main target, the fusion data of the current potential target is lost, and the current potential target is shown to be within the standard area, then the difference and ratio of the longitudinal distance between the main target and the host vehicle and the longitudinal distance between the current potential target and the host vehicle are judged. If the preset conditions are not met, the current potential target is an invalid target; If the longitudinal distance between the current cut-in target and the host vehicle is greater than the longitudinal distance between the main target and the host vehicle, the current cut-in target is an invalid target; After determining the main target, the information of the main target is recalculated and judged. If the fusion data of the current main target is lost while the current secondary target exists, and the longitudinal distance between the current main target and the host vehicle and the longitudinal distance between the current main target and the host vehicle are less than the maximum overlap distance of vision, then the current secondary target replaces the current main target.

15. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the target selection method according to any one of claims 1 to 7.

16. A computer-readable storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by the processor, it implements the target selection method according to any one of claims 1 to 7.

17. A motor vehicle, characterized in that, The motor vehicle has an adaptive cruise control function. When the motor vehicle is operating the adaptive cruise control function, the judgment target for the adaptive cruise control is selected by the target selection method according to any one of claims 1 to 7; or the motor vehicle has the target selection device according to any one of claims 8 to 14; or the motor vehicle has the computer device according to claim 15; or the motor vehicle has the computer-readable storage medium according to claim 16. When the computer program is executed by the processor, it implements the target selection method according to any one of claims 1 to 7.

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