A vehicle adaptive cruise control method and system

Abstract

The application discloses a kind of vehicle adaptive cruise control method and system, applied in vehicle adaptive cruise control device, the camera acquisition device of arrangement on the vehicle, millimeter wave radar, steering wheel angle sensor and attitude sensor communication connection respectively with the vehicle adaptive cruise control device, the method includes: when detecting that constant speed cruise is opened, the front environment signal collected by the camera acquisition device and millimeter wave radar is received;When the front environment signal does not exist obstacle signal, control the vehicle accelerates to the preset target vehicle speed;After the vehicle accelerates to the preset target vehicle speed, control the vehicle according to the preset target vehicle speed constant navigation travels.The application solves the problem of low intelligent degree of vehicle adaptive cruise control in the prior art.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a vehicle adaptive cruise control method and system. Background Technology

[0002] Adaptive cruise control is a new system that adds a function to maintain a reasonable distance from the vehicle in front, based on the existing cruise control system that operates at a set speed. When there are no vehicles ahead in the same lane, it travels at the set speed as normal cruise control; when a vehicle appears ahead, it travels at a speed lower than the set speed to maintain a reasonable distance between the vehicle and the vehicle in front.

[0003] The four typical functions of adaptive cruise control include: when there are no vehicles ahead, the ACC vehicle will be in normal cruise driving mode, traveling at the speed set by the driver, and the driver only needs to control the direction (constant speed control). When a target vehicle appears in front of the ACC vehicle, if the target vehicle's speed is less than that of the ACC vehicle, the ACC vehicle will automatically begin deceleration control to ensure that the distance between the two vehicles is the set safe distance. Once the distance between the two vehicles is equal to the safe distance, it will adopt follow control, that is, travel at the same speed as the target vehicle. If the target vehicle in front changes lanes, or if the ACC vehicle changes lanes and there are no vehicles in front of the ACC vehicle, the ACC system will accelerate the ACC vehicle to restore it to the set speed.

[0004] In existing technologies, vehicles with adaptive cruise control do not have preset speed setting and storage functions. The driver needs to press the accelerator to reach the target speed, that is, manually press the accelerator with their foot and then press SET to enter the cruise control operation, resulting in a low level of intelligence of adaptive cruise control. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a vehicle adaptive cruise control method and system, which aims to solve the problem of low intelligence level in the existing adaptive cruise control technology.

[0006] The embodiments of the present invention are implemented as follows:

[0007] A vehicle adaptive cruise control method is applied in a vehicle adaptive cruise controller, wherein the vehicle adaptive cruise controller is communicatively connected to a camera acquisition device, a millimeter-wave radar, a steering wheel angle sensor, and an attitude sensor disposed on the vehicle, and the method includes:

[0008] When cruise control is detected to be activated, the system receives ambient signals from the camera and millimeter-wave radar.

[0009] When there are no obstacle signals in the forward environment signals, control the vehicle to accelerate to the preset target speed;

[0010] After the vehicle accelerates to the preset target speed, the vehicle is controlled to maintain a constant speed.

[0011] Furthermore, in the aforementioned vehicle adaptive cruise control method, after the step of controlling the vehicle to accelerate to a preset target speed when there is no obstacle signal in the forward environmental signal, the method further includes:

[0012] During the process of the vehicle accelerating to the preset target speed, if an obstacle is detected in front of the vehicle, the current cruise data is maintained and the vehicle stops accelerating.

[0013] When the vehicle meets the preset cruise start conditions, the vehicle continues to cruise at a constant speed based on the cruise data.

[0014] Furthermore, in the aforementioned vehicle adaptive cruise control method, the method further includes:

[0015] Based on the steering wheel angle and vehicle posture information collected by the steering wheel angle sensor and the posture sensor, it is determined whether the vehicle needs to turn.

[0016] When it is determined that the vehicle needs to turn, the vehicle is decelerated according to a preset rule while turning.

[0017] Furthermore, in the aforementioned vehicle adaptive cruise control method, the step of decelerating the vehicle according to a preset rule when it is determined that the vehicle needs to turn includes:

[0018] When it is determined that the vehicle needs to turn, the turning radius of the lane in which the vehicle is located is determined and the corresponding deceleration is determined based on the turning radius;

[0019] During the vehicle's cruise control operation, the vehicle is decelerated by using the deceleration control.

[0020] Furthermore, in the above-mentioned vehicle adaptive cruise control method, the step of determining the turning radius of the vehicle includes:

[0021] The initial aiming road curvature, positioning information, and historical road curvature data of the road to be traveled by the vehicle are obtained.

[0022] The predicted road curvature is obtained based on the initial target road curvature, positioning information, and historical road curvature data of the road to be traveled by the vehicle. The turning radius corresponding to the predicted road curvature is then determined by searching a preset database based on the predicted road curvature.

[0023] Furthermore, in the aforementioned vehicle adaptive cruise control method, the method further includes:

[0024] The presence of a speed bump in front of the vehicle is determined based on image information captured by a camera device positioned in front of the vehicle.

[0025] If so, the vehicle is controlled to decelerate, and after the vehicle has completely passed the speed bump, the vehicle is controlled to accelerate to the target speed.

[0026] Furthermore, in the aforementioned vehicle adaptive cruise control method, the step of determining that the vehicle has completely passed over the speed bump includes:

[0027] When the vehicle passes over a speed bump, the current tire pressure value of the vehicle is obtained, and the corresponding amplitude of the change in the current tire pressure value is determined based on the change in the current tire pressure value.

[0028] If the tire pressure of the vehicle does not change within the amplitude of the current tire pressure change, it is determined that the vehicle has completely passed the speed bump.

[0029] Another object of the present invention is to provide a vehicle adaptive cruise control system, applied in a vehicle adaptive cruise controller, wherein the vehicle adaptive cruise controller is communicatively connected to a camera acquisition device, a millimeter-wave radar, a steering wheel angle sensor, and an attitude sensor disposed on the vehicle, and the system includes:

[0030] The detection module is used to receive the forward environmental signals collected by the camera acquisition device and the millimeter-wave radar when cruise control is detected to be activated.

[0031] An acceleration module is used to control the vehicle to accelerate to a preset target speed when there are no obstacle signals in the forward environmental signals.

[0032] The control module is used to control the vehicle to maintain a constant speed after the vehicle accelerates to a preset target speed.

[0033] Another object of this invention is to provide a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0034] Another object of the present invention is to provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described above.

[0035] This invention receives ambient signals from a camera and millimeter-wave radar when cruise control is detected as activated. If no obstacles are detected in the ambient signals, the vehicle accelerates to a preset target speed. Once the vehicle reaches the target speed, it maintains cruise control at that speed. The invention also features a cruise control controller that presets and stores cruise control parameters, allowing the ECU to automatically engage the target speed. This eliminates the need for manual operation by pressing the accelerator and then the SET button. Through the controller, front camera, and front millimeter-wave radar, this invention achieves more intelligent adaptive cruise control, addressing the issue of low intelligence in existing adaptive cruise control technologies. Attached Figure Description

[0036] Figure 1 This is a flowchart of the vehicle adaptive cruise control method in the first embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram illustrating the determination of predicted road curvature in a vehicle adaptive cruise control method according to an embodiment of the present invention;

[0038] Figure 3 This is a structural block diagram of the vehicle adaptive cruise control system in the fourth embodiment of the present invention.

[0039] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0040] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0041] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed types.

[0043] The following will describe in detail how to improve the intelligence level of vehicle adaptive cruise control, with reference to specific embodiments and accompanying drawings.

[0044] Example 1

[0045] Please see Figure 1 The figure shows a vehicle adaptive cruise control method proposed in the first embodiment of the present invention, which is applied to a vehicle adaptive cruise controller. The vehicle adaptive cruise controller is communicatively connected to a camera acquisition device, a millimeter-wave radar, a steering wheel angle sensor and an attitude sensor arranged on the vehicle. The method includes steps S10 to S12.

[0046] Step S10: When cruise control is detected to be activated, receive the forward environmental signals collected by the camera acquisition device and the millimeter-wave radar.

[0047] Specifically, the vehicle's cruise control function can be activated via a pre-defined switch. The vehicle can detect the status of the cruise control switch to determine whether cruise control is activated. When cruise control is activated, the camera and millimeter-wave radar are controlled to collect real-time data on the environment ahead to obtain environmental signals containing information about the environment ahead.

[0048] Step S11: When there is no obstacle signal in the forward environment signal, control the vehicle to accelerate to the preset target speed.

[0049] The system can determine whether there are obstacles in front of the vehicle based on environmental signals containing information about the environment ahead. When there are no obstacle signals in the environmental signals, it means that no obstacle has been detected in front, and the vehicle can accelerate to the preset target speed with a certain acceleration. Specifically, the vehicle adaptive cruise control can preset and store the parameters of cruise control, so that the ECU can automatically enter the target speed of cruise control, instead of manually pressing the accelerator and pressing SET to enter cruise control.

[0050] Specifically, the target speed can be set to a predetermined cruise control speed, which is set according to the driver's personal habits. For example, the speed limit on highways is generally 120 km / h. After cruise control is detected to be activated, the vehicle can accelerate directly to the target speed.

[0051] Furthermore, in some optional embodiments of the present invention, after the step of controlling the vehicle to accelerate to a preset target speed when there is no obstacle signal in the forward environmental signal, the method further includes:

[0052] During the process of the vehicle accelerating to the preset target speed, if an obstacle is detected in front of the vehicle, the current cruise data is maintained and the vehicle stops accelerating.

[0053] When the vehicle meets the preset cruise start conditions, the vehicle is cruised at a constant speed based on the cruise data.

[0054] Specifically, if an obstacle is suddenly detected ahead, the cruise control controller will send a command to the engine controller to exit the acceleration state and return to the cruise control controller waiting state, thus ensuring that the current speed of the vehicle is controllable. When the vehicle speed meets the cruise control activation conditions, such as no obstacle or the speed of the obstacle is greater than the target speed, the cruise control can be activated by pressing the cruise control activation switch on the vehicle, such as SET. The engine controller will then send the last cruise control status to the ECU and directly restore the last cruise control.

[0055] For example, if a user encounters a special situation (the vehicle in front is too close, or entering a ramp, encountering a pothole, or a speed bump), they need to step on the brakes to disengage cruise control. After these special situations have passed, pressing set+ will restore the previous cruise control setting. The parameters of the previous cruise control setting are stored by the controller.

[0056] Step S12: After the vehicle accelerates to the preset target speed, control the vehicle to maintain a constant speed.

[0057] Specifically, after the vehicle accelerates to the preset target speed, the vehicle is controlled to cruise at the preset target speed.

[0058] In summary, the vehicle adaptive cruise control method in the above embodiments of the present invention receives the forward environmental signals collected by the camera acquisition device and the millimeter-wave radar when cruise control is detected to be activated; when there are no obstacle signals in the forward environmental signals, the method controls the vehicle to accelerate to a preset target speed; after the vehicle accelerates to the preset target speed, the method controls the vehicle to cruise at the preset target speed, and uses the cruise control controller to preset and store cruise control parameters, so that the ECU can automatically enter the target speed for cruise control. This eliminates the need for manual operation by pressing the accelerator pedal and then pressing SET to activate cruise control. Furthermore, through the controller, the front camera, and the front millimeter-wave radar, the method achieves more intelligent control of adaptive cruise control, solving the problem of low intelligence in existing adaptive cruise control technologies.

[0059] Example 2

[0060] This embodiment also proposes a vehicle adaptive cruise control method. The difference between the vehicle adaptive cruise control method in this embodiment and the vehicle adaptive cruise control method proposed in Embodiment 1 is as follows:

[0061] The method further includes:

[0062] Based on the steering wheel angle and vehicle posture information collected by the steering wheel angle sensor and the posture sensor, it is determined whether the vehicle needs to turn.

[0063] When it is determined that the vehicle needs to turn, the vehicle is decelerated according to a preset rule while turning.

[0064] Existing cruise control technologies often fail to slow down when the vehicle is turning, causing insecurity and discomfort for users. This invention addresses this issue by using a cruise control controller that, when the vehicle is in ACC (Adaptive Cruise Control) mode, combines signals from the steering wheel angle sensor and vehicle speed and attitude sensor to determine if a turn is necessary. It then applies a certain amount of deceleration based on these signals. Once the vehicle resumes straight-line travel, it accelerates back to the target speed.

[0065] Specifically, when it is determined that the vehicle needs to turn, the turning radius of the lane in which the vehicle is located is determined and the corresponding deceleration is determined based on the turning radius;

[0066] During the vehicle's cruise control operation, the vehicle is decelerated by using the deceleration control.

[0067] Since the turning radius is inconsistent, the required deceleration radius will be different. Therefore, the corresponding deceleration can be determined according to the turning radius, so as to decelerate the vehicle. Specifically, the initial aiming road curvature, positioning information and historical road curvature data of the road in which the vehicle is to travel can be obtained.

[0068] The predicted road curvature is obtained based on the initial target road curvature, positioning information, and historical road curvature data of the road to be traveled by the vehicle. The turning radius corresponding to the predicted road curvature is then determined by searching a preset database based on the predicted road curvature.

[0069] Specifically, as the vehicle travels on the road surface shown in the diagram, sensors or image acquisition devices mounted on the vehicle collect information about the road ahead, such as... Figure 2As shown, during the time interval from time t to time t+Δt, the sensor collects information from the visual pre-aiming area in the image. The image information is then analyzed using a deep learning algorithm to obtain the road path information for the visual pre-aiming area and thus the initial road curvature. The vehicle is equipped with a positioning system, such as GPS or BeiDou navigation, which acquires the vehicle's positioning information in real time. Based on the vehicle's positioning information, historical road curvature data can be determined. Specifically, the location of the curve is determined based on the positioning information, and the historical road curvature data for the entire curve is determined based on historical data. After acquiring the pre-aiming road curvature, positioning information, and historical road curvature data, methods such as curve fitting neural network approximation are used to predict the road curvature of areas obscured (or not detected by the visual sensor), thus obtaining the predicted road curvature. Based on the predicted road curvature, the turning radius of the vehicle can be determined, and the corresponding real-time deceleration can be calculated, ensuring smooth adaptive cruise control through curves.

[0070] In summary, the vehicle adaptive cruise control method in the above embodiments of the present invention receives the forward environmental signals collected by the camera acquisition device and the millimeter-wave radar when cruise control is detected to be activated; when there are no obstacle signals in the forward environmental signals, the method controls the vehicle to accelerate to a preset target speed; after the vehicle accelerates to the preset target speed, the method controls the vehicle to cruise at the preset target speed, and uses the cruise control controller to preset and store cruise control parameters, so that the ECU can automatically enter the target speed for cruise control. This eliminates the need for manual operation by pressing the accelerator pedal and then pressing SET to activate cruise control. Furthermore, through the controller, the front camera, and the front millimeter-wave radar, the method achieves more intelligent control of adaptive cruise control, solving the problem of low intelligence in existing adaptive cruise control technologies.

[0071] Example 3

[0072] This embodiment also proposes a vehicle adaptive cruise control method. The difference between the vehicle adaptive cruise control method in this embodiment and the vehicle adaptive cruise control method proposed in Embodiment 1 is as follows:

[0073] The method further includes:

[0074] The presence of a speed bump in front of the vehicle is determined based on image information captured by a camera device positioned in front of the vehicle.

[0075] If so, the vehicle is controlled to decelerate, and after the vehicle has completely passed the speed bump, the vehicle is controlled to accelerate to the target speed.

[0076] Specifically, existing cruise control systems cause severe vehicle jolting when passing over speed bumps at the target speed, resulting in a poor user experience for both driver and passengers. The ACC controller in this invention receives signals from the front camera indicating the speed bump ahead and brakes the vehicle in advance. Once the vehicle has completely passed the speed bump, it accelerates back to the target speed, providing significantly improved driving convenience and a better passenger experience.

[0077] More specifically, the steps for determining whether the vehicle has completely passed over the speed bump include:

[0078] When the vehicle passes over a speed bump, the current tire pressure value of the vehicle is obtained, and the corresponding amplitude of the change in the current tire pressure value is determined based on the change in the current tire pressure value.

[0079] If the tire pressure of the vehicle does not change within the amplitude of the current tire pressure change, it is determined that the vehicle has completely passed the speed bump.

[0080] The system accurately determines whether a vehicle has completely passed a speed bump by measuring the changes in tire pressure as the vehicle travels over it. Specifically, it records the range of tire pressure changes as the vehicle travels over the speed bump. Once the tire pressure stabilizes after the change, it indicates that the vehicle has completely passed the speed bump.

[0081] In summary, the vehicle adaptive cruise control method in the above embodiments of the present invention receives the forward environmental signals collected by the camera acquisition device and the millimeter-wave radar when cruise control is detected to be activated; when there are no obstacle signals in the forward environmental signals, the method controls the vehicle to accelerate to a preset target speed; after the vehicle accelerates to the preset target speed, the method controls the vehicle to cruise at the preset target speed, and uses the cruise control controller to preset and store cruise control parameters, so that the ECU can automatically enter the target speed for cruise control. This eliminates the need for manual operation by pressing the accelerator pedal and then pressing SET to activate cruise control. Furthermore, through the controller, the front camera, and the front millimeter-wave radar, the method achieves more intelligent control of adaptive cruise control, solving the problem of low intelligence in existing adaptive cruise control technologies.

[0082] Example 4

[0083] Please see Figure 3 The figure shows a vehicle adaptive cruise control system proposed in the fourth embodiment of the present invention, which is applied in a vehicle adaptive cruise controller. The vehicle adaptive cruise controller is communicatively connected to a camera acquisition device, a millimeter-wave radar, a steering wheel angle sensor, and an attitude sensor arranged on the vehicle. The system includes:

[0084] The detection module 100 is used to receive the forward environmental signals collected by the camera acquisition device and the millimeter-wave radar when the cruise control is detected to be activated.

[0085] The acceleration module 200 is used to control the vehicle to accelerate to a preset target speed when there is no obstacle signal in the forward environment signal;

[0086] The control module 300 is used to control the vehicle to maintain a constant speed after the vehicle accelerates to a preset target speed.

[0087] Furthermore, in some optional embodiments of the present invention, the system further includes:

[0088] The acceleration stop module is used to maintain the current cruise data and stop the vehicle from accelerating when an obstacle is detected in front of the vehicle during the process of the vehicle accelerating to a preset target speed.

[0089] The continued acceleration module is used to continue cruise control of the vehicle based on the cruise data when the vehicle meets the preset cruise start conditions.

[0090] Furthermore, in some optional embodiments of the present invention, the system further includes:

[0091] The judgment module is used to determine whether the vehicle needs to turn based on the steering wheel angle and vehicle posture information collected by the steering wheel angle sensor and the posture sensor.

[0092] The deceleration module is used to decelerate the vehicle according to a preset rule when it is determined that the vehicle needs to turn.

[0093] Furthermore, in the aforementioned vehicle adaptive cruise control system, the deceleration module includes:

[0094] The determining unit is used to determine the turning radius of the lane in which the vehicle is located and to determine the corresponding deceleration based on the turning radius when it is determined that the vehicle needs to turn.

[0095] The deceleration unit is used to control the deceleration of the vehicle by means of the deceleration rate during the vehicle's constant speed cruise driving.

[0096] Furthermore, in the aforementioned vehicle adaptive cruise control system, the determining unit is specifically used for:

[0097] The initial aiming road curvature, positioning information, and historical road curvature data of the road to be traveled by the vehicle are obtained.

[0098] The predicted road curvature is obtained based on the initial target road curvature, positioning information, and historical road curvature data of the road to be traveled by the vehicle. The turning radius corresponding to the predicted road curvature is then determined by searching a preset database based on the predicted road curvature.

[0099] Furthermore, the aforementioned vehicle adaptive cruise control system further includes:

[0100] The acquisition module is used to determine whether there is a speed bump in front of the vehicle based on the image information acquired by the camera acquisition device arranged in front of the vehicle;

[0101] If so, the vehicle is controlled to decelerate, and after the vehicle has completely passed the speed bump, the vehicle is controlled to accelerate to the target speed.

[0102] Furthermore, in the aforementioned vehicle adaptive cruise control system, the step of determining whether the vehicle has completely passed the speed bump in the data acquisition module includes:

[0103] When the vehicle passes over a speed bump, the current tire pressure value of the vehicle is obtained, and the corresponding amplitude of the change in the current tire pressure value is determined based on the change in the current tire pressure value.

[0104] If the tire pressure of the vehicle does not change within the amplitude of the current tire pressure change, it is determined that the vehicle has completely passed the speed bump.

[0105] The functions or operation steps implemented by the above modules are largely the same as those in the above method embodiments, and will not be repeated here.

[0106] Example 5

[0107] In another aspect, the present invention provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of embodiments 1 to 3 above.

[0108] Example 6

[0109] In another aspect, the present invention provides an electronic device, the electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described in any one of embodiments 1 to 3 above.

[0110] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0112] More specific examples of storage media (a non-exhaustive list) include: electrical connections (electronic devices) with one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, the storage medium can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0113] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0114] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0115] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A vehicle adaptive cruise control method, applied in a vehicle adaptive cruise controller, wherein the vehicle adaptive cruise controller is communicatively connected to a camera acquisition device, a millimeter-wave radar, a steering wheel angle sensor, and an attitude sensor respectively arranged on the vehicle, the method comprising: When cruise control is detected to be activated, the system receives ambient signals from the camera and millimeter-wave radar. When there are no obstacle signals in the forward environment signals, control the vehicle to accelerate to the preset target speed; After the vehicle accelerates to the preset target speed, the vehicle is controlled to maintain a constant speed. Based on the steering wheel angle and vehicle posture information collected by the steering wheel angle sensor and the posture sensor, it is determined whether the vehicle needs to turn. When it is determined that the vehicle needs to turn, the vehicle is decelerated according to a preset rule while turning; The step of decelerating the vehicle according to a preset rule when it is determined that the vehicle needs to turn includes: When it is determined that the vehicle needs to turn, the turning radius of the lane in which the vehicle is located is determined and the corresponding deceleration is determined based on the turning radius; During the process of the vehicle driving at a constant speed cruise, the vehicle is decelerated by the deceleration. The step of determining the turning radius of the vehicle includes: The initial aiming road curvature, positioning information, and historical road curvature data of the road to be traveled by the vehicle are obtained. The predicted road curvature is obtained based on the initial target road curvature, positioning information, and historical road curvature data of the road in which the vehicle is to travel. The turning radius corresponding to the predicted road curvature is then determined by searching a preset database based on the predicted road curvature. The method further includes: The presence of a speed bump in front of the vehicle is determined based on image information captured by a camera device positioned in front of the vehicle. If so, then control the vehicle to decelerate, and after the vehicle has completely passed the speed bump, control the vehicle to accelerate to the target speed. The steps to determine whether the vehicle has completely passed over the speed bump include: When the vehicle passes over a speed bump, the current tire pressure value of the vehicle is obtained, and the corresponding amplitude of the change in the current tire pressure value is determined based on the change in the current tire pressure value. If the tire pressure of the vehicle does not change within the amplitude of the current tire pressure change, it is determined that the vehicle has completely passed the speed bump.

2. The vehicle adaptive cruise control method according to claim 1, characterized in that, The step of controlling the vehicle to accelerate to a preset target speed when there is no obstacle signal in the forward environmental signal further includes: During the process of the vehicle accelerating to the preset target speed, if an obstacle is detected in front of the vehicle, the current cruise data is maintained and the vehicle stops accelerating. When the vehicle meets the preset cruise start conditions, the vehicle continues to cruise at a constant speed based on the cruise data.

3. A vehicle adaptive cruise control system, characterized in that, The system is applied in a vehicle adaptive cruise control controller, which is communicatively connected to a camera acquisition device, a millimeter-wave radar, a steering wheel angle sensor, and an attitude sensor disposed on the vehicle, to implement a vehicle adaptive cruise control method according to any one of claims 1 to 2, the system comprising: The detection module is used to receive the forward environmental signals collected by the camera acquisition device and the millimeter-wave radar when cruise control is detected to be activated. An acceleration module is used to control the vehicle to accelerate to a preset target speed when there are no obstacle signals in the forward environmental signals. The control module is used to control the vehicle to maintain a constant speed after the vehicle accelerates to a preset target speed.

4. A readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method as described in any one of claims 1 to 2.

5. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the method as described in any one of claims 1 to 2.

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