Single-lane cruise control method, device, vehicle and storage medium for a vehicle

Abstract

This application relates to the field of intelligent driving technology, and particularly to a single-lane cruise control method, device, vehicle, and storage medium for a vehicle. The method includes: obtaining the current navigation path of the current vehicle; based on the current navigation path, identifying intersection information, traffic light information, and driving direction of the current road, and when the traffic light information indicates the existence of traffic lights, obtaining the detection result of the traffic lights; matching the current optimal cruise control strategy according to the intersection information, traffic light information, driving direction, and / or the detection result of the traffic lights, and performing cruise control on the current vehicle according to the current optimal cruise control strategy. Thereby, problems such as low continuity of the cruise system and low user utilization rate caused by complex urban roads, numerous traffic lights, and frequent exits are solved, the experience and continuity of urban cruise assisted driving are improved, and the intelligence of vehicle driving is enhanced.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and particularly to a single-lane cruise control method, device, vehicle, and storage medium for a vehicle. Background Art

[0002] With the development of automotive intelligent technology, the popularity of intelligent driving systems is getting higher and higher. Currently, when an intelligent driving system passes through intersections and traffic lights, the vehicle does not decelerate or give any prompts. When the vehicle has not reached the cruise speed, there are also situations such as acceleration, resulting in users often stepping on the brakes to exit the cruise system at intersections and traffic lights. Moreover, the intersections in the city are complex and there are many traffic lights, and the frequent exits lead to low continuity of the cruise system and low user utilization rate.

[0003] In related technologies, scene classification is only carried out through intersection information or only through traffic light information, and different control strategies for vehicle cruise are adopted, without considering other factors affecting vehicle road driving, resulting in inaccurate vehicle control. Summary of the Invention

[0004] This application provides a single-lane cruise control method, device, vehicle, and storage medium for a vehicle, which solves the problems of low continuity of the cruise system and low user utilization rate caused by complex urban roads, many traffic lights, and frequent exits, improves the experience and continuity of urban cruise assisted driving, and enhances the intelligence of vehicle driving.

[0005] The first aspect of the embodiments of this application provides a single-lane cruise control method for a vehicle, including the following steps: obtaining the current navigation path of the current vehicle; based on the current navigation path, identifying the intersection information, traffic light information, and driving direction of the current road, and when the traffic light information indicates the existence of a traffic light, obtaining the detection result of the traffic light; matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light, and performing cruise control on the current vehicle according to the current optimal cruise control strategy.

[0006] By the above technical means, the problems of low continuity of the cruise system and low user utilization rate caused by complex urban roads, many traffic lights, and frequent exits are solved, the experience and continuity of urban cruise assisted driving are improved, and the intelligence of vehicle driving is enhanced.

[0007] Further, the matching of the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light includes: when the intersection information indicates no intersection, the traffic light information indicates the existence of the traffic light, and the detection result of the traffic light indicates that the traffic light is not detected, the current optimal cruise control strategy is the first cruise control strategy, where the first cruise control strategy is: obtaining the deceleration of the current vehicle according to the lane type in which the current vehicle is located and / or the distance between the current vehicle and the traffic light; when the intersection information indicates no intersection, the traffic light information indicates the existence of the traffic light, and the detection result of the traffic light indicates that the traffic light is detected, the current optimal cruise control strategy is the second cruise control strategy, where the second cruise control strategy is: when the traffic light is flashing yellow constantly, performing cruise control on the current vehicle according to the first cruise control strategy; when the traffic light is red constantly or yellow constantly and there is no countdown for the traffic light, calculating the first target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determining the deceleration position of the current vehicle according to the interval in which the first target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position; when the traffic light is red constantly or yellow constantly and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light changes from red constantly or yellow constantly to green, suppressing the acceleration of the current vehicle; otherwise, controlling the current vehicle to decelerate according to a preset deceleration strategy, so that the current vehicle stops at the traffic light with a preset comfort level, or when the current vehicle reaches the preset position or the preset stop line, the traffic light changes from red constantly or yellow constantly to green; when the traffic light is green constantly or flashing green and there is no countdown for the traffic light, obtaining the acceleration of the current vehicle according to the lane type in which the current vehicle is located and / or the distance between the current vehicle and the traffic light; when the traffic light is green constantly or flashing green and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light is still green constantly or flashing green, suppressing the acceleration of the current vehicle; otherwise, calculating the second target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determining the deceleration position of the current vehicle according to the interval in which the second target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position.

[0008] According to the above technical means, based on intersection information, traffic light information, the detection results of traffic lights, lane types, and the distance to traffic lights, the optimal cruise control strategy of the vehicle is matched, so as to adopt different deceleration strategies, improve the intelligence of vehicle driving, and enhance the experience and continuity of urban cruise assist driving.

[0009] Further, the matching of the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection results of the traffic lights further includes: when the intersection information indicates the existence of an intersection, the traffic light information indicates the non-existence of the traffic light, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is the third cruise control strategy, where the third cruise control strategy is: obtaining the deceleration of the current vehicle based on the lane type of the current vehicle, the distance from the current vehicle to the intersection, and the current speed of the current vehicle; when the intersection information indicates the existence of an intersection, the traffic light information indicates the non-existence of the traffic light, and the driving direction is a non-straight-ahead direction, the current optimal cruise control strategy is the fourth cruise control strategy, where the fourth cruise control strategy is: obtaining the deceleration of the current vehicle based on the distance from the current vehicle to the intersection and the current speed of the current vehicle.

[0010] According to the above technical means, based on intersection information, traffic light information, driving direction, distance to the intersection, and lane type, the optimal cruise control strategy of the vehicle is matched, so as to adopt different deceleration strategies, improve the intelligence of vehicle driving, and enhance the experience and continuity of urban cruise assist driving.

[0011] Further, the matching of the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light further includes: when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of the traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of the traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy; when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of the traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of the traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy.

[0012] According to the above technical means, according to the intersection information, traffic light information, and driving direction, the optimal cruise control strategy of the vehicle is matched, so as to adopt different deceleration strategies, improve the intelligence of vehicle driving, and enhance the experience and continuity of urban cruise assist driving.

[0013] Further, before matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light, it further includes: binding the traffic light to the lane where the current vehicle is located based on a preset binding strategy.

[0014] According to the above technical means, by binding the traffic light to the lane where the current vehicle is located, the accuracy of vehicle control is improved.

[0015] An embodiment of the second aspect of the present application provides a single-lane cruise control device for a vehicle, including: a first acquisition module configured to acquire the current navigation path of the current vehicle; a second acquisition module configured to identify intersection information, traffic light information, and driving direction of the current road based on the current navigation path, and when the traffic light information indicates the presence of traffic lights, acquire the detection result of the traffic lights; and a control module configured to match the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic lights, and perform cruise control on the current vehicle according to the current optimal cruise control strategy.

[0016] Further, the control module is further configured to: when the intersection information indicates that there is no intersection, the traffic light information indicates that there is a traffic light, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is the first cruise control strategy, where the first cruise control strategy is: obtaining the deceleration of the current vehicle according to the lane type in which the current vehicle is located and / or the distance between the current vehicle and the traffic light; when the intersection information indicates that there is no intersection, the traffic light information indicates that there is a traffic light, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is the second cruise control strategy, where the second cruise control strategy is: when the traffic light is flashing yellow constantly, performing cruise control on the current vehicle according to the first cruise control strategy; when the traffic light is red constantly on or yellow constantly on and there is no countdown for the traffic light, calculating the first target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the interval in which the first target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position; when the traffic light is red constantly on or yellow constantly on and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light changes from red constantly on or yellow constantly on to green, suppressing the acceleration of the current vehicle; otherwise, controlling the current vehicle to decelerate according to a preset deceleration strategy, so that the current vehicle stops at the traffic light with a preset comfort level, or when the current vehicle reaches the preset position or the preset stop line, the traffic light changes from red constantly on or yellow constantly on to green; when the traffic light is green constantly on or flashing green and there is no countdown for the traffic light, obtaining the acceleration of the current vehicle according to the lane type in which the current vehicle is located and / or the distance between the current vehicle and the traffic light; when the traffic light is green constantly on or flashing green and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light is still green constantly on or flashing green, suppressing the acceleration of the current vehicle; otherwise, calculating the second target deceleration of the current vehicle according to the distance between the current vehicle and a preset position or the distance between the current vehicle and a preset stop line, and determining the deceleration position of the current vehicle according to the interval in which the second target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position.

[0017] Further, the control module is further configured to: when the intersection information indicates the existence of an intersection, the traffic light information indicates the non-existence of a traffic light, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is the third cruise control strategy, where the third cruise control strategy is: obtaining the deceleration of the current vehicle according to the lane type in which the current vehicle is located, the distance from the current vehicle to the intersection, and the current speed of the current vehicle; when the intersection information indicates the existence of an intersection, the traffic light information indicates the non-existence of a traffic light, and the driving direction is a non-straight-ahead direction, the current optimal cruise control strategy is the fourth cruise control strategy, where the fourth cruise control strategy is: obtaining the deceleration of the current vehicle according to the distance from the current vehicle to the intersection and the current speed of the current vehicle.

[0018] Further, the control module is further configured to: when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of a traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of a traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy; when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of a traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of a traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy.

[0019] Further, before matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light, the control module is further configured to: bind the traffic light to the lane in which the current vehicle is located based on a preset binding strategy.

[0020] An embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the single-lane cruise control method for a vehicle as described in the above embodiment.

[0021] The fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the single-lane cruise control method for a vehicle as described in the above embodiments.

[0022] Therefore, the present application obtains the current navigation path of the current vehicle, identifies the intersection information, traffic light information, and driving direction of the current road, and when the traffic light information indicates that there is a traffic light, obtains the detection result of the traffic light, matches the current optimal cruise control strategy according to the intersection information, traffic light information, driving direction, and / or the detection result of the traffic light, and performs cruise control on the current vehicle according to the current optimal cruise control strategy. Thereby, the problems of low continuity of the cruise system and low user utilization rate caused by complex urban roads, many traffic lights, and frequent exits are solved, the experience and continuity of urban cruise assisted driving are improved, and the intelligence of vehicle driving is enhanced.

[0023] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0025] Figure 1 is a flowchart of a single-lane cruise control method for a vehicle according to an embodiment of the present application;

[0026] Figure 2 is a block diagram of a single-lane cruise control method for a vehicle according to an embodiment of the present application;

[0027] Figure 3 is a schematic flow diagram of binding traffic light information without intersections to lanes according to an embodiment of the present application;

[0028] Figure 4 is a schematic flow diagram of binding traffic light information at intersections to lanes according to an embodiment of the present application;

[0029] Figure 5 is a schematic flow diagram of classifying traffic light scenarios at intersections according to an embodiment of the present application;

[0030] Figure 6 is a schematic flow diagram of a cruise control strategy for Scenario 1 according to an embodiment of the present application;

[0031] Figure 7 is a schematic flow diagram of a cruise control strategy for Scenario 2 according to an embodiment of the present application;

[0032] Figure 8Flow schematic diagram of the scenario 2 cruise control strategy according to another embodiment of the present application;

[0033] Figure 9 Flow schematic diagram of the scenario 2 cruise control strategy according to yet another embodiment of the present application;

[0034] Figure 10 Flow schematic diagram of the scenario 3 cruise control strategy according to an embodiment of the present application;

[0035] Figure 11 Flow schematic diagram of the scenario 4 cruise control strategy according to an embodiment of the present application;

[0036] Figure 12 Block diagram of the single-lane cruise control device of a vehicle according to an embodiment of the present application;

[0037] Figure 13 Schematic diagram of the structure of a vehicle according to an embodiment of the present application.

[0038] Explanation of reference numerals: 10 - single-lane cruise control device of the vehicle, 100 - first acquisition module, 200 - second acquisition module, 300 - control module, 1303 - communication interface, 1301 - memory, 1302 - processor. Detailed description of the specific implementation

[0039] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation of the present application.

[0040] The single-lane cruise control method, device, vehicle, and storage medium of the vehicle according to the embodiments of the present application will be described below with reference to the accompanying drawings. In view of the problems mentioned in the above background art, such as the complex urban roads, many traffic lights, and frequent exits, resulting in low continuity of the cruise system and low user utilization rate, the present application provides a single-lane cruise control method for a vehicle. In this method, by obtaining the current navigation path of the current vehicle, identifying the intersection information, traffic light information, and driving direction of the current road, and when the traffic light information indicates the presence of a traffic light, obtaining the detection result of the traffic light, matching the current optimal cruise control strategy according to the intersection information, traffic light information, driving direction, and / or the detection result of the traffic light, and performing cruise control on the current vehicle according to the current optimal cruise control strategy. Thus, the problems of low continuity of the cruise system and low user utilization rate caused by complex urban roads, many traffic lights, and frequent exits are solved, the experience and continuity of urban cruise assisted driving are improved, and the intelligence of vehicle driving is enhanced.

[0041] Specifically, Figure 1 is a flowchart of a single-lane cruise control method for a vehicle provided by an embodiment of the present application.

[0042] As Figure 1 shown, the single-lane cruise control method for the vehicle includes the following steps:

[0043] In step S101, obtain the current navigation path of the current vehicle.

[0044] In this embodiment, as Figure 2 shown, the vehicle includes a navigation map, an ADAS (Advanced Driving Assistance System) map, a front view camera, a driving assistance control unit, an HMI (Human Machine Interface) interaction system, a braking system, and a steering system. The steering system provides steering ability, the braking system provides braking ability, and the HMI interaction system provides an information exchange platform for interacting with the user. Obtaining the vehicle navigation path includes: navigation information, intersection information, traffic light information, road sign information, and speed limit information. The navigation & ADAS map provides navigation information and intersection information. The navigation information includes: whether there is a navigation path, the vehicle going straight, turning left, turning right, and speed limit information.

[0045] In step S102, based on the current navigation path, identify the intersection information, traffic light information, and driving direction of the current road, and when the traffic light information indicates that there is a traffic light, obtain the detection result of the traffic light.

[0046] Specifically, the navigation map and the ADAS map provide the intersection information, traffic light information, and driving direction of the current road of the vehicle, and obtain the detection result of the traffic light.

[0047] Among them, the intersection information includes: whether there is an intersection, whether there is a traffic light, the distance of the traffic light, and the number of lanes; the front view camera provides traffic light information, road sign marking information, and speed limit information. The traffic light information includes: whether there is a traffic light, the distance of the traffic light, the status of the traffic light, the traffic light countdown, and the number of traffic lights; the road sign markings include: the driving direction information of the current lane, zebra crossing information, stop line information, lane line information, and road edge information. The driving direction includes going straight and not going straight.

[0048] In step S103, match the current optimal cruise control strategy according to the intersection information, traffic light information, driving direction, and / or the detection result of the traffic light, and perform cruise control on the current vehicle according to the current optimal cruise control strategy.

[0049] Optionally, in some embodiments, before matching the current optimal cruise control strategy according to intersection information, traffic light information, driving direction, and / or the detection result of the traffic light, it further includes: binding the traffic light to the lane where the current vehicle is located based on a preset binding policy.

[0050] Specifically, as Figure 3 shown, for the traffic light information without an intersection, it is bound to the lane where the vehicle is located. The cruise system selects a cruise strategy based on this bound information; when there is no lane information beside the traffic light, the traffic light information existing on the lane corresponding to the traffic light without an intersection is the traffic light information of the current lane, and the cruise strategy is configured based on this information; when lane information is displayed beside the traffic light, the system combines the detected lane and road edge information. When there is a road edge on the left side of the lane, and there is only 1 lane line on the left side of the vehicle, the vehicle's location is lane 1, which is fused with the traffic light information of lane 1; when there are 2 lane lines on the left side of the vehicle, the vehicle's location is lane 2, which is fused with the traffic light information of lane 2; when there are 3 lane lines on the left side of the vehicle, the vehicle's location is lane 3, which is fused with the traffic light information of lane 3; when there is no road edge on the left side of the lane (including when the lane edge is not detected), the road edge is detected on the right side of the vehicle. When there is only 1 lane line on the right side, the vehicle's location is lane N (lane N is the lane number information provided by the navigation), which is fused with the traffic light information of lane N; when there are 2 lane lines on the right side, and the distance between the two lane lines is less than <2.5m, the vehicle's location is lane N (lane N is the lane number information provided by the navigation), which is fused with the traffic light information of lane N. When the distance between the two lane lines is >2.5m, the vehicle's location is lane N-1 (lane N is the lane number information provided by the navigation), which is fused with the traffic light information of lane N-1; when there are 3 lane lines on the right side, and the distance between the two right-side lane lines is less than <2.5m, the vehicle's location is lane N-1 (lane N is the lane number information provided by the navigation), which is fused with the traffic light information of lane N-1. When the distance between the two lane lines is >2.5m, the vehicle's location is lane N-2 (lane N is the lane number information provided by the navigation), which is fused with the traffic light information of lane N-2;

[0051] As Figure 4As shown in the figure, the traffic light information at intersections is bound to the lane where the vehicle is located. When the vehicle goes straight and there is only a single traffic light, the traffic light information of the detected lane is the traffic light information of the vehicle itself. When there are two traffic lights in the detected lane, if the left one is an arrow and the right one is a circle, the traffic light information of the right one is the traffic light information for going straight; if the left one is a circle and the right one is an arrow, the traffic light information of the left one is the traffic light information for going straight. When there are three traffic lights in the detected lane, the middle traffic light is the traffic light information for going straight and is bound to the forward direction of the vehicle. When the vehicle turns left and there is only a single traffic light, the traffic light information of the detected lane is the traffic light information of the vehicle itself. When there are two traffic lights in the detected lane, if the left one is an arrow and the right one is a circle, the traffic light information of the left one is the traffic light information for turning left; if the left one is a circle and the right one is an arrow, the traffic light information of the left one is the traffic light information for turning left. When there are three traffic lights in the detected lane, the left traffic light is the traffic light information for turning left and is bound to the forward direction of the vehicle. When the vehicle turns right and there is only a single traffic light, the vehicle does not care about the traffic light information when turning right. When there are two traffic lights in the detected lane, if the left one is an arrow and the right one is a circle, the vehicle does not care about the traffic light information when turning right; if the left one is a circle and the right one is an arrow, the right arrow is the traffic light information for turning right. When there are three traffic lights in the detected lane and the right traffic light is an arrow, the right traffic light is the traffic light information for turning right and is bound to the forward direction of the vehicle.

[0052] Furthermore, as Figure 5 shown in the figure, according to whether there is an intersection, whether there is a traffic light, and whether a traffic light is detected under the navigation path, the intersection traffic light scenarios are divided into 8 scenarios, and different cruise control strategies are formulated according to different scenarios later.

[0053] The 8 scenarios and the corresponding optimal cruise control strategies are as follows:

[0054] (1) The intersection information is that there is no intersection, the traffic light information is that there is a traffic light, and no traffic light is detected. The optimal cruise control strategy is the first cruise control strategy;

[0055] (2) The intersection information is that there is no intersection, the traffic light information is that there is a traffic light, and a traffic light is detected. The optimal cruise control strategy is the second cruise control strategy;

[0056] (3) The intersection information is that there is an intersection, the traffic light information is that there is no traffic light, and the driving direction is the straight-ahead direction. The optimal cruise control strategy is the third cruise control strategy;

[0057] (4) The intersection information is that there is an intersection, the traffic light information is that there is no traffic light, and the driving direction is not the straight-ahead direction. The optimal cruise control strategy is the fourth cruise control strategy;

[0058] (5) The intersection information indicates the presence of an intersection, the traffic light information indicates the presence of traffic lights, the driving direction is the straight-ahead direction, the detection result of the traffic lights is that the traffic lights are detected, and the optimal cruise control strategy is the second cruise control strategy;

[0059] (6) The intersection information indicates the presence of an intersection, the traffic light information indicates the presence of traffic lights, the driving direction is the straight-ahead direction, the detection result of the traffic lights is that the traffic lights are not detected, and the optimal cruise control strategy is the first cruise control strategy;

[0060] (7) The intersection information indicates the presence of an intersection, the traffic light information indicates the presence of traffic lights, the driving direction is not the straight-ahead direction, the detection result of the traffic lights is that the traffic lights are detected, and the optimal cruise control strategy is the second cruise control strategy;

[0061] (8) The intersection information indicates the presence of an intersection, the traffic light information indicates the presence of traffic lights, the driving direction is not the straight-ahead direction, the detection result of the traffic lights is that the traffic lights are not detected, and the optimal cruise control strategy is the first cruise control strategy.

[0062] Among them, in some embodiments, matching the current optimal cruise control strategy according to intersection information, traffic light information, driving direction, and / or the detection result of the traffic light includes: when the intersection information indicates no intersection, the traffic light information indicates the existence of a traffic light, and the detection result of the traffic light is that no traffic light is detected, the current optimal cruise control strategy is the first cruise control strategy, where the first cruise control strategy is: obtaining the deceleration of the current vehicle according to the lane type where the current vehicle is located and / or the distance between the current vehicle and the traffic light; when the intersection information indicates no intersection, the traffic light information indicates the existence of a traffic light, and the detection result of the traffic light is that a traffic light is detected, the current optimal cruise control strategy is the second cruise control strategy, where the second cruise control strategy is: when the traffic light is flashing yellow constantly, performing cruise control on the current vehicle according to the first cruise control strategy; when the traffic light is red constantly or yellow constantly and there is no countdown for the traffic light, calculating the first target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determining the deceleration position of the current vehicle according to the interval where the first target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position; when the traffic light is red constantly or yellow constantly and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light changes from red constantly or yellow constantly to green, suppressing the acceleration of the current vehicle; otherwise, controlling the current vehicle to decelerate according to the preset deceleration strategy, so that the current vehicle stops at the traffic light with a preset comfort level, or when the current vehicle reaches the preset position or the preset stop line, the traffic light changes from red constantly or yellow constantly to green; when the traffic light is green constantly or flashing green and there is no countdown for the traffic light, obtaining the acceleration of the current vehicle according to the lane type where the current vehicle is located and / or the distance between the current vehicle and the traffic light; when the traffic light is green constantly or flashing green and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light is still green constantly or flashing green, suppressing the acceleration of the current vehicle; otherwise, calculating the second target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determining the deceleration position of the current vehicle according to the interval where the second target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position.

[0063] Specifically, when the intersection information indicates no intersection, the traffic light information indicates the existence of a traffic light, and the detection result of the traffic light is that no traffic light is detected, the current optimal cruise control strategy is the first cruise control strategy. As Figure 6As shown in the figure, when the road where the current vehicle is located is a single lane, the distance between the vehicle and the traffic light is approximately <100m (TBD). If the vehicle speed <= 40km / h (TBD), the cruise control system only inhibits acceleration. If the vehicle speed > 40km / h (TBD), the system inhibits acceleration and at the same time decelerates the vehicle to 40km / h at a deceleration of 0.1g. When the road where the vehicle is located has two or more lanes, the distance between the vehicle and the traffic light is approximately <150m (TBD). If the vehicle speed <= 60km / h (TBD), the cruise control system only inhibits acceleration. If the vehicle speed > 60km / h (TBD), the system inhibits acceleration and at the same time decelerates the vehicle to 60km / h at a deceleration of 0.1g.

[0064] Further, when the intersection information is that there is no intersection, the traffic light information is that there is a traffic light, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is the second cruise control strategy.

[0065] (1) When the system detects that the traffic light bound to the vehicle is flashing yellow constantly and the green light is not on, the current vehicle is cruise-controlled according to the first cruise control strategy, as Figure 7 shown;

[0066] (2) As Figure 8 shown, when the system detects that the traffic light bound to the vehicle is red constantly on or yellow constantly on, and when the system detects that there is no countdown system, if the system has not yet detected a crosswalk or zebra crossing, the system calculates based on the current position of the vehicle and the position of the traffic light minus 30m (S 位置 ) the deceleration value (a deceleration) when the vehicle reaches the traffic light. When the acceleration < 0.1g (TBD), the system inhibits acceleration, and at the same time, the system retreats the position where the system starts to decelerate according to the deceleration value of 0.1g (TBD). When the system reaches this position, it decelerates. When the system deceleration is between [0.1g, 0.25g] (TBD), the system inhibits acceleration and decelerates according to the calculated deceleration. When the system deceleration > 0.25g (TBD), the system decelerates, and at the same time, the system alerts the driver to pay attention to the traffic light ahead and take over the vehicle in time. If the system detects a stop line or zebra crossing, the system calculates based on the current position of the vehicle and the stop line or zebra crossing (S zebra) the deceleration value (a 减速度 ) when the vehicle reaches the traffic light. When the acceleration < 0.1g (TBD), the system inhibits acceleration, and at the same time, the system retreats the position where the system starts to decelerate according to the deceleration value of 0.1g (TBD). When the system reaches this position, it decelerates. When the system deceleration is between [0.1g, 0.25g] (TBD), the system inhibits acceleration and decelerates according to the calculated deceleration. When the system deceleration > 0.25g (TBD), the system decelerates, and at the same time, the system alerts the driver to pay attention to the traffic light ahead and take over the vehicle in time.

[0067] S 位置 = S 红绿灯 - 30m (TBD);

[0068] a 减速度 = V 车速 2 / 2S 位置 ;

[0069] (3) When the system detects that the traffic light bound to the vehicle is red or yellow and constantly on, and when the system detects the countdown system, if the system has not yet detected a crosswalk or zebra crossing, the system calculates based on the current position of the vehicle minus 30m from the position of the traffic light (S 位置 ), when the vehicle reaches 30m (TBD) from the traffic light at the current vehicle speed, the traffic light system changes to green, and the system only inhibits acceleration; when the vehicle is traveling at the current speed and reaches 30m before the traffic light, and the system countdown has not been cleared and the system is in the red light state, the system decelerates at a deceleration of 0.1g according to the current speed until the vehicle is traveling at the decelerated vehicle speed and reaches 30m before the traffic light, and the traffic light of the system changes to green. The decelerated vehicle speed V x can be calculated according to the following formula; when the vehicle decelerates to 30m from the traffic light at a deceleration of 0.1g and the system is still in the red light state, the vehicle calculates the deceleration timing in reverse at a deceleration of 0.1g to ensure that the vehicle stops comfortably before the traffic light; if the system detects a crosswalk or zebra crossing, the system calculates based on the current position of the vehicle and the zebra crossing or stop line (S 位置 ), when the vehicle reaches the zebra crossing or stop line at the current vehicle speed, the traffic light system changes to green, and the system only inhibits acceleration; when the vehicle is traveling at the current speed and reaches the zebra crossing or stop line, and the system countdown has not been cleared and the system is in the red light state, the system decelerates at a deceleration of 0.1g according to the current speed until the vehicle is traveling at the decelerated vehicle speed and reaches the zebra crossing or stop line, and the traffic light of the system changes to green. The decelerated vehicle speed V x can be calculated according to the following formula; when the vehicle decelerates to the zebra crossing or stop line at a deceleration of 0.1g and the system is still in the red light state, the vehicle calculates the deceleration timing in reverse at a deceleration of 0.1g to ensure that the vehicle stops comfortably before the traffic light;

[0070] S 位置 = S1 (deceleration distance) + S2 (constant speed distance) = (V 车速 2 - V X 2 ) / 2a + V X T 匀速 ;

[0071] T 匀速 = T倒计时 -(V 车速 -Vx) / a;

[0072] (4) As Figure 9 shown, when the system detects that the traffic light bound to the vehicle is green and constantly on or flashing, and the system detects that there is no countdown for the traffic light, and the road where the current vehicle is located is a single-lane road, when the vehicle is about <100m (TBD) away from the traffic light, if the vehicle speed <= 40km / h (TBD), the cruise system only inhibits acceleration. When the vehicle speed > 40km / h (TBD), the system inhibits acceleration and at the same time decelerates the vehicle to 40km / h at a deceleration of 0.1g; when the road where the vehicle is located is a two-lane road or above, when the vehicle is about <150m (TBD) away from the traffic light, if the vehicle speed <= 60km / h (TBD), the cruise system only inhibits acceleration. When the vehicle speed > 60km / h (TBD), the system inhibits acceleration and at the same time decelerates the vehicle to 60km / h at a deceleration of 0.1g;

[0073] (5) When the system detects that the traffic light bound to the vehicle is green and constantly on or flashing, and the system detects that there is a countdown for the traffic light, if the system does not detect a crosswalk or a stop line, the system calculates based on the current distance between the vehicle and the traffic light. When the lane reaches the traffic light and the system is in the green light, it only inhibits acceleration. When the lane reaches the traffic light and it is a red light, it calculates according to the distance to the traffic light minus 30m (S 位置 ). When the acceleration < 0.1g (TBD), the system inhibits acceleration, and at the same time, based on the deceleration value of 0.1g (TBD), the system retreats to the position where the system starts to decelerate, and when the system reaches this position, it decelerates; when the system deceleration is between [0.1g, 0.25g] (TBD), the system inhibits acceleration and decelerates according to the calculated deceleration; when the system deceleration > 0.25g (TBD), the system decelerates, and at the same time, the system alerts the driver to pay attention to the traffic light ahead and take over the vehicle in time;

[0074] (6) When the system detects that the traffic light bound to the vehicle is green and always on or flashing, and the system detects that there is a countdown for the traffic light. If the system detects a crosswalk or a stop line, the system calculates based on the current vehicle speed and the distance between the vehicle and the crosswalk or the stop line. When the vehicle reaches the crosswalk or the stop line and the system is in the green light state, only acceleration is inhibited. When the vehicle reaches the crosswalk or the stop line and the light is red, it calculates according to the distance to the crosswalk or the stop line. When the acceleration < 0.1g (TBD), the system inhibits the acceleration, and at the same time, the system calculates the position where the system starts to decelerate based on the deceleration value of 0.1g (TBD) and then decelerates when the system reaches this position. When the system deceleration is between [0.1g, 0.25g] (TBD), the system inhibits the acceleration and decelerates according to the calculated deceleration. When the system deceleration > 0.25g (TBD), the system decelerates, and at the same time, the system alerts the driver to pay attention to the traffic light ahead and take over the vehicle in time;

[0075] (7) When the system detects that the traffic light bound to the vehicle is not on, and the current road where the vehicle is located is a single-lane road, and the vehicle is about < 100m (TBD) away from the traffic light. If the vehicle speed <= 40km / h (TBD), the cruise system only inhibits the acceleration. If the vehicle speed > 40km / h (TBD), the system inhibits the acceleration and decelerates to 40km / h at a deceleration of 0.1g. When the road where the vehicle is located has two or more lanes, and the vehicle is about < 150m (TBD) away from the traffic light. If the vehicle speed <= 60km / h (TBD), the cruise system only inhibits the acceleration. If the vehicle speed > 60km / h (TBD), the system inhibits the acceleration and decelerates to 60km / h at a deceleration of 0.1g;

[0076] Among them, in some embodiments, matching the current optimal cruise control strategy according to intersection information, traffic light information, driving direction, and / or the detection result of the traffic light further includes: when the intersection information indicates that there is an intersection, the traffic light information indicates that there is no traffic light, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is the third cruise control strategy, where the third cruise control strategy is: obtaining the deceleration of the current vehicle based on the lane type where the current vehicle is located, the distance from the current vehicle to the intersection, and the current vehicle speed. When the intersection information indicates that there is an intersection, the traffic light information indicates that there is no traffic light, and the driving direction is a non-straight-ahead direction, the current optimal cruise control strategy is the fourth cruise control strategy, where the fourth cruise control strategy is: obtaining the deceleration of the current vehicle based on the distance from the current vehicle to the intersection and the current vehicle speed.

[0077] Specifically, as Figure 10As shown, when the intersection information indicates the presence of an intersection, the traffic light information indicates the absence of traffic lights, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is the third cruise control strategy. If the vehicle is going straight and the road where the vehicle is currently located is a single-lane road, the vehicle is approximately <100m (TBD) away from the intersection. If the vehicle speed is <= 40 km / h (TBD), the cruise system only inhibits acceleration. If the vehicle speed > 40 km / h (TBD), the system inhibits acceleration and simultaneously decelerates at a deceleration of 0.1g to 40 km / h. When the road where the vehicle is located has two or more lanes, the vehicle is approximately <150m (TBD) away from the traffic light. If the vehicle speed is <= 60 km / h (TBD), the cruise system only inhibits acceleration. If the vehicle speed > 60 km / h (TBD), the system inhibits acceleration and simultaneously decelerates at a deceleration of 0.1g to 60 km / h.

[0078] As Figure 11 shown, when the intersection information indicates the presence of an intersection, the traffic light information indicates the absence of traffic lights, and the driving direction is a non-straight-ahead direction, the current optimal cruise control strategy is the fourth cruise control strategy. If the vehicle turns left or right, the vehicle is approximately <100m (TBD) away from the intersection. If the vehicle speed is <= 30 km / h (TBD), the cruise system only inhibits acceleration. If the vehicle speed > 30 km / h (TBD), the system inhibits acceleration and simultaneously decelerates at a deceleration of 0.1g to 30 km / h.

[0079] Among them, in some embodiments, matching the current optimal cruise control strategy according to the intersection information, traffic light information, driving direction, and / or detection result of the traffic light further includes: when the intersection information indicates the presence of an intersection, the traffic light information indicates the presence of traffic lights, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; when the intersection information indicates the presence of an intersection, the traffic light information indicates the presence of traffic lights, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy; when the intersection information indicates the presence of an intersection, the traffic light information indicates the presence of traffic lights, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; when the intersection information indicates the presence of an intersection, the traffic light information indicates the presence of traffic lights, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy.

[0080] Specifically, when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of a traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the vehicle is controlled according to the second cruise control strategy; when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of a traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the vehicle is controlled according to the first cruise control strategy; when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of a traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the vehicle is controlled according to the second cruise control strategy; when the intersection information indicates the existence of an intersection, the traffic light information indicates the existence of a traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the vehicle is controlled according to the first cruise control strategy.

[0081] According to the single-lane cruise control method for a vehicle proposed in an embodiment of the present application, by obtaining the current navigation path of the current vehicle, identifying the intersection information, traffic light information, and driving direction of the current road, and when the traffic light information indicates the existence of a traffic light, obtaining the detection result of the traffic light, matching the current optimal cruise control strategy according to the intersection information, traffic light information, driving direction, and / or the detection result of the traffic light, and performing cruise control on the current vehicle according to the current optimal cruise control strategy. Thus, the problems of low continuity of the cruise system and low user utilization rate caused by complex urban roads, numerous traffic lights, and frequent exits are solved, the experience and continuity of urban cruise assisted driving are improved, and the intelligence of vehicle driving is enhanced.

[0082] Next, a single-lane cruise control device for a vehicle proposed in an embodiment of the present application will be described with reference to the accompanying drawings.

[0083] Figure 12 It is a block diagram of a single-lane cruise control device for a vehicle according to an embodiment of the present application.

[0084] As Figure 12 shown, the single-lane cruise control device 10 for the vehicle includes: a first acquisition module 100, a second acquisition module 200, and a control module 300.

[0085] Among them, the first acquisition module 100 is used to obtain the current navigation path of the current vehicle; the second acquisition module 200 is used to identify the intersection information, traffic light information, and driving direction of the current road based on the current navigation path, and when the traffic light information indicates the existence of a traffic light, obtain the detection result of the traffic light; the control module 300 is used to match the current optimal cruise control strategy according to the intersection information, traffic light information, driving direction, and / or the detection result of the traffic light, and perform cruise control on the current vehicle according to the current optimal cruise control strategy.

[0086] Further, in some embodiments, the control module 300 is further configured to: when the intersection information indicates no intersection, the traffic light information indicates the presence of a traffic light, and the detection result of the traffic light is that no traffic light is detected, the current optimal cruise control strategy is the first cruise control strategy, where the first cruise control strategy is: obtaining the deceleration of the current vehicle according to the lane type in which the current vehicle is located and / or the distance between the current vehicle and the traffic light; when the intersection information indicates no intersection, the traffic light information indicates the presence of a traffic light, and the detection result of the traffic light is that a traffic light is detected, the current optimal cruise control strategy is the second cruise control strategy, where the second cruise control strategy is: when the traffic light is flashing yellow constantly, performing cruise control on the current vehicle according to the first cruise control strategy; when the traffic light is red constantly or yellow constantly and there is no countdown for the traffic light, calculating the first target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determining the deceleration position of the current vehicle according to the interval in which the first target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position; when the traffic light is red constantly or yellow constantly and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light changes from red constantly or yellow constantly to green, suppressing the acceleration of the current vehicle; otherwise, controlling the current vehicle to decelerate according to the preset deceleration strategy, so that the current vehicle stops at the traffic light with a preset comfort level, or when the current vehicle reaches the preset position or the preset stop line, the traffic light changes from red constantly or yellow constantly to green; when the traffic light is green constantly or flashing green and there is no countdown for the traffic light, obtaining the acceleration of the current vehicle according to the lane type in which the current vehicle is located and / or the distance between the current vehicle and the traffic light; when the traffic light is green constantly or flashing green and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light is still green constantly or flashing green, suppressing the acceleration of the current vehicle; otherwise, calculating the second target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determining the deceleration position of the current vehicle according to the interval in which the second target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position.

[0087] Further, in some embodiments, the control module 300 is further configured to: when the intersection information indicates the presence of an intersection, the traffic light information indicates the absence of a traffic light, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is the third cruise control strategy, where the third cruise control strategy is: obtaining the deceleration of the current vehicle based on the lane type in which the current vehicle is located, the distance from the current vehicle to the intersection, and the current vehicle speed; when the intersection information indicates the presence of an intersection, the traffic light information indicates the absence of a traffic light, and the driving direction is a non-straight-ahead direction, the current optimal cruise control strategy is the fourth cruise control strategy, where the fourth cruise control strategy is: obtaining the deceleration of the current vehicle based on the distance from the current vehicle to the intersection and the current vehicle speed.

[0088] Further, in some embodiments, the control module 300 is further configured to: when the intersection information indicates the presence of an intersection, the traffic light information indicates the presence of a traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that a traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; when the intersection information indicates the presence of an intersection, the traffic light information indicates the presence of a traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that no traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy; when the intersection information indicates the presence of an intersection, the traffic light information indicates the presence of a traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that a traffic light is detected, the current optimal cruise control strategy is to perform cruise

[0089] control on the current vehicle; when the intersection information indicates the presence of an intersection, the traffic light information indicates the presence of a traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that no traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current

[0090] vehicle according to the first cruise control strategy.

[0091] Further, in some embodiments, before matching the current optimal cruise control strategy according to the intersection information, traffic light information, driving direction, and / or detection result of the traffic light, the control module 300 is further configured to: bind the traffic light to the lane in which the current vehicle is located based on a preset binding strategy.

[0092] It should be noted that the foregoing explanations of the embodiments of the single-lane cruise control method for vehicles are also applicable to the single-lane cruise control device for vehicles in this embodiment, and will not be elaborated here.

[0093]

[0094] ​The single-lane cruise control device for a vehicle proposed according to an embodiment of the present application obtains the current navigation path of the current vehicle, identifies the intersection information, traffic light information, and driving direction of the current road, and when the traffic light information indicates the existence of traffic lights, obtains the detection result of the traffic lights, matches the current optimal cruise control strategy according to the intersection information, traffic light information, driving direction, and / or the detection result of the traffic lights, and performs cruise control on the current vehicle according to the current optimal cruise control strategy.

[0095] Thereby, problems such as low continuity of the cruise system and low user utilization rate caused by complex urban roads, numerous traffic lights, and frequent exits are solved, the experience and continuity of urban cruise assisted driving are improved, and the intelligence of vehicle driving is enhanced.

[0096] This is a schematic structural diagram of a vehicle provided by an embodiment of the present application. The vehicle may include:

[0097] 0 Figure 13 A memory 1301, a processor 1302, and a computer program stored on the memory 1301 and executable on the processor 1302.

[0098] When the processor 1302 executes the program, it implements the single-lane cruise control method for a vehicle provided in the above embodiment.

[0099] Further, the vehicle further includes:

[0100] A communication interface 1303 for communication between the memory 1301 and the processor 1302.

[0101] 5The memory 1301 is used to store a computer program executable on the processor 1302.

[0102] The memory 1301 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0103]

[0104] ​If the memory 1301, the processor 1302, and the communication interface 1303 are implemented independently, the communication interface 1303, the memory 1301, and the processor 1302 can be interconnected via a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 13 only a thick line is used to represent it in Figure 13 , but it does not mean that there is only one bus or one type of bus.

[0105] Optionally, in specific implementation, if the memory 1301, the processor 1302, and the communication interface 1303 are integrated on one chip, the memory 1301, the processor 1302, and the communication interface 1303 can communicate with each other through an internal interface.

[0106] communication.

[0107] The processor 1302 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0108] The embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the single-lane cruise control method of the vehicle as described above is implemented.

[0109] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0110] 0

[0111] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0112] Any process or method description shown in a flowchart or described otherwise herein can be understood to represent a module, segment, or portion of code including one

[0113] or more N executable instructions for implementing custom logic functions or steps of a process,

[0114] and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the technical field of the embodiments of this application.

[0115] It should be understood that various parts of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays, field-programmable gate arrays, etc.

[0116] Those of ordinary skill in the technical field can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0117] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

[0118] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A single-lane cruise control method for a vehicle, characterized in that, Including the following steps: Obtain the current navigation path of the current vehicle; Based on the current navigation path, identify the intersection information, traffic light information, and driving direction of the current road, and when the traffic light information indicates the existence of a traffic light, obtain the detection result of the traffic light; And Match the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light, and perform cruise control on the current vehicle according to the current optimal cruise control strategy; The matching of the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light includes: When the intersection information indicates the non-existence of an intersection, the traffic light information indicates the existence of the traffic light, and the detection result of the traffic light indicates that the traffic light is not detected, the current optimal cruise control strategy is the first cruise control strategy, where the first cruise control strategy is: obtain the deceleration of the current vehicle according to the lane type in which the current vehicle is located and / or the distance between the current vehicle and the traffic light; When the intersection information indicates the non-existence of an intersection, the traffic light information indicates the existence of the traffic light, and the detection result of the traffic light indicates that the traffic light is detected, the current optimal cruise control strategy is the second cruise control strategy, where the second cruise control strategy is: When the traffic light is flashing yellow constantly, perform cruise control on the current vehicle according to the first cruise control strategy; When the traffic light is red constantly on or yellow constantly on and there is no countdown for the traffic light, calculate the first target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determine the deceleration position of the current vehicle according to the interval in which the first target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position; When the traffic light is red constantly on or yellow constantly on and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light changes from red constantly on or yellow constantly on to green, inhibit the acceleration of the current vehicle; otherwise, control the current vehicle to decelerate according to the preset deceleration strategy, so that the current vehicle stops at the traffic light with a preset comfort level, or when the current vehicle reaches the preset position or the preset stop line, the traffic light changes from red constantly on or yellow constantly on to green; When the traffic light is green constantly on or flashing green and there is no countdown for the traffic light, obtain the acceleration of the current vehicle according to the lane type in which the current vehicle is located and / or the distance between the current vehicle and the traffic light; When the traffic light is green and constantly on or flashing green, and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed, and the traffic light is still green and constantly on or flashing green, the acceleration of the current vehicle is inhibited; otherwise, the second target deceleration of the current vehicle is calculated according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and the deceleration position of the current vehicle is determined according to the interval where the second target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position.

2. The method according to claim 1, wherein The matching of the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light further includes: When the intersection information indicates that there is an intersection, the traffic light information indicates that there is no traffic light, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is the third cruise control strategy, where the third cruise control strategy is: obtaining the deceleration of the current vehicle according to the lane type of the current vehicle, the distance from the current vehicle to the intersection, and the current vehicle speed of the current vehicle; When the intersection information indicates that there is an intersection, the traffic light information indicates that there is no traffic light, and the driving direction is a non-straight-ahead direction, the current optimal cruise control strategy is the fourth cruise control strategy, where the fourth cruise control strategy is: obtaining the deceleration of the current vehicle according to the distance from the current vehicle to the intersection and the current vehicle speed of the current vehicle.

3. The method according to claim 2, wherein The matching of the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light further includes: When the intersection information indicates that there is an intersection, the traffic light information indicates that there is a traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; When the intersection information indicates that there is an intersection, the traffic light information indicates that there is a traffic light, the driving direction is the straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy; When the intersection information indicates that there is an intersection, the traffic light information indicates that there is a traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the second cruise control strategy; When the intersection information indicates that there is an intersection, the traffic light information indicates that there is a traffic light, the driving direction is a non-straight-ahead direction, and the detection result of the traffic light is that the traffic light is not detected, the current optimal cruise control strategy is to perform cruise control on the current vehicle according to the first cruise control strategy.

4. The method according to claim 1, wherein Before matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light, the following steps are further included: Based on a preset binding strategy, bind the traffic light to the lane where the current vehicle is located.

5. A single-lane cruise control device for a vehicle, characterized in that, It includes: A first acquisition module for acquiring the current navigation path of the current vehicle; A second acquisition module for identifying the intersection information, traffic light information, and driving direction of the current road based on the current navigation path, and when the traffic light information indicates that there is a traffic light, acquiring the detection result of the traffic light; And A control module for matching the current optimal cruise control strategy according to the intersection information, the traffic light information, the driving direction, and / or the detection result of the traffic light, and performing cruise control on the current vehicle according to the current optimal cruise control strategy; The control module is further configured to: When the intersection information indicates that there is no intersection, the traffic light information indicates that there is a traffic light, and the detection result of the traffic light indicates that the traffic light is not detected, the current optimal cruise control strategy is the first cruise control strategy, where the first cruise control strategy is: obtaining the deceleration of the current vehicle according to the lane type of the current vehicle and / or the distance between the current vehicle and the traffic light; When the intersection information indicates that there is no intersection, the traffic light information indicates that there is a traffic light, and the detection result of the traffic light indicates that the traffic light is detected, the current optimal cruise control strategy is the second cruise control strategy, where the second cruise control strategy is: When the traffic light is flashing yellow constantly, perform cruise control on the current vehicle according to the first cruise control strategy; When the traffic light is red constantly or yellow constantly and there is no countdown for the traffic light, calculate the first target deceleration of the current vehicle according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and determine the deceleration position of the current vehicle according to the interval where the first target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position; When the traffic light is red constantly or yellow constantly and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed and the traffic light changes from red constantly or yellow constantly to green, inhibit the acceleration of the current vehicle; otherwise, control the current vehicle to decelerate according to a preset deceleration strategy, so that the current vehicle stops at the traffic light with a preset comfort level, or when the current vehicle reaches the preset position or the preset stop line, the traffic light changes from red constantly or yellow constantly to green; When the traffic light is green constantly or flashing green and there is no countdown for the traffic light, obtain the acceleration of the current vehicle according to the lane type of the current vehicle and / or the distance between the current vehicle and the traffic light; When the traffic light is green and constantly on or flashing green, and there is a countdown for the traffic light, if it is calculated based on the countdown that the current vehicle reaches the preset position or the preset stop line at the current vehicle speed, and the traffic light is still green and constantly on or flashing green, the acceleration of the current vehicle is inhibited; otherwise, the second target deceleration of the current vehicle is calculated according to the distance between the current vehicle and the preset position or the distance between the current vehicle and the preset stop line, and the deceleration position of the current vehicle is determined according to the interval where the second target deceleration is located, so as to control the current vehicle to decelerate according to the deceleration position.

6. The device according to claim 5, characterized in that, The control module is further configured to: When the intersection information indicates the existence of an intersection, the traffic light information indicates the non-existence of the traffic light, and the driving direction is the straight-ahead direction, the current optimal cruise control strategy is the third cruise control strategy, where the third cruise control strategy is: obtaining the deceleration of the current vehicle according to the lane type of the current vehicle, the distance from the current vehicle to the intersection, and the current vehicle speed of the current vehicle; When the intersection information indicates the existence of an intersection, the traffic light information indicates the non-existence of the traffic light, and the driving direction is a non-straight-ahead direction, the current optimal cruise control strategy is the fourth cruise control strategy, where the fourth cruise control strategy is: obtaining the deceleration of the current vehicle according to the distance from the current vehicle to the intersection and the current vehicle speed of the current vehicle.

7. A vehicle, characterized in that, Comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the single-lane cruise control method for a vehicle according to any one of claims 1-4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to be used for implementing the single-lane cruise control method for a vehicle according to any one of claims 1-4.

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