A method, device, electronic device and storage medium for automatic vehicle driving

Abstract

The present invention relates to a method, device, electronic device, and storage medium for autonomous vehicle driving. The method is applied to a first vehicle and includes: upon detecting that the first vehicle is traveling parallel with a second vehicle, determining the parallel avoidance state of the first vehicle; obtaining acceleration amplitude limit information corresponding to different vehicle speeds of the first vehicle and the current speed of the first vehicle; determining a target acceleration for the first vehicle based on the parallel avoidance state, current vehicle speed, and acceleration amplitude limit information of the first vehicle; and adjusting the speed of the first vehicle based on the target acceleration. The present invention adjusts the acceleration of the first vehicle to disengage the first vehicle from the parallel state with the second vehicle, thereby providing the driver of the first vehicle with a safer, more comfortable, and more flexible driving experience.

Claims

1. A method for automatic vehicle driving, characterized in that: Applied to a first vehicle, the method includes: When detecting that the first vehicle is traveling parallel to a second vehicle, determining a parallel avoidance state of the first vehicle; Obtaining acceleration amplitude limit information corresponding to different vehicle speeds of the first vehicle and the current vehicle speed of the first vehicle; determining a target vehicle speed according to the parallel avoidance state of the first vehicle; Obtaining a correspondence between a driving style and a proportional coefficient and an integral coefficient; obtaining a driving style selected by a user; and determining a target proportional coefficient and a target integral coefficient based on the driving style selected by the user and the correspondence; When the difference between the target speed of the first vehicle and the current speed of the first vehicle is greater than a seventh threshold, the sub-target acceleration of the first vehicle is determined by the following formula: at = Ki×Error; Wherein, at is the sub-target acceleration, Error is the difference between the target speed of the first vehicle and the current speed of the first vehicle, and Ki is the target proportional coefficient; When the difference between the target speed of the first vehicle and the current speed of the first vehicle is less than or equal to a seventh threshold, the sub-target acceleration of the first vehicle is determined by the following formula: at = Ki×Error + Kp×Error; Among them, Kp is the target integral coefficient; determining a target acceleration for the first vehicle based on the sub-target acceleration for the first vehicle, the current speed of the first vehicle, and the acceleration amplitude limit information; The speed of the first vehicle is adjusted according to the target acceleration.

2. The method according to claim 1, characterized in that The parallel avoidance state includes an acceleration avoidance state, and determining the parallel avoidance state of the first vehicle includes: Determining whether the first vehicle satisfies a first preset condition; the first preset condition includes: a current speed of the first vehicle is greater than a first threshold, and there is no following vehicle in a following area, where the following area is a preset area in front of the first vehicle; If the first vehicle meets a first preset condition, it is determined that the parallel avoidance state of the first vehicle is an accelerated avoidance state.

3. The method according to claim 1, characterized in that The parallel avoidance state includes an acceleration avoidance state, and determining the parallel avoidance state of the first vehicle includes: determining whether the first vehicle satisfies a second preset condition; The second preset condition includes: the current speed of the first vehicle is greater than a first threshold, the difference between the longitudinal distance between the first vehicle and the following vehicle and a target following distance is greater than a second threshold, wherein the target following distance is when the speed of the first vehicle is adjusted to be the same as the speed of the following vehicle, the longitudinal distance between the first vehicle and the following vehicle, and the parallel time between the first vehicle and the second vehicle are greater than a third threshold, the duration for which the difference between the longitudinal distance between the first vehicle and the following vehicle and the target following distance is greater than the second threshold is also greater than the third threshold, and the difference between the current speed of the first vehicle and the current longitudinal speed of the second vehicle is greater than a fourth threshold; If the first vehicle meets a second preset condition, it is determined that the parallel avoidance state of the first vehicle is an accelerated avoidance state.

4. The method according to claim 1, wherein The parallel avoidance state includes a deceleration avoidance state, and determining the parallel avoidance state of the first vehicle includes: determining whether the first vehicle satisfies a third preset condition; the third preset condition comprising: a current speed of the first vehicle being greater than a first threshold, a difference between a longitudinal distance between the first vehicle and a following vehicle and a target following distance being less than a fifth threshold, a parallel time between the first vehicle and the second vehicle being greater than a third threshold, a duration during which a difference between the longitudinal distance between the first vehicle and the following vehicle and the target following distance is less than a fifth threshold and also greater than the third threshold, and a difference between the current speed of the first vehicle and the current longitudinal speed of the second vehicle being less than a sixth threshold; If the first vehicle meets a second preset condition, it is determined that the parallel avoidance state of the first vehicle is a deceleration avoidance state.

5. The method according to claim 2 or 3, characterized in that The method further comprises: If the first vehicle meets a fourth preset condition, it exits the acceleration avoidance state; the fourth preset condition includes: the difference between the current speed of the first vehicle and the current longitudinal speed of the second vehicle is greater than a seventh threshold, or the difference between the current speed of the first vehicle and the current longitudinal speed of the second vehicle is less than an eighth threshold.

6. The method according to claim 4, characterized in that The method further comprises: If the first vehicle meets a fifth preset condition, it exits the deceleration avoidance state; the fifth preset condition includes: the difference between the current speed of the first vehicle and the current longitudinal speed of the second vehicle is greater than a ninth threshold, or the difference between the current speed of the first vehicle and the current longitudinal speed of the second vehicle is less than a tenth threshold.

7. A vehicle automatic driving device, characterized in that: Applied to a first vehicle, the device comprises: a parallel avoidance state determining module, configured to determine a parallel avoidance state of the first vehicle when detecting that the first vehicle is traveling parallel to a second vehicle; an information acquisition module, configured to acquire acceleration amplitude limit information corresponding to different vehicle speeds of the first vehicle and a current vehicle speed of the first vehicle; a target acceleration determination module, configured to determine a target vehicle speed according to the parallel avoidance state of the first vehicle; Obtaining a correspondence between a driving style and a proportional coefficient and an integral coefficient; obtaining a driving style selected by a user; and determining a target proportional coefficient and a target integral coefficient based on the driving style selected by the user and the correspondence; When the difference between the target speed of the first vehicle and the current speed of the first vehicle is greater than a seventh threshold, the sub-target acceleration of the first vehicle is determined by the following formula: at = Ki×Error; Wherein, at is the sub-target acceleration, Error is the difference between the target speed of the first vehicle and the current speed of the first vehicle, and Ki is the target proportional coefficient; When the difference between the target speed of the first vehicle and the current speed of the first vehicle is less than or equal to a seventh threshold, the sub-target acceleration of the first vehicle is determined by the following formula: at = Ki×Error + Kp×Error; Among them, Kp is the target integral coefficient; determining a target acceleration for the first vehicle based on the sub-target acceleration for the first vehicle, the current speed of the first vehicle, and the acceleration amplitude limit information; A vehicle speed adjustment module is used to adjust the speed of the first vehicle according to the target acceleration.

8. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle automatic driving method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the vehicle automatic driving method as described in any one of claims 1 to 6.

Images