Vehicle cruise control method, device, equipment and storage medium

Abstract

The application discloses a vehicle cruise control method, device, equipment and storage medium, and belongs to the technical field of vehicles. The method obtains a plurality of first accelerations of a second vehicle when the first speed is greater than the cruise speed and the cruise speed is greater than the second speed, determines a minimum acceleration from the plurality of first accelerations, controls the first vehicle to decelerate from the first speed to the cruise speed based on the minimum acceleration, and then determines the distance between the first vehicle and the second vehicle. If the distance is greater than the preset distance, the first vehicle continues to decelerate based on the minimum acceleration until the speeds of the two vehicles are the same, and then responds to the acceleration of the front vehicle to travel following the front vehicle. Therefore, the method controls the first vehicle to travel following the second vehicle according to the size relationship among the first speed, the second speed and the cruise speed, thereby guaranteeing the safety and comfort of the user.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle cruise control method, device, equipment and storage medium. Background Technology

[0002] With the current trend of user-controlled and intelligent assisted driving developing in parallel, adaptive cruise control systems have been widely adopted. Adaptive cruise control is a new system that adds the function of maintaining a reasonable distance from the vehicle in front to the existing cruise control system that controls the vehicle at a set speed. In particular, when the user has set a cruise speed while following the vehicle in front, how to control the movement of the vehicle in front to ensure the user's safety and comfort has become a pressing issue. Summary of the Invention

[0003] This application provides a vehicle cruise control method, device, equipment, and storage medium. Based on the relationship between a first speed, a second speed, and the cruise speed, it controls a first vehicle to follow a second vehicle, thereby ensuring user safety and comfort. The technical solution is as follows:

[0004] On the one hand, a vehicle cruise control method is provided, the method comprising:

[0005] Obtain the first speed of the first vehicle at the first moment;

[0006] If a second vehicle is in front of the first vehicle, obtain the second speed of the second vehicle at the first moment;

[0007] In response to detecting that the adaptive cruise control function of the first vehicle is activated, the cruise speed is obtained;

[0008] When the first speed is greater than the cruising speed and the cruising speed is greater than the second speed, the first acceleration of the second vehicle at multiple times before the first moment is obtained, and the first acceleration is a negative value;

[0009] Determine the minimum acceleration from among multiple first accelerations;

[0010] Based on the minimum acceleration, the first vehicle is controlled to decelerate from the first speed.

[0011] Determine the distance between the first vehicle and the second vehicle when the first vehicle decelerates to the cruise speed;

[0012] If the distance is greater than the preset distance, based on the minimum acceleration, the first vehicle is controlled to continue decelerating from the cruise speed until the speed of the first vehicle at the second moment is the same as the speed of the second vehicle at the second moment, and the speed of the second vehicle at the second moment is less than the cruise speed;

[0013] Obtain the second acceleration of the second vehicle at each time point after the second time point, wherein the second acceleration is a positive or negative value;

[0014] Based on the speed of the first vehicle at the second moment and the second acceleration at each moment after the second moment, the first vehicle is controlled to continue driving.

[0015] In one possible implementation, the method further includes:

[0016] If the distance is not greater than the preset distance, the third acceleration of the second vehicle at each time point after the third time point is obtained, and the third acceleration is a positive or negative value;

[0017] Based on the cruise speed and the third acceleration at each time point after the third time point, the first vehicle is controlled to continue driving.

[0018] In another possible implementation, the method further includes:

[0019] When the first speed is greater than the second speed, and the second speed is greater than the cruising speed, the first vehicle is controlled to decelerate from the first speed based on the minimum acceleration.

[0020] If the first vehicle reaches the cruise speed at the fourth moment, the first vehicle is controlled to continue driving based on the cruise speed; wherein the speed of the second vehicle at the fourth moment is greater than the cruise speed.

[0021] In another possible implementation, the method further includes:

[0022] When the cruising speed is greater than the second speed and the second speed is greater than the first speed, a fourth acceleration of the second vehicle at multiple times prior to the first time point is obtained, wherein the fourth acceleration is a positive value;

[0023] The target acceleration is determined based on multiple fourth accelerations;

[0024] Based on the target acceleration, the first vehicle is controlled to accelerate from the first speed until the speed of the first vehicle at the fifth moment is the same as the speed of the second vehicle at the fifth moment; wherein the speed of the second vehicle at the fifth moment is less than the cruising speed;

[0025] The fifth acceleration of the second vehicle is obtained at each time point after the fifth time point, wherein the fifth acceleration is a positive or negative value;

[0026] Based on the speed of the first vehicle at the fifth moment and the fifth acceleration at each moment after the fifth moment, the first vehicle is controlled to continue driving.

[0027] In another possible implementation, the method further includes:

[0028] When the second speed is greater than the cruise speed and the cruise speed is greater than the first speed, the first vehicle is controlled to accelerate from the first speed based on the target acceleration until it reaches the cruise speed at the sixth moment; wherein the speed of the second vehicle at the sixth moment is greater than the cruise speed;

[0029] Obtain the sixth acceleration of the second vehicle at each time point after the sixth time point, wherein the sixth acceleration is a positive or negative value;

[0030] Based on the cruise speed and the sixth acceleration at each time point after the sixth time point, the first vehicle is controlled to continue driving.

[0031] In another possible implementation, the method further includes:

[0032] In the absence of the second vehicle and when the cruising speed is greater than the first speed, the road type of the road on which the first vehicle is traveling is determined;

[0033] Based on the road type, determine the speed limit corresponding to the road type;

[0034] If the speed limit is greater than the cruising speed, the first vehicle is controlled to accelerate to the cruising speed;

[0035] If the speed limit is not greater than the cruising speed, the first vehicle is controlled to accelerate to the speed limit.

[0036] In another possible implementation, the method further includes:

[0037] Acquire a speech signal, recognize the speech signal, and obtain a recognition result;

[0038] If the recognition result indicates that the adaptive cruise control function is activated, then the adaptive cruise control function of the first vehicle is activated.

[0039] On the other hand, a vehicle cruise control device is provided, the device comprising:

[0040] The first acquisition module is used to acquire the first speed of the first vehicle at the first moment.

[0041] The second acquisition module is used to acquire the second speed of the second vehicle at the first moment when there is a second vehicle in front of the first vehicle.

[0042] The third acquisition module is used to acquire the cruise speed in response to detecting that the adaptive cruise function of the first vehicle is turned on;

[0043] The fourth acquisition module is used to acquire the first acceleration of the second vehicle at multiple moments before the first moment when the first speed is greater than the cruising speed and the cruising speed is greater than the second speed, wherein the first acceleration is a negative value;

[0044] A first determining module is used to determine the minimum acceleration from a plurality of first accelerations;

[0045] The first control module is used to control the first vehicle to decelerate from the first speed based on the minimum acceleration.

[0046] The second determining module is used to determine the distance between the first vehicle and the second vehicle when the first vehicle decelerates to the cruising speed;

[0047] The second control module is used to control the first vehicle to continue decelerating from the cruise speed based on the minimum acceleration when the distance is greater than the preset distance, until the speed of the first vehicle at the second moment is the same as the speed of the second vehicle at the second moment, and the speed of the second vehicle at the second moment is less than the cruise speed.

[0048] The fifth acquisition module is used to acquire the second acceleration of the second vehicle at each time point after the second time point, wherein the second acceleration is a positive or negative value;

[0049] The third control module is used to control the first vehicle to continue driving based on the speed of the first vehicle at the second moment and the second acceleration at each moment after the second moment.

[0050] In one possible implementation, the device further includes:

[0051] The sixth acquisition module is used to acquire the third acceleration of the second vehicle at each time after the third time when the distance is not greater than the preset distance, wherein the third acceleration is a positive or negative value.

[0052] The fourth control module is used to control the first vehicle to continue driving based on the cruise speed and the third acceleration at each time point after the third time point.

[0053] In another possible implementation, the device further includes:

[0054] The fifth control module is used to control the first vehicle to decelerate from the first speed when the first speed is greater than the second speed and the second speed is greater than the cruising speed, based on the minimum acceleration.

[0055] The sixth control module is used to control the first vehicle to continue driving based on the cruise speed when the first vehicle reaches the cruise speed at the fourth moment; wherein the speed of the second vehicle at the fourth moment is greater than the cruise speed.

[0056] In another possible implementation, the device further includes:

[0057] The seventh acquisition module is used to acquire the fourth acceleration of the second vehicle at multiple times before the first time when the cruising speed is greater than the second speed and the second speed is greater than the first speed, wherein the fourth acceleration is a positive value;

[0058] The third determining module is used to determine the target acceleration based on multiple fourth accelerations;

[0059] The seventh control module is used to control the first vehicle to accelerate from the first speed based on the target acceleration until the speed of the first vehicle at the fifth moment is the same as the speed of the second vehicle at the fifth moment; wherein the speed of the second vehicle at the fifth moment is less than the cruising speed;

[0060] The eighth acquisition module is used to acquire the fifth acceleration of the second vehicle at each time point after the fifth time point, wherein the fifth acceleration is a positive or negative value;

[0061] The eighth control module is used to control the first vehicle to continue driving based on the speed of the first vehicle at the fifth moment and the fifth acceleration at each moment after the fifth moment.

[0062] In another possible implementation, the device further includes:

[0063] The ninth control module is used to control the first vehicle to accelerate from the first speed to the cruise speed based on the target acceleration when the second speed is greater than the cruise speed and the cruise speed is greater than the first speed, until the cruise speed is reached at the sixth moment; wherein the speed of the second vehicle at the sixth moment is greater than the cruise speed;

[0064] The ninth acquisition module is used to acquire the sixth acceleration of the second vehicle at each time point after the sixth time point, wherein the sixth acceleration is a positive or negative value;

[0065] The tenth control module is used to control the first vehicle to continue driving based on the cruise speed and the sixth acceleration at each time point after the sixth time point.

[0066] In another possible implementation, the device further includes:

[0067] The fourth determining module is used to determine the road type of the road on which the first vehicle is traveling when the second vehicle is not present and the cruising speed is greater than the first speed;

[0068] The fifth determining module is used to determine the speed limit corresponding to the road type based on the road type;

[0069] The eleventh control module is used to control the first vehicle to accelerate to the cruise speed when the speed limit is greater than the cruise speed;

[0070] The twelfth control module is used to control the first vehicle to accelerate to the limit speed when the limit speed is not greater than the cruise speed.

[0071] In another possible implementation, the device further includes:

[0072] The tenth acquisition module is used to acquire voice signals, recognize the voice signals, and obtain recognition results;

[0073] The activation module is used to activate the adaptive cruise control function of the first vehicle when the recognition result indicates that the adaptive cruise control function is activated.

[0074] On the other hand, a control device is provided, the control device including a processor and a memory, the memory storing at least one piece of program code, the at least one piece of program code being loaded and executed by the processor to implement the vehicle cruise control method described in any of the above.

[0075] On the other hand, a computer-readable storage medium is provided, wherein at least one piece of program code is stored in the computer-readable storage medium, the at least one piece of program code being loaded and executed by a processor to implement the vehicle cruise control method described in any of the preceding claims.

[0076] On the other hand, a computer program product is provided, wherein at least one piece of program code is stored in the computer program product, the at least one piece of program code being loaded and executed by a processor to implement the vehicle cruise control method described in any of the above claims.

[0077] This application provides a vehicle cruise control method. When a first speed is greater than the cruise speed, and the cruise speed is greater than a second speed, the method acquires multiple first accelerations of a second vehicle, determines a minimum acceleration from these multiple first accelerations, and controls the first vehicle to decelerate from the first speed to the cruise speed based on the minimum acceleration. Then, the distance between the first and second vehicles is determined. If this distance is greater than a preset distance, the first vehicle continues to decelerate based on the minimum acceleration until the two vehicles reach the same speed. Then, it responds to the acceleration of the vehicle in front and follows it. Therefore, this method controls the first vehicle to follow the second vehicle based on the relationship between the first speed, the second speed, and the cruise speed, thereby ensuring user safety and comfort.

[0078] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this disclosure. Attached Figure Description

[0079] Figure 1 This is a schematic diagram of the implementation environment of a vehicle cruise control method provided in an embodiment of this application;

[0080] Figure 2 This is a flowchart of a vehicle cruise control method provided in an embodiment of this application;

[0081] Figure 3 This is a schematic diagram illustrating the interaction between a control device and a braking device according to an embodiment of this application;

[0082] Figure 4 This is a schematic diagram of a control device controlling the movement of a first vehicle when the first speed is greater than the cruising speed and the cruising speed is greater than the second speed, provided by an embodiment of this application.

[0083] Figure 5 This is a schematic diagram of the structure of a vehicle cruise control device provided in an embodiment of this application;

[0084] Figure 6 This is a structural block diagram of a control device provided in an embodiment of this application. Detailed Implementation

[0085] To make the technical solution and advantages of this application clearer, the embodiments of this application will be described in further detail below.

[0086] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0087] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the speed, acceleration, etc. involved in this application were obtained with full authorization.

[0088] Figure 1 This is a schematic diagram illustrating the implementation environment of a vehicle cruise control method provided in this application embodiment. See also... Figure 1 The implementation environment includes: control device 101, braking device 102, camera 103 and radar 104. Control device 101, braking device 102, camera 103 and radar 104 are all located in the first vehicle, and braking device 102, camera 103 and radar 104 are all connected to control device 101. The connection method can be wired or wireless, and there is no specific limitation on this.

[0089] In this embodiment, the camera 103 and radar 104 are mainly used to collect environmental data around the first vehicle, including environmental data in front of the first vehicle, and send the collected environmental data to the control device 101. The control device 101 can be a domain controller of ADAS (Advanced Driving Assistance System). Based on the received environmental data, the control device 101 determines that there is a second vehicle in front of the first vehicle, and if there is a second vehicle, determines the second speed of the second vehicle.

[0090] Furthermore, when a second vehicle is in front of the first vehicle, the camera 103 and radar 104 can monitor the changes in the acceleration of the second vehicle in real time or periodically, and send the acceleration of the second vehicle to the control device 101.

[0091] The control device 101 also acquires the cruise speed set by the user and controls the first vehicle to follow the second vehicle based on the relationship between the first speed, the second speed, and the cruise speed. The control device 101 can send control commands to the braking device 102, which responds to the control commands to control the first vehicle to accelerate or decelerate.

[0092] Figure 2 This is a flowchart of a vehicle cruise control method provided in an embodiment of this application, executed by a control device. See also... Figure 2 The method includes:

[0093] Step 201: The control device acquires the first speed of the first vehicle at the first moment.

[0094] The first vehicle is equipped with a speed sensor, and the control equipment can obtain the first speed of the first vehicle at a first moment through the speed sensor. The first moment can be any moment.

[0095] Step 202: When there is a second vehicle in front of the first vehicle, the control device obtains the second speed of the second vehicle at the first moment.

[0096] The control equipment can determine whether there is a second vehicle in front of the first vehicle based on environmental data sent by the camera and radar. If there is a second vehicle, it can obtain the second speed of the second vehicle at the same time through the camera and radar.

[0097] Step 203: In response to detecting that the adaptive cruise control function of the first vehicle is activated, the control device obtains the cruise speed.

[0098] In this embodiment of the application, the user can activate the adaptive cruise control function of the vehicle by voice. The process can be as follows: the control device acquires the voice signal, recognizes the voice signal, and obtains the recognition result; if the recognition result indicates that the adaptive cruise control function is activated, the adaptive cruise control function of the first vehicle is activated.

[0099] In this implementation, the control device can acquire voice signals through a voice device, which then recognizes the voice signals, obtains the recognition result, and sends the recognition result to the control device. If the recognition result indicates that the adaptive cruise control function is to be activated, the control device activates the adaptive cruise control function.

[0100] In this embodiment of the application, the user can also activate the adaptive cruise control function via the on / off switch button in the vehicle, without any specific limitation.

[0101] After the first vehicle activates the adaptive cruise control function, the control device obtains the cruise speed. This can be achieved either through the vehicle's display screen (showing the user's input cruise speed) or by obtaining the cruise speed set by the user via the adaptive cruise control function keys; no specific limitation is made in either case.

[0102] Step 204: When the first speed is greater than the cruise speed and the cruise speed is greater than the second speed, the control device acquires the first acceleration of the second vehicle at multiple moments prior to the first moment.

[0103] Before step 204, during the operation of the second vehicle, the control device monitors the acceleration of the second vehicle in real time or periodically using cameras and radar, and stores the acceleration of the second vehicle at each moment. After acquiring the first speed, the second speed, and the cruising speed, the control device determines the relationship between the three. If the first speed is greater than the cruising speed, and the cruising speed is greater than the second speed, the control device acquires the pre-stored first acceleration of the second vehicle at multiple moments prior to the first moment, where the first acceleration is a negative value. A negative first acceleration indicates that the speed of the second vehicle is decreasing.

[0104] Step 205: The control device determines the minimum acceleration from multiple first accelerations.

[0105] The control device can sort multiple first accelerations in ascending order and determine the first acceleration in the first position as the minimum acceleration; or sort multiple first accelerations in descending order and determine the first acceleration in the last position as the minimum acceleration.

[0106] The minimum acceleration mentioned in the embodiments of this application includes the negative sign. For example, if the first acceleration is -8 or -9, the control device will determine -9 as the minimum acceleration.

[0107] Step 206: The control device controls the first vehicle to decelerate from the first speed based on the minimum acceleration.

[0108] The control device can send a first control command to the braking device, which carries a minimum acceleration. The braking device responds to the minimum acceleration and, by building up pressure, causes the first vehicle to decelerate at the minimum acceleration from its first speed. See [link to relevant documentation]. Figure 3 .

[0109] Step 207: With the first vehicle decelerating to cruise speed, the control device determines the distance between the first vehicle and the second vehicle.

[0110] When decelerating to the cruising speed, the control device can first determine the current speed of the second vehicle using a camera and radar. If the current speed of the second vehicle is less than the cruising speed, the control device determines the distance between the first and second vehicles using a camera and radar, and then determines whether this distance is greater than a preset distance. If the distance is greater than the preset distance, step 208 is executed.

[0111] The preset distance can be set and changed as needed, but in this embodiment, it is not specifically limited.

[0112] Step 208: If the distance is greater than the preset distance, the control device controls the first vehicle to continue decelerating from the cruise speed based on the minimum acceleration until the speed of the first vehicle at the second moment is the same as the speed of the second vehicle at the second moment, and the speed of the second vehicle at the second moment is less than the cruise speed.

[0113] Since the cruising speed is greater than the current speed of the second vehicle, when the distance is greater than the preset distance, the control device can control the first vehicle to continue decelerating from the cruising speed with minimum acceleration until the speeds of the first and second vehicles are the same at the second moment.

[0114] The process of the control device controlling the first vehicle to decelerate from the cruising speed and continue to decelerate at the minimum acceleration is the same as step 206. Both involve sending control commands to the braking device, which controls the deceleration of the first vehicle by building up pressure. This will not be elaborated further here.

[0115] Step 209: The control device acquires the second acceleration of the second vehicle at each time point after the second time point.

[0116] Once the first vehicle decelerates to the same speed as the second vehicle, the control equipment uses cameras and radar to acquire the second acceleration of the second vehicle at each subsequent moment. This second acceleration can be positive or negative. Of course, the second acceleration can also be zero; there is no specific limitation on this.

[0117] Step 210: The control device controls the first vehicle to continue driving based on the speed of the first vehicle at the second moment and the second acceleration at each moment after the second moment.

[0118] The control equipment controls the speed of the first vehicle at the second moment, and then accelerates, decelerates, or travels at a constant speed according to the second acceleration at each moment after the second moment.

[0119] In this embodiment of the application, when the first speed is greater than the cruise speed and the cruise speed is greater than the second speed, the control device first controls the first vehicle to decelerate to the cruise speed. If the first vehicle decelerates to the cruise speed and the cruise speed is still greater than the second speed, the first vehicle continues to decelerate until it is the same speed as the second vehicle. Then, it responds to the second acceleration of the second vehicle in real time and drives stably following the second vehicle based on the second acceleration of the second vehicle.

[0120] During the deceleration of the first vehicle to the cruise speed, the control device determines the relationship between the first speed, the second speed, and the cruise speed in real time or periodically. If the speed of the second vehicle increases during the deceleration of the first vehicle to the cruise speed, and the speed of the first vehicle is the same as that of the second vehicle at some point, the control device responds to the speed of the second vehicle, that is, it only needs to decelerate to the speed of the second vehicle, without continuing to decelerate to the cruise speed, and then executes steps 209 to 210.

[0121] It should be noted that if the distance between the first vehicle and the second vehicle in step 207 is not greater than a preset distance, the control device acquires the third acceleration of the second vehicle at each time point after the third time point, and controls the first vehicle to continue driving based on the cruise speed and the third acceleration at each time point after the third time point. The third acceleration can be positive, negative, or 0, and the third time point is the time corresponding to when the first vehicle decelerates to the cruise speed.

[0122] In this implementation, if the distance is not greater than the preset distance, the control device obtains the third acceleration of the second vehicle at each time after the third time through the camera and radar, and decelerates, accelerates or drives at a constant speed based on the third acceleration at each time after the third time, while maintaining the cruising speed.

[0123] The control device determines the distance between the first vehicle and the second vehicle in real time or periodically during the first vehicle's travel based on the cruise speed and the third acceleration. Based on this distance, it determines whether there is a risk of collision between the first vehicle and the second vehicle. If there is a risk of collision between the first vehicle and the second vehicle, the control device performs emergency braking through the Automatic Emergency Braking (AEB) system to avoid a collision between the first vehicle and the second vehicle and ensure user safety.

[0124] In addition, during step 206, the control device controls the first vehicle to decelerate from the first speed based on the minimum acceleration. During this process, the control device can also determine the distance between the first vehicle and the second vehicle in real time or periodically to determine whether there is a risk of collision between the two vehicles. If there is a risk of collision, emergency braking is performed through AEB.

[0125] See Figure 4When the first speed is greater than the cruise speed, and the cruise speed is greater than the second speed, the control device first decelerates the first vehicle to the cruise speed based on the minimum acceleration. Then, it determines whether the distance between the two vehicles is greater than a preset distance. If it is greater than the preset distance, it continues to decelerate the first vehicle with the minimum acceleration. If it is not greater than the preset distance, it responds to the second vehicle's third acceleration and controls the first vehicle to continue driving. Furthermore, during the driving process, it determines whether there is a risk of collision between the two vehicles. If there is a risk of collision, it triggers AEB for emergency braking. If there is no risk of collision, it controls the first vehicle to follow the second vehicle.

[0126] This application provides a vehicle cruise control method. When a first speed is greater than the cruise speed, and the cruise speed is greater than a second speed, the method acquires multiple first accelerations of a second vehicle, determines a minimum acceleration from these multiple first accelerations, and controls the first vehicle to decelerate from the first speed to the cruise speed based on the minimum acceleration. Then, the distance between the first and second vehicles is determined. If this distance is greater than a preset distance, the first vehicle continues to decelerate based on the minimum acceleration until the two vehicles reach the same speed. Then, it responds to the acceleration of the vehicle in front and follows it. Therefore, this method controls the first vehicle to follow the second vehicle based on the relationship between the first speed, the second speed, and the cruise speed, thereby ensuring user safety and comfort.

[0127] The above example illustrates the situation where the first speed is greater than the cruising speed, and the cruising speed is greater than the second speed. In practical applications, the following situations may also occur: for example, the first speed is greater than the second speed, and the second speed is greater than the cruising speed; or the cruising speed is greater than the second speed, and the second speed is greater than the first speed, as well as other situations. These situations will be introduced separately below.

[0128] In the first scenario, the first speed is greater than the second speed, and the second speed is greater than the cruising speed.

[0129] In this situation, the control device controls the first vehicle to decelerate from the first speed based on the minimum acceleration; if the first vehicle reaches the cruising speed at the fourth moment, it controls the first vehicle to continue driving based on the cruising speed.

[0130] The minimum acceleration in this implementation is the same as the minimum acceleration in step 205, which will not be elaborated here. The control device controls the first vehicle to decelerate from the first speed according to the minimum acceleration, and at the fourth moment, the speed of the first vehicle reaches the cruising speed.

[0131] The control device uses cameras and radar to acquire the seventh acceleration of the second vehicle at each time point after the fourth time point, and controls the first vehicle to continue driving based on the cruise speed and the seventh acceleration at each time point after the fourth time point.

[0132] In this embodiment of the application, after the control device controls the first vehicle to accelerate to the cruising speed, it responds to the seventh acceleration of the second vehicle at each moment and controls the first vehicle to follow the second vehicle.

[0133] In the second scenario, the cruising speed is greater than the second speed, and the second speed is greater than the first speed.

[0134] In this scenario, the control device acquires the fourth acceleration of the second vehicle at multiple moments prior to the first moment, where the fourth acceleration is positive; based on these multiple fourth accelerations, a target acceleration is determined; based on the target acceleration, the first vehicle is controlled to accelerate from the first speed until its speed at the fifth moment is the same as the second vehicle's speed at the fifth moment; wherein the second vehicle's speed at the fifth moment is less than the cruising speed; the fifth acceleration of the second vehicle is acquired at each moment after the fifth moment, where the fifth acceleration is either positive or negative; based on the first vehicle's speed at the fifth moment and the fifth acceleration at each moment after the fifth moment, the first vehicle is controlled to continue driving.

[0135] In this implementation, the method by which the control device obtains multiple fourth accelerations is the same as the method by which it obtains multiple first accelerations in step 204, and will not be described again here.

[0136] The control device determines the minimum acceleration from multiple fourth accelerations to obtain the target acceleration; or, the control device determines the maximum acceleration from multiple fourth accelerations to obtain the target acceleration; or, the control device determines the average value of multiple fourth accelerations to obtain the target acceleration.

[0137] The control device controls the first vehicle to accelerate from a first speed to a target acceleration, until the speed of the first vehicle is the same as that of the second vehicle at the fifth moment. The control device acquires the fifth acceleration of the second vehicle at each moment after the fifth moment, and based on the speed of the first vehicle at the fifth moment, controls the first vehicle to accelerate, decelerate, or maintain a constant speed according to the fifth acceleration at each moment after the fifth moment. The fifth acceleration can also be zero.

[0138] In this embodiment of the application, after the control device controls the first vehicle to accelerate to the same speed as the second vehicle, it responds to the fifth acceleration of the second vehicle at each moment and controls the first vehicle to follow the second vehicle.

[0139] In the third scenario, the second speed is greater than the cruising speed, and the cruising speed is greater than the first speed.

[0140] In this scenario, the control device, based on the target acceleration, controls the first vehicle to accelerate from a first speed until it reaches the cruising speed at the sixth moment; wherein, the speed of the second vehicle at the sixth moment is greater than the cruising speed; the sixth acceleration of the second vehicle at each moment after the sixth moment is acquired, and the sixth acceleration is either positive or negative; based on the cruising speed and the sixth acceleration at each moment after the sixth moment, the first vehicle is controlled to continue driving.

[0141] In this implementation, the target acceleration is the same as that in the second case, which will not be elaborated further here.

[0142] The control equipment controls the first vehicle to accelerate from a first speed to a target acceleration, reaching the cruising speed at the sixth moment. At this point, the speed of the second vehicle is greater than the cruising speed. The control equipment acquires the sixth acceleration of the second vehicle at each moment after the sixth moment, where the sixth acceleration can be positive, negative, or 0. Based on the cruising speed, the control equipment controls the first vehicle to continue driving according to the sixth acceleration at each moment after the sixth moment.

[0143] In this embodiment of the application, after the control device controls the first vehicle to accelerate to the same speed as the cruise speed, it responds to the sixth acceleration of the second vehicle at each moment and controls the first vehicle to follow the second vehicle.

[0144] It should be noted that, even when the cruising speed is greater than the second speed and the second speed is greater than the first speed, or when the second speed is greater than the cruising speed and the cruising speed is greater than the first speed, or when the first speed is equal to the cruising speed and the cruising speed is less than the second speed, the control device can also acquire the eighth acceleration of the second vehicle at each time point after the first time point. Based on the first speed and the eighth acceleration at each time point after the first time point, the control device can control the first vehicle to continue driving. The eighth acceleration can be a positive value, a negative value, or 0.

[0145] The fourth scenario is that the first speed equals the cruising speed, and the cruising speed is greater than the second speed.

[0146] In this scenario, the control device, based on the minimum acceleration, controls the first vehicle to decelerate from the first speed until it reaches the same speed as the second vehicle at the seventh moment. Then, based on the first vehicle's speed at the seventh moment and the ninth acceleration at each subsequent moment, it controls the first vehicle to continue moving. The minimum acceleration is the same as the minimum acceleration in step 205.

[0147] Alternatively, the control device acquires the eighth acceleration of the second vehicle at every moment after the first moment, and based on the first speed and the eighth acceleration at every moment after the first moment, controls the first vehicle to continue driving. If there is a risk of collision between the first and second vehicles during the driving process, emergency braking is initiated via AEB (Automatic Emergency Braking).

[0148] The fifth scenario is that there is no second vehicle in front of the first vehicle, and the cruising speed is greater than the first speed.

[0149] In this situation, the control device determines the road type of the road on which the first vehicle is traveling; based on the road type, it determines the speed limit corresponding to the road type; if the speed limit is greater than the cruise speed, it controls the first vehicle to accelerate to the cruise speed; if the speed limit is not greater than the cruise speed, it controls the first vehicle to accelerate to the speed limit.

[0150] In this implementation, the control device uses a camera to determine the road type of the first vehicle, such as an urban road, expressway, or highway. If it is an urban road, it determines whether there is a center line. If it is a highway, it determines whether the highway has two or three lanes, and then determines the lane in which the first vehicle is located.

[0151] The control device determines the speed limit corresponding to a road type. Specifically, the control device can pre-store the correspondence between road types and speed limits, and determine the speed limit for that road type based on this correspondence.

[0152] For example, on urban roads without a center line, the speed limit is 30 km / h; on roads with only one lane in each direction, the speed limit is 50 km / h. On highways, the maximum speed is 120 km / h. On a three-lane highway in the same direction, the speed limit is 120 km / h in the leftmost lane, 110 km / h in the middle lane, and 90 km / h in the rightmost lane. On a two-lane highway in the same direction, the speed limit is 120 km / h in the leftmost lane and 100 km / h in the middle lane. If the first vehicle is on an urban road without a center line, the control equipment sets the speed limit to 30 km / h.

[0153] Alternatively, the control device can also obtain speed limit signs through cameras and determine the speed limit of the road it is traveling on based on the speed limit signs, without making specific restrictions on this.

[0154] The control device determines whether the speed limit is greater than the cruise speed. If the speed limit is greater than the cruise speed, it controls the first vehicle to accelerate to the cruise speed. If the speed limit is not greater than the cruise speed, it controls the first vehicle to accelerate to the speed limit.

[0155] The control device can control the first vehicle to accelerate to the cruising speed or the speed limit according to the preset acceleration.

[0156] In this embodiment, when there is no second vehicle in front of the first vehicle and the cruising speed is greater than the speed limit, the control device controls the first vehicle to accelerate to the speed limit, thereby avoiding speeding and ensuring user safety. When the speed limit is greater than the cruising speed, the control device controls the first vehicle to respond to the cruising speed, thereby meeting the user's needs.

[0157] It should be noted that if the vehicle in front of the first vehicle changes during the driving process, the control device will identify the changed vehicle as the second vehicle and then re-execute the method provided in this application.

[0158] In summary, when controlling the first vehicle to follow the vehicle in front, the control device, based on the specific environment, determines whether the first vehicle should respond to the acceleration of the vehicle in front or maintain the set cruising speed, thereby achieving stable following of the vehicle in front and bringing an intelligent experience to the user.

[0159] Figure 5 This is a schematic diagram of the structure of a vehicle cruise control device provided in an embodiment of this application. See also... Figure 5 The device includes:

[0160] The first acquisition module 501 is used to acquire the first speed of the first vehicle at the first moment;

[0161] The second acquisition module 502 is used to acquire the second speed of the second vehicle at a first moment when there is a second vehicle in front of the first vehicle.

[0162] The third acquisition module 503 is used to acquire the cruise speed in response to detecting that the adaptive cruise function of the first vehicle is turned on;

[0163] The fourth acquisition module 504 is used to acquire the first acceleration of the second vehicle at multiple moments before the first moment when the first speed is greater than the cruising speed and the cruising speed is greater than the second speed. The first acceleration is a negative value.

[0164] The first determining module 505 is used to determine the minimum acceleration from a plurality of first accelerations;

[0165] The first control module 506 is used to control the first vehicle to decelerate from a first speed based on the minimum acceleration.

[0166] The second determining module 507 is used to determine the distance between the first vehicle and the second vehicle when the first vehicle decelerates to the cruising speed;

[0167] The second control module 508 is used to control the first vehicle to continue decelerating from the cruise speed based on the minimum acceleration when the distance is greater than the preset distance, until the speed of the first vehicle at the second moment is the same as the speed of the second vehicle at the second moment, and the speed of the second vehicle at the second moment is less than the cruise speed.

[0168] The fifth acquisition module 509 is used to acquire the second acceleration of the second vehicle at each time point after the second time point, wherein the second acceleration is a positive or negative value;

[0169] The third control module 510 is used to control the first vehicle to continue driving based on the speed of the first vehicle at the second moment and the second acceleration at each moment after the second moment.

[0170] In one possible implementation, the device further includes:

[0171] The sixth acquisition module is used to acquire the third acceleration of the second vehicle at each time point after the third time point, provided that the distance is not greater than a preset distance. The third acceleration can be a positive or negative value.

[0172] The fourth control module is used to control the first vehicle to continue driving based on the cruise speed and the third acceleration at each time point after the third time point.

[0173] In another possible implementation, the device also includes:

[0174] The fifth control module is used to control the first vehicle to decelerate from the first speed when the first speed is greater than the second speed and the second speed is greater than the cruising speed, based on the minimum acceleration.

[0175] The sixth control module is used to control the first vehicle to continue driving based on the cruise speed when the first vehicle reaches the cruise speed at the fourth moment; wherein the speed of the second vehicle at the fourth moment is greater than the cruise speed.

[0176] In another possible implementation, the device also includes:

[0177] The seventh acquisition module is used to acquire the fourth acceleration of the second vehicle at multiple moments before the first moment when the cruising speed is greater than the second speed and the second speed is greater than the first speed. The fourth acceleration is a positive value.

[0178] The third determining module is used to determine the target acceleration based on multiple fourth accelerations;

[0179] The seventh control module is used to control the first vehicle to accelerate from a first speed based on the target acceleration until the speed of the first vehicle at the fifth moment is the same as the speed of the second vehicle at the fifth moment; wherein the speed of the second vehicle at the fifth moment is less than the cruising speed;

[0180] The eighth acquisition module is used to acquire the fifth acceleration of the second vehicle at each time point after the fifth time point. The fifth acceleration can be a positive or negative value.

[0181] The eighth control module is used to control the first vehicle to continue driving based on the speed of the first vehicle at the fifth moment and the fifth acceleration at each moment after the fifth moment.

[0182] In another possible implementation, the device also includes:

[0183] The ninth control module is used to control the first vehicle to accelerate from the first speed to the cruise speed at the sixth moment, based on the target acceleration, when the second speed is greater than the cruise speed and the cruise speed is greater than the first speed; wherein the second vehicle's speed at the sixth moment is greater than the cruise speed.

[0184] The ninth acquisition module is used to acquire the sixth acceleration of the second vehicle at each time point after the sixth time point. The sixth acceleration can be a positive or negative value.

[0185] The tenth control module is used to control the first vehicle to continue driving based on the cruise speed and the sixth acceleration at each time point after the sixth time point.

[0186] In another possible implementation, the device also includes:

[0187] The fourth determining module is used to determine the road type of the road on which the first vehicle is traveling when there is no second vehicle and the cruising speed is greater than the first speed;

[0188] The fifth determining module is used to determine the speed limit corresponding to the road type based on the road type;

[0189] The eleventh control module is used to control the first vehicle to accelerate to the cruise speed when the speed limit is greater than the cruise speed.

[0190] The twelfth control module is used to control the first vehicle to accelerate to the limit speed while the speed limit is not greater than the cruising speed.

[0191] In another possible implementation, the device also includes:

[0192] The tenth acquisition module is used to acquire speech signals, recognize the speech signals, and obtain recognition results;

[0193] The activation module is used to activate the adaptive cruise control function of the first vehicle when the recognition result indicates that the adaptive cruise control function is activated.

[0194] This application provides a vehicle cruise control device. When a first speed is greater than the cruise speed, and the cruise speed is greater than a second speed, the device acquires multiple first accelerations of a second vehicle, determines a minimum acceleration from these multiple first accelerations, and controls the first vehicle to decelerate from the first speed to the cruise speed based on the minimum acceleration. Then, it determines the distance between the first and second vehicles. If this distance is greater than a preset distance, the first vehicle continues to decelerate based on the minimum acceleration until the two vehicles reach the same speed. Then, it responds to the acceleration of the vehicle in front and follows it. Therefore, this device controls the first vehicle to follow the second vehicle based on the relationship between the first speed, the second speed, and the cruise speed, thereby ensuring user safety and comfort.

[0195] The structural block diagram of the control equipment can be found in [reference]. Figure 6 The control device 600 can vary considerably depending on its configuration or performance. It may include a Central Processing Unit (CPU) 601 and a memory 602. The memory 602 stores at least one line of program code, which is loaded and executed by the processor 601 to perform the operations described in the vehicle cruise control method. Of course, the control device 600 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The control device 600 may also include other components for implementing its functions, which will not be elaborated upon here.

[0196] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one piece of program code that is loaded and executed by a processor to implement the vehicle cruise control method in the above embodiments.

[0197] In an exemplary embodiment, a computer program product is also provided, which stores at least one piece of program code that is loaded and executed by a processor to implement the vehicle cruise control method in the above embodiments.

[0198] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0199] The above description is only for the purpose of enabling those skilled in the art to understand the technical solution of this application, and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle cruise control method characterized by, The method includes: Obtain the first speed of the first vehicle at the first moment; If a second vehicle is in front of the first vehicle, obtain the second speed of the second vehicle at the first moment; In response to the detection that the adaptive cruise control function of the first vehicle is activated, the cruise speed is obtained; If the first speed is greater than the cruise speed and the cruise speed is greater than the second speed, the first acceleration of the second vehicle at multiple moments prior to the first moment is obtained, wherein the first acceleration is a negative value; Based on the minimum acceleration determined from multiple first accelerations, the first vehicle is controlled to decelerate from the first speed. Determine the distance between the first vehicle and the second vehicle after the first vehicle decelerates to the cruise speed; If the distance is greater than the preset distance, based on the minimum acceleration, the first vehicle is controlled to continue decelerating from the cruise speed until the speed of the first vehicle at the second moment is the same as the speed of the second vehicle at the second moment, and the speed of the second vehicle at the second moment is less than the cruise speed. Based on the speed of the first vehicle at the second moment and the second acceleration of the second vehicle at each moment after the second moment, the first vehicle is controlled to continue driving, and the second acceleration is either a positive or negative value. If the distance is not greater than the preset distance, the first vehicle is controlled to continue driving based on the cruise speed and the third acceleration of the second vehicle at each time after the third time, wherein the third acceleration is a positive or negative value.

2. The method of claim 1, wherein, The method further includes: If the first speed is greater than the second speed, and the second speed is greater than the cruise speed, the first vehicle is controlled to decelerate from the first speed based on the minimum acceleration. If the first vehicle reaches the cruise speed at the fourth moment, the first vehicle is controlled to continue driving based on the cruise speed; wherein the speed of the second vehicle at the fourth moment is greater than the cruise speed.

3. The method of claim 1, wherein, The method further includes: When the cruising speed is greater than the second speed and the second speed is greater than the first speed, the fourth acceleration of the second vehicle at multiple moments before the first moment is obtained, and the fourth acceleration is a positive value; The target acceleration is determined based on multiple fourth accelerations; Based on the target acceleration, the first vehicle is controlled to accelerate from a first speed until the speed of the first vehicle at the fifth moment is the same as the speed of the second vehicle at the fifth moment; wherein the speed of the second vehicle at the fifth moment is less than the cruising speed; The fifth acceleration of the second vehicle is obtained at each time point after the fifth time point, wherein the fifth acceleration is a positive or negative value; Based on the speed of the first vehicle at the fifth moment and the fifth acceleration at each moment after the fifth moment, the first vehicle is controlled to continue driving.

4. The method of claim 3, wherein, The method further includes: If the second speed is greater than the cruise speed and the cruise speed is greater than the first speed, based on the target acceleration, the first vehicle is controlled to accelerate from the first speed until it reaches the cruise speed at the sixth moment; wherein, the speed of the second vehicle at the sixth moment is greater than the cruise speed; The sixth acceleration of the second vehicle at each time point after the sixth time point is obtained, wherein the sixth acceleration is a positive or negative value; Based on the cruise speed and the sixth acceleration at each time point after the sixth time point, the first vehicle is controlled to continue driving.

5. The method of claim 1, wherein, The method further includes: In the absence of a second vehicle and when the cruising speed is greater than the first speed, the road type of the road on which the first vehicle is traveling is determined. Based on the road type, determine the speed limit corresponding to the road type; If the speed limit is greater than the cruise speed, control the first vehicle to accelerate to the cruise speed; If the speed limit is not greater than the cruising speed, the first vehicle is controlled to accelerate to the speed limit.

6. The method of claim 1, wherein, The method further includes: Acquire a speech signal, recognize the speech signal, and obtain a recognition result; If the recognition result indicates that the adaptive cruise control function is activated, then the adaptive cruise control function of the first vehicle is activated.

7. A vehicle cruise control device characterized by comprising: The device includes: The first acquisition module is used to acquire the first speed of the first vehicle at the first moment. The second acquisition module is used to acquire the second speed of the second vehicle at a first moment when there is a second vehicle in front of the first vehicle. The third acquisition module is used to acquire the cruise speed in response to the detection that the adaptive cruise function of the first vehicle is turned on; The fourth acquisition module is used to acquire the first acceleration of the second vehicle at multiple moments before the first moment, wherein the first acceleration is a negative value, when the first speed is greater than the cruise speed and the cruise speed is greater than the second speed. The first control module is used to control the first vehicle to decelerate from a first speed based on the minimum acceleration determined by the first determining module from a plurality of first accelerations. The second determining module is used to determine the distance between the first vehicle and the second vehicle when the first vehicle decelerates to the cruising speed; The second control module is used to control the first vehicle to continue decelerating from the cruise speed based on the minimum acceleration when the distance is greater than the preset distance, until the speed of the first vehicle at the second moment is the same as the speed of the second vehicle at the second moment, and the speed of the second vehicle at the second moment is less than the cruise speed. The third control module is used to control the first vehicle to continue driving based on the speed of the first vehicle at the second moment and the second acceleration of the second vehicle at each moment after the second moment obtained by the fifth acquisition module. The second acceleration is a positive or negative value. The fourth control module is used to control the first vehicle to continue driving based on the cruising speed and the third acceleration of the second vehicle at each time after the third time, provided that the distance is not greater than the preset distance. The third acceleration is either positive or negative.

8. A control device characterized by comprising: The control device includes a processor and a memory, the memory storing at least one piece of program code, which is loaded and executed by the processor to implement the vehicle cruise control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one program code, and the at least one program code is loaded and executed by the processor to implement the vehicle cruise control method in any one of claims 1 to 6.

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