Adaptive cruise following target selection method, device, equipment and medium

Abstract

The present invention discloses an adaptive cruise following target selection method, device, equipment and medium. The method comprises: if it is detected that the adaptive cruise control is in the following mode, a navigation route is obtained; the navigation direction of the navigation route within the current preset distance length is determined; according to the navigation direction, a selection area and a heading angle range for the preceding vehicle following target are determined; according to the selection area and the heading angle range, the preceding vehicle following target of the vehicle is selected. The technical solution of the embodiment of the present invention realizes that when the adaptive cruise control is in the following mode, the preceding vehicle following target is selected according to the navigation route, so as to realize reasonable following according to the driving intention of the driver.

Description

Technical Field

[0001] The present invention relates to the field of adaptive cruise technology, and in particular to an adaptive cruise following vehicle target selection method, device, equipment and medium. Background Art

[0002] The current mainstream adaptive cruise control function only selects the target to follow based on the relative position between the front vehicle and the lane, without fully considering the driver's driving intention. As a result, there may be situations where the front vehicle changes lanes or turns incorrectly, or the front vehicle changes lanes or turns left or right without following properly, which is inconsistent with the driver's expected driving path. Summary of the invention

[0003] The present invention provides an adaptive cruise following target selection method, device, equipment and medium, which realizes that when the adaptive cruise control is in a following mode, a preceding vehicle following target is selected according to a navigation route, so as to realize reasonable following according to the driver's driving intention.

[0004] According to one aspect of the present invention, a method for selecting a target for an adaptive cruise following vehicle is provided, comprising:

[0005] Get navigation route if adaptive cruise control is detected to be in follow mode;

[0006] Determine the navigation direction of the navigation route within the current preset distance length;

[0007] Determining a selection area and a heading angle range for a preceding vehicle-following target according to the navigation direction;

[0008] According to the selected area and the heading angle range, a vehicle ahead of the vehicle is selected as a target to follow.

[0009] Optionally, determining the selection area and heading angle range for the preceding vehicle following target according to the navigation direction includes:

[0010] If the navigation direction is straight ahead, the selection area for the vehicle following target is determined to be a first trapezoidal area directly in front of the vehicle; the first trapezoidal area is an isosceles trapezoid; the area of ​​the first trapezoidal area is smaller than the area of ​​the selection area when the navigation route is not set;

[0011] It is determined that the left side heading angle range and the right side heading angle range of the preceding vehicle following target are equal in size, and the left side heading angle range is smaller than a first angle threshold.

[0012] Optionally, determining the selection area and heading angle range for the preceding vehicle following target according to the navigation direction includes:

[0013] If the navigation direction is a left turn, the selection area of ​​the vehicle following target is determined to be the second trapezoidal area in the left front of the vehicle; the second trapezoidal area is a left right-angled trapezoid;

[0014] Determine that the left side heading angle range of the leading vehicle following target is greater than the right side heading angle range, and the left side heading angle range is less than a second angle threshold, and the right side heading angle range is less than a third angle threshold; the second angle threshold is greater than the first angle threshold, and the third angle threshold is less than the first angle threshold.

[0015] Optionally, determining the selection area and heading angle range for the preceding vehicle following target according to the navigation direction includes:

[0016] If the navigation direction is a right turn, the selection area of ​​the vehicle following target is determined to be the third trapezoidal area in front of the right side of the vehicle; the third trapezoidal area is a right right trapezoid;

[0017] Determine that the left side heading angle range of the leading vehicle following target is smaller than the right side heading angle range, and the left side heading angle range is smaller than a third angle threshold, and the right side heading angle range is smaller than a second angle threshold; the second angle threshold is larger than the first angle threshold, and the third angle threshold is smaller than the first angle threshold.

[0018] Optionally, the determining the navigation direction of the navigation route within a current preset distance includes:

[0019] Locate the target location point on the navigation route at the current moment;

[0020] Starting from the target position point, a position point is acquired at every specified distance to obtain all position points within a preset distance length;

[0021] The navigation direction of the navigation route within a preset distance is determined according to the arc of the connecting line of all the position points.

[0022] Optionally, also include:

[0023] If it is detected that the adaptive cruise control is in the following mode and the navigation route is not obtained, the selection area of ​​the preceding vehicle following target is determined to be a fourth trapezoidal area directly in front of the vehicle; the fourth trapezoidal area is an isosceles trapezoid; the area of ​​the fourth trapezoidal area is larger than the area of ​​the selection area when the navigation direction is straight ahead;

[0024] It is determined that the left side heading angle range and the right side heading angle range of the preceding vehicle following target are equal in size, and the left side heading angle range is smaller than a fourth angle threshold; the fourth angle threshold is larger than the first angle threshold.

[0025] Optionally, selecting a preceding vehicle target of the vehicle according to the selected area and the heading angle range includes:

[0026] A target vehicle whose position is within the selected area and whose heading angle does not exceed the heading angle range is selected as the preceding vehicle following target of the host vehicle.

[0027] According to another aspect of the present invention, there is provided an adaptive cruise following target selection device, comprising:

[0028] a route acquisition module, for acquiring a navigation route if it is detected that the adaptive cruise control is in a vehicle following mode;

[0029] A direction determination module, used to determine the navigation direction of the navigation route within a current preset distance length;

[0030] A parameter determination module, used to determine a selection area and a heading angle range for a preceding vehicle following target according to the navigation direction;

[0031] The vehicle following target selection module is used to select the vehicle following target in front of the vehicle according to the selection area and the heading angle range.

[0032] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0033] at least one processor; and

[0034] a memory communicatively connected to the at least one processor; wherein,

[0035] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the adaptive cruise following target selection method described in any embodiment of the present invention.

[0036] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the adaptive cruise following target selection method described in any embodiment of the present invention when executed.

[0037] The technical solution of the embodiment of the present invention obtains a navigation route when it is detected that the adaptive cruise control is in the following mode; determines the navigation direction of the navigation route within the current preset distance length; determines a selection area and a heading angle range for the preceding vehicle following target according to the navigation direction; and selects the preceding vehicle following target of the vehicle according to the selection area and the heading angle range, thereby solving the problem of erroneous following caused by mechanically following the preceding vehicle path without considering the driving intention of the driver in the related art, and realizes that when the adaptive cruise control is in the following mode, the preceding vehicle following target is reasonably selected according to the navigation route, so as to realize reasonable following according to the driving intention of the driver.

[0038] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 is a flow chart of an adaptive cruise following target selection method provided according to Embodiment 1 of the present invention;

[0041] Figure 2 is a schematic diagram of a selection area for a preceding vehicle following target when the navigation route is straight-ahead provided by Embodiment 1 of the present invention;

[0042] Figure 3 is a schematic diagram of a selection area for a vehicle ahead following target when the navigation route is a left turn according to the first embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of a selection area for a preceding vehicle following target when the navigation route is a right turn according to the first embodiment of the present invention;

[0044] Figure 5 is a schematic diagram of a selection area for a preceding vehicle following target when a navigation route is not set according to Embodiment 1 of the present invention;

[0045] Figure 6 is a structural schematic diagram of an adaptive cruise following target selection device provided according to Embodiment 2 of the present invention;

[0046] Figure 7 The present invention is a schematic diagram of the structure of an electronic device for implementing the adaptive cruise following target selection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] Embodiment 1

[0050] Figure 1 This is a flow chart of an adaptive cruise following target selection method provided according to the first embodiment of the present invention. This embodiment can be applied to the adaptive cruise following scenario, in which the preceding vehicle following target is selected according to the driver's driving intention to reasonably follow the vehicle. This method can be executed by an adaptive cruise following target selection device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0051] S110: If it is detected that the adaptive cruise control is in the vehicle following mode, obtain a navigation route.

[0052] In this embodiment, adaptive cruise control is a car function that allows the vehicle cruise control system to adjust the speed to adapt to traffic conditions. When it is detected that the adaptive cruise control is in the following mode, it is necessary to select a preceding vehicle as the following target of the vehicle, so that the vehicle follows the preceding vehicle to change lanes or turn. In order to enable the vehicle to accurately follow the driver's driving intention, this embodiment increases the followability of the adaptive cruise control system to the driver's navigation route, so that when in the following mode, it is necessary to first obtain a navigation route that can reflect the driver's driving intention, and then select the preceding vehicle following target of the vehicle according to the navigation route.

[0053] S120: Determine the navigation direction of the navigation route within the current preset distance.

[0054] The preset distance length can be set according to the requirements, such as 20 meters, 30 meters, 50 meters, etc. The current preset distance length can be the first preset distance length starting from the current position in the navigation route. The navigation direction includes straight ahead, left turn and right turn.

[0055] In this embodiment, by intermittently determining the navigation path planning direction within a certain distance from the current position, it can be known whether left or right turns are required within a certain distance in the future. As long as the preset distance length is selected appropriately, a suitable vehicle ahead can be found before the turning position, thereby avoiding the situation where no suitable vehicle ahead can be found to follow the turn when the turning position indicated by the navigation route is reached.

[0056] Optionally, determining the navigation direction of the navigation route within the current preset distance length includes: locating the target position point in the navigation route at the current moment; starting from the target position point, acquiring a position point at every specified distance interval to obtain all position points within the preset distance length; determining the navigation direction of the navigation route within the preset distance length based on the arc of the line connecting all the position points.

[0057] In this embodiment, the target location point corresponding to the current moment can be found in the navigation route first, and then a location point is obtained at a certain distance from the target location point, for example, a location point is obtained in the navigation route every 5 meters, so that when the distance from the target location point reaches a preset length, for example, when it reaches 30 meters, a total of 7 location points can be obtained, and these 7 location points are connected, and the navigation direction of the navigation route within the current preset distance is determined to be straight, left turn or right turn according to the arc of the connecting line. Among them, if the location point connection line includes left turn instructions such as left turn and left U-turn, the navigation direction is determined to be a left turn; if the location point connection line includes right turn instructions such as right turn and right U-turn, the navigation direction is determined to be a right turn; in other cases, the navigation direction is determined to be straight.

[0058] S130: Determine a selection area and a heading angle range for a preceding vehicle-following target according to the navigation direction.

[0059] The heading angle refers to the angle between the steering angle of the front wheels of the vehicle and the direction of the vehicle. The heading angle range of the front vehicle following target can be understood as the allowable heading angle variation range for the front vehicle following target of the vehicle. In fact, it is also the heading angle range that the vehicle can follow the front vehicle. Once the heading angle range is exceeded, the vehicle will not continue to follow the front vehicle, and the front vehicle will no longer be the vehicle following target of the vehicle. In this case, the vehicle will reselect a front vehicle following target.

[0060] In this embodiment, in order to facilitate the vehicle to accurately follow the driver's driving intention, when the navigation direction is straight, the driver's driving intention to drive along the lane is confirmed, and the selection area and heading angle range that are smaller for the front vehicle following the target are determined to ensure that they are not led astray by the front vehicle. When the navigation direction is to turn left, the driver's driving intention to turn left is confirmed, and the following selection area and heading angle range that are easier to follow the front vehicle following the target to turn left are determined. When the navigation direction is to turn right, the driver's driving intention to turn right is confirmed, and the following selection area and heading angle range that are easier to follow the front vehicle following the target to turn right are determined.

[0061] In an optional embodiment, if the navigation direction is straight ahead, the selection area for the vehicle in front of the vehicle is determined to be the first trapezoidal area directly in front of the vehicle; the first trapezoidal area is an isosceles trapezoid; the area of ​​the first trapezoidal area is smaller than the area of ​​the selection area when the navigation route is not set; the left heading angle range of the vehicle in front of the vehicle is determined to be equal to the right heading angle range, and the left heading angle range is smaller than the first angle threshold.

[0062] For example, Figure 2 As shown, the first trapezoidal area is directly in front of the vehicle, and the bottom length of the first trapezoidal area is a1, for example, 2.5m, the top length is b1, for example, 0.6m, and the height of the trapezoid is c1, for example, 10m. The left heading angle range of the vehicle following the target in front is less than the first angle threshold h1, for example, less than 8 degrees, and the right heading angle range of the vehicle following the target in front is also less than 8 degrees. Among them, c1 and h1 are not in Figure 2 Shown in.

[0063] In another optional embodiment, if the navigation direction is a left turn, the selection area for the leading vehicle following target is determined to be the second trapezoidal area in front of the left side of the vehicle; the second trapezoidal area is a left right-angled trapezoid; the left heading angle range of the leading vehicle following target is determined to be greater than the right heading angle range, and the left heading angle range is less than the second angle threshold, and the right heading angle range is less than the third angle threshold; the second angle threshold is greater than the first angle threshold, and the third angle threshold is less than the first angle threshold.

[0064] For example, Figure 3As shown, the second trapezoidal area is in front of the left side of the vehicle and is a right-angled trapezoid with a right angle on the left side. The bottom length of the second trapezoidal area is a2, for example, 2.5m, the top length is b2, for example, 0.6m, and the height of the trapezoid is c2, for example, 10m. The left heading angle range of the vehicle following the target in front is less than the second angle threshold h2, for example, less than 15 degrees, and the right heading angle range of the vehicle following the target in front is less than the third angle threshold h3, for example, less than 5 degrees. Figure 3 As shown, for the lateral area of ​​the entire lane, the length a2 of the bottom side of the second trapezoidal area accounts for more than half of the entire lateral area. The maximum value h2 of the left-side heading angle range for the vehicle ahead when turning left is greater than the maximum value h1 of the left-side heading angle range for the vehicle ahead when going straight. The maximum value h3 of the right-side heading angle range for the vehicle ahead when turning left is less than the maximum value h1 of the left-side heading angle range for the vehicle ahead when going straight. Among them, c2, h2, and h3 are not in Figure 3 Shown in.

[0065] In another optional embodiment, if the navigation direction is a right turn, the selection area for the front vehicle following target is determined to be the third trapezoidal area in front of the right side of the vehicle; the third trapezoidal area is a right-angled trapezoid; it is determined that the left heading angle range of the front vehicle following target is smaller than the right heading angle range, and the left heading angle range is smaller than the third angle threshold, and the right heading angle range is smaller than the second angle threshold; the second angle threshold is greater than the first angle threshold, and the third angle threshold is smaller than the first angle threshold.

[0066] In this embodiment, Figure 4 As shown, the third trapezoidal area is in front of the right side of the vehicle and is a right-angled trapezoid with a right angle on the right side. The bottom length of the third trapezoidal area is a3, for example, 2.5m, the top length is b3, for example, 0.6m, and the height of the trapezoid is c3, for example, 10m. The left heading angle range of the vehicle following the target in front is less than the third angle threshold h3, for example, less than 5 degrees, and the right heading angle range of the vehicle following the target in front is less than the second angle threshold h2, for example, less than 15 degrees. Figure 4 As shown, for the lateral area of ​​the entire lane, the length a3 of the bottom side of the third trapezoidal area accounts for more than half of the entire lateral area. The maximum value h3 of the left-side heading angle range for the vehicle ahead when turning left is less than the maximum value h1 of the left-side heading angle range for the vehicle ahead when going straight. The maximum value h2 of the right-side heading angle range for the vehicle ahead when turning left is greater than the maximum value h1 of the left-side heading angle range for the vehicle ahead when going straight. Among them, c3, h2, and h3 are not in Figure 4 Shown in.

[0067] Optionally, it also includes: if it is detected that the adaptive cruise control is in the following mode and the navigation route is not obtained, determining that the selection area for the leading vehicle following target is the fourth trapezoidal area directly in front of the vehicle; the fourth trapezoidal area is an isosceles trapezoid; the area of ​​the fourth trapezoidal area is larger than the area of ​​the selection area when the navigation direction is straight ahead; determining that the left heading angle range and the right heading angle range of the leading vehicle following target are equal, and the left heading angle range is smaller than a fourth angle threshold; the fourth angle threshold is larger than the first angle threshold.

[0068] In this embodiment, when it is detected that the adaptive cruise control is in the following mode, but the driver has not set a navigation route, the fourth trapezoidal area located directly in front of the vehicle can be used as the selection area for the preceding vehicle to follow. Figure 5 The isosceles trapezoid shown has a base length of a4, for example, 3m, a top length of b4, for example, 1m, and a height of c4, for example, 10m. The left heading angle range of the front vehicle following the target is less than the fourth angle threshold h4, for example, less than 10 degrees, and the right heading angle range of the front vehicle following the target is also less than 10 degrees. Among them, c4 and h4 are not Figure 5 Shown in.

[0069] Among them, combined Figures 1 to 5 It can be seen that when the navigation route is not set, the selection area of ​​the preceding vehicle following target is the largest and has no obvious bias. However, after the navigation route is set, the selection range of the preceding vehicle following target is significantly narrowed and has a clear bias, which is more conducive to selecting a following target that is consistent with the navigation path.

[0070] S140: Select a vehicle ahead of the vehicle according to the selected area and the heading angle range.

[0071] In an optional embodiment, a target vehicle whose vehicle position is within the selected area and whose vehicle heading angle does not exceed the heading angle range can be selected as the preceding vehicle following target of the vehicle. If it is determined that there are more than one target vehicles whose heading angles do not exceed the heading angle range in the selected area, the one closest to the vehicle can be selected as the preceding vehicle following target. And, if the heading angle of the preceding vehicle following target that has been selected exceeds the heading angle range, the vehicle will not continue to follow the preceding vehicle, and the preceding vehicle will no longer be the following target of the vehicle. In this case, a preceding vehicle will be reselected as the following target of the vehicle.

[0072] The technical solution of the embodiment of the present invention obtains a navigation route when it is detected that the adaptive cruise control is in the following mode; determines the navigation direction of the navigation route within the current preset distance length; determines a selection area and a heading angle range for the preceding vehicle following target according to the navigation direction; and selects the preceding vehicle following target of the vehicle according to the selection area and the heading angle range, thereby solving the problem of erroneous following caused by mechanically following the preceding vehicle path without considering the driving intention of the driver in the related art, and realizes that when the adaptive cruise control is in the following mode, the preceding vehicle following target is reasonably selected according to the navigation route, so as to realize reasonable following according to the driving intention of the driver.

[0073] Embodiment 2

[0074] Figure 6 1 is a schematic diagram of the structure of an adaptive cruise following target selection device provided according to the second embodiment of the present invention. Figure 6 As shown, the device comprises:

[0075] A route acquisition module 610 is used to acquire a navigation route if it is detected that the adaptive cruise control is in a vehicle following mode;

[0076] A direction determination module 620 is used to determine the navigation direction of the navigation route within a current preset distance length;

[0077] A parameter determination module 630 is used to determine a selection area and a heading angle range for a preceding vehicle following target according to the navigation direction;

[0078] The vehicle following target selection module 640 is used to select a vehicle following target in front of the vehicle according to the selection area and the heading angle range.

[0079] The technical solution of the embodiment of the present invention obtains a navigation route when it is detected that the adaptive cruise control is in the following mode; determines the navigation direction of the navigation route within the current preset distance length; determines a selection area and a heading angle range for the preceding vehicle following target according to the navigation direction; and selects the preceding vehicle following target of the vehicle according to the selection area and the heading angle range, thereby solving the problem of erroneous following caused by mechanically following the preceding vehicle path without considering the driving intention of the driver in the related art, and realizes that when the adaptive cruise control is in the following mode, the preceding vehicle following target is reasonably selected according to the navigation route, so as to realize reasonable following according to the driving intention of the driver.

[0080] Optionally, the parameter determination module 630 is used to:

[0081] A first determining unit is used to determine, if the navigation direction is straight, that the selection area of ​​the preceding vehicle following target is a first trapezoidal area directly in front of the vehicle; the first trapezoidal area is an isosceles trapezoid; the area of ​​the first trapezoidal area is smaller than the area of ​​the selection area when the navigation route is not set;

[0082] It is determined that the left side heading angle range and the right side heading angle range of the preceding vehicle following target are equal in size, and the left side heading angle range is smaller than a first angle threshold.

[0083] Optionally, the parameter determination module 630 is used to:

[0084] If the navigation direction is a left turn, the selection area of ​​the vehicle following target is determined to be the second trapezoidal area in the left front of the vehicle; the second trapezoidal area is a left right-angled trapezoid;

[0085] Determine that the left side heading angle range of the leading vehicle following target is greater than the right side heading angle range, and the left side heading angle range is less than a second angle threshold, and the right side heading angle range is less than a third angle threshold; the second angle threshold is greater than the first angle threshold, and the third angle threshold is less than the first angle threshold.

[0086] Optionally, the parameter determination module 630 is used to:

[0087] If the navigation direction is a right turn, the selection area of ​​the vehicle following target is determined to be the third trapezoidal area in front of the right side of the vehicle; the third trapezoidal area is a right right trapezoid;

[0088] Determine that the left heading angle range of the leading vehicle following target is smaller than the right heading angle range, and the left heading angle range is smaller than a third angle threshold, and the right heading angle range is smaller than a second angle threshold; the second angle threshold is larger than the first angle threshold, and the third angle threshold is smaller than the first angle threshold.

[0089] Optionally, the direction determination module 620 is used to:

[0090] Locate the target location point on the navigation route at the current moment;

[0091] Starting from the target position point, a position point is acquired at every specified distance to obtain all position points within a preset distance length;

[0092] The navigation direction of the navigation route within a preset distance is determined according to the arc of the connecting line of all the position points.

[0093] Optionally, the parameter determination module 630 is further configured to:

[0094] If it is detected that the adaptive cruise control is in the following mode and the navigation route is not obtained, the selection area of ​​the preceding vehicle following target is determined to be a fourth trapezoidal area directly in front of the vehicle; the fourth trapezoidal area is an isosceles trapezoid; the area of ​​the fourth trapezoidal area is larger than the area of ​​the selection area when the navigation direction is straight ahead;

[0095] It is determined that the left side heading angle range and the right side heading angle range of the preceding vehicle following target are equal in size, and the left side heading angle range is smaller than a fourth angle threshold; and the fourth angle threshold is larger than the first angle threshold.

[0096] Optionally, the vehicle following target selection module 640 is used to:

[0097] A target vehicle whose position is within the selected area and whose heading angle does not exceed the heading angle range is selected as the preceding vehicle following target of the host vehicle.

[0098] The adaptive cruise following target selection device provided in the embodiment of the present invention can execute the adaptive cruise following target selection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0099] Embodiment 3

[0100] Figure 7 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0101] like Figure 7As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0102] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0103] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the adaptive cruise following target selection method.

[0104] In some embodiments, the adaptive cruise following target selection method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the adaptive cruise following target selection method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the adaptive cruise following target selection method in any other appropriate manner (e.g., by means of firmware).

[0105] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0107] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0108] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0109] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0110] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0111] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0112] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for selecting a target for an adaptive cruise following vehicle, characterized in that: include: Get navigation route if adaptive cruise control is detected to be in follow mode; Determine the navigation direction of the navigation route within the current preset distance length; Determining a selection area and a heading angle range for a preceding vehicle following target according to the navigation direction; Selecting a vehicle ahead of the vehicle according to the selected area and the heading angle range; Wherein, determining the selection area and heading angle range of the preceding vehicle following target according to the navigation direction includes: If the navigation direction is straight ahead, the selection area for the vehicle following target is determined to be a first trapezoidal area directly in front of the vehicle; the first trapezoidal area is an isosceles trapezoid; the area of ​​the first trapezoidal area is smaller than the area of ​​the selection area when the navigation route is not set; Determining that the left side heading angle range of the preceding vehicle following target is equal to the right side heading angle range, and the left side heading angle range is less than a first angle threshold; Wherein, determining the selection area and heading angle range of the preceding vehicle following target according to the navigation direction further includes: If the navigation direction is a left turn, the selection area of ​​the vehicle following target is determined to be the second trapezoidal area in the left front of the vehicle; the second trapezoidal area is a left right-angled trapezoid; Determine that the left heading angle range of the preceding vehicle following target is greater than the right heading angle range, and the left heading angle range is less than a second angle threshold, and the right heading angle range is less than a third angle threshold; the second angle threshold is greater than the first angle threshold, and the third angle threshold is less than the first angle threshold; Wherein, determining the selection area and heading angle range of the preceding vehicle following target according to the navigation direction further includes: If the navigation direction is a right turn, the selection area of ​​the vehicle following target is determined to be the third trapezoidal area in front of the right side of the vehicle; the third trapezoidal area is a right right trapezoid; Determine that the left heading angle range of the leading vehicle following target is smaller than the right heading angle range, and the left heading angle range is smaller than the third angle threshold, and the right heading angle range is smaller than the second angle threshold; the second angle threshold is larger than the first angle threshold, and the third angle threshold is smaller than the first angle threshold.

2. The method according to claim 1, characterized in that The determining the navigation direction of the navigation route within the current preset distance length includes: Locate the target location point on the navigation route at the current moment; Starting from the target position point, a position point is acquired at every specified distance to obtain all position points within a preset distance length; The navigation direction of the navigation route within a preset distance is determined according to the arc of the connecting line of all the position points.

3. The method according to claim 1, characterized in that Also includes: If it is detected that the adaptive cruise control is in the following mode and the navigation route is not obtained, the selection area of ​​the preceding vehicle following target is determined to be a fourth trapezoidal area directly in front of the vehicle; the fourth trapezoidal area is an isosceles trapezoid; the area of ​​the fourth trapezoidal area is larger than the area of ​​the selection area when the navigation direction is straight ahead; It is determined that the left side heading angle range and the right side heading angle range of the preceding vehicle following target are equal in size, and the left side heading angle range is smaller than a fourth angle threshold; the fourth angle threshold is larger than the first angle threshold.

4. The method according to claim 1, characterized in that The selecting a vehicle ahead of the vehicle according to the selected area and the heading angle range includes: A target vehicle whose position is within the selected area and whose heading angle does not exceed the heading angle range is selected as the preceding vehicle following target of the host vehicle.

5. An adaptive cruise following target selection device, characterized in that: include: a route acquisition module, for acquiring a navigation route if it is detected that the adaptive cruise control is in a vehicle following mode; A direction determination module, used to determine the navigation direction of the navigation route within a current preset distance length; A parameter determination module, used to determine a selection area and a heading angle range for a preceding vehicle following target according to the navigation direction; A vehicle following target selection module, used for selecting a vehicle following target in front of the vehicle according to the selection area and the heading angle range; The parameter determination module is specifically used to determine that if the navigation direction is straight, the selection area of ​​the vehicle following the vehicle is the first trapezoidal area directly in front of the vehicle; the first trapezoidal area is an isosceles trapezoid; the area of ​​the first trapezoidal area is smaller than the area of ​​the selection area when the navigation route is not set; determine that the left heading angle range of the vehicle following the vehicle is equal to the right heading angle range, and the left heading angle range is smaller than the first angle threshold; Wherein, the parameter determination module is specifically used to determine that if the navigation direction is a left turn, the selection area of ​​the vehicle following the vehicle in front is the second trapezoidal area in front of the left side of the vehicle; the second trapezoidal area is a left right-angled trapezoid; determine that the left heading angle range of the vehicle following the vehicle in front is greater than the right heading angle range, and the left heading angle range is less than the second angle threshold, and the right heading angle range is less than the third angle threshold; the second angle threshold is greater than the first angle threshold, and the third angle threshold is less than the first angle threshold; Among them, the parameter determination module is specifically used to determine that the selection area of ​​the front vehicle following target is the third trapezoidal area in front of the right side of the vehicle if the navigation direction is a right turn; the third trapezoidal area is a right-angled trapezoid on the right side; determine that the left heading angle range of the front vehicle following target is smaller than the right heading angle range, and the left heading angle range is smaller than the third angle threshold, and the right heading angle range is smaller than the second angle threshold; the second angle threshold is greater than the first angle threshold, and the third angle threshold is smaller than the first angle threshold.

6. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the adaptive cruise following target selection method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the adaptive cruise following target selection method according to any one of claims 1 to 4 when executed.

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