A speed adjustment method, device and equipment of an adaptive cruise vehicle and a medium

Abstract

The application discloses a speed adjustment method, device and equipment of an adaptive cruise vehicle and a medium. The method comprises the following steps: acquiring cruise-related speed of a current vehicle; acquiring vehicle-related information of a target rear vehicle, and determining a collision time according to the vehicle-related information and the cruise-related speed, wherein the vehicle-related information comprises a distance and a first vehicle speed; determining a target speed according to the collision time, and adjusting the speed of the current vehicle according to the target speed. The cruise-related speed of the current vehicle and the vehicle-related information of the target rear vehicle are acquired to determine the collision time of the current vehicle and the target rear vehicle, then the collision time is used to determine a speed increase coefficient, and the target speed is determined, finally, the speed of the current vehicle is increased based on the target speed, the distance between the current vehicle and the rear vehicle can be increased, the collision risk with the rear vehicle can be effectively avoided, the driving safety of the adaptive cruise vehicle is improved, the driving burden of the driver is better relieved, and the driving experience of the driver is better.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a speed adjustment method, device, equipment and medium for an adaptive cruise vehicle. Background Art

[0002] In current technology, the adaptive cruise control function of smart cars is an active safety function that automatically controls the longitudinal direction of the vehicle. When the system is activated, the driver can release the brake pedal and the accelerator pedal, and the system will automatically control the vehicle to accelerate, decelerate and stop at the set following distance, which can reduce the driver's driving burden. When there is no target vehicle in front, the vehicle will perform cruise control according to the target cruising speed set by the driver.

[0003] However, in the adaptive cruise control system of the prior art, if a target behind the vehicle suddenly intrudes into the vehicle and creates a collision risk, the vehicle cannot automatically increase the speed of the current vehicle to a certain extent during the system's stable cruise control process. In other words, the vehicle cannot increase the distance between the vehicle and the vehicle behind it, and the risk of collision with the vehicle behind it cannot be avoided. Summary of the Invention

[0004] The present invention provides a speed adjustment method, device, equipment and medium for an adaptive cruise vehicle, so as to solve the risk of the vehicle being rear-ended by a rear vehicle during adaptive cruise.

[0005] According to one aspect of the present invention, a speed adjustment method for an adaptive cruise vehicle is provided, the method comprising:

[0006] Get the current vehicle's cruising speed;

[0007] Obtaining vehicle-related information of the target rear vehicle and determining a collision time based on the vehicle-related information and the cruise-related speed, wherein the vehicle-related information includes the vehicle distance and the first vehicle speed;

[0008] The target speed is determined according to the collision time, and the speed of the current vehicle is adjusted according to the target speed.

[0009] Optionally, obtaining the cruise-related speed of the current vehicle includes: obtaining the cruise speed set by the user as the second vehicle speed; obtaining the lane speed limit through a forward perception vision module, wherein the forward perception vision module includes a camera; and using the second vehicle speed and the lane speed limit as the cruise-related speed.

[0010] Optionally, determining the collision time based on vehicle-related information and cruise-related speed includes: determining a speed difference between a first vehicle speed and a second vehicle speed; calculating a first ratio of the vehicle distance and the speed difference; and using the first ratio as the collision time.

[0011] Optionally, the target speed is determined according to the collision time, comprising: obtaining a calibration time, and calculating a second ratio of the collision time and the calibration time; determining whether the second ratio is less than a preset threshold, if yes, determining the target speed according to the second vehicle speed and a lane driving speed limit; otherwise, taking the lane driving speed limit as the target speed.

[0012] Optionally, the target speed is determined according to the second vehicle speed and the lane driving speed limit, comprising: obtaining a first adjustment coefficient and a second adjustment coefficient set by a user, wherein the second adjustment coefficient is less than the first adjustment coefficient; determining whether the second vehicle speed is less than the lane driving speed limit, if yes, taking a product of the first adjustment coefficient and the second vehicle speed as the target speed; otherwise, taking a product of the second adjustment coefficient and the second vehicle speed as the target speed.

[0013] Optionally, after the speed adjustment according to the target speed, the method further comprises: generating a prompt signal according to the target speed; and alarming in a specified manner according to the prompt signal.

[0014] Optionally, after the speed adjustment according to the target speed, the method further comprises: obtaining a risk removal time; taking the second vehicle speed as a recovery vehicle speed when the collision time is greater than or equal to the risk removal time; and adjusting the speed according to the recovery vehicle speed.

[0015] According to another aspect of the present application, there is provided a speed adjustment device for an adaptive cruise vehicle, comprising:

[0016] a cruise-related speed obtaining module, configured to obtain a cruise-related speed of a current vehicle;

[0017] a collision time determining module, configured to obtain vehicle-related information of a target rear vehicle, and determine a collision time according to the vehicle-related information and the cruise-related speed, wherein the vehicle-related information comprises a vehicle distance and a first vehicle speed;

[0018] a target speed adjusting module, configured to determine a target speed according to the collision time, and adjust the speed of the current vehicle according to the target speed.

[0019] According to another aspect of the present application, there is provided an electronic device, comprising:

[0020] at least one processor; and

[0021] a memory connected with the at least one processor in communication; wherein,

[0022] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute a speed adjustment method for an adaptive cruise vehicle according to any one of the embodiments of the present application.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the speed adjustment method for an adaptive cruise vehicle according to any embodiment of the present invention when executed.

[0024] The technical solution of the embodiment of the present invention determines the collision time between the current vehicle and the target rear vehicle by obtaining the cruise-related speed of the current vehicle and the vehicle-related information of the target rear vehicle, then determines the vehicle speed increase coefficient based on the collision time, and then determines the target speed. Finally, the current vehicle is accelerated based on the target speed. This can increase the distance between the current vehicle and the rear vehicle, effectively avoid the risk of collision with the rear vehicle, improve the driving safety of the adaptive cruise vehicle, better reduce the driving burden of the driver, and provide the driver with a better driving experience.

[0025] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a flow chart of a speed adjustment method for an adaptive cruise vehicle provided according to a first embodiment of the present invention;

[0028] Figure 2 This is a schematic structural diagram of an adaptive cruise control system provided according to a first embodiment of the present invention;

[0029] Figure 3 is a flowchart of another method for adjusting the speed of an adaptive cruise vehicle provided according to the first embodiment of the present invention;

[0030] Figure 4 is a flow chart of another method for adjusting the speed of an adaptive cruise vehicle provided according to a second embodiment of the present invention;

[0031] Figure 5 2 is a schematic structural diagram of a speed adjustment device for an adaptive cruise vehicle provided according to a third embodiment of the present invention;

[0032] Figure 6 The present invention is a schematic structural diagram of an electronic device for implementing a speed adjustment method for an adaptive cruise vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Example 1

[0036] Figure 1 A flowchart of a method for adjusting the speed of an adaptive cruise vehicle is provided for the first embodiment of the present invention. This embodiment is applicable to situations where a vehicle is at risk of rear collision during adaptive cruise control. The method can be executed by a speed adjustment device for an adaptive cruise vehicle. The speed adjustment device for an adaptive cruise vehicle can be implemented in the form of hardware and / or software and can be configured in a vehicle controller. Figure 1 As shown, the method includes:

[0037] S110: Obtain the current cruising speed of the vehicle.

[0038] Among them, adaptive cruise control (ACC) is an intelligent automatic control system, which means that during vehicle driving, the vehicle distance sensor installed in the front of the vehicle continuously scans the road in front of the vehicle, and the wheel speed sensor collects the vehicle speed signal. When the distance between the vehicle and the front vehicle is too small, the ACC control unit can make the wheels brake properly and reduce the output power of the engine by coordinating with the anti-lock braking system and engine control system, so that the vehicle and the front vehicle always maintain a safe distance. The biggest advantage of adaptive cruise control is that it not only maintains the speed set by the driver in advance, but also reduces the speed as needed under certain driving conditions, and even automatically brakes. The current vehicle refers to the vehicle that is performing adaptive cruise control, and the cruise-related speed includes the speed of the current vehicle and the speed limit of the lane where the current vehicle is located.

[0039] Figure 2 A structural diagram of an adaptive cruise control system is provided for the first embodiment of the application, Figure 2 The technical scheme of the embodiment comprises a forward perception module, a rearward perception module, a vehicle state acquisition module, an adaptive cruise control module and a vehicle actuator. It should be noted that the technical scheme of the embodiment is based on the fact that during vehicle cruise driving, the speed limit value of the road on which the vehicle is driving is detected in real time by a front camera, and the state of the target behind the vehicle is monitored by a rear sensing component camera and radar. When it is identified that the target behind the vehicle has a fast intrusion state, which may cause a collision risk with the vehicle, the cruise target speed is automatically adjusted, and a warning is given to remind the driver, thereby helping the driver to avoid the risk of rear-end collision of the vehicle behind to some extent.

[0040] Specifically, the forward perception module comprises a camera arranged on the front windshield, which can be used to detect the speed limit information of the road on which the vehicle is driving. The rearward perception module comprises a camera arranged on the rear windshield and a millimeter wave radar near the rear bumper, which is used to detect the target information behind the vehicle. The adaptive cruise control module is used to determine the target speed of the current vehicle based on the cruise-related speed sent by the forward perception module and the vehicle-related information sent by the rearward perception module. The technical scheme of the embodiment is based on the characteristics of millimeter wave radar and camera visual perception. Millimeter wave radar is better than camera visual perception in measuring longitudinal distance, speed and acceleration. Camera visual perception is better than millimeter wave radar in measuring lateral distance, lateral speed and lateral acceleration. At the same time, the camera can accurately collect and identify the road speed limit sign information and output. Therefore, the scheme of fusing millimeter wave radar and visual perception is adopted for rearward target detection, so as to realize accurate identification of rearward risk targets under cruise function, and the forward visual camera is used for collecting and identifying road speed limit information.

[0041] For example, the forward perception module can detect the road speed limit information set on the road where the vehicle is traveling in real time, and can accurately output the lane speed limit to the adaptive cruise control module. The rear perception module can detect the relevant information of the rear vehicle in real time, and then transmit it to the adaptive cruise control module through the whole vehicle signal. When the ACC function of the whole vehicle is activated for cruise control, the vehicle-related information and cruise-related speed are comprehensively judged to determine the rear collision risk of the current vehicle, and the ACC control target speed value is increased according to the determined target speed, triggering an acceleration request to the power system actuator, thereby increasing the distance between the rear vehicle and the vehicle, and better ensuring driving safety.

[0042] Optionally, obtaining the cruise-related speed of the current vehicle includes: obtaining the cruise speed set by the user as the second vehicle speed; obtaining the lane speed limit through a forward perception vision module, wherein the forward perception vision module includes a camera; and using the second vehicle speed and the lane speed limit as the cruise-related speed.

[0043] Specifically, the cruise-related speed includes the current vehicle speed and the lane speed limit. The user refers to the person driving the vehicle. The user can set the cruise speed on the vehicle's computer. At this time, the controller will use the cruise speed as the second speed, that is, the current vehicle's speed. For example, the user can set the cruise speed to 60km / h, and the current vehicle will maintain a speed of 60km / h. Among them, the controller refers to the adaptive cruise controller in the current vehicle. In addition, the adaptive cruise controller is connected to the forward perception vision module, which can be a camera. The forward perception vision module can identify the lane speed limit of the lane where the current vehicle is located.

[0044] S120: Obtain vehicle-related information of the target rear vehicle, and determine the collision time based on the vehicle-related information and the cruising-related speed, wherein the vehicle-related information includes the vehicle distance and the first vehicle speed.

[0045] The target rear vehicle refers to the target vehicle located behind the current vehicle, as identified by the rearward sensing module. The rearward sensing module includes a camera and millimeter-wave radar, which determine the target rear vehicle's speed (i.e., the first speed) and the distance between the target rear vehicle and the current vehicle. The time to collision is the estimated time between the current vehicle and the target rear vehicle, assuming the speed remains constant.

[0046] Optionally, determining the collision time based on vehicle-related information and cruise-related speed includes: determining a speed difference between a first vehicle speed and a second vehicle speed; calculating a first ratio of the vehicle distance and the speed difference; and using the first ratio as the collision time.

[0047] Specifically, because time is equal to the ratio of distance to speed, the controller can first determine the speed difference between the first and second vehicle speeds, and then further calculate the first ratio of the vehicle distance to the speed difference to determine the collision time. For example, if the calculated collision time is 3 seconds, it means that the current vehicle and the target rear vehicle are expected to collide in 3 seconds.

[0048] In one embodiment, when a vehicle is traveling at a constant speed under ACC cruise control, the vehicle detects the status information of the target behind it in real time and releases it to the ACC control module for calculation. The basic collision time t1 calculation process is: t1 = D2 / (V3-V1), where D2 is the longitudinal distance of the rear target from the vehicle, V3 is the speed of the rear target vehicle, and V1 is the speed of the current vehicle.

[0049] S130: Determine a target speed according to the collision time, and adjust the speed of the current vehicle according to the target speed.

[0050] Among them, the target speed refers to the vehicle speed adjusted according to the collision time. Adjusting the speed of the current vehicle according to the target speed can effectively avoid the risk of rear collision of the current vehicle.

[0051] Figure 3 A flowchart of a method for adjusting the speed of an adaptive cruise vehicle is provided for the first embodiment of the present invention. Step S130 mainly includes the following steps S131 to S138:

[0052] S131 . Obtain calibration time, and calculate a second ratio of the collision time to the calibration time.

[0053] The calibration time refers to the fixed time value pre-calibrated by the developer in the controller.

[0054] S132: Determine whether the second ratio is less than a preset threshold. If so, execute S134-S135; otherwise, execute S133.

[0055] S133: Set the lane speed limit as the target speed.

[0056] S134. Obtain a first adjustment coefficient and a second adjustment coefficient set by the user, wherein the second adjustment coefficient is smaller than the first adjustment coefficient.

[0057] Specifically, the controller can calculate the second ratio of the collision time and the calibration time. It should be noted that as time goes by, the distance between the target rear vehicle and the current vehicle becomes closer and closer, so the second ratio will become smaller and smaller. The preset threshold can be set according to the driver's driving needs. For example, the preset threshold can be 0.9. When the preset threshold is greater than 0.9, it can represent that the rear collision risk of the current vehicle is medium risk. When the preset threshold is less than 0.9, it can represent that the rear collision risk of the current vehicle is high risk. Therefore, the rear collision risk of the current vehicle can be determined by judging the size of the second ratio and the preset threshold, and then the vehicle speed adjustment strategy can be determined. When the second ratio is greater than or equal to the preset threshold, it indicates that the rear collision risk of the current vehicle is medium risk. At this time, the lane speed limit can be used as the target speed.

[0058] S135: Determine whether the second vehicle speed is less than the lane speed limit. If so, execute S136; otherwise, execute S137.

[0059] S136: Utilize the product of the first adjustment coefficient and the second vehicle speed as the target vehicle speed.

[0060] S137: The product of the second adjustment coefficient and the second vehicle speed is used as the target vehicle speed.

[0061] S138. Adjust the speed of the current vehicle according to the target speed.

[0062] Specifically, when the second ratio is less than a preset threshold, the first and second adjustment coefficients set by the user can be obtained. The speed adjustment strategy is then further determined based on the current vehicle's driving condition, where the driving condition refers to whether the current vehicle is speeding, i.e., the second speed is compared with the lane speed limit. The second adjustment coefficient is smaller than the first adjustment coefficient. When the second speed is less than the lane speed limit, a larger adjustment coefficient, i.e., the first adjustment coefficient, can be used to adjust the speed. When the second speed is greater than or equal to the lane speed limit, a more conservative adjustment strategy, i.e., the second adjustment coefficient, can be used to adjust the speed. After determining the target speed, the controller adjusts the current vehicle's speed based on the target speed to avoid the risk of a rear collision.

[0063] In one specific embodiment, when V1 < V2, the ACC cruise control system automatically adjusts the target cruising speed to V4 = β * V1, where β is the first adjustment coefficient, and the maximum target speed limit is V4 ≤ 1.1 * V2. When V1 ≥ V2, the ACC cruise control system automatically adjusts the target cruising speed to V5 = γ * V1, where γ is the second adjustment coefficient, and the maximum target speed limit is V5 ≤ 1.1 * V2. V1 is the current vehicle speed, and V2 is the lane speed limit.

[0064] Optionally, after the speed adjustment according to the target speed, the method further comprises: generating a prompt signal according to the target speed; and alarming in a specified manner according to the prompt signal.

[0065] Further, after the speed adjustment, the controller generates a prompt signal according to the target speed, and the controller alarms in a specified manner according to the prompt signal. The alarm is to prompt the user, so that the user can timely know the situation of the collision risk in the rear, so as to check and adjust the driving condition of the current vehicle, and the rear driver can also be prompted to ensure the safety of the driving process. The specified manner includes light or image. The light can be a pilot light connected to the controller to flash to prompt the user. The image can be displayed on a user terminal connected to the controller to prompt the user.

[0066] The technical scheme of the embodiment of the application determines the collision time of the current vehicle and the target rear vehicle by acquiring the cruise-related speed of the current vehicle and the vehicle-related information of the target rear vehicle, then determines the speed increase coefficient through the collision time, further determines the target speed, and finally speeds up the current vehicle based on the target speed. The distance between the current vehicle and the rear vehicle can be increased, the collision risk with the rear vehicle can be effectively avoided, the driving safety of the adaptive cruise vehicle is improved, the driving burden of the driver is better reduced, and the driving experience of the driver is better.

[0067] Embodiment two

[0068] Figure 4 A flowchart of a speed adjustment method of an adaptive cruise vehicle provided by the embodiment two of the application, the embodiment two adds a specific process of risk removal on the basis of the embodiment one. The specific content of steps S210-S230 is substantially the same as that of steps S110-S130 in the embodiment one, and therefore will not be described herein again. As shown in the figure, the method comprises the following steps. Figure 4

[0069] S210, acquiring the cruise-related speed of the current vehicle.

[0070] Optionally, the cruise-related speed of the current vehicle is acquired by: acquiring the cruise speed set by the user as a second vehicle speed; and acquiring the lane driving speed limit through a forward perception vision module, wherein the forward perception vision module comprises a camera; and taking the second vehicle speed and the lane driving speed limit as the cruise-related speed.

[0071] S220, acquiring the vehicle-related information of the target rear vehicle, and determining the collision time according to the vehicle-related information and the cruise-related speed, wherein the vehicle-related information comprises the distance and the first vehicle speed.

[0072] ​Optionally, the collision time is determined according to the vehicle-related information and the cruise-related speed, including: determining a speed difference value of the first vehicle speed and the second vehicle speed; calculating a first ratio of the vehicle distance and the speed difference value; and taking the first ratio as the collision time.

[0073] S230, determining a target speed according to the collision time, and adjusting the speed of the current vehicle according to the target speed.

[0074] Optionally, the target speed is determined according to the collision time, including: obtaining a calibration time, and calculating a second ratio of the collision time and the calibration time; determining whether the second ratio is less than a preset threshold, if yes, determining the target speed according to the second vehicle speed and a lane driving speed limit; otherwise, taking the lane driving speed limit as the target speed.

[0075] Optionally, the target speed is determined according to the second vehicle speed and the lane driving speed limit, including: obtaining a first adjustment coefficient and a second adjustment coefficient set by a user, wherein the second adjustment coefficient is less than the first adjustment coefficient; determining whether the second vehicle speed is less than the lane driving speed limit, if yes, taking a product of the first adjustment coefficient and the second vehicle speed as the target speed; otherwise, taking a product of the second adjustment coefficient and the second vehicle speed as the target speed.

[0076] Optionally, after the speed adjustment according to the target speed, the method further includes: generating a prompt signal according to the target speed; and alarming in a specified manner according to the prompt signal.

[0077] S240, obtaining a risk removal time, and taking the second vehicle speed as a recovery vehicle speed when the collision time is greater than or equal to the risk removal time.

[0078] Specifically, the user can set the risk removal time, which is a time when the rear target vehicle has no collision risk to the current vehicle, when the rear collision risk is identified by the rear sensing module and the collision time is greater than or equal to the risk removal time, the system will automatically recover to the cruise speed before adjustment, that is, the second vehicle speed is taken as the recovery vehicle speed, and then subsequent cruise control is performed on the current vehicle according to the recovery vehicle speed.

[0079] S250, adjusting the speed according to the recovery vehicle speed.

[0080] The technical scheme of the embodiment of the application, by obtaining the cruise-related speed of the current vehicle and the vehicle-related information of the target rear vehicle, determines the collision time of the current vehicle and the target rear vehicle, then determines the speed increase coefficient through the collision time, and further determines the target speed, and finally speeds up the current vehicle based on the target speed, which can increase the distance between the vehicle and the rear vehicle, effectively avoid the collision risk with the rear vehicle, improve the driving safety of the adaptive cruise vehicle, better reduce the driving burden of the driver, and make the driving experience of the driver better.

[0081] Example 3

[0082] Figure 5 This is a schematic diagram of the structure of a speed adjustment device for an adaptive cruise vehicle provided by the third embodiment of the present invention. Figure 5 As shown, the device includes: a cruise-related speed acquisition module 310, used to obtain the cruise-related speed of the current vehicle; a collision time determination module 320, used to obtain vehicle-related information of the target rear vehicle, and determine the collision time based on the vehicle-related information and the cruise-related speed, wherein the vehicle-related information includes the vehicle distance and the first vehicle speed; a target speed adjustment module 330, used to determine the target speed based on the collision time, and adjust the speed of the current vehicle based on the target speed.

[0083] Optionally, the cruise-related speed acquisition module 310 is specifically used to: obtain the cruise speed set by the user as the second vehicle speed; obtain the lane speed limit through the forward perception vision module, wherein the forward perception vision module includes a camera; and use the second vehicle speed and the lane speed limit as the cruise-related speed.

[0084] Optionally, the collision time determination module 320 specifically includes: a collision time determination unit, configured to: determine a speed difference between the first vehicle speed and the second vehicle speed; calculate a first ratio of the vehicle distance and the speed difference; and use the first ratio as the collision time.

[0085] Optionally, the target speed adjustment module 330 is specifically used to: obtain the calibration time and calculate a second ratio of the collision time to the calibration time; determine whether the second ratio is less than a preset threshold, and if so, determine the target speed based on the second vehicle speed and the lane speed limit; otherwise, use the lane speed limit as the target speed.

[0086] Optionally, the target speed adjustment module 330 specifically includes: a target speed determination unit, used to: obtain a first adjustment coefficient and a second adjustment coefficient set by the user, wherein the second adjustment coefficient is smaller than the first adjustment coefficient; determine whether the second vehicle speed is smaller than the lane speed limit, and if so, use the product of the first adjustment coefficient and the second vehicle speed as the target vehicle speed; otherwise, use the product of the second adjustment coefficient and the second vehicle speed as the target vehicle speed.

[0087] Optionally, the device further includes: a risk alarm module, configured to: generate a prompt signal according to the target speed; and issue an alarm in a specified manner according to the prompt signal.

[0088] Optionally, the device further includes: a vehicle speed recovery module, configured to: obtain the risk elimination time; when the collision time is greater than or equal to the risk elimination time, use the second vehicle speed as the recovery vehicle speed; and adjust the speed according to the recovery vehicle speed.

[0089] The technical solution of the embodiment of the present invention determines the collision time between the current vehicle and the target rear vehicle by obtaining the cruise-related speed of the current vehicle and the vehicle-related information of the target rear vehicle, then determines the vehicle speed increase coefficient based on the collision time, and then determines the target speed. Finally, the current vehicle is accelerated based on the target speed. This can increase the distance between the current vehicle and the rear vehicle, effectively avoid the risk of collision with the rear vehicle, improve the driving safety of the adaptive cruise vehicle, better reduce the driving burden of the driver, and provide the driver with a better driving experience.

[0090] A speed adjustment device for an adaptive cruise vehicle provided by an embodiment of the present invention can execute a speed adjustment method for an adaptive cruise vehicle provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0091] Example 4

[0092] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0093] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0094] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0095] The processor 11 can be various general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a speed adjustment method for an adaptive cruise vehicle. That is: obtaining the cruise-related speed of the current vehicle; obtaining vehicle-related information of the target rear vehicle, and determining the collision time based on the vehicle-related information and the cruise-related speed, wherein the vehicle-related information includes the vehicle distance and the first vehicle speed; determining the target speed based on the collision time, and adjusting the speed of the current vehicle based on the target speed.

[0096] In some embodiments, a method for adjusting the speed of an adaptive cruise control vehicle can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for adjusting the speed of an adaptive cruise control vehicle described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the method for adjusting the speed of an adaptive cruise control vehicle in any other suitable manner (e.g., via firmware).

[0097] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0098] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0099] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0100] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0101] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0102] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0103] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0104] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A speed adjustment method for an adaptive cruise vehicle, characterized in that: include: Get the current vehicle's cruising speed; Obtaining vehicle-related information of the target rear vehicle, and determining a collision time based on the vehicle-related information and the cruise-related speed, wherein the vehicle-related information includes a vehicle distance and a first vehicle speed; determining a target speed according to the collision time, and adjusting the speed of the current vehicle according to the target speed; The obtaining of the current vehicle's cruise-related speed includes: Obtain the cruising speed set by the user as the second speed; Obtaining a lane speed limit through a forward perception vision module, wherein the forward perception vision module includes a camera; using the second vehicle speed and the lane speed limit as the cruise-related speed; The determining of the collision time according to the vehicle-related information and the cruise-related speed includes: determining a vehicle speed difference between the first vehicle speed and the second vehicle speed; calculating a first ratio of the vehicle distance to the vehicle speed difference; Using the first ratio as the collision time; Wherein, determining the target speed according to the collision time includes: Obtaining a calibration time, and calculating a second ratio of the collision time to the calibration time; determining whether the second ratio is less than a preset threshold, and if so, determining the target speed according to the second vehicle speed and the lane speed limit; Otherwise, the lane speed limit is used as the target speed; The determining of the target speed according to the second vehicle speed and the lane speed limit includes: Acquire a first adjustment coefficient and a second adjustment coefficient set by a user, wherein the second adjustment coefficient is smaller than the first adjustment coefficient; determining whether the second vehicle speed is less than the lane speed limit, and if so, taking the product of the first adjustment coefficient and the second vehicle speed as the target speed; Otherwise, the product of the second adjustment coefficient and the second vehicle speed is used as the target speed.

2. The method according to claim 1, characterized in that After adjusting the speed according to the target speed, the method further includes: generating a prompt signal according to the target speed; An alarm is issued in a designated manner according to the prompt signal.

3. The method according to claim 1, characterized in that After adjusting the speed according to the target speed, the method further includes: Obtain the risk elimination time; When the collision time is greater than or equal to the risk elimination time, using the second vehicle speed as the recovery vehicle speed; The speed is adjusted according to the restored vehicle speed.

4. A speed adjustment device for an adaptive cruise vehicle, applied to the method according to any one of claims 1 to 3, characterized in that: include: The cruise-related speed acquisition module is used to obtain the current vehicle's cruise-related speed; a collision time determination module, configured to obtain vehicle-related information of a target rear vehicle and determine a collision time based on the vehicle-related information and the cruise-related speed, wherein the vehicle-related information includes a vehicle distance and a first vehicle speed; The target speed adjustment module is used to determine a target speed according to the collision time and adjust the speed of the current vehicle according to the target speed.

5. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 3.

6. A computer storage medium, characterized in that The computer storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 3 when executed.

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