According to the control method, the control device and the readable storage medium of the preceding vehicle to the ego vehicle

Abstract

The application discloses a control method and device for a preceding vehicle and a self vehicle, and a readable storage medium. The method comprises the following steps: acquiring speed information and position information of the preceding vehicle and speed information and position information of the self vehicle; obtaining acceleration of the self vehicle according to the speed information and position information of the preceding vehicle and the speed information and position information of the self vehicle; obtaining a vehicle distance from the preceding vehicle to the self vehicle according to the position information of the preceding vehicle and the position information of the self vehicle; when the acceleration of the self vehicle is less than a preset threshold, judging whether the vehicle distance is greater than or equal to a preset safe parking distance; if yes, obtaining a first coefficient of the acceleration of the self vehicle according to a predefined linear equation, wherein the linear equation is obtained according to a predefined corresponding relationship between the vehicle distance and the acceleration coefficient, and the acceleration coefficient is inversely proportional to the vehicle distance; multiplying the acceleration of the self vehicle by the first coefficient to obtain a first target acceleration; and controlling the self vehicle to travel at the first target acceleration, so that the acceleration of the self vehicle is adaptively adjusted according to the vehicle distance.

Description

Technical Field

[0001] This specification relates to the field of vehicle driving technology, and in particular to a method, a control device, and a readable storage medium for controlling a vehicle based on a preceding vehicle. Background Art

[0002] Vehicles are becoming increasingly intelligent, enabling features such as cruise control, following, following stop, and following start. Existing solutions for following stop and other functions simply use the vehicle's acceleration, calculated using unoptimized formulas, to control the vehicle's deceleration and stopping. However, when following a vehicle and stopping, the vehicle's acceleration cannot be flexibly controlled based on the distance between them, resulting in a poor user experience. Summary of the Invention

[0003] In view of this, the embodiments of this specification provide a method, a control device and a readable storage medium for controlling a vehicle based on a preceding vehicle, which are used to solve the problem in the prior art that the acceleration of the vehicle cannot be adjusted according to the distance between the preceding vehicle and the vehicle.

[0004] The embodiments of this specification adopt the following technical solutions:

[0005] The embodiment of this specification provides a method for controlling a vehicle based on a preceding vehicle, including:

[0006] Obtain the speed and position information of the preceding vehicle and the speed and position information of the own vehicle;

[0007] Obtaining the acceleration of the vehicle according to the speed information and position information of the preceding vehicle and the speed information and position information of the vehicle;

[0008] Obtaining the inter-vehicle distance between the preceding vehicle and the own vehicle based on the position information of the preceding vehicle and the position information of the own vehicle;

[0009] When the acceleration of the vehicle is less than a preset threshold, determining whether the inter-vehicle distance is greater than or equal to a preset safe stopping distance;

[0010] If so, obtaining a first acceleration coefficient of the vehicle according to a predefined linear equation; wherein the linear equation is obtained according to a predefined correspondence between an inter-vehicle distance and an acceleration coefficient, and the acceleration coefficient is inversely proportional to the inter-vehicle distance;

[0011] Multiplying the acceleration of the vehicle by the first coefficient to obtain a first target acceleration;

[0012] The vehicle is controlled to travel according to the first target acceleration.

[0013] Optionally, after the step of determining whether the inter-vehicle distance is greater than or equal to a preset safe stopping distance, the method further includes:

[0014] If the inter-vehicle distance is less than the preset safe stopping distance, multiplying a preset second coefficient by the acceleration of the ego vehicle to obtain a second target acceleration;

[0015] The vehicle is controlled to travel according to the second target acceleration.

[0016] Optionally, before the step of obtaining the first coefficient of the acceleration of the vehicle according to the predefined straight line equation, the method further includes:

[0017] Obtaining a slope of a straight line equation according to two predefined inter-vehicle distances and acceleration coefficients corresponding to the two inter-vehicle distances;

[0018] An equation of the straight line is obtained based on the slope.

[0019] Optionally, obtaining the slope of the straight line equation according to the two predefined inter-vehicle distances and the acceleration coefficients corresponding to the two inter-vehicle distances specifically includes: obtaining the slope of the straight line equation by the following formula (1);

[0020]

[0021] The linear equation of the slope is obtained by the following formula (2);

[0022] y=k*x+b (2)

[0023] Wherein, x1 represents a predefined inter-vehicle distance, x2 represents another predefined inter-vehicle distance, y1 represents a predefined acceleration coefficient corresponding to x1, and y2 represents a predefined acceleration coefficient corresponding to x2; x represents the inter-vehicle distance between the preceding vehicle and the own vehicle, y represents the first acceleration coefficient corresponding to the inter-vehicle distance, k represents the slope, and b represents the intercept obtained based on the predefined inter-vehicle distance and the acceleration coefficient corresponding to the predefined inter-vehicle distance.

[0024] Optionally, the second coefficient is greater than the maximum value of the first coefficient.

[0025] Optionally, before the step of obtaining the first coefficient of the acceleration of the vehicle according to the predefined straight line equation, the method further includes:

[0026] Get the predefined vehicle spacing;

[0027] The acceleration coefficient corresponding to the predefined vehicle distance is determined based on the depths to which multiple drivers step on the brake pedal at different vehicle distances and / or the driving resistance of vehicles of the same type as the own vehicle.

[0028] Optionally, the driving resistance of the vehicle of the same type as the own vehicle specifically includes:

[0029] The average value of the resistance to vehicle travel imposed by various road surfaces; and / or

[0030] The air resistance of a vehicle.

[0031] Optionally, obtaining the acceleration of the own vehicle according to the speed information and position information of the preceding vehicle and the speed information and position information of the own vehicle specifically includes:

[0032] The acceleration of the own vehicle is obtained based on the position information of the preceding vehicle, the speed information of the preceding vehicle in the traveling direction of the own vehicle, and the speed information and position information of the own vehicle.

[0033] The present invention also provides a device for controlling a vehicle based on a preceding vehicle, comprising:

[0034] An acquisition module is used to obtain the speed information and position information of the preceding vehicle and the speed information and position information of the own vehicle;

[0035] a first calculation module, configured to obtain the acceleration of the vehicle according to the speed information and position information of the preceding vehicle and the speed information and position information of the vehicle;

[0036] Obtaining the inter-vehicle distance between the preceding vehicle and the own vehicle based on the position information of the preceding vehicle and the position information of the own vehicle;

[0037] a judgment module, configured to judge whether the inter-vehicle distance is greater than or equal to a preset safe stopping distance when the acceleration of the vehicle is less than a preset threshold;

[0038] a second calculation module, configured to obtain a first acceleration coefficient of the ego vehicle according to a predefined straight line equation, wherein the straight line equation is obtained according to a predefined correspondence between an inter-vehicle distance and an acceleration coefficient, and the acceleration coefficient is inversely proportional to the inter-vehicle distance;

[0039] a third calculation module, configured to multiply the acceleration of the vehicle by the first coefficient to obtain a first target acceleration;

[0040] A control module is used to control the vehicle to travel according to the first target acceleration.

[0041] The embodiments of this specification also provide a machine-readable storage medium having a machine-executable program stored thereon. When the machine-executable program is executed by a processor, the method for controlling the vehicle based on the preceding vehicle according to any one of the above items is implemented.

[0042] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0043] Obtain the speed information and position information of the preceding vehicle and the speed information and position information of the own vehicle; obtain the acceleration of the own vehicle based on the speed information and position information of the preceding vehicle and the speed information and position information of the own vehicle; obtain the inter-vehicle distance between the preceding vehicle and the own vehicle based on the position information of the preceding vehicle and the position information of the own vehicle; when the acceleration of the own vehicle is less than a preset threshold, determine whether the inter-vehicle distance is greater than or equal to the preset safe stopping distance; if so, obtain the first coefficient of the acceleration of the own vehicle based on a predefined straight line equation; wherein the straight line equation is obtained based on the correspondence between the predefined inter-vehicle distance and the acceleration coefficient, and the acceleration coefficient is inversely proportional to the inter-vehicle distance; multiply the acceleration of the own vehicle by the first coefficient to obtain the first target acceleration; control the own vehicle to travel according to the first target acceleration, realize flexible control of the acceleration of the own vehicle according to the inter-vehicle distance, enable the own vehicle to stop according to the expected inter-vehicle distance or deceleration, realize slow braking when the inter-vehicle distance is large, and realize fast braking when the inter-vehicle distance is small, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0045] Figure 1 This is a flow chart of a method for controlling a vehicle based on a preceding vehicle in one embodiment of this specification;

[0046] Figure 2 A schematic diagram showing the correspondence between the first coefficient and the second coefficient of acceleration and the inter-vehicle distance in another embodiment of this specification;

[0047] Figure 3 1 is a schematic block diagram of a control device for a vehicle controlled by a preceding vehicle in one embodiment of the present specification. DETAILED DESCRIPTION

[0048] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] The technical solutions provided by the embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0050] An embodiment of the present disclosure provides a method for controlling a vehicle based on a preceding vehicle to solve the problem that the prior art cannot adjust the acceleration of the vehicle based on the distance between the preceding vehicle and the vehicle, resulting in a poor user experience.

[0051] Figure 1 This is a flow chart of a method for controlling a vehicle based on a preceding vehicle in an embodiment of this specification. The control method is shown below and may include:

[0052] Step S102: Obtaining the speed information and position information of the preceding vehicle and the speed information and position information of the own vehicle;

[0053] In this step, the speed and position information of the preceding vehicle obtained can be the speed and position information of the preceding vehicle relative to the vehicle in the direction of travel of the vehicle, that is, the longitudinal speed and longitudinal position information. The preceding vehicle can refer to a vehicle located in front of the vehicle and in the same lane as the vehicle. Generally, the speed and position information of the preceding vehicle can be obtained using an image acquisition device (such as a camera) on the vehicle. When the image acquisition device is a camera, the camera type can be a horizon camera or a mobileeye camera, etc.

[0054] Step S104: Obtaining the acceleration of the vehicle based on the speed information and position information of the preceding vehicle and the speed information and position information of the vehicle;

[0055] In this step, when calculating the acceleration of the own vehicle based on the speed and position information of the preceding vehicle and the own vehicle, a preset stopping distance between the preceding vehicle and the own vehicle may also be considered. For example, the preset stopping distance may be 1 meter, 3 meters, 4 meters, or 5 meters. The specific setting can be determined based on actual conditions and is not specifically limited here. Determining the acceleration of the own vehicle based on the speed and position information of the preceding vehicle and the own vehicle's speed and position information may specifically include: determining the acceleration of the own vehicle based on the position information of the preceding vehicle, the speed information of the preceding vehicle in the direction of travel of the own vehicle, and the speed and position information of the own vehicle. Incorporating the speed information of the preceding vehicle in the direction of travel into the calculation of the own vehicle's acceleration can provide a more accurate estimate.

[0056] Step S106: Obtaining the inter-vehicle distance between the preceding vehicle and the own vehicle based on the position information of the preceding vehicle and the own vehicle;

[0057] In this step, under normal circumstances, the inter-vehicle distance can be the distance between the vehicle in front and the own vehicle, especially when the lanes where the own vehicle and the vehicle in front are located are straight; of course, the inter-vehicle distance can also be the length of the lane line between the own vehicle and the vehicle in front. When the lanes where the own vehicle and the vehicle in front are located are curved, using the length of the lane line between the own vehicle and the vehicle in front as the inter-vehicle distance can more realistically reflect the inter-vehicle distance from the vehicle in front to the own vehicle, and more reasonably control the acceleration of the own vehicle.

[0058] Step S108: When the acceleration of the vehicle is less than a preset threshold, determine whether the inter-vehicle distance is greater than or equal to a preset safe stopping distance;

[0059] In this step, when the vehicle's acceleration is less than a preset threshold, it indicates that the vehicle is decelerating. The preset threshold can be 0, or a value less than 0, such as -0.1, -0.4, or -0.8, indicating a negative acceleration value. The preset safe stopping distance can be any value greater than or equal to 20 meters, such as 25 meters, 30 meters, or 35 meters.

[0060] If yes, executing step S110: obtaining a first acceleration coefficient of the ego vehicle according to a predefined linear equation; wherein the linear equation is obtained according to a predefined correspondence between the inter-vehicle distance and the acceleration coefficient, and the acceleration coefficient is inversely proportional to the inter-vehicle distance;

[0061] In this step, the acceleration coefficient is inversely proportional to the inter-vehicle distance. The greater the distance between the leading vehicle and the ego vehicle, the smaller the first coefficient obtained from the linear equation. This allows the ego vehicle to stop slowly in subsequent steps. This is consistent with the fact that when the distance between vehicles is large, drivers generally avoid braking suddenly and may simply release the accelerator. This prevents excessive distance from the leading vehicle, which could lead to other vehicles cutting in line. It also allows the ego vehicle to quickly catch up with the leading vehicle when the leading vehicle begins to reaccelerate. The smaller the distance between the leading vehicle and the ego vehicle, the larger the first coefficient obtained from the linear equation. This allows the ego vehicle to stop quickly in subsequent steps, avoiding a collision with the leading vehicle and improving the ego vehicle's safety. Ultimately, the ego vehicle can stop according to the expected distance between vehicles or deceleration, improving the user experience.

[0062] Step S112: multiplying the vehicle's acceleration by a first coefficient to obtain a first target acceleration;

[0063] Step S114: Control the vehicle to travel according to the first target acceleration.

[0064] In this embodiment, the speed information and position information of the preceding vehicle and the speed information and position information of the own vehicle are obtained; the acceleration of the own vehicle is obtained based on the speed information and position information of the preceding vehicle and the speed information and position information of the own vehicle; the inter-vehicle distance between the preceding vehicle and the own vehicle is obtained based on the position information of the preceding vehicle and the position information of the own vehicle; when the acceleration of the own vehicle is less than a preset threshold value, it is determined whether the inter-vehicle distance is greater than or equal to the preset safe stopping distance; if so, a first coefficient of the acceleration of the own vehicle is obtained based on a predefined straight line equation; wherein the straight line equation is obtained based on the correspondence between the predefined inter-vehicle distance and the acceleration coefficient, and the acceleration coefficient is inversely proportional to the inter-vehicle distance; the acceleration of the own vehicle is multiplied by the first coefficient to obtain a first target acceleration; the own vehicle is controlled to travel according to the first target acceleration, thereby realizing flexible control of the acceleration of the own vehicle according to the inter-vehicle distance, so that the own vehicle can stop according to the expected inter-vehicle distance (preset stopping distance) or deceleration, achieving slow braking when the inter-vehicle distance is large, and achieving fast braking when the inter-vehicle distance is small, thereby improving the user experience.

[0065] In the embodiment of this specification, after determining whether the inter-vehicle distance is greater than or equal to the preset safe stopping distance, the control method may further include:

[0066] If the distance between vehicles is less than the preset safe stopping distance, a second target acceleration is obtained by multiplying the acceleration of the vehicle by a preset second coefficient;

[0067] The vehicle is controlled to travel according to the second target acceleration.

[0068] In this embodiment, when the inter-vehicle distance is less than the preset safe stopping distance, indicating a relatively close inter-vehicle distance, if the first coefficient derived from the predefined linear equation is still used, the first coefficient will become increasingly larger, thereby increasing the first target acceleration. This can easily lead to an excessively large gap between the ego vehicle and the preceding vehicle after the vehicle stops, which is inconsistent with the driver's driving habits. Furthermore, after the preceding vehicle starts moving, the ego vehicle will take some time to approach the preceding vehicle, which can easily lead to other vehicles cutting in line. Therefore, to ensure that the ego vehicle stops at an appropriate location, e.g., to avoid an excessively large gap between the ego vehicle and the preceding vehicle after stopping, a fixed second coefficient is provided to enable the ego vehicle to stop quickly, which also conforms to the driver's habit of braking quickly when the gap between vehicles is small.

[0069] In the embodiment of this specification, before obtaining the first coefficient of the acceleration of the vehicle according to the predefined straight line equation, the following steps may be further included:

[0070] The slope of the straight line equation is obtained according to the two predefined vehicle spacings and the acceleration coefficients corresponding to the two vehicle spacings;

[0071] Get the equation of the line based on the slope.

[0072] In this embodiment, two different inter-vehicle distances can be predefined, along with corresponding acceleration coefficients. The slope of the linear equation is then derived based on the two predefined inter-vehicle distances and the corresponding acceleration coefficients, and the linear equation is then derived based on the slope. The real-time inter-vehicle distance between the preceding vehicle and the vehicle itself can then be substituted into the linear equation to obtain the first coefficient. Of course, the predefined inter-vehicle distances can also be increased, such as 3, 5, or 8. When the number of inter-vehicle distances is 8, for example, the sizes of inter-vehicle distances 1 to 8 are 20, 30, 40, 50, 60, 70, 80, and 200 m, where the acceleration coefficient corresponding to inter-vehicle distance 1 (20 m) is 0.8; the acceleration coefficient corresponding to inter-vehicle distance 2 (30 m) is 0.7; the acceleration coefficient corresponding to inter-vehicle distance 3 (40 m) is 0.6; the acceleration coefficient corresponding to inter-vehicle distance 4 (50 m) is 0.5; the acceleration coefficient corresponding to inter-vehicle distance 5 (60 m) is 0.3; the acceleration coefficient corresponding to inter-vehicle distance 6 (70 m) is 0.3; the acceleration coefficient corresponding to inter-vehicle distance 7 (80 m) is 0.3; and the acceleration coefficient corresponding to inter-vehicle distance 8 (200 m) is 0.2. This yields multiple different straight line equations, for example, seven (7 less than the predefined number of inter-vehicle distances). Each straight line equation corresponds to an inter-vehicle distance range. For example, one straight line equation corresponds to an inter-vehicle distance of 20-30m, one to an inter-vehicle distance of 30-40m, one to an inter-vehicle distance of 40-50m, one to an inter-vehicle distance of 50-60m, one to an inter-vehicle distance of 60-70m, one to an inter-vehicle distance of 70-80m, and one to an inter-vehicle distance of 80-200m. The straight line equation corresponding to the inter-vehicle distance range between the preceding vehicle and the vehicle itself can then be determined, and the inter-vehicle distance between the preceding vehicle and the vehicle itself can be substituted into the determined straight line equation. There are more predefined vehicle spacings, and multiple different linear equations can be obtained. The vehicle spacing is further refined, and the first coefficient is also refined, so that the first coefficient of acceleration can produce different change speeds as the vehicle spacing decreases. For example, the slope of the linear equation changes instead of changing at a fixed speed, so that the vehicle can stop or slow down more quickly and stop at a more reasonable position, improving the user experience and also helping to improve the safety of the vehicle. In general, the smaller the vehicle spacing, the faster the first coefficient changes, that is, the greater the slope of the linear equation, such as Figure 2 shown. Figure 2 In the figure, the horizontal direction indicates the distance between vehicles. The horizontal position indicated by the dotted line is the preset safe parking distance. The vertical direction indicates the acceleration coefficient. For example, the right side of the dotted line is the first coefficient, and the left side of the dotted line is the second coefficient. Figure 2When the distance between vehicles is greater than 50, the first coefficient changes slowly. When the distance between vehicles is less than 50, the first coefficient changes quickly, facilitating quick parking. The acceleration coefficient can generally be less than 1.

[0073] In the embodiment of the present specification, the slope of the straight line equation is obtained according to the two predefined inter-vehicle distances and the acceleration coefficients corresponding to the two inter-vehicle distances, which may specifically include: obtaining the slope of the straight line equation by the following formula (1);

[0074]

[0075] The equation of the straight line with slope is obtained by the following formula (2);

[0076] y=k*A+b(2)

[0077] Wherein, x1 represents a predefined inter-vehicle distance, x2 represents another predefined inter-vehicle distance, y1 represents a predefined acceleration coefficient corresponding to x1, and y2 represents a predefined acceleration coefficient corresponding to x2; x represents the inter-vehicle distance between the preceding vehicle and the own vehicle, y represents the first acceleration coefficient corresponding to the inter-vehicle distance, k represents the slope, and b represents the intercept obtained based on the predefined inter-vehicle distance and the acceleration coefficient corresponding to the predefined inter-vehicle distance.

[0078] In this embodiment, for example, x1 is 20, x2 is 30, y1 is 0.8, and y2 is 0.7, k = (y2 - y1) / (x2 - x1) = -0.1 / 10 = -0.01; y = -0.01x + b; b represents an intercept obtained based on a predefined inter-vehicle distance and an acceleration coefficient corresponding to the predefined inter-vehicle distance. For example, substituting x1 and y1 into formula (2), 0.8 = -0.01*20 + b, b = 1.

[0079] In the embodiment of this specification, the control method may further include:

[0080] The second coefficient is greater than the maximum value of the first coefficient.

[0081] In this embodiment, the second coefficient is generally slightly greater than the maximum value of the first coefficient, for example, by a predetermined difference, which can be any value between 0.02 and 0.1, such as 0.05. If the inter-vehicle distance is less than the predetermined safe stopping distance, a larger second coefficient is used to ensure the vehicle can stop at the appropriate location. This also aligns with the driver's driving habits. For example, when the distance is small and the vehicle's speed is high, we often press the brake pedal deeply. Or when the distance is small and the vehicle's speed is low, we also press the brake pedal to a certain degree instead of gradually pressing it down. This approach allows for parking or deceleration based on driving habits, which also helps improve user comfort.

[0082] In the embodiment of this specification, before obtaining the first coefficient of the acceleration of the vehicle according to the predefined straight line equation, the following steps may be further included:

[0083] Get the predefined vehicle spacing;

[0084] An acceleration coefficient corresponding to a predefined vehicle distance is determined based on the depths to which multiple drivers step on the brake pedal at different vehicle distances and / or the driving resistance of vehicles of the same type as the vehicle.

[0085] In this embodiment, using a vehicle of the same type as the vehicle itself can make the results closer to the actual situation of the vehicle itself. Each driver's braking habits may vary based on the distance between vehicles. For example, at the same distance between vehicles, some drivers press the brake pedal more deeply, while others press the brake pedal more lightly. Therefore, the acceleration coefficient obtained based on the driving habits of multiple drivers and the pre-defined distance between vehicles may better meet the needs of most users and help improve user comfort. In some other solutions, the vehicle's driving resistance is often ignored, resulting in premature stopping of the vehicle and failure to stop at the expected location. This embodiment takes the vehicle's driving resistance into consideration and defines an acceleration coefficient based on the vehicle's driving resistance. This offsets at least a portion of the vehicle's driving resistance, preventing the vehicle from stopping prematurely and allowing the vehicle to stop at a more reasonable location. Generally, the acceleration coefficient is less than 1.

[0086] In the embodiment of this specification, the driving resistance of a vehicle of the same type as the vehicle may specifically include:

[0087] The average value of the resistance to vehicle travel imposed by various road surfaces; and / or

[0088] The air resistance of a vehicle.

[0089] In this embodiment, the aforementioned vehicle can be a vehicle of the same type as the vehicle itself, which helps the resulting vehicle resistance more closely approximate the vehicle's actual driving resistance. Different road surfaces have different friction coefficients, resulting in different frictional resistances for the vehicle itself. Therefore, taking the average of the vehicle's driving resistances across multiple different road surfaces helps ensure the vehicle stops at a more appropriate location. The vehicle's air resistance can also be determined through multiple experiments. For example, different air resistances can be obtained at different vehicle speeds. The vehicle's air resistance can be the average of the air resistances obtained at different speeds. Generally, this embodiment targets the vehicle's deceleration and stopping. Therefore, the vehicle's air resistance can be the average of the air resistances obtained when the vehicle's speed is less than a specified speed. For example, if the specified speed is 5 kilometers per hour, the air resistances corresponding to 5 kilometers per hour, 4 kilometers per hour, 3 kilometers per hour, 2 kilometers per hour, 1 kilometer per hour, and so on can be calculated, and then the average air resistance can be obtained. Of course, the specified speed can be adjusted according to actual needs. This solution can implement the aforementioned embodiments through an improved adaptive cruise control (ACC) system, which can be installed on the vehicle. Conventional ACC systems are unable to adjust the acceleration coefficient of the vehicle based on the distance between the preceding vehicle and the vehicle. This solution can further improve upon existing ACC systems to enable the aforementioned embodiments.

[0090] Figure 3 This is a schematic block diagram of a control device for controlling the vehicle based on the preceding vehicle in an embodiment of this specification. Based on the same concept, an embodiment of this specification provides a control device for parking based on the preceding vehicle, which may include:

[0091] An acquisition module 301 is used to acquire the speed information and position information of the preceding vehicle and the speed information and position information of the own vehicle;

[0092] A first calculation module 302 is configured to obtain the acceleration of the vehicle according to the speed information and position information of the preceding vehicle and the speed information and position information of the vehicle;

[0093] Obtain the distance between the preceding vehicle and the own vehicle based on the preceding vehicle's position information and the own vehicle's position information;

[0094] The judgment module 303 is used to judge whether the inter-vehicle distance is greater than or equal to a preset safe stopping distance when the acceleration of the vehicle is less than a preset threshold;

[0095] A second calculation module 304 is configured to obtain a first acceleration coefficient of the ego vehicle according to a predefined linear equation, wherein the linear equation is obtained according to a predefined relationship between the inter-vehicle distance and the acceleration coefficient, and the acceleration coefficient is inversely proportional to the inter-vehicle distance;

[0096] A third calculation module 305 is configured to multiply the acceleration of the vehicle by a first coefficient to obtain a first target acceleration;

[0097] The control module 306 is configured to control the vehicle to travel according to a first target acceleration.

[0098] Based on the same concept, an embodiment of this specification provides a machine-readable storage medium on which a machine executable program is stored. When the machine executable program is executed by a processor, it implements any of the above-mentioned methods for controlling the vehicle based on the preceding vehicle.

[0099] It should be noted that the device provided in this application corresponds one-to-one to the method provided in this application. Therefore, the device also has similar beneficial technical effects as the method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the device will not be repeated here.

[0100] In the 1990s, it was quite obvious to distinguish whether an improvement in a technology was in hardware (e.g., improvement in circuit structures of diodes, transistors, switches, etc.) or in software (improvement in method flow). However, as technology has evolved, many improvements in method flow today can be considered as direct improvements in hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structures by programming the improved method flow into hardware circuits. Therefore, it cannot be said that an improvement in a method flow cannot be implemented by hardware entity modules. For example, a programmable logic device (PLD) such as a field programmable gate array (FPGA) is an integrated circuit whose logic function is determined by user programming of the device. A digital system is "integrated" on a piece of PLD by the designer programming it by himself, without having to ask a chip manufacturer to design and manufacture a special integrated circuit chip. Moreover, instead of manually fabricating an integrated circuit chip, this programming is now mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing a program, and the original code before compilation also has to be written in a specific programming language, which is called a hardware description language (HDL), and there are many such languages, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., and the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should be aware that, as long as the method flow is logically programmed in the above-mentioned hardware description languages and programmed into an integrated circuit, a hardware circuit implementing the logical method flow can be easily obtained.

[0101] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0102] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0103] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0104] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0106] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0108] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0109] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0110] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0111] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0112] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0113] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0114] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for controlling a vehicle based on a preceding vehicle, characterized in that: include: Obtain the speed and position information of the preceding vehicle and the speed and position information of the own vehicle; Obtaining the acceleration of the vehicle according to the speed information and position information of the preceding vehicle and the speed information and position information of the vehicle; Obtaining the inter-vehicle distance between the preceding vehicle and the own vehicle based on the position information of the preceding vehicle and the position information of the own vehicle; When the acceleration of the vehicle is less than a preset threshold, determining whether the inter-vehicle distance is greater than or equal to a preset safe stopping distance; If so, obtaining a first acceleration coefficient of the vehicle according to a predefined linear equation; wherein the linear equation is obtained according to a predefined correspondence between an inter-vehicle distance and an acceleration coefficient, and the acceleration coefficient is inversely proportional to the inter-vehicle distance; Multiplying the acceleration of the vehicle by the first coefficient to obtain a first target acceleration; controlling the vehicle to travel according to the first target acceleration; Before the step of obtaining the first coefficient of the acceleration of the vehicle according to the predefined straight line equation, the method further includes: Obtaining a slope of a straight line equation according to two predefined inter-vehicle distances and acceleration coefficients corresponding to the two inter-vehicle distances; obtaining an equation of the straight line based on the slope; The step of obtaining the slope of the straight line equation according to the two predefined vehicle spacings and the acceleration coefficients corresponding to the two vehicle spacings specifically includes: obtaining the slope of the straight line equation according to the following formula (1); （1） The equation of the straight line with the slope is obtained by the following formula (2); （2） Wherein, x1 represents a predefined inter-vehicle distance, x2 represents another predefined inter-vehicle distance, y1 represents a predefined acceleration coefficient corresponding to x1, and y2 represents a predefined acceleration coefficient corresponding to x2; x represents the inter-vehicle distance between the preceding vehicle and the ego vehicle, y represents the first acceleration coefficient corresponding to the inter-vehicle distance, k represents the slope, and b represents the intercept obtained based on the predefined inter-vehicle distance and the acceleration coefficient corresponding to the predefined inter-vehicle distance. Before the step of obtaining the first coefficient of the acceleration of the vehicle according to the predefined straight line equation, the method further includes: Get the predefined vehicle spacing; Determining an acceleration coefficient corresponding to the predefined vehicle distance based on the depth of brake pedal depression by multiple drivers at different vehicle distances and / or the driving resistance of vehicles of the same type as the vehicle; The driving resistance of the vehicle of the same type as the vehicle specifically includes: The average value of the resistance to vehicle travel imposed by various road surfaces; and / or The air resistance of a vehicle.

2. The control method according to claim 1, characterized in that: After the step of determining whether the inter-vehicle distance is greater than or equal to a preset safe stopping distance, the method further includes: If the inter-vehicle distance is less than the preset safe stopping distance, multiplying a preset second coefficient by the acceleration of the ego vehicle to obtain a second target acceleration; The vehicle is controlled to travel according to the second target acceleration.

3. The control method according to claim 2, characterized in that: The second coefficient is greater than a maximum value of the first coefficient.

4. The control method according to claim 1, wherein: The obtaining of the acceleration of the vehicle according to the speed information and position information of the preceding vehicle and the speed information and position information of the vehicle specifically includes: The acceleration of the own vehicle is obtained based on the position information of the preceding vehicle, the speed information of the preceding vehicle in the traveling direction of the own vehicle, and the speed information and position information of the own vehicle.

5. A control device for a vehicle based on a preceding vehicle, used to implement the method for controlling a vehicle based on a preceding vehicle according to any one of claims 1 to 4, characterized in that: include: An acquisition module is used to obtain the speed information and position information of the preceding vehicle and the speed information and position information of the own vehicle; a first calculation module, configured to obtain the acceleration of the vehicle according to the speed information and position information of the preceding vehicle and the speed information and position information of the vehicle; Obtaining the inter-vehicle distance between the preceding vehicle and the own vehicle based on the position information of the preceding vehicle and the position information of the own vehicle; a judgment module, configured to judge whether the inter-vehicle distance is greater than or equal to a preset safe stopping distance when the acceleration of the vehicle is less than a preset threshold; a second calculation module, configured to obtain a first acceleration coefficient of the ego vehicle according to a predefined straight line equation, wherein the straight line equation is obtained according to a predefined correspondence between an inter-vehicle distance and an acceleration coefficient, and the acceleration coefficient is inversely proportional to the inter-vehicle distance; a third calculation module, configured to multiply the acceleration of the vehicle by the first coefficient to obtain a first target acceleration; A control module is used to control the vehicle to travel according to the first target acceleration.

6. A machine-readable storage medium having a machine-executable program stored thereon, wherein when the machine-executable program is executed by a processor, the method for controlling the vehicle according to any one of claims 1 to 4 is implemented.

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