Vehicle adaptive cruise method, device and vehicle

Abstract

The application relates to a vehicle adaptive cruise method and device and a vehicle. The method comprises the following steps: acquiring a signal lamp state of a red-green lamp intersection in front of the vehicle and road section information of a current driving road section of the vehicle; when the signal lamp state belongs to a passing permission state, a first duration corresponding to the signal lamp state is acquired; a reference speed required by the vehicle to pass the red-green lamp intersection in front is determined according to the road section information and the first duration; and when it is determined that there is no other vehicle in front of the vehicle, the driving speed of the vehicle is adjusted based on the road section information and the reference speed; and when it is determined that there is other vehicle in front of the vehicle, the driving speed is adjusted according to driving information of the other vehicle and the reference speed. By using the method, the driving speed of the vehicle can be planned, the number of times of braking, engine shutdown and restart and other actions of the vehicle in the driving process is reduced, the passing efficiency is improved, and energy saving is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation, in particular to a vehicle adaptive cruise method and device and vehicle. BACKGROUND

[0002] In the road environment of a city, due to the lack of overall perception of the signal light state and the driving state of other vehicles, the vehicle often needs to stop and wait for the red light to switch back to the green light, and the waiting process involves the actions of the vehicle's braking, engine shutdown and restart, etc., which has the problems of low traffic efficiency and large energy consumption. SUMMARY

[0003] Therefore, it is necessary to provide a vehicle adaptive cruise method, device and vehicle capable of improving traffic efficiency and saving energy in view of the above technical problems.

[0004] In a first aspect, the present application provides a vehicle adaptive cruise method, which comprises:

[0005] obtaining the signal light state of a red-green light intersection in front of the vehicle and the road section information of a current driving road section of the vehicle;

[0006] when the signal light state belongs to a permitted traffic state, obtaining a first duration corresponding to the signal light state, and determining a reference speed required for the vehicle to pass through the red-green light intersection in front according to the road section information and the first duration;

[0007] in a case where it is determined that there is no other vehicle in front of the vehicle, adjusting the driving speed of the vehicle based on the road section information and the reference speed; and in a case where it is determined that there is other vehicle in front of the vehicle, adjusting the driving speed according to the driving information of the other vehicle and the reference speed.

[0008] In one of the embodiments, the road section information comprises a distance from the current position of the vehicle to the red-green light intersection in front; and the determination of the reference speed required for the vehicle to pass through the red-green light intersection in front according to the road section information and the first duration comprises:

[0009] determining a surplus time for the vehicle to pass through the red-green light intersection in front based on the first duration;

[0010] obtaining the reference speed according to the surplus time, the first duration and the distance.

[0011] In one of the embodiments, the road section information comprises a road section speed limit; and the adjustment of the driving speed of the vehicle based on the road section information and the reference speed comprises:

[0012] comparing the reference speed with the road section speed limit;

[0013] When the reference speed is less than or equal to the road section speed limit, the driving speed is adjusted to a middle value between the reference speed and the road section speed limit, so that the vehicle passes the front traffic light intersection;

[0014] When the reference speed is greater than the road section speed limit, the vehicle is controlled to decelerate at a preset deceleration, so that the vehicle is parked in the waiting area of the front traffic light intersection.

[0015] In one of the embodiments, the driving information of the other vehicle includes a front vehicle speed, and the driving speed is adjusted according to the driving information of the other vehicle and the reference speed, including:

[0016] The reference speed is compared with the front vehicle speed;

[0017] When the reference speed is less than or equal to the front vehicle speed, the driving speed is adjusted to the front vehicle speed, so that the vehicle passes the front traffic light intersection;

[0018] When the reference speed is greater than the front vehicle speed, the vehicle is controlled to decelerate at a preset deceleration, so that the vehicle is parked in the waiting area of the front traffic light intersection.

[0019] In one of the embodiments, the road section information includes a number of lanes, and the method further includes:

[0020] When the reference speed is greater than the front vehicle speed, it is determined based on the road section information that the number of lanes is greater than 1, and a switching instruction is received, the switching instruction being used to instruct the vehicle to switch lanes;

[0021] When the vehicle completes the switching of the lanes, the current driving information of the other vehicle is continuously acquired.

[0022] In one of the embodiments, the method further includes:

[0023] When the signal light state belongs to the prohibited passing state, a second duration corresponding to the signal light state is acquired, and a vehicle reference speed required for the vehicle to pass the front traffic light intersection is determined according to the road section information and the second duration;

[0024] A current vehicle speed of the vehicle is acquired, and the driving speed is adjusted according to the current vehicle speed and the vehicle reference speed.

[0025] In one of the embodiments, the vehicle reference speed includes a first reference speed and a second reference speed, the first reference speed being greater than the second reference speed; the driving speed is adjusted according to the current vehicle speed and the vehicle reference speed, including:

[0026] The first reference speed, the second reference speed and the current vehicle speed are compared;

[0027] If the current vehicle speed is greater than or equal to the second reference speed and less than or equal to the first reference speed, the vehicle is controlled to travel at a constant speed so as to pass through the front traffic light intersection;

[0028] If the current vehicle speed is less than the second reference speed, the vehicle is controlled to travel at a preset deceleration so as to be parked in a waiting area of the front traffic light intersection;

[0029] If the current vehicle speed is greater than the first reference speed, a set speed is obtained according to the second duration, the distance between the vehicle and the front traffic light intersection, the preset deceleration and the current vehicle speed, the vehicle is controlled to travel at the set speed at the preset deceleration so as to pass through the front traffic light intersection.

[0030] In a second aspect, the present application further provides a vehicle adaptive cruise device, the device comprising:

[0031] a data acquisition module configured to acquire a signal light state of a front traffic light intersection of the vehicle and road section information of a current travel road section of the vehicle;

[0032] a speed determination module configured to, when the signal light state belongs to a permitted passing state, obtain a first duration corresponding to the signal light state, and determine a reference speed required for the vehicle to pass through the front traffic light intersection according to the road section information and the first duration;

[0033] a speed adjustment module configured to, when it is determined that there is no other vehicle in front of the vehicle, adjust a travel speed of the vehicle based on the road section information and the reference speed, and when it is determined that there is other vehicle in front of the vehicle, adjust the travel speed according to travel information of the other vehicle and the reference speed.

[0034] In a third aspect, the present application further provides a vehicle comprising a vehicle-mounted intelligent terminal and a vehicle-mounted control unit connected to the vehicle-mounted intelligent terminal;

[0035] The vehicle-mounted control unit is configured to implement the vehicle adaptive cruise method.

[0036] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the vehicle adaptive cruise method.

[0037] The vehicle adaptive cruise method, device and vehicle, by acquiring the signal light state of the red-green light intersection in front of the vehicle and the road section information of the current driving road section of the vehicle, when the signal light state belongs to the allowed passing state, acquiring the first duration corresponding to the signal light state, determining the reference speed required for the vehicle to pass the red-green light intersection in front according to the road section information and the first duration, and in the case that it is determined that there is no other vehicle in front of the vehicle, adjusting the driving speed of the vehicle based on the road section information and the reference speed; in the case that it is determined that there is other vehicle in front of the vehicle, adjusting the driving speed according to the driving information of the other vehicle and the reference speed; the application plans the driving speed of the vehicle, reduces the number of actions such as braking, shutting down and restarting of the vehicle in the driving process, improves the passing efficiency and realizes the energy saving at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The application environment diagram of the vehicle adaptive cruise method in one embodiment is shown in the figure;

[0039] Figure 2 The flowchart of the vehicle adaptive cruise method in one embodiment is shown in the figure;

[0040] Figure 3 The flowchart of adjusting the driving speed of the vehicle based on the road section information and the reference speed in one embodiment is shown in the figure;

[0041] Figure 4 The flowchart of adjusting the driving speed according to the driving information of the other vehicle and the reference speed in one embodiment is shown in the figure;

[0042] Figure 5 The flowchart of the vehicle adaptive cruise method in another embodiment is shown in the figure;

[0043] Figure 6 The diagram of the driving speed and time corresponding to the current vehicle speed greater than the first reference speed in one embodiment is shown in the figure;

[0044] Figure 7 The structural block diagram of the vehicle adaptive cruise device in one embodiment is shown in the figure;

[0045] Figure 8 The internal structure diagram of the computer device in one embodiment is shown in the figure. DETAILED DESCRIPTION

[0046] In order to facilitate the understanding of the application, the application will be described more fully below with reference to the related drawings. The embodiments of the application are shown in the drawings. However, the application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the application more thorough and comprehensive.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0048] It should be understood that the terms "first", "second" and "third" and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of use in either orientation.

[0049] As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It should be understood that the term "comprising" or "comprises" or "including" or "includes" or "containing" or "contains" or "has" or "having" etc. specifies the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0050] The vehicle adaptive cruise method provided by the embodiments of the application can be applied to a vehicle as shown in FIG. 1. Figure 1 As shown in FIG. 1, the vehicle control unit 104 is connected with the vehicle-mounted intelligent terminal 102. When the user confirms to enter the adaptive cruise mode for passing through the traffic light, the vehicle-mounted intelligent terminal 102 can acquire the signal light state of the traffic light at the front of the vehicle and the road section information of the current driving road section of the vehicle, and send the signal light state and the road section information to the vehicle control unit 104. The vehicle control unit 104 can acquire the first duration corresponding to the signal light state when confirming that the signal light state belongs to the passing state, and determine the reference speed required for the vehicle to pass through the traffic light at the front based on the road section information and the first duration. The vehicle control unit 104 can also adjust the driving speed of the vehicle based on the road section information and the reference speed when determining that there is no other vehicle in front of the vehicle. The driving speed is adjusted according to the driving information of the other vehicle and the reference speed when determining that there is other vehicle in front of the vehicle.

[0051] The vehicle-mounted intelligent terminal 102 can be, but is not limited to, a driving computer, a T-Box (Telematics BOX, vehicle-mounted electrical unit), etc. The vehicle control unit 104 can be, but is not limited to, an ECM (Engine Control Module, engine control module), an ECU (Electronic Control Unit, electronic control unit), etc.

[0052] It should be noted that when the vehicle is in the adaptive cruise mode, if the user performs an action such as pinching the brake, the user can exit the mode. The user can also accelerate by pressing the accelerator for a certain period of time, and the vehicle can return to the adaptive cruise mode after the user releases the accelerator.

[0053] In one embodiment, as shown in Figure 2 A vehicle adaptive cruise method is provided, which is applied to a vehicle control unit in Figure 1 for example, and the method comprises the following steps:

[0054] S202, acquiring a signal light state of a red-green light intersection in front of the vehicle and road section information of a current road section of the vehicle.

[0055] The signal light state can refer to a red-green light state, and the signal light state can be any one of a green light state, a yellow light state and a red light state. The road section information of the current road section of the vehicle can include a road section distance, a road section speed limit and a number of lanes.

[0056] Specifically, after the vehicle enters the red-green light passing adaptive cruise mode, the vehicle-mounted intelligent terminal can acquire the signal light state of the red-green light intersection in front of the vehicle in real time, acquire the road section information of the current road section of the vehicle, and transmit the acquired signal light state and road section information to the vehicle control unit.

[0057] S204, when the signal light state belongs to a passing permission state, acquiring a first duration corresponding to the signal light state, and determining a reference speed required for the vehicle to pass the red-green light intersection in front according to the road section information and the first duration.

[0058] The signal light state belonging to the passing permission state can refer to the signal light state being the green light state. The first duration can be the duration during which the signal light state is maintained in the green light state.

[0059] Specifically, when the vehicle control unit determines that the signal light state belongs to the passing permission state, the vehicle control unit can acquire the first duration corresponding to the signal light state, and determine the reference speed required for the vehicle to pass the red-green light intersection in front according to the road section information and the first duration.

[0060] In one embodiment, the road section information includes a distance from a current position of the vehicle to the red-green light intersection in front. The reference speed required for the vehicle to pass the red-green light intersection in front is determined according to the road section information and the first duration, including:

[0061] determining a surplus time for the vehicle to pass the red-green light intersection in front based on the first duration;

[0062] acquiring the reference speed according to the surplus time, the first duration and the distance.

[0063] The surplus time can be used to represent a time tolerance. In the case of the vehicle passing the red-green light, the surplus time needs to be set for tolerance. Further, the surplus time can be set according to the first duration in combination with the actual situation, which is not limited in the embodiments of the present application.

[0064] Specifically, the vehicle control unit can first determine the surplus time of the vehicle passing the front traffic light intersection based on the first duration, and then obtain the reference speed according to the surplus time, the first duration and the distance.

[0065] Exemplarily, the reference speed can be obtained by the following formula:

[0066] V rec＝ D / (T LiHold +T margin )

[0067] Wherein, V rec may represent the reference speed; D may represent the distance from the current position of the vehicle to the front traffic light intersection; T LiHold may represent the first duration; T margin may represent the surplus time.

[0068] Optionally, when the first duration is 20S, the surplus time can be set to 30% of the first duration, that is, 6S, so that the target passing time of the vehicle can be started at the 6th S, and the surplus time can be dynamically adjusted according to the maintenance time of the green light (the first duration).

[0069] In the embodiment of the application, the surplus time is determined based on the first duration, and then the reference speed required to ensure the vehicle to pass the front traffic light intersection is obtained by using the surplus time, the first duration and the distance. Subsequently, the driving speed of the vehicle can be adjusted based on the reference speed, so as to reduce the number of actions such as braking, stopping and restarting of the vehicle during driving, improve the passing efficiency and realize energy saving.

[0070] S206, in the case that it is determined that there is no other vehicle in front of the vehicle, adjusting the driving speed of the vehicle based on the road section information and the reference speed; in the case that it is determined that there is other vehicle in front of the vehicle, adjusting the driving speed according to the driving information of the other vehicle and the reference speed.

[0071] Wherein, the driving information of the other vehicle can refer to the speed information of the other vehicle within a certain range of the vehicle, and it should be noted that the range can be set according to the actual situation, which is not limited in the embodiment of the application.

[0072] Specifically, the vehicle control unit can acquire the driving information of the other vehicle to determine whether there is another vehicle in front of the vehicle, and in the case that it is determined that there is no other vehicle in front of the vehicle, the vehicle control unit can adjust the driving speed of the vehicle according to the road section information and the reference speed; in the case that it is determined that there is another vehicle in front of the vehicle, the vehicle control unit can adjust the driving speed of the vehicle according to the speed information of the other vehicle and the reference speed, so as to reduce the number of actions such as braking, stopping and restarting of the vehicle during driving, and improve the passing efficiency while saving energy.

[0073] In one embodiment, as shown in Figure 3 the road section information includes a road section speed limit; and adjusting the driving speed of the vehicle based on the road section information and the reference speed comprises:

[0074] S302, comparing the reference speed with the road section speed limit;

[0075] S304, when the reference speed is less than or equal to the road section speed limit, adjusting the driving speed to an intermediate value between the reference speed and the road section speed limit, so that the vehicle passes through the front traffic light intersection;

[0076] S306, when the reference speed is greater than the road section speed limit, controlling the vehicle to decelerate at a preset deceleration, so that the vehicle is parked in the waiting area of the front traffic light intersection.

[0077] The road section speed limit can refer to the maximum speed allowed by the road section for the vehicle to pass through; and the preset deceleration can be set according to actual conditions.

[0078] Specifically, when the reference speed is less than or equal to the road section speed limit, it is determined that the vehicle can pass through the front traffic light intersection, at this time the vehicle control unit can control the vehicle to accelerate or decelerate, and adjust the driving speed to an intermediate value between the reference speed and the road section speed limit, at this time the user can also accelerate by pressing the accelerator for zero time, and then return to the adaptive cruise state after releasing the accelerator, so that the vehicle passes through the front traffic light intersection; when the reference speed is greater than the road section speed limit, it is determined that the vehicle cannot pass through the front traffic light intersection, at this time the vehicle control unit can control the vehicle to decelerate at a preset deceleration, so that the vehicle is parked in the waiting area of the front traffic light intersection.

[0079] Exemplarily, the preset deceleration can be obtained by the following formula:

[0080] a = 2 (D - V cur *T LiHold ) / T LiHold

[0081] wherein V cur may represent the current speed; D may represent the distance from the current position of the vehicle to the front traffic light intersection; and T LiHoldmay be represented as a first duration; a may be represented as a preset deceleration.

[0082] It should be noted that the vehicle can be just passing through an intersection, and the vehicle can also enter the adaptive cruise mode from a position between two intersections.

[0083] In the embodiments of the present application, for the case that the signal light state belongs to the allowed passing state and there is no other vehicle in front of the vehicle, the driving speed of the vehicle is planned according to the comparison result by comparing the reference speed and the road section speed limit, which reduces the number of actions such as braking, engine shutdown and restart of the vehicle during driving, improves the passing efficiency and realizes energy saving.

[0084] In one of the embodiments, as shown in Figure 4 The driving information of the other vehicle includes the front vehicle speed, and the driving speed is adjusted according to the driving information of the other vehicle and the reference speed, including:

[0085] S402, comparing the reference speed and the front vehicle speed;

[0086] S404, in the case that the reference speed is less than or equal to the front vehicle speed, adjusting the driving speed to the front vehicle speed to make the vehicle pass through the front red-green light intersection;

[0087] S406, in the case that the reference speed is greater than the front vehicle speed, controlling the vehicle to decelerate according to a preset deceleration to make the vehicle stop in the waiting area of the front red-green light intersection.

[0088] Specifically, the vehicle control unit can obtain the driving information of the other vehicle, and in the case that it is determined that there is another vehicle in front of the vehicle, the vehicle control unit can compare the reference speed and the front vehicle speed. If the reference speed is less than or equal to the front vehicle speed, i.e., the vehicle can follow the front vehicle to pass through the front red-green light intersection, at this time, the vehicle control unit can control the vehicle to accelerate or decelerate to adjust the driving speed of the vehicle to the front vehicle speed, and follow the front vehicle to pass through the front red-green light intersection. If the reference speed is greater than the front vehicle speed, i.e., the vehicle cannot pass through the front red-green light intersection in the current lane, at this time, the vehicle control unit can control the vehicle to decelerate according to a preset deceleration to make the vehicle stop in the waiting area of the front red-green light intersection. It should be noted that the preset deceleration is as shown above, and will not be described in detail in the embodiments of the present application.

[0089] In the embodiments of the present application, the driving speed of the vehicle is planned considering the case that there is another vehicle in front, which reduces the number of actions such as braking, engine shutdown and restart of the vehicle during driving, improves the passing efficiency and realizes energy saving.

[0090] In one of the embodiments, the road section information includes the number of lanes, and the method further includes:

[0091] In the case that the reference speed is greater than the speed of the preceding vehicle, the number of lanes is confirmed to be greater than 1 based on the road section information, and the vehicle switches lanes in response to the received switching instruction, the switching instruction being used to instruct the vehicle to switch lanes;

[0092] In the case that the vehicle completes switching lanes, the current driving information of other vehicles is continuously acquired.

[0093] Specifically, the vehicle control unit can determine that the reference speed is greater than the speed of the preceding vehicle, and confirm the number of lanes according to the road section information. When the number of lanes is greater than 1, that is, the vehicle can switch lanes, the vehicle can complete switching of lanes in response to the switching instruction output by the user, and reacquire the current driving information of other vehicles, and again confirm whether the vehicle can pass through the red-green light intersection. Exemplarily, after switching is completed, there is no other vehicle in front of the vehicle, at which time the reference speed and the road section speed limit can be compared again, and the driving speed of the vehicle can be adjusted again.

[0094] Optionally, the user can use a manual switching mode to make the vehicle complete switching of lanes.

[0095] In the embodiments of the present application, by responding to the received switching instruction and continuously acquiring the current driving information of other vehicles in the case that the vehicle completes switching of lanes, the traffic efficiency is improved while energy is saved.

[0096] In the above-mentioned vehicle adaptive cruise method, by planning the driving speed of the vehicle according to different situations when the signal light state belongs to the allowed passing state, the number of times of braking, stopping and restarting of the vehicle during driving is reduced, the traffic efficiency is improved, and energy saving is achieved.

[0097] In one of the embodiments, as shown in Figure 5 the method further includes:

[0098] S502, when the signal light state belongs to the prohibited passing state, a second duration corresponding to the signal light state is acquired, and a reference speed of the vehicle required to pass through the front red-green light intersection is determined according to the road section information and the second duration;

[0099] S504, the current speed of the vehicle is acquired, and the driving speed is adjusted according to the current speed and the reference speed of the vehicle.

[0100] The signal light belonging to the prohibited passing state can refer to the signal light state being yellow or red; and the second duration can refer to the duration of the signal light maintaining the red-yellow light state.

[0101] Specifically, when the vehicle control unit determines that the signal light state belongs to the forbidden passing state, the vehicle control unit can obtain a second duration corresponding to the signal light state, and determine a vehicle reference speed required for the vehicle to pass the front traffic light intersection according to the road section information and the second duration; the vehicle control unit can obtain a current vehicle speed of the vehicle, and adjust the driving speed according to the current vehicle speed and the vehicle reference speed.

[0102] In the embodiments of the present application, when the signal light state belongs to the forbidden passing state, the vehicle reference speed is determined, and the driving speed is adjusted according to the current vehicle speed and the vehicle reference speed, thereby reducing the number of actions such as braking, stopping and restarting of the vehicle during driving, improving the passing efficiency and realizing energy saving.

[0103] In one of the embodiments, the vehicle reference speed includes a first reference speed and a second reference speed, and the first reference speed is greater than the second reference speed; adjusting the driving speed according to the current vehicle speed and the vehicle reference speed includes:

[0104] comparing the first reference speed, the second reference speed and the current vehicle speed;

[0105] if the current vehicle speed is greater than or equal to the second reference speed and less than or equal to the first reference speed, controlling the vehicle to drive at a constant speed so that the vehicle passes the front traffic light intersection;

[0106] if the current vehicle speed is less than the second reference speed, controlling the vehicle to drive at a preset deceleration so that the vehicle is parked in a waiting area of the front traffic light intersection;

[0107] if the current vehicle speed is greater than the first reference speed, obtaining a set speed according to the second duration, the distance between the vehicle and the front traffic light intersection, the preset deceleration and the current vehicle speed; controlling the vehicle to drive at a constant speed by reducing the driving speed to the set speed at the preset deceleration, so that the vehicle passes the front traffic light intersection.

[0108] The first reference speed can refer to the fastest reference speed at which the vehicle can pass the front traffic light intersection; and the second reference speed can refer to the slowest reference speed at which the vehicle can pass the front traffic light intersection (until the green light ends).

[0109] Specifically, when the current vehicle speed is greater than or equal to the second reference speed and less than or equal to the first reference speed (i.e., the vehicle can maintain its current speed to pass through the traffic light intersection), the vehicle control unit controls the vehicle to travel at a constant speed to pass through the intersection. When the current vehicle speed is less than the second reference speed (i.e., the vehicle's current speed is insufficient to pass through the traffic light intersection), the vehicle control unit controls the vehicle to decelerate according to a preset deceleration to stop the vehicle in the waiting area of ​​the traffic light intersection. When the current vehicle speed is greater than the first reference speed (i.e., the vehicle's current speed is too high and needs to be adjusted), the vehicle control unit obtains a set speed based on the second duration, the distance between the vehicle and the traffic light intersection, the preset deceleration, and the current speed, and reduces the speed to the set speed according to the preset deceleration to control the vehicle to travel at a constant speed to pass through the traffic light intersection. It should be noted that the preset deceleration, as described above, will not be repeated in this embodiment.

[0110] For example, the first reference speed and the second reference speed can be obtained using the following formula:

[0111] V recmax＝ D cur / (T light +T margin )

[0112] V recmin＝ D cur / (T light +T LiHold +T margin )

[0113] Among them, V recmax This can be represented as the first reference velocity; V recmin This can be represented as the second reference velocity; D cur It can be expressed as the distance from the vehicle's current position to the traffic light intersection ahead; T LiHold This can be represented as the first duration; T light This can be represented as the second duration; T margin It can be represented as surplus time.

[0114] Optionally, if the current vehicle speed is greater than the first reference speed, i.e., V recmax <V cur If (V1) is given, then the set speed V0 is calculated as follows. If the calculated set speed V0 has two values, then the one closest to V is selected. recmax The positive value of D; the vehicle is presumably decelerated uniformly first, then travels at a constant speed, where D cur V is the distance from the vehicle to the traffic light intersection ahead. cur(V1) can be the vehicle's current speed, V cur (V1) to V0 is uniform deceleration, a is the preset deceleration, and t0 is the distance D completed. cur The required time, such as Figure 6 As shown, where:

[0115] D cur =(V0*t0)+1 / 2*(V1-V0)*(V1-V0) / a

[0116] We can obtain:

[0117] D cur =V0*t0+(V1-V0)^2 / 2a

[0118] V0 ^2 +2(at0-V1)V0+V1 ^2 -2*a*D cur =0

[0119] We can know from the quadratic formula:

[0120] 4*(at0-V1) ^2 -4*(V1 ^2 -2*a*D cur )>0.

[0121] V0=(V1-at0)±0.5*sqrt(4*(at0-V1) ^2 -4*(V1 ^2 -2*a*D cur ))

[0122] It should be noted that the units of V1 and V0 can be kilometers per hour (km / h); the unit of t0 can be seconds (s).

[0123] In this embodiment, by planning the vehicle's speed according to different situations when the traffic light is in a prohibited state, the number of times the vehicle brakes, shuts off, and restarts during driving is reduced, thereby improving traffic efficiency and saving energy.

[0124] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0125] Based on the same inventive concept, this application also provides a vehicle adaptive cruise control device for implementing the aforementioned vehicle adaptive cruise control method. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more vehicle adaptive cruise control device embodiments provided below can be found in the limitations of the vehicle adaptive cruise control method described above, and will not be repeated here.

[0126] In one embodiment, such as Figure 7 As shown, a vehicle adaptive cruise control device is provided, the device comprising:

[0127] The data acquisition module 701 is used to acquire the traffic light status at the intersection ahead of the vehicle and the road segment information of the current driving segment of the vehicle;

[0128] The speed determination module 702 is used to obtain the first duration corresponding to the traffic light state when the traffic light state is in the allowed passage state, and determine the reference speed required for the vehicle to pass through the traffic light intersection ahead based on the road segment information and the first duration.

[0129] The speed adjustment module 703 is used to adjust the vehicle's speed based on road information and a reference speed when it is determined that there are no other vehicles in front of the vehicle; and to adjust the vehicle's speed based on the driving information and reference speed of other vehicles when it is determined that there are other vehicles in front of the vehicle.

[0130] In one embodiment, the road segment information includes the distance from the vehicle's current position to the traffic light intersection ahead; the speed determination module 702 is also used to determine the vehicle's surplus time to pass through the traffic light intersection ahead based on a first duration.

[0131] The baseline speed is obtained based on the surplus time, the first duration, and the distance.

[0132] In one embodiment, the road segment information includes the road segment speed limit; the speed adjustment module 703 is also used to compare the reference speed and the road segment speed limit;

[0133] When the base speed is less than or equal to the speed limit of the road section, adjust the driving speed to the midpoint between the base speed and the speed limit of the road section so that the vehicle can pass through the traffic light intersection ahead.

[0134] When the base speed exceeds the speed limit of the road section, the vehicle is decelerated according to the preset deceleration control so that it stops in the waiting area of ​​the traffic light intersection ahead.

[0135] In one embodiment, the driving information of other vehicles includes the speed of the vehicle in front, and the speed adjustment module 703 is also used to compare the reference speed with the speed of the vehicle in front.

[0136] If the base speed is less than or equal to the speed of the vehicle in front, adjust the driving speed to the speed of the vehicle in front so that the vehicle can pass through the traffic light intersection ahead;

[0137] When the base speed is greater than the speed of the vehicle in front, the vehicle decelerates according to the preset deceleration control so that the vehicle stops in the waiting area of ​​the traffic light intersection ahead.

[0138] In one embodiment, the road segment information includes the number of lanes. The speed adjustment module 703 is also used to confirm that the number of lanes is greater than 1 based on the road segment information when the base speed is greater than the speed of the vehicle in front, and responds to the received switching command, which is used to instruct the vehicle to switch lanes.

[0139] After the vehicle completes the lane change, it continues to acquire the driving information of other vehicles.

[0140] In one embodiment, the vehicle adaptive cruise control device 700 may further include a speed adjustment module, which is used to obtain a second duration corresponding to the traffic light state when the traffic light state is a no-passing state, and determine the vehicle reference speed required for the vehicle to pass through the traffic light intersection ahead based on the road segment information and the second duration.

[0141] Obtain the vehicle's current speed and adjust the driving speed based on the current speed and the vehicle's reference speed.

[0142] In one embodiment, the vehicle reference speed includes a first reference speed and a second reference speed, wherein the first reference speed is greater than the second reference speed; the speed adjustment module is also used to compare the first reference speed, the second reference speed and the current vehicle speed;

[0143] If the current vehicle speed is greater than or equal to the second reference speed and the current vehicle speed is less than or equal to the first reference speed, control the vehicle to travel at a constant speed so that the vehicle can pass through the traffic light intersection ahead;

[0144] If the current vehicle speed is less than the second reference speed, the vehicle will decelerate according to the preset deceleration control so that the vehicle can stop in the waiting area of ​​the traffic light intersection ahead.

[0145] If the current vehicle speed is greater than the first reference speed, the set speed is obtained based on the second duration, the distance between the vehicle and the traffic light intersection ahead, the preset deceleration, and the current vehicle speed; the driving speed is reduced to the set speed according to the preset deceleration, and the vehicle is controlled to drive at a constant speed so that the vehicle can pass through the traffic light intersection ahead.

[0146] The various modules in the aforementioned vehicle adaptive cruise control system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0147] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle adaptive cruise control method.

[0148] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0149] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described vehicle adaptive cruise control method.

[0150] In one embodiment, a vehicle is provided, including an in-vehicle intelligent terminal and an in-vehicle control unit connected to the in-vehicle intelligent terminal;

[0151] The onboard control unit is used to implement the above-mentioned vehicle adaptive cruise control method.

[0152] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the above-described vehicle adaptive cruise control method.

[0153] It should be noted that the information involved in this application (including but not limited to road information, driving information, etc.) is information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0154] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0155] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle adaptive cruise control method, characterized in that, The method includes: Obtain the traffic light status at the intersection ahead of the vehicle and the road segment information of the current travel segment of the vehicle; When the traffic light is in a state where passage is permitted, the first duration corresponding to the traffic light state is obtained, and the reference speed required for the vehicle to pass through the traffic light intersection ahead is determined based on the road segment information and the first duration. If it is determined that there are no other vehicles in front of the vehicle, the vehicle's speed is adjusted based on the road segment information and the reference speed; if it is determined that there are other vehicles in front of the vehicle, the vehicle's speed is adjusted based on the driving information of the other vehicles and the reference speed. When the traffic light is in a prohibited state, the second duration corresponding to the traffic light state is obtained, and the vehicle reference speed required for the vehicle to pass through the traffic light intersection ahead is determined based on the road segment information and the second duration. The current speed of the vehicle is obtained, and the driving speed is adjusted based on the current speed and the reference speed of the vehicle. Wherein, the vehicle reference speed includes a first reference speed and a second reference speed, wherein the first reference speed is greater than the second reference speed; adjusting the driving speed based on the current vehicle speed and the vehicle reference speed includes: Compare the first reference speed, the second reference speed, and the current vehicle speed; If the current vehicle speed is greater than or equal to the second reference speed and the current vehicle speed is less than or equal to the first reference speed, control the vehicle to travel at a constant speed so that the vehicle passes through the traffic light intersection ahead; If the current vehicle speed is less than the second reference speed, the vehicle is decelerated according to the preset deceleration control so that the vehicle stops in the waiting area at the traffic light intersection ahead; If the current vehicle speed is greater than the first reference speed, a set vehicle speed is obtained based on the second duration, the distance between the vehicle and the traffic light intersection ahead, the preset deceleration, and the current vehicle speed; the driving speed is reduced to the set vehicle speed according to the preset deceleration, and the vehicle is controlled to drive at a constant speed so that the vehicle passes through the traffic light intersection ahead.

2. The method according to claim 1, characterized in that, The road segment information includes the distance from the vehicle's current position to the upcoming traffic light intersection; determining the reference speed required for the vehicle to pass the upcoming traffic light intersection based on the road segment information and the first duration includes: The vehicle's surplus time at the traffic light intersection ahead is determined based on the first duration. The baseline speed is obtained based on the surplus time, the first duration, and the distance.

3. The method according to claim 1, characterized in that, The road segment information includes the road segment speed limit; Adjusting the vehicle's speed based on the road segment information and the reference speed includes: Compare the reference speed with the speed limit of the road section; When the reference speed is less than or equal to the speed limit of the road segment, the driving speed is adjusted to the midpoint between the reference speed and the speed limit of the road segment so that the vehicle can pass through the traffic light intersection ahead. When the reference speed is greater than the speed limit of the road section, the vehicle is controlled to decelerate according to the preset deceleration so that the vehicle stops in the waiting area of ​​the traffic light intersection ahead.

4. The method according to claim 1, characterized in that, The driving information of the other vehicles includes the speed of the vehicle in front. Adjusting the driving speed based on the driving information of the other vehicles and the reference speed includes: Compare the reference speed with the speed of the vehicle in front; If the base speed is less than or equal to the speed of the vehicle in front, the driving speed is adjusted to the speed of the vehicle in front so that the vehicle can pass through the traffic light intersection ahead. When the base speed is greater than the speed of the vehicle in front, the vehicle is decelerated according to a preset deceleration control so that the vehicle stops in the waiting area at the traffic light intersection ahead.

5. The method according to claim 4, characterized in that, The road segment information includes the number of lanes, and the method further includes: If the reference speed is greater than the speed of the vehicle in front, and the number of lanes is confirmed to be greater than 1 based on the road segment information, the vehicle responds to the received switching command, which is used to instruct the vehicle to switch lanes. After the vehicle completes the lane change, the current driving information of the other vehicles continues to be acquired.

6. A vehicle adaptive cruise control device, characterized in that, The device includes: The data acquisition module is used to acquire the traffic light status at the intersection ahead of the vehicle and the road segment information of the current travel segment of the vehicle; The speed determination module is used to obtain the first duration corresponding to the traffic light state when the traffic light state is in the allowed passage state, and determine the reference speed required for the vehicle to pass through the traffic light intersection ahead based on the road segment information and the first duration. The speed adjustment module is used to adjust the vehicle's speed based on the road segment information and the reference speed when it is determined that there are no other vehicles in front of the vehicle; and to adjust the vehicle's speed based on the driving information of the other vehicles and the reference speed when it is determined that there are other vehicles in front of the vehicle. The speed adjustment module is used to obtain the second duration corresponding to the traffic light state when the traffic light state is in the prohibited state, and determine the vehicle reference speed required for the vehicle to pass through the traffic light intersection ahead based on the road segment information and the second duration; obtain the current speed of the vehicle, and adjust the driving speed based on the current speed and the vehicle reference speed; The vehicle reference speed includes a first reference speed and a second reference speed, wherein the first reference speed is greater than the second reference speed. The speed adjustment module is further configured to compare the first reference speed, the second reference speed, and the current vehicle speed. If the current vehicle speed is greater than or equal to the second reference speed and less than or equal to the first reference speed, the vehicle is controlled to travel at a constant speed to pass through the traffic light intersection ahead. If the current vehicle speed is less than the second reference speed, the vehicle is controlled to decelerate according to a preset deceleration to stop in the waiting area of ​​the traffic light intersection ahead. If the current vehicle speed is greater than the first reference speed, a set speed is obtained based on the second duration, the distance between the vehicle and the traffic light intersection ahead, the preset deceleration, and the current vehicle speed. The vehicle speed is reduced to the set speed according to the preset deceleration to control the vehicle to travel at a constant speed to pass through the traffic light intersection ahead.

7. A vehicle, characterized in that, It includes an in-vehicle intelligent terminal and an in-vehicle control unit connected to the in-vehicle intelligent terminal; The vehicle control unit is used to implement the steps of the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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