A high-speed anti-queue-jumping adaptive cruise active control method and control system

Abstract

The present invention relates to the technical field of vehicle adaptive cruise control, and specifically to an adaptive cruise active control method and control system for high-speed anti-queue-jumping. It includes a high-speed virtual lane narrowing scenario judgment method and an anti-queue-jumping adaptive cruise active control method in this scenario. When the self-vehicle is in high-speed adaptive cruise and the accompanying large truck in the adjacent lane is driving, it can effectively avoid the rear target vehicle from cutting in and squeezing in, so as to ensure the safety and comfort of the self-vehicle's high-speed adaptive cruise driving; the high-speed virtual lane narrowing scenario judgment method can virtualize the current actual road into a narrowed single lane according to the number of lanes and the type of parallel vehicles in the adjacent lane, so as to simplify the control scenario and improve the efficiency of control; the anti-queue-jumping adaptive cruise active control method can identify the overtaking intention of the rear target vehicle in the adjacent lane, control the acceleration of the self-vehicle to reduce the longitudinal distance with the accompanying large truck, so that the rear target vehicle does not have enough queue-jumping space and gives up overtaking.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle adaptive cruise control, and in particular to a high-speed anti-queue-jumping adaptive cruise active control method and control system. Background Art

[0002] Adaptive cruise control (ACC) enables the vehicle to travel according to the speed set by the driver, and can automatically maintain a safe distance from the target vehicle when there is a target vehicle ahead. However, in many scenarios, the safe distance maintained by the adaptive cruise control will be temporarily disrupted due to the influence of vehicles cutting in line in the adjacent lane. On the one hand, it will cause the vehicle to brake suddenly, making the driving experience worse, and on the other hand it will also cause serious safety hazards.

[0003] The adaptive cruise control method to prevent queue-jumping in the prior art is usually applied to low-speed driving conditions in urban areas and cannot be applied to scenarios where large trucks cut in line when driving on highways. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in view of the deficiencies in the prior art, a high-speed adaptive cruise active control method and control system are provided, which can effectively avoid the queue-cutting of the rear target vehicle when the vehicle is adaptively cruising at high speed and accompanying a large truck in the adjacent lane, so as to ensure the safety and comfort of the vehicle's high-speed adaptive cruise driving.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] 1. A high-speed anti-queue-jumping adaptive cruise control method

[0007] The present invention provides an active control method for an adaptive cruise control for preventing queue-jumping at a high speed, which specifically includes a method for determining a high-speed virtual lane narrowing scenario, and active control of an adaptive cruise control for preventing queue-jumping when the high-speed virtual lane narrows, so as to ensure driving safety and comfort.

[0008] The high-speed virtual lane narrowing scenario determination specifically includes the following steps:

[0009] S11, identifying whether the adaptive cruise control (ACC) function of the vehicle is turned on, if so, continuing to step S12, if not, exiting the determination process;

[0010] S12, determining whether the current road is a two-lane road, if so, proceeding to step S13, if not, exiting the determination process;

[0011] S13, determining whether the vehicle is in the following mode and the adjacent target vehicle in front of the adjacent lane is a large truck. If so, determining that the vehicle is in a high-speed virtual lane narrowing scenario, and starting the anti-queue-jumping adaptive cruise control of the vehicle. If not, exiting the determination process.

[0012] The determination of whether the current road is a two-lane road is specifically performed by identifying edges and lane lines through a vehicle camera or by reading positioning information from a high-precision map.

[0013] Furthermore, the following vehicle mode is specifically that there is a front target vehicle in front of the own vehicle, and the own vehicle and the front target vehicle maintain a preset safety distance and follow the vehicle.

[0014] Furthermore, the information of the adjacent target vehicle is identified by a vehicle camera or a vehicle radar.

[0015] The anti-queue-jumping adaptive cruise control specifically includes the following steps:

[0016] S21, when it is determined that the vehicle is in a high-speed virtual lane narrowing scenario, identify the current vehicle speed Va, the speed of the adjacent target truck Vc, and the longitudinal distance L1 between the front of the vehicle and the rear of the target truck;

[0017] S22, when it is detected that the speed of the target vehicle behind the vehicle in the lane adjacent to the own vehicle is Vd>Va, the longitudinal distance L2 between the front of the target vehicle behind and the rear of the own vehicle is identified;

[0018] S23, calculating the time t1 required for the front of the vehicle to travel to the rear of the target truck and the time t2 required for the front of the target vehicle to travel to the rear of the target truck;

[0019] Among them, t1 = L1 / (Va-Vc), t2 = (L2+L1) / (Vd-Vc);

[0020] S24, determine whether t1≥t2 is satisfied. If so, calculate the time t3 required for the front of the target vehicle to overtake the front of the self-vehicle and the longitudinal distance L between the front of the self-vehicle and the rear of the target truck after t3, and continue to execute step S25. If not, the self-vehicle maintains the original speed.

[0021] Among them, t3 = L2 / (Vd-Va), L = L1-(Va-Vc)×t3;

[0022] S25, determining whether L<preset safety distance threshold L_safe is satisfied, if so, sending an acceleration command to accelerate the vehicle, if not, the vehicle maintains the original speed.

[0023] Among them, the current vehicle speed Va is identified by the vehicle controller, and the adjacent target truck speed Vc and the longitudinal distance L1 between the front of the vehicle and the rear of the target truck are identified by the vehicle camera.

[0024] Furthermore, the vehicle speed Vd of the rear target vehicle and the longitudinal distance L2 between the front of the rear target vehicle and the rear of the own vehicle are both identified by a vehicle camera.

[0025] Furthermore, the preset safety distance threshold L_safe is dynamically obtained by querying a preset table based on the speed difference (Vd-Va) between the ego vehicle and the rear target vehicle.

[0026] Furthermore, the acceleration command is issued by the vehicle controller, and the acceleration value of the acceleration command is adapted to the speed difference (Vd-Va) between the ego vehicle and the rear target vehicle. The ego vehicle can select different acceleration curves to control the acceleration of the ego vehicle to prevent the rear target vehicle from suddenly cutting in.

[0027] 2. A vehicle adaptive cruise control system

[0028] Based on the same inventive concept, the present invention also provides a vehicle adaptive cruise active control system for implementing the control method described above, which mainly includes:

[0029] 1) Vehicle camera, used to determine the model and speed of the adjacent target vehicle in the adjacent lane, the speed of the target vehicle behind, the longitudinal distance between the front of the vehicle and the rear of the target truck, and the longitudinal distance between the front of the target vehicle behind and the rear of the vehicle;

[0030] 2) A high-precision map system to identify the number of lanes in the area where the vehicle is currently traveling;

[0031] 3) A vehicle controller, which is used to determine the vehicle speed and receive information from the vehicle camera and high-precision map system for calculation and judgment to execute the control method as described above.

[0032] Compared with the prior art, the present invention has the following main advantages:

[0033] 1. The present invention proposes a method for determining a high-speed virtual lane narrowing scenario, and performs active control of anti-queue-jumping adaptive cruise control when it is determined that the high-speed virtual lane is narrowing. When the vehicle is in high-speed adaptive cruise and is accompanied by a large truck in the adjacent lane, the target vehicle behind can be effectively prevented from cutting in, so as to ensure the safety and comfort of the vehicle's high-speed adaptive cruise driving;

[0034] 2. The high-speed virtual lane narrowing scenario determination method provided by the present invention can virtualize the current actual road into a narrowed single lane according to the number of lanes and the type of vehicles running in parallel in adjacent lanes, so as to simplify the control scenario, facilitate further adaptive cruise active control, and improve the efficiency of control;

[0035] 3. The anti-queue-jumping adaptive cruise control method provided by the present invention can identify the overtaking intention of the target vehicle behind in the adjacent lane, and control the acceleration of the vehicle to reduce the longitudinal distance with the accompanying large truck, so that the target vehicle behind will give up overtaking and keep driving in the original lane due to insufficient queue-jumping space. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic diagram of a real driving scene in an embodiment of the present invention;

[0037] Figure 2 Schematic diagram of a high-speed virtual lane narrowing scenario in an embodiment of the present invention;

[0038] Figure 3 Schematic diagram of a non-high-speed virtual lane narrowing scenario in an embodiment of the present invention;

[0039] Figure 4 Flow chart of a method for judging a high-speed virtual lane narrowing scenario in an embodiment of the present invention;

[0040] Figure 5 Flow chart of the high-speed anti-queue-jumping ACC active control method in an embodiment of the present invention;

[0041] Figure 6 Schematic diagram of various acceleration curves in an embodiment of the present invention;

[0042] Figure 7 It is a schematic diagram of the high-speed anti-queue-jumping ACC active control scenario in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0045] Adaptive cruise control (ACC) can drive according to the speed set by the driver, and can automatically maintain a safe distance when there is a target vehicle in front. However, in the scenario of a two-lane highway, there may be a slow lane occupied by a slow truck, forcing a faster ordinary passenger car to follow the vehicle in the slow lane. At this time, the ACC function of the vehicle in the fast lane is turned on and is in the following vehicle driving state. If the vehicle behind the adjacent slow lane suddenly overtakes and cuts in, since there is already a vehicle in front of the vehicle before the cut-in, the cutting vehicle will not be able to move away from the vehicle in time after the cut-in, so that the fixed safe distance maintained by the vehicle before the cut-in is temporarily destroyed, which will cause the vehicle to brake urgently, resulting in a poor driving experience and serious impact on driving safety.

[0046] Embodiment 1: This embodiment provides an adaptive cruise control method for preventing queue-jumping at high speeds, proposes a method for determining a high-speed virtual lane narrowing scenario, and a high-speed adaptive cruise control method for preventing queue-jumping at high speeds when this scenario is determined, to ensure driving safety and comfort.

[0047] like Figure 1 As shown in the figure, the ego vehicle a is in the state of adaptive cruise control (ACC) function turned on, and is following the front target vehicle b at a fixed distance; at this time, according to the recognition of the road edge and lane line by the detector (such as a camera) of the ego vehicle a, the current driving area is determined to be a closed two-lane (which can also be directly determined by the high-precision map). At the same time, the adjacent target vehicle c in front of the right adjacent lane is a large truck c with a slower vehicle speed. Due to the long length of the large truck, the field of view of the right road is greatly blocked, and the ego vehicle a needs to follow the vehicle in the overtaking lane for a long time. Therefore, this scene can be equated with the two lanes becoming a single lane, and it is determined as a high-speed virtual lane narrowing scene, such as Figure 2 As shown in the figure, d is the target vehicle behind that intends to overtake. At this time, the ego vehicle a will activate the high-speed anti-queue-jumping ACC active control to prevent the target vehicle d from suddenly jumping into the queue.

[0048] like Figure 3 As shown in the figure, in the non-high-speed virtual lane narrowing scenario where the adjacent target vehicle c is a non-large truck, since the adjacent target vehicle c in front of the adjacent lane to the right of the ego vehicle a is a sedan, the rear target vehicle d can stay in front of the ego vehicle for a short time before overtaking the adjacent target vehicle c after cutting in front of the ego vehicle a. Therefore, it has little impact on the safe distance maintained by the ego vehicle a, and there is no need to activate the high-speed anti-queuing ACC active control.

[0049] Embodiment 2: This embodiment provides a method for actively controlling an adaptive cruise control system for preventing queue-jumping at highway speeds, which specifically includes determining a scenario in which a high-speed virtual lane becomes narrower, and actively controlling an adaptive cruise control system for preventing queue-jumping at highway speeds in the scenario in which a high-speed virtual lane becomes narrower.

[0050] like Figure 4As shown, the high-speed virtual lane narrowing scenario determination specifically includes the following steps:

[0051] S11, identifying whether the adaptive cruise control (ACC) function of the vehicle is turned on, if so, continuing to step S12, if not, exiting the determination process;

[0052] S12, determining whether the current road is a two-lane road, if so, proceeding to step S13, if not, exiting the determination process;

[0053] S13, determining whether the vehicle is in the following mode and the adjacent target vehicle in front of the adjacent lane is a large truck. If so, determining that the vehicle is in a high-speed virtual lane narrowing scenario, and starting the anti-queue-jumping adaptive cruise control of the vehicle. If not, exiting the determination process.

[0054] The determination of whether the current road is a two-lane road is specifically performed by identifying edges and lane lines through a vehicle camera or by reading positioning information from a high-precision map.

[0055] Furthermore, the following vehicle mode is specifically that there is a front target vehicle in front of the own vehicle, and the own vehicle and the front target vehicle maintain a preset safety distance and follow the vehicle.

[0056] Furthermore, the information of the adjacent target vehicle is identified by a vehicle camera or a vehicle radar.

[0057] like Figure 5 As shown, the anti-queue-jumping adaptive cruise control specifically includes the following steps:

[0058] S21, when it is determined that the vehicle is in a high-speed virtual lane narrowing scenario, identify the current vehicle speed Va, the speed of the adjacent target truck Vc, and the longitudinal distance L1 between the front of the vehicle and the rear of the target truck;

[0059] S22, when it is detected that the speed of the target vehicle behind the vehicle in the lane adjacent to the own vehicle is Vd>Va, the longitudinal distance L2 between the front of the target vehicle behind and the rear of the own vehicle is identified;

[0060] S23, calculating the time t1 required for the front of the vehicle to travel to the rear of the target truck and the time t2 required for the front of the target vehicle to travel to the rear of the target truck;

[0061] Among them, t1 = L1 / (Va-Vc), t2 = (L2+L1) / (Vd-Vc);

[0062] S24, determine whether t1≥t2 is satisfied. If so, calculate the time t3 required for the front of the target vehicle to overtake the front of the self-vehicle and the longitudinal distance L between the front of the self-vehicle and the rear of the target truck after t3, and continue to execute step S25. If not, the self-vehicle maintains the original speed.

[0063] Among them, t3 = L2 / (Vd-Va), L = L1-(Va-Vc)×t3;

[0064] S25, determining whether L<preset safety distance threshold L_safe is satisfied, if so, sending an acceleration command to accelerate the vehicle, if not, the vehicle maintains the original speed.

[0065] Among them, the current vehicle speed Va is identified by the vehicle controller, and the adjacent target truck speed Vc and the longitudinal distance L1 between the front of the vehicle and the rear of the target truck are identified by the vehicle camera.

[0066] Furthermore, the vehicle speed Vd of the rear target vehicle and the longitudinal distance L2 between the front of the rear target vehicle and the rear of the own vehicle are both identified by a vehicle camera.

[0067] Furthermore, the preset safety distance threshold L_safe is dynamically obtained by querying a preset table based on the speed difference (Vd-Va) between the ego vehicle and the rear target vehicle.

[0068] Furthermore, the acceleration command is issued by the vehicle controller, and the acceleration value of the acceleration command is adapted to the speed difference (Vd-Va) between the ego vehicle and the target vehicle, such as Figure 6 As shown in the figure, the ego vehicle can select different acceleration curves to control the ego vehicle to accelerate and prevent the target vehicle d from suddenly cutting in.

[0069] like Figure 7 As shown, the high-speed anti-queue-jumping adaptive cruise active control method of this embodiment can prevent the rear target vehicle d from having enough front-jumping space, ensuring that the self-vehicle a can follow the front target vehicle b and then smoothly pass through the area parallel to the adjacent target truck c.

[0070] Embodiment 3: Based on the same inventive concept, this embodiment also provides a vehicle adaptive cruise control system for implementing the control method described above, which mainly includes:

[0071] 1) Vehicle camera, used to determine the model and speed of the adjacent target vehicle in the adjacent lane, the speed of the target vehicle behind, the longitudinal distance between the front of the vehicle and the rear of the target truck, and the longitudinal distance between the front of the target vehicle behind and the rear of the vehicle;

[0072] 2) A high-precision map system to identify the number of lanes in the area where the vehicle is currently traveling;

[0073] 3) A vehicle controller, which is used to determine the vehicle speed and receive information from the vehicle camera and high-precision map system for calculation and judgment to execute the control method as described above.

[0074] Embodiment 4: Based on the same inventive concept, this embodiment also provides a manual-automatic vehicle, which is provided with the vehicle adaptive cruise active control system as described above.

[0075] In summary:

[0076] 1. The present invention proposes a method for determining a high-speed virtual lane narrowing scenario, and performs active control of anti-queue-jumping adaptive cruise control when it is determined that the high-speed virtual lane is narrowing. When the vehicle is in high-speed adaptive cruise and is accompanied by a large truck in the adjacent lane, the target vehicle behind can be effectively prevented from cutting in, so as to ensure the safety and comfort of the vehicle's high-speed adaptive cruise driving;

[0077] 2. The high-speed virtual lane narrowing scenario determination method provided by the present invention can virtualize the current actual road into a narrowed single lane according to the number of lanes and the type of vehicles running in parallel in adjacent lanes, so as to simplify the control scenario, facilitate further adaptive cruise active control, and improve the efficiency of control;

[0078] 3. The anti-queue-jumping adaptive cruise control method provided by the present invention can identify the overtaking intention of the target vehicle behind in the adjacent lane, and control the acceleration of the vehicle to reduce the longitudinal distance with the accompanying large truck, so that the target vehicle behind will give up overtaking and keep driving in the original lane due to insufficient queue-jumping space.

[0079] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-speed anti-queue-jumping adaptive cruise control active control method, characterized in that: The invention comprises a method for determining a high-speed virtual lane narrowing scenario, and an anti-queue-jumping adaptive cruise active control method executed when it is determined that the vehicle is in a high-speed virtual lane narrowing scenario; the method for determining a high-speed virtual lane narrowing scenario comprises the following steps: When the adaptive cruise control function of the vehicle is turned on, determine whether the current road is a two-lane road, the vehicle is in the adaptive cruise following mode, and the adjacent target vehicle in the adjacent lane is a large truck. If so, determine that the vehicle is in a high-speed virtual lane narrowing scenario, and start the anti-queue-jumping adaptive cruise active control of the vehicle. If not, exit the determination process and do not perform the adaptive cruise active control. The anti-queue-jumping adaptive cruise active control method comprises the following steps: Identify the current vehicle speed Va, the adjacent target truck speed Vc, the longitudinal distance L1 between the front of the vehicle and the rear of the target truck, and monitor the speed Vd of the target vehicle behind the adjacent lane in real time. When Vd>Va, identify the longitudinal distance L2 between the front of the target vehicle behind and the rear of the vehicle. Calculate the time t1 required for the front of the ego vehicle to travel to the rear of the target truck and the time t2 required for the front of the rear target vehicle to travel to the rear of the target truck. When t1≥t2, calculate the time t3 required for the front of the rear target vehicle to overtake the front of the ego vehicle and the longitudinal distance L between the front of the ego vehicle and the rear of the target truck after t3, and determine whether L<the preset safety distance threshold L_safe. If so, send an acceleration command to accelerate the ego vehicle. If not, the ego vehicle maintains the original speed.

2. The high-speed anti-queue-jumping adaptive cruise control method according to claim 1, characterized in that: The adaptive cruise following mode is specifically: there is a front target vehicle in front of the own vehicle, and the own vehicle and the front target vehicle maintain a preset safety distance and follow the vehicle.

3. The high-speed anti-queue-jumping adaptive cruise control method according to claim 1, characterized in that: The time t1 required for the front of the vehicle to travel to the rear of the target truck and the time t2 required for the front of the target vehicle to travel to the rear of the target truck are calculated as follows: t1=L1 / (Va-Vc), t2=(L2+L1) / (Vd-Vc).

4. The method for high-speed anti-queue-jumping adaptive cruise control according to claim 1, characterized in that: The time t3 required for the front of the target vehicle to overtake the front of the vehicle and the longitudinal distance L between the front of the vehicle and the rear of the target truck after t3 are calculated as follows: t3=L2 / (Vd-Va), L=L1-(Va-Vc)×t3.

5. The high-speed anti-queue-jumping adaptive cruise control method according to claim 1, characterized in that: The preset safety distance threshold L_safe is dynamically obtained by querying a preset table according to the speed difference (Vd-Va) between the ego vehicle and the rear target vehicle.

6. The method for high-speed anti-queue-jumping adaptive cruise control according to claim 1, characterized in that: The acceleration value a of the acceleration command is (Vd-Va)×K, where K is the acceleration adjustment coefficient of the vehicle.

7. A vehicle adaptive cruise control system, used to implement the control method according to any one of claims 1 to 6, characterized in that: include: The vehicle camera is used to determine the type and speed of the adjacent target vehicle in the adjacent lane, the speed of the rear target vehicle, the longitudinal distance between the front of the vehicle and the rear of the target truck, and the longitudinal distance between the front of the rear target vehicle and the rear of the vehicle; High-precision map system, used to identify the number of lanes in the area where the vehicle is currently traveling; The vehicle controller is used to determine the vehicle speed and receive information from the vehicle camera and the high-precision map system for calculation and judgment to execute the control method as described in any one of claims 1 to 6.

8. A non-transitory readable storage medium having a program stored thereon, characterized in that: When the program is executed by a vehicle adaptive cruise control system, the control method according to any one of claims 1 to 6 is implemented.

9. A manual-automatic vehicle, characterized in that: Including the vehicle adaptive cruise active control system as described in claim 7.

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