A vehicle acceleration control method, device, equipment and medium

Abstract

The application discloses a vehicle acceleration control method and device, equipment and medium, and relates to the technical field of auxiliary driving, and comprises the following steps: in car following cruise, a target overlap rate and a target time are calculated; the target overlap rate is a ratio of a width of a front vehicle in a lane line of a host vehicle to a body width, and the target time is a time required for the host vehicle to collide with the front vehicle; if the target overlap rate is not greater than an overlap rate threshold, and the target time is greater than a time threshold, different acceleration change rates are determined based on a driving state of the host vehicle, and the acceleration of the host vehicle is controlled. The application can avoid the phenomenon that the host vehicle starts to accelerate while the front vehicle has completely cut out, greatly avoids the safety hazard caused to driving, and can determine different acceleration change rates based on the driving state of the host vehicle, so that more humanized and intelligent control is realized on the acceleration of the host vehicle.

Description

Technical Field

[0001] This invention relates to the field of driver assistance technology, and in particular to a vehicle acceleration control method, device, equipment, and medium. Background Technology

[0002] When a vehicle is following another vehicle with its assisted driving function activated, situations often arise where the vehicle in front suddenly cuts out, especially in urban areas or on elevated roads. This rapid cut-out by the vehicle in front causes the vehicle to accelerate slowly and with a delay, preventing it from reaching the set cruise speed and posing a safety hazard. Therefore, the timeliness of the vehicle's acceleration after the vehicle in front cuts out becomes crucial in this scenario. Furthermore, the vehicle's acceleration is controlled with a constant acceleration, resulting in slow and sluggish acceleration.

[0003] Therefore, how to adjust one's own speed in a timely manner when the vehicle in front cuts out, and how to solve the problem of slow acceleration and sluggish acceleration, requires further exploration by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a vehicle acceleration control method, device, equipment, and medium that can promptly adjust the vehicle speed when a vehicle in front suddenly cuts out, and solve the problem of slow and sluggish acceleration. The specific solution is as follows:

[0005] In a first aspect, this application discloses a vehicle acceleration control method, including:

[0006] During the following cruise, the target overlap rate and target time are calculated; wherein, the target overlap rate is the ratio of the width of the vehicle in front in the lane line of the vehicle to the width of the vehicle body of the vehicle in front, and the target time is the time required for the vehicle to collide with the vehicle in front;

[0007] If the target overlap rate is not greater than a preset overlap rate threshold and the target time is greater than a preset time threshold, then different acceleration change rates are determined based on the driving state of the vehicle, and the acceleration of the vehicle is controlled according to the different acceleration change rates.

[0008] Optionally, the vehicle acceleration control method further includes:

[0009] If the target overlap rate is greater than the preset overlap rate threshold, then maintain the following cruise mode.

[0010] Optionally, the vehicle acceleration control method further includes:

[0011] If the target overlap rate is not greater than the preset overlap rate threshold and the target time is less than the preset time threshold, then the following cruise mode is maintained.

[0012] Optionally, determining different rates of acceleration change based on the vehicle's driving state, and controlling the vehicle's acceleration according to the different rates of acceleration change, includes:

[0013] If the vehicle is accelerating, the acceleration change rate is determined as the first acceleration change rate, and the acceleration of the vehicle is controlled according to the first acceleration change rate.

[0014] Optionally, determining different rates of acceleration change based on the vehicle's driving state, and controlling the vehicle's acceleration according to the different rates of acceleration change, includes:

[0015] If the vehicle is traveling at a constant speed, the acceleration change rate is determined as the second acceleration change rate, and the acceleration of the vehicle is controlled according to the second acceleration change rate.

[0016] Optionally, determining different rates of acceleration change based on the vehicle's driving state, and controlling the vehicle's acceleration according to the different rates of acceleration change, includes:

[0017] If the vehicle is decelerating, the acceleration change rate is determined as the third acceleration change rate, and the acceleration of the vehicle is controlled according to the third acceleration change rate.

[0018] Optionally, the relationship between the magnitudes of the first rate of change of acceleration, the second rate of change of acceleration, and the third rate of change of acceleration includes:

[0019] The first rate of change of acceleration is less than the second rate of change of acceleration, and the second rate of change of acceleration is less than the third rate of change of acceleration.

[0020] Secondly, this application discloses a vehicle acceleration control device, comprising:

[0021] The calculation module is used to calculate the target overlap rate and target time during the following cruise; wherein, the target overlap rate is the ratio of the width of the vehicle in front in the lane line of the vehicular vehicle to the width of the vehicle body of the vehicle in front, and the target time is the time required for the vehicular vehicle to collide with the vehicle in front;

[0022] An acceleration control module is used to determine different acceleration change rates based on the driving state of the vehicle if the target overlap rate is not greater than a preset overlap rate threshold and the target time is greater than a preset time threshold, and to control the acceleration of the vehicle according to the different acceleration change rates.

[0023] Thirdly, this application discloses an electronic device, including:

[0024] Memory is used to store computer programs;

[0025] A processor is used to execute the computer program to implement the aforementioned vehicle acceleration control method.

[0026] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned vehicle acceleration control method.

[0027] As can be seen, this application proposes a vehicle acceleration control method, including: calculating a target overlap rate and a target time during following cruise; wherein, the target overlap rate is the ratio of the width of the preceding vehicle in the vehicle's lane line to the vehicle's body width, and the target time is the time required for the vehicle to collide with the preceding vehicle; if the target overlap rate is not greater than a preset overlap rate threshold, and the target time is greater than a preset time threshold, then different acceleration change rates are determined based on the vehicle's driving state, and the vehicle's acceleration is controlled according to the different acceleration change rates. In summary, in this application, the vehicle does not accelerate only after the preceding vehicle has completely cut out of its lane line. Instead, when the target overlap rate is not greater than the overlap rate threshold, and the target time is greater than the time threshold, it is determined that the preceding vehicle is cutting out of its lane line, and the distance between the vehicle and the preceding vehicle is large. Therefore, the following mode is stopped, and the vehicle accelerates. In this way, this application can adjust the vehicle speed in a timely manner, greatly avoiding potential safety hazards to driving. Meanwhile, when accelerating the vehicle, this application determines different acceleration change rates based on the vehicle's driving state and controls the vehicle's acceleration according to the different acceleration change rates, rather than using the same acceleration change rate for different driving states. In this way, the problem of slow and sluggish acceleration of the vehicle is solved, and more humanized and intelligent control of the vehicle's acceleration is achieved. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0029] Figure 1 This is a flowchart of a vehicle acceleration control method disclosed in this application;

[0030] Figure 2 This is a flowchart of a specific vehicle acceleration control method disclosed in this application;

[0031] Figure 3 This is a flowchart of a specific vehicle acceleration control method disclosed in this application;

[0032] Figure 4 This is a schematic diagram of a vehicle traveling on a conventional highway / elevated / urban road, as disclosed in this application.

[0033] Figure 5 This is a flowchart of a specific vehicle acceleration control method disclosed in this application;

[0034] Figure 6 This is a schematic diagram of the structure of a vehicle acceleration control device disclosed in this application;

[0035] Figure 7 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] When a vehicle is following another vehicle with its driver assistance features activated, the vehicle in front may suddenly cut in front. This sudden cut-out can cause the vehicle to accelerate slowly or with a delay, preventing it from reaching the set cruise speed and posing a safety hazard. Therefore, in this scenario, the timeliness of the vehicle's acceleration after the vehicle in front cuts out becomes crucial.

[0038] Therefore, this application proposes a vehicle acceleration control scheme that can adjust the vehicle speed in time when a vehicle in front suddenly cuts out, and solve the problem of slow acceleration and sluggish acceleration.

[0039] This application discloses a vehicle acceleration control method. See also... Figure 1 As shown, the method includes:

[0040] Step S11: During the following cruise, calculate the target overlap rate and target time; wherein, the target overlap rate is the ratio of the width of the vehicle in front in the lane line of the vehicle to the width of the vehicle body of the vehicle in front, and the target time is the time required for the vehicle to collide with the vehicle in front.

[0041] It is understood that the vehicle ahead is the vehicle being followed. In this embodiment, during the following cruise, lane attributes are acquired, and the target overlap rate and target time are calculated based on these lane attributes. Specifically, the lane attributes include the relative distance between the two vehicles, the relative speed between the two vehicles, and lane line attributes. The lane line attributes include the width of the vehicle's own lane line. Further, the width of the vehicle ahead within the vehicle's own lane line is determined based on the width of the vehicle ahead within the vehicle's own lane line, and the target overlap rate is calculated based on the ratio of the width of the vehicle ahead within the vehicle's own lane line to the vehicle's body width. Simultaneously, the target time is calculated based on the ratio of the relative distance between the two vehicles to their relative speeds.

[0042] Step S12: If the target overlap rate is not greater than a preset overlap rate threshold and the target time is greater than a preset time threshold, then different acceleration change rates are determined based on the driving state of the vehicle, and the acceleration of the vehicle is controlled according to the different acceleration change rates.

[0043] In this embodiment, if the target overlap rate is not greater than a preset overlap rate threshold, it indicates that only a small portion of the vehicle ahead is within the vehicle's lane. If the target time is greater than a preset time threshold, it indicates that the vehicle ahead is far from the vehicle. At this point, this application determines that the vehicle ahead is cutting out of the vehicle's lane, and since the vehicle ahead is far from the vehicle, the probability of a collision is very low. Therefore, this indicates that the vehicle has the ability to stop following cruise control and accelerate autonomously.

[0044] Furthermore, when the cruise control mode is discontinued, if the vehicle's speed is lower than the preset cruise speed, this embodiment requires acceleration to bring the vehicle's speed to the preset cruise speed so that it can travel at the cruise speed. To this end, this embodiment details three different scenarios, that is, setting three different rates of acceleration change based on the vehicle's acceleration and deceleration states. The vehicle's acceleration is then controlled according to these different rates of acceleration change to ensure that the vehicle's speed meets the preset cruise speed. It should be noted that this embodiment can determine the vehicle's driving state through the vehicle's longitudinal acceleration in the lane attributes.

[0045] In one specific implementation, if the vehicle is accelerating, the rate of change of acceleration is determined as a first rate of change of acceleration, and the acceleration of the vehicle is controlled according to the first rate of change of acceleration.

[0046] In a second specific implementation, if the vehicle is traveling at a constant speed, the acceleration change rate is determined as the second acceleration change rate, and the acceleration of the vehicle is controlled according to the second acceleration change rate.

[0047] In a third specific implementation, if the vehicle is decelerating, the acceleration change rate is determined as the third acceleration change rate, and the acceleration of the vehicle is controlled according to the third acceleration change rate.

[0048] It should be noted that the first rate of change of acceleration is less than the second rate of change of acceleration, and the second rate of change of acceleration is less than the third rate of change of acceleration.

[0049] In other words, in this embodiment, if the vehicle is accelerating, then since the vehicle is already accelerating, only a low rate of acceleration change is needed to allow it to smoothly accelerate to the preset cruising speed. If the vehicle is traveling at a constant speed, then the vehicle's acceleration is approximately zero, so a medium rate of acceleration change is needed to allow it to smoothly accelerate to the cruising speed. If the vehicle is decelerating, then a high rate of acceleration change is needed to allow the acceleration to quickly return to zero, thus ending the deceleration process and allowing for relatively rapid acceleration to the preset cruising speed.

[0050] As can be seen, this application proposes a vehicle acceleration control method, including: calculating a target overlap rate and a target time during following cruise; wherein, the target overlap rate is the ratio of the width of the preceding vehicle in the vehicle's lane line to the vehicle's body width, and the target time is the time required for the vehicle to collide with the preceding vehicle; if the target overlap rate is not greater than a preset overlap rate threshold, and the target time is greater than a preset time threshold, then different acceleration change rates are determined based on the vehicle's driving state, and the vehicle's acceleration is controlled according to the different acceleration change rates. In summary, in this application, the vehicle does not accelerate only after the preceding vehicle has completely cut out of its lane line. Instead, when the target overlap rate is not greater than the overlap rate threshold, and the target time is greater than the time threshold, it is determined that the preceding vehicle is cutting out of its lane line, and the distance between the vehicle and the preceding vehicle is large. Therefore, the following mode is stopped, and the vehicle accelerates. In this way, this application can adjust the vehicle speed in a timely manner, greatly avoiding potential safety hazards to driving. Meanwhile, when accelerating the vehicle, this application determines different acceleration change rates based on the vehicle's driving state and controls the vehicle's acceleration according to the different acceleration change rates, rather than using the same acceleration change rate for different driving states. In this way, the problem of slow and sluggish acceleration of the vehicle is solved, and more humanized and intelligent control of the vehicle's acceleration is achieved.

[0051] This application discloses a vehicle acceleration control method. See also... Figure 2 As shown, the method includes:

[0052] Step S21: During the following cruise, calculate the target overlap rate and target time; wherein, the target overlap rate is the ratio of the width of the vehicle in front in the lane line of the vehicle to the width of the vehicle body of the vehicle in front, and the target time is the time required for the vehicle to collide with the vehicle in front.

[0053] For a more detailed explanation of step S21, please refer to the aforementioned disclosed embodiments, which will not be elaborated upon here.

[0054] Step S22: If the target overlap rate is greater than the preset overlap rate threshold, then maintain the following cruise mode.

[0055] In this embodiment, if the target overlap rate is greater than the preset overlap rate threshold, it means that a large portion of the vehicles ahead are in the lane lines of the vehicle, so this application maintains the following cruise mode.

[0056] In summary, this application calculates the target overlap rate and target time during the following cruise process, and determines that the vehicle in front is still within the vehicle's lane when the target overlap rate is greater than the preset overlap rate threshold. Therefore, it maintains the following cruise mode, thus achieving more intelligent assisted driving.

[0057] This application discloses a vehicle acceleration control method. See also... Figure 3 As shown, the method includes:

[0058] Step S31: During the following cruise, calculate the target overlap rate and target time; wherein, the target overlap rate is the ratio of the width of the vehicle in front in the lane line of the vehicle to the width of the vehicle body of the vehicle in front, and the target time is the time required for the vehicle to collide with the vehicle in front.

[0059] For a more detailed explanation of step S31, please refer to the aforementioned disclosed embodiments, which will not be elaborated upon here.

[0060] Step S32: If the target overlap rate is not greater than the preset overlap rate threshold and the target time is less than the preset time threshold, then maintain the following cruise mode.

[0061] In this embodiment, if the target overlap rate is not greater than the preset overlap rate threshold and the target time is less than the preset time threshold, it indicates that the vehicle in front is cutting out of the vehicle's lane, but the distance between the vehicle and the vehicle in front is relatively close. Because the distance between the vehicle and the vehicle in front is relatively close, if the vehicle stops following the vehicle and accelerates on its own, it may cause a collision with the vehicle in front. Therefore, the following vehicle mode is maintained.

[0062] In summary, this application calculates the target overlap rate and target time during the following cruise process. When the target overlap rate is not greater than the preset overlap rate threshold and the target time is less than the preset time threshold, it determines that the vehicle in front is cutting out of the vehicle's lane and the distance between the vehicle and the vehicle in front is relatively close. Therefore, the vehicle maintains the following cruise mode, thus achieving more intelligent assisted driving.

[0063] The vehicle acceleration control method described in this application will be illustrated in detail below through a specific embodiment:

[0064] In traditional technology, when a vehicle is cruise-following another vehicle, it only releases the target vehicle (i.e., stops cruise-following mode) after the vehicle in front has completely cut out of the vehicle's lane. Then, it controls acceleration with a constant acceleration. In other words, traditional technology does not distinguish whether the vehicle is accelerating, decelerating, or moving at a constant speed. As a result, there will be a noticeable lag in acceleration from the time the target is completely released to the time acceleration is controlled.

[0065] See Figure 4 As shown, for the above scenario, this application optimizes the problem of slow acceleration from two aspects.

[0066] 1. Further optimize the timing of target release;

[0067] Firstly, the release of the target vehicle ahead is optimized to shorten the time difference in target release. If the target is released only after the preceding vehicle has completely cut out, there will be a time delay. Therefore, this application calculates the overlap rate and collision time (TTC) between the target vehicle and the lane line based on vehicle attributes (relative speed, relative longitudinal distance, lane line attributes), and releases the target based on the overlap rate and TTC value. Specifically, the overlap rate is calculated as the ratio of the target vehicle's width within the lane line to its total vehicle width; the TTC is calculated as the relative distance between the two vehicles divided by their relative speeds.

[0068] For example, in this embodiment, a preset overlap rate threshold is set to 20%. When the overlap rate is greater than 20%, the target is not released; when the overlap rate is less than or equal to 20%, the TTC value is determined, and the target is then released based on the determination result. Releasing the target using the above method greatly shortens the time difference of releasing the target using general methods, achieving the goal of optimizing and accelerating slowdowns.

[0069] Regarding the 20% setting logic, this application specifically includes the following: See Figure 5 As shown, the lateral control of road width ranges from 2.6 to 5.2 meters.

[0070] Taking a typical highway / elevated road / urban road as an example, the road width is approximately 3.4m, and the car width is approximately 1.8m. If the car is positioned on the center line of the lane, and the distance from the outer edge of the car to the center of the lane is 0.9m, then when the overlap rate is 20% = 1.8 × 0.2 = 0.36m, the relative lateral distance between the two vehicles is 1.7 - 0.9 - 0.36 = 0.44m. This 0.44m can be considered a safe overtaking distance.

[0071] Taking a minimum road width of 2.6m as an example, a car is about 1.8m wide. If the car is controlled on the center line of the lane, the distance from the outside of the car to the center of the lane is 0.9m. When the overlap rate is 20% = 1.8 × 0.2 = 0.36m, the relative lateral distance between the two cars is 1.3 - 0.9 - 0.36 = 0.04m. 0.04m is taken as the overtaking limit safety distance.

[0072] In summary, the preset overlap rate threshold is set to 20%. It should be noted that the preset overlap rate threshold can also be set according to the actual business scenario, business needs, and the experience of technical personnel.

[0073] 2. Refine three different scenarios and set three different acceleration change rates based on the vehicle's acceleration and deceleration status (determined by the vehicle's longitudinal acceleration in the lane attributes);

[0074] When the vehicle's speed is less than the cruise speed and it is following another vehicle, there are three scenarios where the vehicle in front will cut out:

[0075] (1) The vehicle cruises at a constant speed and follows the vehicle in front. Cut out the vehicle in front.

[0076] The autonomous vehicle cruises at a constant speed, following the vehicle ahead. When the vehicle ahead cuts out, the target vehicle is released based on the overlap ratio and TTC. At this time, the autonomous vehicle's acceleration is approximately 0 m / s². A moderate acceleration change rate is set so that the autonomous vehicle can smoothly accelerate to the cruise speed. The moderate acceleration change rate is also the second acceleration change rate in this application.

[0077] (2) The vehicle cruises and decelerates to follow the vehicle in front, and the vehicle in front cuts out.

[0078] The vehicle cruises and decelerates to follow the vehicle ahead. The vehicle ahead cuts out, and the target vehicle is released based on the overlap rate and TTC. At this time, the vehicle's acceleration is less than 0 m / s2. A higher acceleration change rate is set to make the acceleration quickly return to 0, ending the deceleration process, so that the vehicle can accelerate to the cruise speed relatively quickly. The higher acceleration change rate is also the third acceleration change rate in this application. (3) The vehicle cruises and accelerates to follow the vehicle ahead. The vehicle ahead cuts out.

[0079] When the vehicle cruises and accelerates to follow the vehicle ahead, it cuts out and releases the target vehicle based on the overlap ratio and TTC. At this time, the vehicle's acceleration is greater than 0 m / s². Since the vehicle is already accelerating, only a low acceleration change rate needs to be set so that the vehicle can smoothly accelerate to the cruise speed. The high acceleration change rate is also the third acceleration change rate mentioned in this application.

[0080] It should be noted that when the vehicle is decelerating, the acceleration is less than 0. In other words, it takes time for the acceleration to go from less than 0 to equal to 0 to greater than 0 before the vehicle can accelerate to the cruising speed. Therefore, compared to the acceleration and constant speed states, a larger rate of change of acceleration needs to be set during the deceleration state.

[0081] Those skilled in the art, based on their experience and by referring to information such as vehicle condition, set the second rate of change of acceleration to 0.08 m / s². 3 The third acceleration change rate is set to 0.3 m / s². 3 The first rate of change of acceleration is set to 0.02 m / s². 3 Among them, 0.02 m / s 3 <0.08m / s 3 <0.3m / s 3 The first rate of change of acceleration is less than the second rate of change of acceleration, and the second rate of change of acceleration is less than the third rate of change of acceleration.

[0082] In addition, it should be noted that the rate of change of each acceleration can be set according to actual business needs.

[0083] In summary, the self-driving vehicle in this application does not accelerate only after the target vehicle has completely cut out of its lane. Instead, it determines that the vehicle ahead is cutting out of its lane when the overlap rate is no greater than the overlap rate threshold and the TTC is greater than the time threshold. Given a significant distance between the self-driving vehicle and the vehicle ahead, it stops following the target vehicle and accelerates. This allows for timely adjustment of the self-driving vehicle's speed, greatly reducing safety hazards. Furthermore, this application determines different acceleration change rates based on the self-driving vehicle's driving state and controls the acceleration accordingly, rather than using the same rate of acceleration for different driving states. This solves the problem of slow and sluggish acceleration, achieving more human-centered and intelligent control of the self-driving vehicle's acceleration.

[0084] Accordingly, this application also discloses a vehicle acceleration control device, see [link to relevant documentation]. Figure 6 As shown, the device includes:

[0085] The calculation module 11 is used to calculate the target overlap rate and the target time during the following cruise; wherein, the target overlap rate is the ratio of the width of the vehicle in front in the lane line of the vehicle to the width of the vehicle body of the vehicle in front, and the target time is the time required for the vehicle to collide with the vehicle in front.

[0086] Acceleration control 12 is used to determine different acceleration change rates based on the driving state of the vehicle if the target overlap rate is not greater than a preset overlap rate threshold and the target time is greater than a preset time threshold, and to control the acceleration of the vehicle according to the different acceleration change rates.

[0087] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0088] As can be seen, this application proposes a vehicle acceleration control device, including: a calculation module, used to calculate a target overlap rate and a target time during following cruise; wherein, the target overlap rate is the ratio of the width of the preceding vehicle in the vehicle's lane line to the vehicle's body width, and the target time is the time required for the vehicle to collide with the preceding vehicle; an acceleration control module, used to determine different acceleration change rates based on the vehicle's driving state if the target overlap rate is not greater than a preset overlap rate threshold and the target time is greater than a preset time threshold, and to control the vehicle's acceleration according to the different acceleration change rates. In summary, the vehicle in this application does not accelerate only after the preceding vehicle has completely cut out of its lane line. Instead, when the target overlap rate is not greater than the overlap rate threshold and the target time is greater than the time threshold, it determines that the preceding vehicle is cutting out of its lane line and that the distance between the vehicle and the preceding vehicle is large, therefore stopping the following mode and accelerating the vehicle. In this way, this application can adjust the vehicle speed in a timely manner, greatly avoiding safety hazards to driving. Meanwhile, when accelerating the vehicle, this application determines different acceleration change rates based on the vehicle's driving state and controls the vehicle's acceleration according to the different acceleration change rates, rather than using the same acceleration change rate for different driving states. In this way, the problem of slow and sluggish acceleration of the vehicle is solved, and more humanized and intelligent control of the vehicle's acceleration is achieved.

[0089] Furthermore, embodiments of this application also provide an electronic device. Figure 7 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0090] Figure 7This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the vehicle acceleration control method disclosed in any of the foregoing embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0091] In this embodiment, the power supply 26 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 24 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0092] Furthermore, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk, or optical disk, etc. The resources stored thereon may include computer programs 221, and the storage method may be temporary storage or permanent storage. In addition to including computer programs capable of performing the vehicle acceleration control method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 221 may further include computer programs capable of performing other specific tasks.

[0093] Furthermore, embodiments of this application also disclose a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned vehicle acceleration control method.

[0094] For the specific steps of this method, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0095] The various embodiments in this application are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. For the same or similar parts between the various embodiments, refer to each other. As for the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and relevant parts can be referred to the method section.

[0096] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0097] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0098] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0099] The above provides a detailed description of a vehicle acceleration control method, apparatus, device, and storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle acceleration control method, characterized in that, include: During the following cruise, the target overlap rate and target time are calculated; wherein, the target overlap rate is the ratio of the width of the vehicle in front in the lane line of the vehicle to the width of the vehicle body of the vehicle in front, and the target time is the time required for the vehicle to collide with the vehicle in front; If the target overlap rate is not greater than a preset overlap rate threshold and the target time is greater than a preset time threshold, then different acceleration change rates are determined based on the driving state of the vehicle, and the acceleration of the vehicle is controlled according to the different acceleration change rates. The step of determining different rates of acceleration change based on the vehicle's driving state, and controlling the vehicle's acceleration according to the different rates of acceleration change, includes: If the vehicle is accelerating, the rate of change of acceleration is determined as the first rate of change of acceleration, and the acceleration of the vehicle is controlled according to the first rate of change of acceleration. The step of determining different rates of acceleration change based on the vehicle's driving state, and controlling the vehicle's acceleration according to the different rates of acceleration change, includes: If the vehicle is traveling at a constant speed, the acceleration change rate is determined as the second acceleration change rate, and the acceleration of the vehicle is controlled according to the second acceleration change rate. The step of determining different rates of acceleration change based on the vehicle's driving state, and controlling the vehicle's acceleration according to the different rates of acceleration change, includes: If the vehicle is decelerating, the acceleration change rate is determined as the third acceleration change rate, and the acceleration of the vehicle is controlled according to the third acceleration change rate. The relationship between the magnitudes of the first rate of change of acceleration, the second rate of change of acceleration, and the third rate of change of acceleration includes: The first rate of change of acceleration is less than the second rate of change of acceleration, and the second rate of change of acceleration is less than the third rate of change of acceleration.

2. The vehicle acceleration control method according to claim 1, characterized in that, Also includes: If the target overlap rate is greater than the preset overlap rate threshold, then maintain the following cruise mode.

3. The vehicle acceleration control method according to claim 1, characterized in that, Also includes: If the target overlap rate is not greater than the preset overlap rate threshold and the target time is less than the preset time threshold, then the following cruise mode is maintained.

4. A vehicle acceleration control device, characterized in that, include: The calculation module is used to calculate the target overlap rate and target time during the following cruise; wherein, the target overlap rate is the ratio of the width of the vehicle in front in the lane line of the vehicular vehicle to the width of the vehicle body of the vehicle in front, and the target time is the time required for the vehicular vehicle to collide with the vehicle in front; An acceleration control module is used to determine different acceleration change rates based on the driving state of the vehicle if the target overlap rate is not greater than a preset overlap rate threshold and the target time is greater than a preset time threshold, and to control the acceleration of the vehicle according to the different acceleration change rates. The step of determining different rates of acceleration change based on the vehicle's driving state, and controlling the vehicle's acceleration according to the different rates of acceleration change, includes: If the vehicle is accelerating, the rate of change of acceleration is determined as the first rate of change of acceleration, and the acceleration of the vehicle is controlled according to the first rate of change of acceleration. The step of determining different rates of acceleration change based on the vehicle's driving state, and controlling the vehicle's acceleration according to the different rates of acceleration change, includes: If the vehicle is traveling at a constant speed, the acceleration change rate is determined as the second acceleration change rate, and the acceleration of the vehicle is controlled according to the second acceleration change rate. The step of determining different rates of acceleration change based on the vehicle's driving state, and controlling the vehicle's acceleration according to the different rates of acceleration change, includes: If the vehicle is decelerating, the acceleration change rate is determined as the third acceleration change rate, and the acceleration of the vehicle is controlled according to the third acceleration change rate. The relationship between the magnitudes of the first rate of change of acceleration, the second rate of change of acceleration, and the third rate of change of acceleration includes: The first rate of change of acceleration is less than the second rate of change of acceleration, and the second rate of change of acceleration is less than the third rate of change of acceleration.

5. An electronic device, characterized in that, include: Memory is used to store computer programs; A processor for executing the computer program to implement the vehicle acceleration control method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, Used to store a computer program; wherein, when the computer program is executed by a processor, it implements the vehicle acceleration control method as described in any one of claims 1 to 3.

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