An anthropomorphic rear-collision prevention longitudinal control method and device

Abstract

The present invention discloses an anthropomorphic rear-end collision prevention longitudinal control method and device, and relates to the field of vehicle assisted driving technology. An anthropomorphic rear-end collision prevention longitudinal control method includes the following steps: obtaining status information of the own vehicle, the front vehicle and the rear vehicle, the status information including vehicle speed, vehicle distance and vehicle type; determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle; determining the speed compensation amount of the vehicle according to the difference between the actual position and the planned position of the vehicle; determining the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed; determining the acceleration demand according to the acceleration compensation and the current vehicle speed, realizing the acceleration of the vehicle, and keeping the vehicle within a safe distance range. The anthropomorphic rear-end collision prevention longitudinal control method in the present invention can make the longitudinal control of the assisted driving system more intelligent and meet the specific needs of users.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle automatic driving, and in particular to an anthropomorphic rear-end collision prevention longitudinal control method and device. Background Art

[0002] The current assisted driving system will implement certain longitudinal deceleration strategies when controlling the vehicle to avoid or mitigate frontal collisions. These scenarios can be mainly divided into the following three categories:

[0003] (1) Speed ​​limit according to curves

[0004] (2) Control the time distance between vehicles or stop the vehicle according to the target ahead

[0005] (3) When there is no target ahead, cruise control is performed according to the set speed;

[0006] When the assisted driving system does not consider the risk of collision with the rear vehicle during the longitudinal deceleration process, if the vehicle's speed is high and the rear vehicle is close or approaching at a high speed, if the vehicle's speed is high (-3m) and the rear vehicle fails to decelerate in time when performing longitudinal deceleration, a rear collision may occur. The existing mechanism may not fully consider the rear-end collision that may be caused by the rear vehicle. Summary of the invention

[0007] The present application provides an anthropomorphic rear-end collision prevention longitudinal control method and device, which can make the longitudinal control of the auxiliary driving system more intelligent and meet the specific needs of users.

[0008] In order to achieve the above objectives, this application adopts the following technical solutions:

[0009] In a first aspect, an anthropomorphic rear-end collision prevention longitudinal control method is provided, comprising the following steps:

[0010] Obtaining status information of the own vehicle, the vehicle in front, and the vehicle behind, wherein the status information includes vehicle speed, vehicle distance, and vehicle type;

[0011] Determine the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the vehicle in front and the vehicle behind, wherein the longitudinal control strategy includes cruise control, vehicle following cruise and curve cruise strategy;

[0012] Determine the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determine the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed;

[0013] According to the acceleration compensation and the current vehicle speed, the acceleration requirement is determined to accelerate the vehicle so that the vehicle remains within a safe distance.

[0014] In some embodiments, determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the vehicle in front and the vehicle behind includes:

[0015] When the vehicle selects the cruise control strategy and the speed of the vehicle behind is V rear Greater than the vehicle speed V ego When, according to the formula:

[0016] R rear1 =K Rfactor1 *TTC rear

[0017] Determine the planned position of the vehicle to be R away from the vehicle behind rear1 , where K Rfactor1 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear It is the distance that the own vehicle and the following vehicle need to travel in safe braking time at the current speed.

[0018] In some embodiments, determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the vehicle in front and the vehicle behind includes:

[0019] When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K FFactor2 *TTC front There is a moving target in the range, R behind rear2 =K Rfactor2 *TTC rear When there is no target in the area, the planned position of the vehicle is determined to be TTC away from the vehicle in front. front , where K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear The TTC is the distance between the vehicle and the following vehicle that can be safely braked at the current speed. front The distance between the vehicle and the vehicle ahead that can be safely braked at the current speed;

[0020] When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K FFactor2 *TTC front There is a moving target in range, TTC behind rear With K Rfactor2 *TTC rear When there is a target, according to the formula:

[0021] S=K Ffactor2 *TTC front

[0022] Determine the planned position of the vehicle as the distance S from the vehicle in front, where K Ffactor2 is the correction coefficient of the front vehicle type under the cruise control strategy, K Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear The TTC is the distance between the vehicle and the following vehicle that can be safely braked at the current speed. front The distance between the vehicle and the vehicle ahead that can be safely braked at the current speed;

[0023] When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K FFactor2 *TTC front There is a moving target in the range, K behind Rrisk1 *TTC rear With TTC rear When there is a target, the planned position of the vehicle is determined to be TTC away from the vehicle in front. front , where K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rrisk1 is the risk correction factor of the rear vehicle type under the cruise control strategy, TTC rear It is the distance that the own vehicle and the following vehicle need to travel in safe braking time at the current speed.

[0024] In some embodiments, determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the vehicle in front and the vehicle behind includes:

[0025] When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K FFactor2 *TTC front There is a moving target in the range, K behind Rrisk1 *TTC rear When there is a target, the planned position of the vehicle is determined to be TTC away from the vehicle in front. front , and at the same time remind the driver of the risk of rear collision, where K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rrisk1 is the risk correction factor of the rear vehicle type under the cruise control strategy, TTC rear It is the distance that the own vehicle and the following vehicle need to travel in safe braking time at the current speed.

[0026] In some embodiments, determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the vehicle in front and the vehicle behind includes:

[0027] When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K FFactor2 *TTC front There is a stationary target in range, R behind rear2 =K Rfactor2 *TTC rear When there is no target, according to the formula:

[0028]

[0029] D stop =K Dfactor *D base

[0030] Determine the planned position of the vehicle as the distance D from the vehicle in front stop , where K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear D is the distance between the vehicle and the following vehicle that can be safely braked at the current speed. base is the default following distance set by the system, V ego The system detects the front R for the first time front The vehicle speed when there is a stationary target in the range, K Dfactor It is the correction coefficient of the type of the stationary target ahead under the vehicle-following cruise strategy;

[0031] When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K FFactor2 *TTC front There is a stationary target in range, R behind rear2 =K Rfactor2 *TTC rear When there is a target, according to the formula:

[0032]

[0033] D stop =K Dfactor *D base

[0034] Determine the planned position of the vehicle as the distance D from the vehicle in front stop , where KFfactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear D is the distance between the vehicle and the following vehicle that can be safely braked at the current speed. base is the default following distance set by the system, V ego The system detects the front R for the first time front The vehicle speed when there is a stationary target in the range, K Dfactor It is the correction coefficient of the stationary target type ahead under the vehicle-following cruise strategy.

[0035] In some embodiments, the method of determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, determining the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determining the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed includes:

[0036] When the vehicle selects the curve cruising strategy and the vehicle in front of it R front3 =K FFactor3 *TTC front When there is a curve in the range and there is no target behind, the planned position of the vehicle is determined to be S away from the vehicle in front. Curve , the S Curve is the distance that the vehicle needs to decelerate safely into a curve, where K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front The distance between the vehicle and the curve that can be safely braked at the current speed;

[0037] According to the formula:

[0038]

[0039] The vehicle acceleration α1 is obtained. When the calculated α1≥0, the vehicle acceleration α1=0, where V curvelimit is the maximum cornering speed, V ego is the current speed of the vehicle per second, and S1 is the distance required for safe braking at the current speed on a curve.

[0040] In some embodiments, the method of determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, determining the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determining the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed includes:

[0041] When the vehicle selects the curve cruising strategy and the vehicle in front of it R front3 =K FFactor3 *TTC front There is a curve in the range, TTC behind rear With K Rfactor3 *TTC rear When there is a target in the vehicle, the planned position of the vehicle is determined to be S away from the vehicle in front. Curve , the S Curve is the distance that the vehicle needs to decelerate safely into a curve, where K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front K is the distance between the vehicle and the curve that can be safely braked at the current speed. Rfactor3 is the correction factor of the rear vehicle type under the curve cruise strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0042] According to the formula:

[0043]

[0044] The vehicle acceleration α2 is obtained. When the calculated α2≥0, the vehicle acceleration α2=0, where S Curve V is the distance that the vehicle needs to decelerate safely into a curve. curvelimit is the maximum cornering speed, V ego is the vehicle's current speed per second.

[0045] In some embodiments, the method of determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, determining the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determining the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed includes:

[0046] When the vehicle selects the curve cruising strategy and the vehicle in front of it R front3 =K FFactor3 *TTC front There is a stationary target in the range, K behind Rrisk2 *TTC rear With TTC rear When there is a target in the vehicle, the planned position of the vehicle is determined to be S away from the vehicle in front. Curve , the S Curve is the distance that the vehicle needs to decelerate safely into a curve, where K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front K is the distance between the vehicle and the curve that can be safely braked at the current speed.Rrisk2 is the risk correction factor of the rear vehicle type under the curve cruise strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0047] According to the formula:

[0048]

[0049] The vehicle acceleration α3 is obtained. When the calculated α3≥0, the vehicle acceleration α3=0, where K Rfactor3 is the distance coefficient of the target object behind under the curve cruising strategy, V curvelimit is the maximum cornering speed, V ego is the current speed of the vehicle per second, and S1 is the distance required for safe braking at the current speed on a curve.

[0050] In some embodiments, the method of determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, determining the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determining the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed includes:

[0051] When the vehicle selects the curve cruising strategy and the vehicle in front of it R front3 =K FFactor3 *TTC front There is a stationary target in the range, K behind Rrisk2 *TTC rear When there is a target in the vehicle, the planned position of the vehicle is determined to be S away from the vehicle in front. Curve , the S Curve is the distance that the vehicle needs to decelerate safely into a curve, where K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front K is the distance between the vehicle and the curve that can be safely braked at the current speed. Rrisk2 is the risk correction factor of the rear vehicle type under the curve cruise strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0052] According to the formula:

[0053]

[0054] The vehicle acceleration α4 is obtained. When the calculated α4≥0, the vehicle acceleration α4=0, where K Rrisk is the danger distance coefficient of the target vehicle type initially set by the system, V ego is the vehicle’s current speed per second, SCurve V is the distance that the vehicle needs to decelerate safely into a curve. curvelimit is the maximum cornering speed.

[0055] In a second aspect, an anthropomorphic rear-end collision prevention longitudinal control device is provided, comprising:

[0056] A collection unit is used to obtain status information of the vehicle itself and objects in front of and behind the vehicle;

[0057] A planning unit, used to determine the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the vehicle in front and the vehicle behind, wherein the longitudinal control strategy includes the cruise control strategy, the vehicle following cruise strategy and the curve cruise strategy;

[0058] The planning unit is further used to determine a speed compensation amount of the vehicle according to a difference between an actual position of the vehicle and a planned position, and to determine an acceleration compensation amount of the vehicle according to the speed compensation amount and a set planned speed;

[0059] The control unit is used to determine the acceleration requirement based on the acceleration compensation and the current vehicle speed, and accelerate the vehicle so that the vehicle remains within a safe distance.

[0060] In the present invention, by obtaining the status information of the own vehicle, the front vehicle and the rear vehicle, the status information includes vehicle speed, vehicle distance and vehicle type; according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, the planned position of the vehicle is determined, and the longitudinal control strategy includes cruise control, cruise following and curve cruise strategy; according to the difference between the actual position of the vehicle and the planned position, the speed compensation of the vehicle is determined; according to the speed compensation and the set planned speed, the acceleration compensation of the vehicle is determined; according to the acceleration compensation and the current vehicle speed, the acceleration requirement is determined to achieve the acceleration of the vehicle so that the vehicle is kept within a safe distance range. Therefore, the present invention can consider more situations to make the longitudinal control of the auxiliary driving system more intelligent and meet the specific needs of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a flow chart of an anthropomorphic rear-collision prevention longitudinal control method in an embodiment of the present invention;

[0062] Figure 2 Schematic diagram of a moving target ahead of the vehicle following cruise strategy in an embodiment of the present invention

[0063] Figure 3 This is a schematic diagram of a stationary target in front of the vehicle following cruise strategy in an embodiment of the present invention;

[0064] Figure 4 It is a schematic diagram of comprehensive judgment under various strategies in an embodiment of the present invention.

[0065] Figure 5 is a schematic diagram of an anthropomorphic rear-end collision prevention longitudinal control device according to an embodiment of the present invention; DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0067] See also Figure 1 The embodiment of the present invention provides an anthropomorphic rear-end collision prevention longitudinal control method, which includes but is not limited to the following steps:

[0068] S1. Obtaining status information of the vehicle, the vehicle in front and the vehicle behind, the status information including speed, distance and vehicle type;

[0069] S2. Determine the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the vehicle in front and the vehicle behind, wherein the longitudinal control strategy includes cruise control, cruise following and curve cruise strategy;

[0070] S3. Determine the speed compensation of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determine the acceleration compensation of the vehicle according to the speed compensation and the set planned speed;

[0071] S4. Determine the acceleration requirement based on the acceleration compensation and the current vehicle speed, and accelerate the vehicle so that the vehicle remains within a safe distance range.

[0072] Specifically, in step S1, the status information of the own vehicle, the front vehicle and the rear vehicle is obtained, and the status information includes vehicle speed, vehicle distance and vehicle type, which is achieved through the on-board sensors carried by the own vehicle. The on-board sensors include but are not limited to ultrasonic radar, millimeter-wave radar, lidar, forward-looking camera, etc.

[0073] It is worth noting that in step S2, based on the multiple data obtained in step S1, the front safety range is determined according to the current speed of the own vehicle and the corresponding safe braking time, and it is judged whether the distance between the front vehicle and the own vehicle exceeds the front safety range. When there is no target in the front safety range of the own vehicle or the target speed is greater than the speed of the own vehicle, the cruise control strategy is used, and the system controls the own vehicle to cruise at the set target speed;

[0074] When the system controls the ego vehicle to maintain a certain preset following distance between the vehicle and the vehicle in front, the following cruise strategy is used. When the distance between the ego vehicle and the vehicle in front is less than the preset following distance between the vehicle and the vehicle in front, the ego vehicle is decelerated until the distance between the ego vehicle and the vehicle in front is the preset following distance between the vehicle and the vehicle in front.

[0075] When there is a curve within the safe range in front of the vehicle, the curve cruise strategy is used, and the system controls the vehicle to enter the curve at the set target curve speed.

[0076] The following will explain in detail based on some application scenarios.

[0077] When the vehicle selects the cruise control strategy and the speed of the vehicle behind is V rear Greater than the vehicle speed V ego When, according to the formula:

[0078] R rear1 =K Rfactor1 *TTC rear

[0079] The planned position of the vehicle is R away from the vehicle behind. rear1 The position of K Rfactor1 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear It is the distance that the own vehicle and the following vehicle need to travel in safe braking time at the current speed.

[0080] It is worth noting that when the front R front When there is no target within the range or the target speed is greater than the vehicle speed, the system controls the vehicle to cruise at the set target speed, which is called cruise control.

[0081] The position control module calculates the speed compensation based on the actual position of the current vehicle and the planned position. When there is a vehicle within a safe distance behind the vehicle, the planned position is calculated from the positions of the vehicle and the vehicle behind during the cruise control process.

[0082] The speed control module calculates the acceleration compensation in real-time closed loop based on the speed compensation, system setting planning speed and actual vehicle speed;

[0083] The longitudinal control module calculates the acceleration requirement through a certain calibration closed loop based on the acceleration compensation and the current actual vehicle speed.

[0084] The longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration demand to achieve the acceleration, deceleration and constant speed of the vehicle.

[0085] The cruise control strategy is divided into the following scenarios:

[0086] Scenario 1: R in front of the vehicle front There is no target in the range, R behind the vehicle rear1There is no target within the range; the position control module does not operate;

[0087] Scenario 2: R in front of the vehicle front There is no target in the range, R behind the vehicle rear There are targets within the range, which can be divided into the following two situations:

[0088] Case 1: The speed of the vehicle coming from behind is V rear Less than or equal to the vehicle speed V ego ,This situation is regarded as scenario 1, and the position control module does not output the speed compensation;

[0089] Second case: rear vehicle speed V rear Greater than the vehicle speed V ego ;

[0090] TTC rear The safe braking time is 2.2s, which is the distance that the vehicle and the following vehicle travel at the current speed.

[0091] Where K Rfactor1 is the correction factor of the rear vehicle type under the cruise control strategy. If the rear vehicle type is a truck: K Rfactor1 =1.4; if the rear vehicle type is a two-wheeled vehicle: K Rfactor1 =1.2; if the target type of the rear vehicle is a passenger car: K Rfactor1 =1.0.

[0092] Depending on the type of vehicle behind you, when the vehicle behind you enters R rear1 =K Rfactor1 *TTC rear When the vehicle is within the range, the position module starts to output the speed compensation to accelerate the vehicle and maintain the rear longitudinal distance from the target vehicle behind.

[0093] Scenario 3: R in front of the vehicle front There is a target within the range, but the speed of the vehicle ahead is greater than the speed of the vehicle V ego Or if the set TTC threshold is not met, it is regarded as scenario 1.

[0094] The cruise control strategy for following vehicles is divided into the following scenarios:

[0095] Scenario 1: When the vehicle selects the cruise strategy and the vehicle in front of it is R front2 =K FFactor2 *TTC front There is a moving target in the range, R behind rear2 =K Rfactor2 *TTC rear When there is no target, K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC frontK is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0096] The planned position of the vehicle is TTC from the vehicle in front front , the TTC front It is the distance that the own vehicle and the vehicle ahead can travel in safe braking time at the current speed.

[0097] Furthermore, the speed control module calculates the acceleration compensation in real time based on the speed compensation, the system-set planned speed, and the actual vehicle speed through a closed-loop calculation; the longitudinal control module calculates the acceleration requirement through a certain calibration quantity closed-loop calculation based on the acceleration compensation and the current actual vehicle speed, and the longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0098] It is worth noting that when the system controls the vehicle to maintain a certain time distance TTC between the vehicle and the vehicle in front, front , and when the vehicle is slowed down, it is called cruise control; TTC front The safe braking time is 2.7s, which is the distance between the vehicle and the preceding vehicle under the current vehicle speed.

[0099] Among them, K Rfactor2 is the correction coefficient of the rear vehicle type under the cruise control strategy. If the rear vehicle type is a truck: K Rfactor2 =1.2, if the rear vehicle type is a two-wheeled vehicle: K Rfactor2 =1.1, if the target type of the rear vehicle is a passenger car: K Rfactor2 =1.0;

[0100] The K FFactor2 is the correction factor of the front vehicle type under the cruise control strategy. If the front vehicle type is a truck: K Ffactor2 =1.4, if the vehicle ahead is a two-wheeled vehicle: K Ffactor2 =1.2, if the target type of the vehicle ahead is a passenger car: K Ffactor2 =1.0;

[0101] See also Figure 2 , Scenario 2: R in front of the vehicle front2 =K FFactor2 *TTC front There is a moving target in the range, R behind rear2 =K Rfactor2 *TTC rear When there is a target:

[0102] In the first case, when the vehicle chooses the cruise strategy and the vehicle in front of it is R front2 =K FFactor2 *TTC front There is a moving target in range, TTC behind rear With K Rfactor2 *TTC rear When there is a target, K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0103] According to the formula:

[0104] S=K Ffactor2 *TTC front

[0105] Determine the planned position of the vehicle as the position S away from the vehicle in front, where K Ffactor2 is the correction coefficient of the front vehicle type under the cruise control strategy, K Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0106] Furthermore, the speed control module calculates the acceleration compensation in real time based on the speed compensation, the system-set planned speed, and the actual vehicle speed through a closed-loop calculation; the longitudinal control module calculates the acceleration requirement through a certain calibration quantity closed-loop calculation based on the acceleration compensation and the current actual vehicle speed, and the longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0107] In the second case, when the vehicle chooses the cruise strategy and the vehicle in front of it is R front2 =K FFactor2 *TTC front There is a moving target in the range, K behind Rrisk1 *TTC rear With TTC rear When there is a target, K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rrisk1 is the risk correction factor of the rear vehicle type under the cruise control strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0108] The planned position of the vehicle is TTC from the vehicle in front front , the TTC front It is the distance that the own vehicle and the vehicle ahead can travel in safe braking time at the current speed.

[0109] Furthermore, the speed control module calculates the acceleration compensation in real time based on the speed compensation, the system-set planned speed, and the actual vehicle speed through a closed-loop calculation; the longitudinal control module calculates the acceleration requirement through a certain calibration quantity closed-loop calculation based on the acceleration compensation and the current actual vehicle speed, and the longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0110] It is worth noting that K Rrisk1 is the risk correction factor of the rear vehicle type under the cruise control strategy. If the rear vehicle type is a truck: K Rrisk1 =0.7, if the rear vehicle type is a two-wheeled vehicle: K Rrisk1 =0.5, if the target type of the rear vehicle is a passenger car: K Rrisk1 =0.4;

[0111] In the third case, when the vehicle chooses the cruise strategy and the vehicle in front of it is R front2 =K FFactor2 *TTC front There is a moving target in the range, K behind Rrisk1 *TTC rear When there is a target, K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rrisk1 is the risk correction factor of the rear vehicle type under the cruise control strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0112] The planned position of the vehicle is TTC from the vehicle in front front , and at the same time remind drivers of the risk of rear collision, the TTC front It is the distance that the own vehicle and the vehicle ahead can travel in safe braking time at the current speed.

[0113] Furthermore, the speed control module calculates the acceleration compensation in real time based on the speed compensation, the system-set planned speed, and the actual vehicle speed through a closed-loop calculation; the longitudinal control module calculates the acceleration requirement through a certain calibration quantity closed-loop calculation based on the acceleration compensation and the current actual vehicle speed, and the longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0114] See also Figure 3 ,Scenario 3, when the vehicle chooses the cruise strategy and the vehicle in front of it R front2 =K FFactor2 *TTC front There is a stationary target in range, R behind rear2 =K Rfactor2 *TTC rear When there is no target, K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0115] According to the formula:

[0116]

[0117] D stop =K Dfactor *D base

[0118] Determine the planned position of the vehicle as the distance D from the vehicle in front stop , where D base is the default following distance set by the system, V ego The system detects the front R for the first time front The vehicle speed when there is a stationary target in the range, K Dfactor It is the correction coefficient of the stationary target type ahead under the vehicle-following cruise strategy.

[0119] At this time, the speed control module front2 , D stop Speed ​​planning is used to control the parking distance, and acceleration compensation is calculated in real-time closed loop. The longitudinal control module calculates the acceleration requirement through a certain calibration closed loop based on the acceleration compensation and the current actual vehicle speed. The longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0120] K Dfactor is the correction coefficient of the stationary target type in front under the cruise control strategy. If the stationary obstacle type in front is a pedestrian: K Dfactor =1.4; if the stationary obstacle ahead is a large truck: K Dfactor =1.3, if the obstacle ahead is a normal car or other obstacle type: K Dfactor =1.0.

[0121] Scenario 4: When the vehicle selects the cruise strategy and the vehicle in front of it is front2 =K FFactor2 *TTC front There is a stationary target in range, R behind rear2 =K Rfactor2 *TTC rear When there is a target, K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0122] According to the formula:

[0123]

[0124] D stop =K Dfactor *D base

[0125] Determine the planned position of the vehicle as the distance D from the vehicle in front stop , where D base is the default following distance set by the system, V ego The system detects the front R for the first time front The vehicle speed when there is a stationary target in the range, K Dfactor It is the correction coefficient of the type of the stationary target ahead under the vehicle-following cruise strategy;

[0126] At this time, the speed control module front2 , D stop Speed ​​planning is used to control the parking distance, and acceleration compensation is calculated through real-time closed-loop calculation. The longitudinal control module calculates the acceleration requirement through a certain calibration closed-loop calculation based on the acceleration compensation and the current actual vehicle speed. The longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0127] The curve cruise control strategy is divided into the following scenarios:

[0128] Scenario 1: When the vehicle selects the curve cruising strategy and the vehicle in front of it R front3 =K FFactor3 *TTC front When there is a curve in the range and no target behind, K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC frontThe distance between the vehicle and the curve that can be safely braked at the current speed;

[0129] The planned position of the vehicle is S away from the vehicle in front. Curve , the S Curve The distance to decelerate for your vehicle to enter a curve safely;

[0130] According to the formula:

[0131]

[0132] The vehicle acceleration α1 is obtained. When the calculated α1≥0, the vehicle acceleration α1=0, where V curvelimit is the maximum cornering speed, V ego is the current speed of the vehicle per second, and S1 is the distance that can be safely braked at the current speed when entering a curve. The system controls the distance of the vehicle before entering the curve to be S Curve Within the range, perform uniform deceleration to reduce the vehicle speed to V curvelimit The longitudinal control module calculates the acceleration requirement through a certain calibration closed-loop calculation based on the acceleration compensation and the current actual vehicle speed; the longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0133] The position control module does not operate, and the output speed compensation is 0; the speed control module calculates the acceleration compensation in real time based on the system setting planning speed and actual vehicle speed in a closed loop, and the calculation method is as follows. The system obtains the front curve radius R through visual perception or high-precision positioning. Different curve radius settings correspond to different curve entry speeds V curvelimit The details are shown in Table 1.

[0134] Table 1 Relationship between curve radius and maximum cornering speed

[0135]

[0136] The distance S for the vehicle to safely enter the curve and decelerate Curve It is related to the speed of the own vehicle. The specific relationship is shown in Table 2.

[0137] Table 2 Relationship between vehicle speed and distance for safe deceleration into a curve

[0138]

[0139] It is worth noting that the K Rfactor3 is the distance coefficient of the target object behind under the curve cruising strategy. If the rear vehicle type is a truck: K Rfactor3 =1.2, if the rear vehicle type is a two-wheeled vehicle: K Rfactor3 =1.1, if the target type of the rear vehicle is a passenger car: KRfactor3 =1.0;

[0140] Scenario 2, Case 1: When the vehicle selects the curve cruising strategy and the vehicle in front of it is front3 =K FFactor3 *TTC front There is a curve in the range, TTC behind rear With K Rfactor3 *TTC rear When there is a target, K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front K is the distance between the vehicle and the curve that can be safely braked at the current speed. Rfactor3 is the correction factor of the rear vehicle type under the curve cruise strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0141] The planned position of the vehicle is S away from the vehicle in front. Curve , the S Curve The distance to decelerate for your vehicle to enter a curve safely;

[0142] According to the formula:

[0143]

[0144] The vehicle acceleration α2 is obtained. When the calculated α2≥0, the vehicle acceleration α2=0, where S Curve V is the distance that the vehicle needs to decelerate safely into a curve. curvelimit is the maximum cornering speed, V ego is the current speed of the vehicle per second. The system controls the distance of the vehicle before entering the curve to be S Curve Within the range, perform uniform deceleration to reduce the vehicle speed to V curvelimit The longitudinal control module calculates the acceleration requirement through a certain calibration closed-loop calculation based on the acceleration compensation and the current actual vehicle speed; the longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0145] Scenario 2: When the vehicle selects the curve cruising strategy and the vehicle in front of it is front3 =K FFactor3 *TTC front There is a stationary target in the range, K behind Rrisk2 *TTC rear With TTC rear When there is a target, K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC frontK is the distance between the vehicle and the curve that can be safely braked at the current speed. Rrisk2 is the risk correction factor of the rear vehicle type under the curve cruise strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0146] The planned position of the vehicle is S away from the vehicle in front. Curve , the S Curve The distance to decelerate for your vehicle to enter a curve safely;

[0147] According to the formula:

[0148]

[0149] The vehicle acceleration α3 is obtained. When the calculated α3≥0, the vehicle acceleration α3=0, where K Rfactor3 is the distance coefficient of the target object behind under the curve cruising strategy, V curvelimit is the maximum cornering speed, V ego is the current speed of the vehicle per second, S1 is the distance that can be safely braked at the current speed when entering a curve; the system controls the distance of the vehicle before entering the curve to be S Curve Within the range, perform uniform deceleration to reduce the vehicle speed to V curvelimit The longitudinal control module calculates the acceleration requirement through a certain calibration closed-loop calculation based on the acceleration compensation and the current actual vehicle speed; the longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0150] It is worth noting that K Rrisk2 is the risk correction factor of the rear vehicle type under the curve cruising strategy. If the rear vehicle type is a truck: K Rrisk2 =0.7, if the rear vehicle type is a two-wheeled vehicle: K Rrisk2 =0.5, if the target type of the rear vehicle is a passenger car: K Rrisk2 =0.4.

[0151] Scenario 2, the third case: When the vehicle selects the curve cruising strategy and the vehicle in front of R front3 =K FFactor3 *TTC front There is a stationary target in the range, K behind Rrisk2 *TTC rear When there is a target, K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front K is the distance between the vehicle and the curve that can be safely braked at the current speed. Rrisk2 is the risk correction factor of the rear vehicle type under the curve cruise strategy, TTCrear The distance between the vehicle and the following vehicle that can be safely braked at the current speed;

[0152] The planned position of the vehicle is S away from the vehicle in front. Curve , the S Curve The distance to decelerate for your vehicle to enter a curve safely;

[0153] According to the formula:

[0154]

[0155] The vehicle acceleration α4 is obtained. When the calculated α4≥0, the vehicle acceleration α4=0, where K Rrisk is the danger distance coefficient of the target vehicle type initially set by the system, V ego is the vehicle’s current speed per second, S Curve V is the distance that the vehicle needs to decelerate safely into a curve. curvelimit is the maximum cornering speed. The system controls the vehicle to enter the curve at a distance of S Curve Within the range, perform uniform deceleration to reduce the vehicle speed to V curvelimit The longitudinal control module calculates the acceleration requirement through a certain calibration closed-loop calculation based on the acceleration compensation and the current actual vehicle speed; the longitudinal actuator outputs the corresponding braking force or driving force according to the acceleration requirement to achieve vehicle acceleration, deceleration, and constant speed.

[0156] It is worth noting that K Rrisk is the danger distance coefficient of the target vehicle type initially set by the system. If the vehicle type behind is a truck: K Rrisk =0.7, if the rear vehicle type is a two-wheeled vehicle: K Rrisk =0.5, if the target type of the rear vehicle is a passenger car: K Rrisk =0.4.

[0157] See also Figure 4 ,It is worth mentioning that in some cases, three cruise strategies may be needed at the same time.,This control method calculates the acceleration requirements of multiple scenarios in real time, and,the longitudinal decision maker is responsible for making decisions when the above multiple scenarios exist at the same time;

[0158] When acceleration demands ɑ1, ɑ2, and ɑ3 are all ≥ 0, the final acceleration demand takes the maximum value among the three;

[0159] When any value of acceleration demand ɑ1, ɑ2, ɑ3 is negative, the final acceleration demand takes the minimum value among the three;

[0160] Second, see Figure 5 , an embodiment of the present invention provides an anthropomorphic rear-end collision prevention longitudinal control device, comprising:

[0161] A collection unit is used to obtain status information of the vehicle itself and objects in front of and behind the vehicle;

[0162] A planning unit, used to determine the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the vehicle in front and the vehicle behind, wherein the longitudinal control strategy includes the cruise control strategy, the vehicle following cruise strategy and the curve cruise strategy;

[0163] The planning unit is further used to determine a speed compensation amount of the vehicle according to a difference between an actual position of the vehicle and a planned position, and to determine an acceleration compensation amount of the vehicle according to the speed compensation amount and a set planned speed;

[0164] The control unit is used to determine the acceleration requirement based on the acceleration compensation and the current vehicle speed, and accelerate the vehicle so that the vehicle remains within a safe distance.

[0165] The anthropomorphic rear-collision prevention longitudinal control method and device in the embodiment of the present invention obtains the status information of the own vehicle, the front vehicle and the rear vehicle, and the status information includes vehicle speed, vehicle distance and vehicle type; according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, the planned position of the vehicle is determined, and the longitudinal control strategy includes cruise control, cruise following and curve cruise strategy; according to the difference between the actual position and the planned position of the vehicle, the speed compensation amount of the vehicle is determined; according to the speed compensation amount and the set planned speed, the acceleration compensation amount of the vehicle is determined; according to the acceleration compensation and the current vehicle speed, the acceleration requirement is determined to achieve the acceleration of the vehicle so that the vehicle remains within a safe distance range. Therefore, the present invention can consider more situations to make the longitudinal control of the auxiliary driving system more intelligent and meet the specific needs of users.

[0166] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0167] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0168] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. An anthropomorphic rear-end collision prevention longitudinal control method, characterized in that: The method comprises the following steps: Obtaining status information of the own vehicle, the vehicle in front, and the vehicle behind, wherein the status information includes vehicle speed, vehicle distance, and vehicle type; Determine the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the vehicle in front and the vehicle behind, wherein the longitudinal control strategy includes cruise control, vehicle following cruise and curve cruise strategy; Determine the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determine the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed; According to the acceleration compensation amount and the current vehicle speed, the acceleration requirement is determined to accelerate the vehicle so that the vehicle remains within a safe distance range; Determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle includes: When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K Ffactor2 *TTC front There is a stationary target in range, R behind rear2 =K Rfactor2 *TTC rear When there is no target, according to the formula: D stop =K Dfactor *D base Determine the planned position of the vehicle as the distance D from the vehicle in front stop , where R front2 is the basic safety range in front of the vehicle under the cruise control strategy, K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front R is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. rear2 is the basic safety range behind the vehicle under the cruise control strategy, K Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear D is the distance between the vehicle and the following vehicle that can be safely braked at the current speed. base is the default following distance set by the system, V ego The system detects the front R for the first time front2 The vehicle speed with a stationary target in the range, K Dfactor It is the correction coefficient of the type of the stationary target ahead under the vehicle-following cruise strategy; When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K Ffactor2 *TTC front There is a stationary target in range, R behind rear2 =K Rfactor2 *TTC rear When there is a target, according to the formula: D stop =K Dfactor *D base Determine the planned position of the vehicle as the distance D from the vehicle in front stop , where R front2 is the basic safety range in front of the vehicle under the cruise control strategy, K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front R is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. rear2 is the basic safety range behind the vehicle under the cruise control strategy, K Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear D is the distance between the vehicle and the following vehicle that can be safely braked at the current speed. base is the default following distance set by the system, V ego The system detects the front R for the first time front2 The vehicle speed when there is a stationary target in the range, K Dfactor It is the correction coefficient of the stationary target type ahead under the vehicle-following cruise strategy.

2. The anthropomorphic rear-end collision prevention longitudinal control method according to claim 1, characterized in that: Determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle includes: When the vehicle selects the cruise control strategy and the speed of the vehicle behind is V rear Greater than the vehicle speed V ego When, according to the formula: R rear1 =K Rfactor1 *TTC rear Determine the planned position of the vehicle to be R away from the vehicle behind rear1 , where R rear1 is the basic safety range behind the vehicle under the cruise control strategy, K Rfactor1 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear It is the distance that the own vehicle and the following vehicle need to travel in safe braking time at the current speed.

3. The anthropomorphic rear-end collision prevention longitudinal control method according to claim 1, characterized in that: Determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle includes: When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K Ffactor2 *TTC front There is a moving target in the range, R behind rear2 =K Rfactor2 *TTC rear When there is no target in the area, the planned position of the vehicle is determined to be TTC away from the vehicle in front. front , where K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed; When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K Ffactor2 *TTC front There is a moving target in range, TTC behind rear With K Rfactor2 *TTC rear When there is a target within the range, according to the formula: S=K Ffactor2 *TTC front Determine the planned position of the vehicle as the distance S from the vehicle in front, where K Ffactor2 is the correction coefficient of the front vehicle type under the cruise control strategy, K Rfactor2 is the correction factor of the rear vehicle type under the cruise control strategy, TTC rear The TTC is the distance between the vehicle and the following vehicle that can be safely braked at the current speed. front The distance between the vehicle and the preceding vehicle that can be safely braked at the current speed; When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K Ffactor2 *TTC front There is a moving target in the range, K behind Rrisk1 *TTC rear With TTC rear When there is a target in the range, the planned position of the vehicle is determined to be TTC away from the vehicle in front front , where K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rrisk1 is the risk correction factor of the rear vehicle type under the cruise control strategy, TTC rear It is the distance that the own vehicle and the following vehicle need to travel in safe braking time at the current speed.

4. The anthropomorphic rear-end collision prevention longitudinal control method according to claim 1, characterized in that: Determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle includes: When the vehicle selects the cruise strategy and the vehicle in front of it R front2 =K Ffactor2 *TTC front There is a moving target in the range, K behind Rrisk1 *TTC rear When there is a target, the planned position of the vehicle is determined to be TTC away from the vehicle in front. front , and at the same time remind the driver of the risk of rear collision, where K Ffactor2 is the correction factor of the front vehicle type under the cruise control strategy, TTC front K is the distance between the vehicle and the preceding vehicle that can be safely braked at the current speed. Rrisk1 is the risk correction factor of the rear vehicle type under the cruise control strategy, TTC rear It is the distance that the own vehicle and the following vehicle need to travel in safe braking time at the current speed.

5. The anthropomorphic rear-end collision prevention longitudinal control method according to claim 1, characterized in that: The method of determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, determining the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determining the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed includes: When the vehicle selects the curve cruising strategy and the vehicle in front of it R front3 =K Ffactor3 *TTC front When there is a curve in the range and there is no target behind, the planned position of the vehicle is determined to be S away from the vehicle in front. Curve , the S Curve is the distance that the vehicle needs to decelerate safely into a curve, where R front3 is the basic safety range in front of the vehicle under the curve cruising strategy, K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front The distance between the vehicle and the curve that can be safely braked at the current speed; According to the formula: The vehicle acceleration α1 is obtained. When the calculated α1≥0, the secondary value of the vehicle acceleration α1=0, where V curvelimit is the maximum cornering speed, V ego is the current speed of the vehicle per second, and S1 is the distance required for safe braking at the current speed on a curve.

6. The anthropomorphic rear-end collision prevention longitudinal control method as claimed in claim 1, characterized in that: The method of determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, determining the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determining the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed includes: When the vehicle selects the curve cruising strategy and the vehicle in front of it R front3 =K Ffactor3 *TTC front There is a curve in the range, TTC behind rear With K Rfactor3 *TTC rear When there is a target within the range, the planned position of the vehicle is determined to be S away from the vehicle in front. Curve , the S Curve is the distance that the vehicle needs to decelerate safely into a curve, where R front3 is the basic safety range in front of the vehicle under the curve cruising strategy, K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front K is the distance between the vehicle and the curve that can be safely braked at the current speed. Rfactor3 is the correction factor of the rear vehicle type under the curve cruise strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed; According to the formula: The vehicle acceleration α2 is obtained. When the calculated α2≥0, the secondary value of the vehicle acceleration α2=0 is assigned, where S Curve V is the distance that the vehicle needs to decelerate safely into a curve. curvelimit is the maximum cornering speed, V ego is the vehicle's current speed per second.

7. The anthropomorphic rear-end collision prevention longitudinal control method according to claim 1, characterized in that: The method of determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, determining the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determining the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed includes: When the vehicle selects the curve cruising strategy and the vehicle in front of it R front3 =K Ffactor3 *TTC front There is a stationary target in the range, K behind Rrisk2 *TTC rear With TTC rear When there is a target within the range, the planned position of the vehicle is determined to be S away from the vehicle in front. Curve , the S Curve is the distance that the vehicle needs to decelerate safely into a curve, where R front3 is the basic safety range in front of the vehicle under the curve cruising strategy, K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front K is the distance between the vehicle and the curve that can be safely braked at the current speed. Rrisk2 is the risk correction factor of the rear vehicle type under the curve cruise strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed; According to the formula: The vehicle acceleration α3 is obtained. When the calculated α3≥0, the secondary value of the vehicle acceleration α3=0 is assigned, where K Rfactor3 is the distance coefficient of the target object behind under the curve cruising strategy, V curvelimit is the maximum cornering speed, V ego is the current speed of the vehicle per second, and S1 is the distance required for safe braking at the current speed on a curve.

8. The anthropomorphic rear-end collision prevention longitudinal control method as claimed in claim 1, characterized in that: The method of determining the planned position of the vehicle according to the current longitudinal control strategy and the status information of the own vehicle, the front vehicle and the rear vehicle, determining the speed compensation amount of the vehicle according to the difference between the actual position of the vehicle and the planned position, and determining the acceleration compensation amount of the vehicle according to the speed compensation amount and the set planned speed includes: When the vehicle selects the curve cruising strategy and the vehicle in front of it R front3 =K Ffactor3 *TTC front There is a stationary target in the range, K behind Rrisk2 *TTC rear When there is a target within the range, the planned position of the vehicle is determined to be S away from the vehicle in front. Curve , the S Curve is the distance that the vehicle needs to decelerate safely into a curve, where R front3 is the basic safety range in front of the vehicle under the curve cruising strategy, K Ffactor3 is the correction factor of the front vehicle type under the curve cruise strategy, TTC front K is the distance between the vehicle and the curve that can be safely braked at the current speed. Rrisk2 is the risk correction factor of the rear vehicle type under the curve cruise strategy, TTC rear The distance between the vehicle and the following vehicle that can be safely braked at the current speed; According to the formula: The vehicle acceleration α4 is obtained. When the calculated α4≥0, the secondary value of the vehicle acceleration α4=0 is assigned, where K Risk is the danger distance coefficient of the target vehicle type initially set by the system, V ego is the vehicle’s current speed per second, S Curve V is the distance that the vehicle needs to decelerate safely into a curve. curvelimit is the maximum cornering speed.

Images