Travel control method, device, electronic equipment and storage medium of vehicle

Abstract

The application relates to a driving control method and device for a vehicle. The method comprises the following steps: during driving of a host vehicle based on an adaptive cruise control system, if a current vehicle speed of the host vehicle is less than or equal to a first vehicle speed threshold and a preceding vehicle of the host vehicle has a parking trend, determining a target deceleration of the host vehicle; during control of the host vehicle to decelerate at the target deceleration, if the current vehicle speed of the host vehicle is less than or equal to a second vehicle speed threshold, determining a braking distance required for the host vehicle to decelerate at a specified deceleration until stopping; finally, based on a current distance between the host vehicle and the preceding vehicle and the braking distance, determining a target parking braking mode of a target vehicle and a target braking deceleration corresponding to the target parking braking mode; and based on the target parking braking mode and the target braking deceleration, controlling the target vehicle to perform a parking braking operation. The method can improve the accuracy of ACC-based parking braking and improve the use rate of the ACC function.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a vehicle driving control method, device, electronic device, storage medium, and computer program product. Background Technology

[0002] Currently, most commercial vehicle adaptive cruise control (ACC) systems on the market fail to activate when the vehicle speed is below a certain threshold (e.g., 20 km / h), and even after activation, the ACC automatically deactivates when the speed drops below this threshold. This leads to frequent deactivation or even complete unusability of the ACC system in congested traffic. Furthermore, commercial vehicle drivers are prone to fatigue, and this system fails to completely relieve them from the demands of driving, reducing their willingness to use it. Therefore, implementing stop-and-go control based on ACC in commercial vehicles is of paramount importance. Summary of the Invention

[0003] Therefore, it is necessary to provide a vehicle driving control method, device, electronic device, storage medium, and computer program product that can improve the accuracy of ACC-based parking braking and increase the utilization rate of ACC function, in order to address the above-mentioned technical problems.

[0004] Firstly, this application provides a method for controlling the driving of a vehicle, comprising:

[0005] If the target vehicle is driving based on the adaptive cruise control system, and the current speed of the target vehicle is less than or equal to a first speed threshold and the vehicle in front of the target vehicle has a tendency to stop, then the target deceleration of the target vehicle is determined.

[0006] During the process of controlling the target vehicle to decelerate at the target deceleration, if the current speed of the target vehicle is less than or equal to the second speed threshold, then the braking distance required for the target vehicle to decelerate at the specified deceleration until it comes to a stop is determined.

[0007] Based on the current distance between the target vehicle and the preceding vehicle, and the braking distance, the target parking braking method of the target vehicle and the target braking deceleration corresponding to the target parking braking method are determined;

[0008] Based on the target parking braking method and the target braking deceleration, the target vehicle is controlled to perform a parking braking operation.

[0009] In one embodiment, when the current speed of the target vehicle is less than or equal to a first speed threshold, the method further includes:

[0010] Obtain the preset parking probability weight, and the historical parking probability value of the preceding vehicle in the previous parking probability statistical period;

[0011] The parking probability of the vehicle in front is determined based on the preset parking probability weight, the historical parking probability value, the acceleration of the vehicle in front, and the speed of the vehicle in front.

[0012] If the parking probability reaches the parking probability threshold, then it is determined that the vehicle in front has a parking tendency.

[0013] In one embodiment, determining the target deceleration of the target vehicle includes:

[0014] The stopping distance of the vehicle in front is determined based on the speed and acceleration of the vehicle in front.

[0015] Based on the target vehicle's current speed, the actual distance between the target vehicle and the vehicle in front, the preset safe distance between the target vehicle and the vehicle in front, and the probability of the vehicle in front stopping, the first deceleration of the target vehicle is determined.

[0016] The deceleration with the larger absolute value between the first deceleration and the second deceleration is taken as the target deceleration of the target vehicle, and the second deceleration is determined by the adaptive cruise control system.

[0017] In one embodiment, determining the braking distance required for the target vehicle to decelerate at a specified deceleration until it comes to a complete stop includes:

[0018] Obtain the initial speed of the target vehicle when it brakes to a stop at the specified deceleration;

[0019] Based on the initial speed, the calibrated braking response time, and the calibrated braking response rate, determine the mapping relationship between the specified deceleration and the corresponding braking distance;

[0020] Based on the mapping relationship and the specified deceleration, the braking distance required for the target vehicle to decelerate to a stop at the specified deceleration is determined.

[0021] In one embodiment, the mapping relationship includes a first sub-mapping relationship, a second sub-mapping relationship, and a third sub-mapping relationship. Determining the braking distance required for the target vehicle to decelerate to a stop at the specified deceleration rate based on the mapping relationship and the specified deceleration rate includes:

[0022] Based on the first sub-mapping relationship, the initial speed, and the calibrated braking response time, determine the first sub-distance traveled at a constant speed at the initial speed;

[0023] Based on the second sub-mapping relationship, the initial speed, the specified deceleration, and the calibrated braking response rate, the second sub-distance within the target time period is determined, where the target time period is the time elapsed from the deceleration of the target vehicle to the specified deceleration.

[0024] Based on the third sub-mapping relationship, the initial speed, the specified deceleration, and the calibrated braking response rate, determine the third sub-distance for deceleration at the specified deceleration.

[0025] The first sub-distance, the second sub-distance, and the third sub-distance are weighted and summed to obtain the braking distance required for the target vehicle to decelerate to a specified deceleration until it comes to a stop.

[0026] In one embodiment, determining the target parking braking mode of the target vehicle and the target braking deceleration corresponding to the target parking braking mode based on the current distance between the target vehicle and the preceding vehicle and the braking distance includes:

[0027] The system obtains the preset safe distance between the target vehicle and the vehicle in front, the current distance between the target vehicle and the vehicle in front, and the stopping distance of the vehicle in front.

[0028] The braking distance, the preset safety distance, and the stopping distance of the vehicle in front are summed to obtain the summation result;

[0029] If the current distance is greater than the summation result, then the target parking braking mode of the target vehicle is determined to be the first braking mode, and the specified deceleration is taken as the first braking speed;

[0030] If the current distance is equal to the summation result, then the target parking braking method of the target vehicle is determined to be the second braking method, and the specified deceleration is taken as the second braking speed; the second braking method is different from the first braking method;

[0031] If the current distance is less than the summation result, the target parking braking method of the target vehicle is determined to be the third braking method, and based on the current speed of the target vehicle and the current distance, the third braking deceleration corresponding to the third braking method is determined; the third braking method is different from the first braking method and the third braking method is different from the second braking method.

[0032] In one embodiment, controlling the target vehicle to perform a parking braking operation based on the target parking braking method and the target braking deceleration includes:

[0033] If the target parking braking method is the first braking method, then control the target vehicle to coast until the current distance between the target vehicle and the vehicle in front is less than or equal to the summation result, and control the target vehicle to perform parking braking with the first braking deceleration until it stops;

[0034] If the target parking braking method is the second braking method, then control the target vehicle to directly use the second braking deceleration to perform parking braking until it stops;

[0035] If the target vehicle's parking braking mode is the third braking mode, then the target vehicle is controlled to directly use the third braking deceleration to perform parking braking until it stops.

[0036] In one embodiment, the method further includes:

[0037] During the process of controlling the target vehicle to stop in the target parking braking mode, if it is detected that the opening degree of the accelerator pedal of the target vehicle reaches the opening threshold, the parking braking operation for the target vehicle is released, and the target vehicle is controlled to perform a following operation for the vehicle in front.

[0038] Secondly, this application also provides a vehicle driving control device, comprising:

[0039] The first determining module is used to determine the target deceleration of the target vehicle when the target vehicle is driving based on the adaptive cruise control system, if the current speed of the target vehicle is less than or equal to a first speed threshold and the vehicle in front of the target vehicle has a tendency to stop.

[0040] In the process of controlling the target vehicle to decelerate at the target deceleration, if the current speed of the target vehicle is less than or equal to the second speed threshold, the second determining module determines the braking distance required for the target vehicle to decelerate at the specified deceleration until it comes to a stop.

[0041] The third determining module is used to determine the target parking braking mode of the target vehicle and the target braking deceleration corresponding to the target parking braking mode based on the current distance between the target vehicle and the preceding vehicle and the braking distance.

[0042] The control module is used to control the target vehicle to perform a parking braking operation based on the target parking braking method and the target braking deceleration.

[0043] Thirdly, this application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0044] If the target vehicle is driving based on the adaptive cruise control system, and the current speed of the target vehicle is less than or equal to a first speed threshold and the vehicle in front of the target vehicle has a tendency to stop, then the target deceleration of the target vehicle is determined.

[0045] During the process of controlling the target vehicle to decelerate at the target deceleration, if the current speed of the target vehicle is less than or equal to the second speed threshold, then the braking distance required for the target vehicle to decelerate at the specified deceleration until it comes to a stop is determined.

[0046] Based on the current distance between the target vehicle and the preceding vehicle, and the braking distance, the target parking braking method of the target vehicle and the target braking deceleration corresponding to the target parking braking method are determined;

[0047] Based on the target parking braking method and the target braking deceleration, the target vehicle is controlled to perform a parking braking operation.

[0048] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0049] If the target vehicle is driving based on the adaptive cruise control system, and the current speed of the target vehicle is less than or equal to a first speed threshold and the vehicle in front of the target vehicle has a tendency to stop, then the target deceleration of the target vehicle is determined.

[0050] During the process of controlling the target vehicle to decelerate at the target deceleration, if the current speed of the target vehicle is less than or equal to the second speed threshold, then the braking distance required for the target vehicle to decelerate at the specified deceleration until it comes to a stop is determined.

[0051] Based on the current distance between the target vehicle and the preceding vehicle, and the braking distance, the target parking braking method of the target vehicle and the target braking deceleration corresponding to the target parking braking method are determined;

[0052] Based on the target parking braking method and the target braking deceleration, the target vehicle is controlled to perform a parking braking operation.

[0053] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0054] If the target vehicle is driving based on the adaptive cruise control system, and the current speed of the target vehicle is less than or equal to a first speed threshold and the vehicle in front of the target vehicle has a tendency to stop, then the target deceleration of the target vehicle is determined.

[0055] During the process of controlling the target vehicle to decelerate at the target deceleration, if the current speed of the target vehicle is less than or equal to the second speed threshold, then the braking distance required for the target vehicle to decelerate at the specified deceleration until it comes to a stop is determined.

[0056] Based on the current distance between the target vehicle and the preceding vehicle, and the braking distance, the target parking braking method of the target vehicle and the target braking deceleration corresponding to the target parking braking method are determined;

[0057] Based on the target parking braking method and the target braking deceleration, the target vehicle is controlled to perform a parking braking operation.

[0058] The aforementioned vehicle driving control method, device, electronic equipment, storage medium, and computer program product, during the operation of the vehicle based on the adaptive cruise control system, if the vehicle's current speed is less than or equal to a first speed threshold and the vehicle in front of the vehicle shows a tendency to stop, then determines the vehicle's target deceleration. This ensures sufficient braking distance between the vehicle and the vehicle in front when starting to stop, avoiding excessive braking deceleration when the vehicle stops, which could affect comfort or even pose a collision risk. During the process of controlling the vehicle to decelerate at the target deceleration, if the vehicle's current speed is less than or equal to a second speed threshold, then precisely determines the braking distance required for the vehicle to decelerate at the specified deceleration until it comes to a complete stop, ensuring precise stopping. Finally, based on the current distance between the vehicle and the vehicle in front, and the braking distance, the target parking braking method and the corresponding target braking deceleration of the target vehicle are determined. Based on the target parking braking method and target braking deceleration, the target vehicle is controlled to perform a parking braking operation. Thus, while improving the accuracy of parking braking based on ACC, the utilization rate of the ACC function is increased. Attached Figure Description

[0059] Figure 1 This is a diagram illustrating the application environment of a vehicle driving control method in one embodiment.

[0060] Figure 2 This is a flowchart illustrating a vehicle driving control method in one embodiment;

[0061] Figure 3 This is a schematic flowchart illustrating a method for determining the braking distance during the parking braking phase in one embodiment.

[0062] Figure 4 This is a schematic diagram of the method for determining the braking distance during the parking braking phase in another embodiment;

[0063] Figure 5 This is a schematic flowchart illustrating a method for determining the target parking braking mode of a target vehicle in one embodiment.

[0064] Figure 6 This is a structural block diagram of a vehicle driving control device in one embodiment;

[0065] Figure 7 This is a diagram of the internal structure of an electronic device in one embodiment. Detailed Implementation

[0066] The vehicle driving control method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, the vehicle's driving control system includes at least a controller, an ACC unit, and a stop-and-go control unit. The ACC unit implements existing ACC functions to control the target vehicle in adaptive cruise control mode. The stop-and-go control unit includes a distance control unit and a stop-and-go control unit. The stop-and-go control unit, in conjunction with the ACC unit, controls the vehicle's braking and starting when the vehicle speed is less than or equal to a first speed threshold. When the target vehicle's speed is less than or equal to the first speed threshold and the preceding vehicle shows no tendency to stop, the ACC unit continues to control the target vehicle to maintain adaptive cruise control. When the target vehicle's speed is less than or equal to the first speed threshold and the preceding vehicle shows a tendency to stop, to ensure sufficient braking distance between the target vehicle and the preceding vehicle before braking, the distance control unit and the ACC unit work together to determine the target deceleration rate of the target vehicle and control the target vehicle to decelerate at the target deceleration rate. As the target vehicle decelerates, when the target vehicle speed is less than or equal to the second speed threshold, the target vehicle enters the parking braking phase. The ACC unit continues to operate, and the parking start control unit accurately calculates the braking distance required for the target vehicle to decelerate to a stop at the calibrated specified deceleration. Based on the relationship between the current distance between the target vehicle and the vehicle in front and the braking distance, the target parking braking method for the target vehicle is determined, and the target vehicle is controlled to perform parking braking in the target parking braking method.

[0067] In one exemplary embodiment, such as Figure 2 As shown, a vehicle driving control method is provided, which is applied to... Figure 1 The following explanation uses the vehicle's driving control system as an example, including steps 202 to 206. Wherein:

[0068] Step 202: During the driving of the target vehicle based on the adaptive cruise control system, if the current speed of the target vehicle is less than or equal to the first speed threshold and the vehicle in front of the target vehicle has a tendency to stop, then the target deceleration of the target vehicle is determined.

[0069] In actual implementation, when the ACC function of the target vehicle (referred to as the vehicle) is activated, the vehicle speed sensor on the target vehicle monitors the current speed of the vehicle. If the current speed is less than or equal to the first speed threshold (e.g., 60 km / h), it is determined whether the vehicle in front of the vehicle is decelerating or has a tendency to stop. If it is determined that the vehicle in front has a tendency to stop, the controller determines the target deceleration of the vehicle through the ACC unit and the distance control unit. This target deceleration needs to ensure that there is sufficient braking distance between the vehicle and the vehicle in front before the vehicle enters the parking brake, so as to avoid excessive braking deceleration when the vehicle stops, which would affect comfort or even pose a collision risk.

[0070] It should be noted that if it is determined that the vehicle in front does not have a tendency to stop, the controller directly uses the deceleration provided by the ACC unit to follow the vehicle in front.

[0071] Step 204: During the process of controlling the target vehicle to decelerate at the target deceleration, if the current speed of the target vehicle is less than or equal to the second speed threshold, then determine the braking distance required for the target vehicle to decelerate at the specified deceleration until it comes to a complete stop.

[0072] In actual implementation, if the target vehicle's current speed is less than or equal to the second speed threshold (e.g., 20 km / h) during the deceleration process, the vehicle is controlled to enter the parking braking stage and stop braking at the calibrated specified deceleration. The controller accurately calculates the braking distance required for the target vehicle to decelerate to a stop at the specified deceleration through the parking start unit.

[0073] Step 206: Based on the current distance between the target vehicle and the vehicle in front, and the braking distance, determine the target parking braking method of the target vehicle and the target braking deceleration corresponding to the target parking braking method.

[0074] In actual implementation, during the target vehicle's parking braking phase, the controller acquires the current distance between the target vehicle and the vehicle in front, and determines the target parking braking method and the corresponding target braking deceleration based on the relationship between the current distance and the braking distance. The target parking braking method ensures precise stopping of the vehicle.

[0075] Step 208: Based on the target parking braking method and the target braking deceleration, control the target vehicle to perform a parking braking operation.

[0076] In the aforementioned vehicle driving control method, during the operation of the vehicle based on the adaptive cruise control system, if the vehicle's current speed is less than or equal to a first speed threshold and the vehicle in front of the vehicle shows a tendency to stop, a target deceleration rate is determined. This ensures sufficient braking distance between the vehicle and the vehicle in front when starting to stop, avoiding excessive braking deceleration when the vehicle stops, which could affect comfort or even pose a collision risk. During the process of controlling the vehicle to decelerate at the target deceleration rate, if the vehicle's current speed is less than or equal to a second speed threshold, the braking distance required for the vehicle to decelerate at the specified deceleration rate until it comes to a complete stop is precisely determined, ensuring accurate stopping. Finally, based on the current distance between the vehicle and the vehicle in front, and the braking distance, the target parking braking method and the corresponding target braking deceleration rate of the target vehicle are determined. Based on the target parking braking method and the target braking deceleration rate, the target vehicle is controlled to perform a parking braking operation. This achieves a full-speed-range coverage adaptive cruise control system, alleviating long-distance driving fatigue for commercial vehicle drivers and increasing the utilization rate of the ACC function.

[0077] In an exemplary embodiment, when the current speed of the target vehicle is less than or equal to a first speed threshold, the method for determining whether the preceding vehicle has a parking tendency is as follows: obtain a preset parking probability weight and the historical parking probability value of the preceding vehicle in the previous parking probability statistical period; determine the parking probability of the preceding vehicle based on the preset parking probability weight, the historical parking probability value, the acceleration of the preceding vehicle, and the speed of the preceding vehicle; if the parking probability reaches the parking probability threshold, then it is determined that the preceding vehicle has a parking tendency.

[0078] In practice, determining whether the vehicle in front has a tendency to stop is often based on its stopping probability. The stopping probability is related to the vehicle's historical stopping probability in the previous stopping probability statistical period, the vehicle's acceleration, its speed, and the preset stopping probability weights. The specific calculation formula for the stopping probability of the vehicle in front is shown in formula (1):

[0079] P t =P t-1 +KA 前 T / V 前 (1)

[0080] In the above formula (1), where P t-1 The initial value is 0, T is the calculation cycle of the control algorithm, which can be set to T = 0.01 here, V 前 A represents the speed of the vehicle in front, in km / h. 前 The acceleration of the vehicle in front, in m / s² 2 K is the probability weighting coefficient (i.e., the parking probability weight), which can be obtained through actual vehicle calibration. Here, it can be set to 750. When P t When the value is ≤-80, it can be determined that the vehicle in front has a tendency to stop.

[0081] In this embodiment, by calculating the probability of the preceding vehicle stopping, it is determined whether the preceding vehicle has a tendency to stop, which can improve the accuracy of judging whether the preceding vehicle has a tendency to stop.

[0082] In an exemplary embodiment, determining the target deceleration of the target vehicle includes: determining the stopping distance of the preceding vehicle based on the speed and acceleration of the preceding vehicle; determining the first deceleration of the target vehicle based on the current speed of the target vehicle, the actual distance between the target vehicle and the preceding vehicle, the preset safe distance between the target vehicle and the preceding vehicle, and the stopping probability of the preceding vehicle; and taking the deceleration with the larger absolute value between the first deceleration and the second deceleration as the target deceleration of the target vehicle.

[0083] In practice, when the vehicle in front shows a tendency to stop, the stopping distance d required for the vehicle in front to complete the stopping operation is first determined based on the speed and current deceleration of the vehicle in front. Then, the first deceleration A is determined based on the current speed of the target vehicle, the current distance between the target vehicle and the vehicle in front, the preset safety distance between the target vehicle and the vehicle in front, the stopping distance d required for the vehicle in front to complete the stopping operation, and the probability of the vehicle in front stopping. 自 (i.e., the vehicle's deceleration). At this time, the ACC unit also operates and assumes that the vehicle is decelerating, and synchronously calculates the corresponding second deceleration A0 based on the current state of the vehicle and the vehicle in front. Then, from the first deceleration A... 自 And in the second deceleration A0, the deceleration with the larger absolute value is selected as the target deceleration min(A) of the target vehicle. 自 ,A0), and control the target vehicle to decelerate smoothly at the target deceleration.

[0084] The formula (2-1) for calculating the parking distance d required for the preceding vehicle to complete the parking operation is as follows:

[0085] d=V 前 2 / -2(A 前 (2-1)

[0086] The formula for calculating the first deceleration is shown in formula (2-2) below:

[0087] A 自 =(V 自 2 / -2(D+d+d0))*P t / -80 (2-2)

[0088] In the above formula (2), V 自 This is the vehicle's current speed, D is the current distance between the vehicle and the vehicle in front, and d0 is the set safe distance, which is recommended to be 5m. (V) 自 2 / -2(D+d+d0)) can be considered as the theoretical deceleration. In order to ensure that the vehicle can stop, (P t / -80) is used as the weight, P t When the value is 80, the vehicle in front has a tendency to stop, and the weight (P) t / -80)=1, if P t When the value is 90, the tendency for the vehicle in front to stop becomes more pronounced, according to the weight (P). t (-80) = 9 / 8 > 1, and the theoretical deceleration is used to determine the first deceleration with the larger value.

[0089] In this embodiment, by selecting the target deceleration from two decelerations, it is possible to ensure that the current vehicle has a sufficient braking distance from the vehicle in front, thereby ensuring the safety of parking braking.

[0090] In one exemplary embodiment, such as Figure 3 Determine the braking distance required for the target vehicle to decelerate to a stop at a specified deceleration rate, including:

[0091] Step 302: Obtain the initial speed of the target vehicle when it brakes to a stop at a specified deceleration.

[0092] In actual implementation, if the target vehicle's current speed is less than or equal to the second speed threshold during the deceleration process, it indicates that the target vehicle has entered the parking braking stage. The current speed is determined by the vehicle speed sensor as the initial speed for the target vehicle to enter the parking stage.

[0093] Step 304: Based on the initial speed, the calibrated braking response time, and the calibrated braking response rate, determine the mapping relationship between the specified deceleration and the corresponding braking distance.

[0094] In actual implementation, during the final parking phase, the controller can control the target vehicle to brake using a specified deceleration determined experimentally. In order to determine the appropriate braking method, the controller needs to first determine the braking distance required to use the specified deceleration. The braking distance refers to the distance required to stop the vehicle by braking at the specified deceleration.

[0095] It should be noted that when the vehicle decelerates and then applies the parking brake, there is a braking response delay time. During this delay time, the deceleration of the stopping braking device does not change directly from 0 to A. final Instead, it is based on the gradual change in braking response rate A final Therefore, in order to improve the accuracy of braking distance calculation, the braking distance at a specified deceleration can be determined based on the above-mentioned response delay factors. The specific calculation formula is as follows:

[0096] D final=k1*d1+k2*d2+k3*d3 (4)

[0097] d1=V0*T0 (4-1)

[0098]

[0099]

[0100] In the above formula, V0 represents the vehicle entering the parking braking stage, and the controller controls the vehicle's parking braking device at A. final The initial speed at which braking is initiated. T0 is the braking response delay time, and K... f Braking response rate, in m / s 3 T0 and K f All results were obtained through actual vehicle calibration. This allows us to obtain the deceleration A at a specified rate. final The precise braking distance D required to bring the vehicle to a complete stop final .

[0101] Step 306: Based on the mapping relationship and the specified deceleration, determine the braking distance required for the target vehicle to decelerate to a stop at the specified deceleration.

[0102] In practice, the above formula can be used to determine the braking distance required to stop the vehicle at a specified deceleration.

[0103] In this embodiment, when entering the parking and starting module, a first-order braking model is established based on the braking characteristics of the commercial vehicle to accurately calculate the braking distance required for the final braking stage, thereby ensuring that the vehicle stops precisely.

[0104] In one exemplary embodiment, such as Figure 4 The mapping relationship includes a first sub-mapping relationship, a second sub-mapping relationship, and a third sub-mapping relationship. Based on the mapping relationship and the specified deceleration, the braking distance required for the target vehicle to decelerate to a stop at the specified deceleration is determined, including:

[0105] Step 402: Based on the first sub-mapping relationship, the initial speed, and the calibrated braking response time, determine the first sub-distance traveling at a constant initial speed.

[0106] In practice, the above mapping relationship may include at least a first sub-mapping relationship, a second sub-mapping relationship, and a third sub-mapping relationship.

[0107] According to the above formula (4-1), the first sub-mapping relationship is d1=V0*T0, where d1 is the first sub-distance. T0 indicates that the target vehicle is preparing to brake. At this time, it is assumed that the target vehicle is traveling at a constant speed of V0. The first sub-distance is the distance that the vehicle travels at a constant speed within the braking response delay time T0.

[0108] Step 404: Based on the second sub-mapping relationship, initial speed, specified deceleration, and calibrated braking response rate, determine the second sub-distance within the target time period, where the target time period is the time elapsed from the deceleration of the target vehicle to the specified deceleration.

[0109] According to the above formula (4-2), the second sub-mapping relationship is as follows:

[0110]

[0111] Where d2 is the second sub-distance, used to characterize the gradual change from 0 to a specified deceleration A. final The braking distance of the target vehicle within time period T. A final / K f This indicates reaching A from 0. final Time period T, K f *t represents the current deceleration a. This represents the integral of a with respect to t over time period T as the velocity change ΔV, where V0+ΔV represents the velocity change value for each t in time period T. Integrating V0+ΔV... Finally, we get d2.

[0112] Step 406: Based on the third sub-mapping relationship, initial speed, specified deceleration, and calibrated braking response rate, determine the third sub-distance for deceleration at the specified deceleration.

[0113] According to the above formula (4-3), the third sub-mapping relationship is:

[0114]

[0115] Where d3 is the target vehicle decelerating at a specified speed A final The third sub-distance traveled during the period of deceleration until coming to a stop. For deceleration response to A final The final velocity change ΔV final V0+ΔV final Characterizing the deceleration response to A final Vehicle speed V final V final 2 / -2A final The car decelerates at a steady rate A fibalThe third sub-distance required for smooth deceleration until a complete stop.

[0116] Step 408: The first sub-distance, the second sub-distance, and the third sub-distance are weighted and summed to obtain the braking distance required for the target vehicle to decelerate at a specified deceleration until it comes to a complete stop.

[0117] In practice, the weights k1, k2, and k3 of the first sub-distance d1, the second sub-distance d2, and the third sub-distance d3 for the braking distance during the parking phase are determined, and these three sub-distances are weighted and summed to determine the final braking distance D. final That is, D. final =k1*d1+k2*d2+k3*d3, when k1=k2=k3=1, D final =d1+d2+d3.

[0118] In an exemplary embodiment, based on the current distance between the target vehicle and the preceding vehicle, and the braking distance, the target parking braking method of the target vehicle and the target braking deceleration corresponding to the target parking braking method are determined, including:

[0119] Step 502: Obtain the preset safe distance between the target vehicle and the vehicle in front, the current distance between the target vehicle and the vehicle in front, and the stopping distance of the vehicle in front.

[0120] In actual implementation, when the target vehicle enters the parking phase, the controller determines different braking methods and corresponding braking decelerations based on the relationship between the actual current distance between the target vehicle and the vehicle in front and the calculated braking distance mentioned above. It then controls the target vehicle to brake using the appropriate target braking method until it comes to a complete stop. First, the preset safe distance d0 between the target vehicle and the vehicle in front, the current distance D between the target vehicle and the vehicle in front, and the parking distance d of the vehicle in front are obtained.

[0121] Step 504: Sum the braking distance, the preset safety distance, and the stopping distance of the vehicle in front to obtain the summation result.

[0122] In actual implementation, the braking distance D final The preset safe distance d0 and the stopping distance d of the vehicle in front are summed to obtain the sum D. final +d+d0.

[0123] Step 506: If the current distance is greater than the summation result, the target parking braking method of the target vehicle is determined to be the first braking method, and the specified deceleration is used as the first braking speed; if the current distance is equal to the summation result, the target parking braking method of the target vehicle is determined to be the second braking method, and the specified deceleration is used as the second braking speed; the second braking method is different from the first braking method; if the current distance is less than the summation result, the target parking braking method of the target vehicle is determined to be the third braking method, and based on the current speed of the target vehicle and the current distance, the third braking deceleration corresponding to the third braking method is determined; the third braking method is different from the first braking method, and the third braking method is different from the second braking method.

[0124] In actual implementation, if D>D final +d+d0, the target vehicle's target parking braking method is the first braking method, and the first braking speed is A. final If D = D final +d+d0, the target vehicle's target parking braking method is the second braking method, and the second braking speed is A. final If D <D final +d+d0, the target vehicle's target parking braking method is the third braking method. In this case, safety is the primary consideration, with comfort and parking accuracy as secondary considerations. The deceleration of the third braking method is A. 自 =(V 自 2 / -2(D+d+d0)).

[0125] In the above embodiments, based on the relationship between the actual current distance between the target vehicle and the vehicle in front and the calculated braking distance, a variety of different parking braking methods and corresponding braking decelerations are determined to control the vehicle to stop. In this way, both safety and comfort during the parking braking process can be guaranteed.

[0126] In an exemplary embodiment, based on the target parking braking method and the target braking deceleration, controlling the target vehicle to perform a parking braking operation includes: if the target parking braking method is a first braking method, controlling the target vehicle to coast until the current distance between the target vehicle and the preceding vehicle is less than or equal to the sum of the distances, and controlling the target vehicle to perform parking braking with the first braking deceleration until it stops; if the target parking braking method is a second braking method, controlling the target vehicle to directly perform parking braking with the second braking deceleration until it stops; if the target parking braking method is a third braking method, controlling the target vehicle to directly perform parking braking with the third braking deceleration until it stops.

[0127] In practice, the target vehicle's braking method can be one of the following: a first braking method, a second braking method, or a third braking method. The first braking method involves controlling the target vehicle to coast until the current distance between the target vehicle and the vehicle in front is less than or equal to the sum of the distances, i.e., D ≤ D. final +d+d0 controls the target vehicle to brake to a stop using the first braking deceleration; the second braking method controls the target vehicle to brake directly to a stop using the second braking deceleration; the third braking method controls the target vehicle to brake directly to a stop using the third braking deceleration. In this case, the vehicle in front decelerates and stops too quickly, and the calculated braking distance is insufficient to ensure the safe stopping of the vehicle. Therefore, for the sake of parking safety, the accuracy requirement for braking distance is abandoned, and the vehicle is directly decelerated to a stop using the deceleration that allows it to stop.

[0128] In an exemplary embodiment, the method further includes: during the process of controlling the target vehicle to stop in the target parking braking mode, if it is detected that the opening degree of the accelerator pedal of the target vehicle reaches the opening degree threshold, then the parking braking operation for the target vehicle is released, and the target vehicle is controlled to perform a following operation for the vehicle in front.

[0129] In actual implementation, when the ECU controls the target vehicle to stop in the target parking braking mode, the sensor detects that the opening degree of the accelerator pedal has reached the opening threshold, indicating that the target vehicle is ready to start. At this time, the parking braking operation for the vehicle is released, and the vehicle is controlled to enter the following mode, that is, to follow the vehicle in front.

[0130] In this embodiment, the starting conditions of the vehicle are detected in a timely manner to ensure the accuracy and timeliness of the vehicle's starting and following operation.

[0131] To illustrate the vehicle driving control method in this solution in detail, an example is provided below. In practical applications, the vehicle driving control method in this example is implemented through the ACC unit and the stop-and-go control unit. This method is essentially a commercial vehicle adaptive cruise stop-and-go control method. During the vehicle's ACC-based driving process, if the vehicle's speed is less than the first speed threshold (e.g., 60 km / h), it first simulates the driver's normal parking driving habits, applying a large braking deceleration (i.e., the target deceleration mentioned earlier). After the speed is effectively reduced, it coasts for a period of time. When it is about to reach the ideal stopping distance, the vehicle's speed begins to fall below the second speed threshold (e.g., 20 km / h), entering the stop-and-go phase (first stopping and braking, then starting and following). A smaller braking deceleration (i.e., the target braking deceleration corresponding to the target parking braking mode mentioned earlier) is then applied until the vehicle stops. When the driver's accelerator pedal opening exceeds the opening threshold, the parking brake is released, and the vehicle starts moving again, returning to the following mode. At this point, the vehicle's speed is consistent with the speed of the vehicle in front. In this way, an adaptive cruise control system that can cover the entire speed range can alleviate the fatigue of commercial vehicle drivers on long journeys and increase the utilization rate of the ACC function.

[0132] In actual implementation, the stop-go control unit consists of two main modules: the distance control unit and the stop-start unit.

[0133] The distance control unit is explained below. Its main function is to ensure that the vehicle has sufficient braking distance from the vehicle in front when entering the parking and starting phase, so as to avoid excessive braking deceleration when the vehicle stops, which would affect comfort or even pose a collision risk. The speed range in which the distance control unit operates is when the vehicle speed is less than 60 km / h and greater than 20 km / h. First, the probability of the vehicle in front stopping, Pt, is calculated according to the aforementioned formula (1). When Pt ≤ -80, after determining that the vehicle in front has a tendency to stop, the distance control unit calculates the stopping distance d of the vehicle in front according to the aforementioned formula (2-1), and calculates the first deceleration A of the vehicle according to the aforementioned formula (2-2). 自 At this point, min(A) 自 A0) is used as the target deceleration of the vehicle, so that there is enough braking distance between the vehicle in front and the vehicle before entering the parking start module.

[0134] The parking and starting unit is explained below. Its main function is to simulate the driver's braking behavior as the deceleration decreases from high to low when stopping, ensuring precise stopping at a pre-set safe distance. It can also restart according to the driver's intention, resuming the following mode. The parking and starting unit operates within a speed range of 20 km / h or less. That is, the parking and starting phase begins when the vehicle speed is 20 km / h or less. First, it calculates the final stopping phase using the calibrated braking deceleration A. finall The braking distance required for braking, here A finalIt can be set to -0.7m / s 2 To ensure precise stopping in the final stage, based on the first-order braking model established by the aforementioned formula (4), it is possible to obtain a braking system with a specified deceleration A. final The precise braking distance D required to bring the vehicle to a complete stop final .

[0135] When controlling a vehicle to stop, there are generally three parking braking methods:

[0136] 1) If D>D final +d+d0 (i.e., the first braking method mentioned above) controls the vehicle to coast until D≤D final +d+d0, then with A final Apply the brakes until the vehicle comes to a complete stop.

[0137] 2) If D = D final +d+d0 (i.e., the second braking method mentioned above), directly using A final Apply the brakes until the vehicle comes to a complete stop.

[0138] 3) If D <D final +d+d0 (i.e., the third braking method mentioned above), in this case, safety is the primary consideration, with comfort and parking precision as secondary considerations, using A 自 =(V 自 2 / -2(D+d+d0)) applies parking brake until the car comes to a stop.

[0139] In practice, after stopping, maintain brake A. final To prevent the vehicle from rolling backward, the accelerator pedal is pressed until it exceeds a certain opening (e.g., 10%), indicating that the driver has requested to start. At this point, the brakes are released, and the vehicle returns to following mode.

[0140] This embodiment calculates the probability of the preceding vehicle stopping in real time to determine if it has a tendency to stop. When the preceding vehicle shows a tendency to stop, the distance control unit ensures sufficient braking distance when entering the stop-start module. During the stop-start phase, a first-order braking model is established based on the braking characteristics of commercial vehicles to accurately calculate the braking distance required for the final braking stage, thus ensuring precise stopping. This achieves full-speed-range ACC (Adaptive Cruise Control) coverage, alleviating driver fatigue during long-distance driving in traffic congestion and increasing the utilization rate of the ACC function.

[0141] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0142] Based on the same inventive concept, this application also provides a vehicle driving control device for implementing the above-described vehicle driving control method. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations of one or more vehicle driving control device embodiments provided below can be found in the limitations of the vehicle driving control method described above, and will not be repeated here.

[0143] In one exemplary embodiment, such as Figure 6 As shown, a vehicle driving control device is provided, comprising: a first determining module, a second determining module, a third determining module, and a control module, wherein:

[0144] The first determining module is used to determine the target deceleration of the target vehicle when the target vehicle is driving based on the adaptive cruise control system, if the current speed of the target vehicle is less than or equal to a first speed threshold and the vehicle in front of the target vehicle has a tendency to stop.

[0145] The second determining module is used to determine the braking distance required for the target vehicle to decelerate to a stop at a specified deceleration if the current speed of the target vehicle is less than or equal to a second speed threshold during the process of controlling the target vehicle to decelerate at a target deceleration.

[0146] The third determining module is used to determine the target parking braking method of the target vehicle and the target braking deceleration corresponding to the target parking braking method based on the current distance between the target vehicle and the vehicle in front, and the braking distance.

[0147] The control module is used to control the target vehicle to perform parking braking operations based on the target parking braking method and the target braking deceleration.

[0148] In one embodiment, the first determining module is further configured to obtain a preset parking probability weight and the historical parking probability value of the preceding vehicle in the previous parking probability statistical period; determine the parking probability of the preceding vehicle based on the preset parking probability weight, the historical parking probability value, the acceleration of the preceding vehicle, and the speed of the preceding vehicle; if the parking probability reaches the parking probability threshold, then determine that the preceding vehicle has a parking trend.

[0149] In one embodiment, the first determining module is further configured to determine the stopping distance of the preceding vehicle based on the speed and acceleration of the preceding vehicle; determine the first deceleration of the target vehicle based on the current speed of the target vehicle, the actual distance between the target vehicle and the preceding vehicle, the preset safe distance between the target vehicle and the preceding vehicle, and the stopping probability of the preceding vehicle; and take the deceleration with the larger absolute value between the first deceleration and the second deceleration as the target deceleration of the target vehicle, wherein the second deceleration is determined by the adaptive cruise control system.

[0150] In one embodiment, the second determining module is further configured to acquire the initial speed of the target vehicle when it brakes at a specified deceleration; and based on the initial speed, a calibrated braking response time, and a calibrated braking response rate, determine the mapping relationship between the specified deceleration and the corresponding braking distance. Based on the mapping relationship and the specified deceleration, determine the braking distance required for the target vehicle to decelerate at the specified deceleration until it comes to a complete stop.

[0151] In one embodiment, the mapping relationship includes a first sub-mapping relationship, a second sub-mapping relationship, and a third sub-mapping relationship. The second determining module is further configured to: determine a first sub-distance for uniform travel at the initial speed based on the first sub-mapping relationship, the initial speed, and the calibrated braking response time; determine a second sub-distance corresponding to a target time period based on the second sub-mapping relationship, the initial speed, the specified deceleration, and the calibrated braking response rate, wherein the target time period is the time elapsed from the deceleration of the target vehicle to the specified deceleration; determine a third sub-distance for deceleration at the specified deceleration based on the third sub-mapping relationship, the initial speed, the specified deceleration, and the calibrated braking response rate; and perform a weighted summation of the first sub-distance, the second sub-distance, and the third sub-distance to obtain the braking distance required for the target vehicle to decelerate at the specified deceleration until it comes to a complete stop.

[0152] In one embodiment, the third determining module is further configured to acquire the preset safe distance between the target vehicle and the preceding vehicle, the current distance between the target vehicle and the preceding vehicle, and the stopping distance of the preceding vehicle; sum the braking distance, the preset safe distance, and the stopping distance of the preceding vehicle to obtain a summation result; if the current distance is greater than the summation result, the target stopping braking method of the target vehicle is determined to be the first braking method, and the specified deceleration is used as the first braking speed; if the current distance is equal to the summation result, the target stopping braking method of the target vehicle is determined to be the second braking method, and the specified deceleration is used as the second braking speed; the second braking method is different from the first braking method; if the current distance is less than the summation result, the target stopping braking method of the target vehicle is determined to be the third braking method, and based on the current speed of the target vehicle and the current distance, the third braking deceleration corresponding to the third braking method is determined; the third braking method is different from the first braking method, and the third braking method is different from the second braking method.

[0153] In one embodiment, the control module is further configured to: if the target parking braking method is a first braking method, control the target vehicle to coast until the current distance between the target vehicle and the vehicle in front is less than or equal to the summation result, and control the target vehicle to perform parking braking with a first braking deceleration until it stops; if the target parking braking method is a second braking method, control the target vehicle to directly perform parking braking with a second braking deceleration until it stops; if the target vehicle parking braking method is a third braking method, control the target vehicle to directly perform parking braking with a third braking deceleration until it stops.

[0154] In one embodiment, the control module is further configured to, during the process of controlling the target vehicle to stop in the target parking braking manner, if it is detected that the opening degree of the accelerator pedal of the target vehicle reaches the opening degree threshold, release the parking braking operation for the target vehicle and control the target vehicle to perform a following operation for the vehicle in front.

[0155] The various modules in the aforementioned vehicle driving control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the electronic device in hardware form or independent of it, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0156] In one exemplary embodiment, an electronic device is provided, which may be a controller, and its internal structure diagram may be as follows: Figure 7As shown, this electronic device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle driving data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a vehicle driving control method.

[0157] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0158] In one exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0159] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0160] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0161] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0162] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0163] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0164] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling the movement of a vehicle, characterized in that, The vehicle is equipped with an adaptive cruise control system, and the method includes: If the target vehicle is driving based on the adaptive cruise control system, and the current speed of the target vehicle is less than or equal to a first speed threshold and the vehicle in front of the target vehicle has a tendency to stop, then the target deceleration of the target vehicle is determined. During the process of controlling the target vehicle to decelerate at the target deceleration, if the current speed of the target vehicle is less than or equal to the second speed threshold, then the braking distance required for the target vehicle to decelerate at the specified deceleration until it comes to a stop is determined. Based on the current distance between the target vehicle and the preceding vehicle, and the braking distance, the target parking braking mode of the target vehicle and the target braking deceleration corresponding to the target parking braking mode are determined, including: obtaining a preset safe distance between the target vehicle and the preceding vehicle, the current distance between the target vehicle and the preceding vehicle, and the parking distance of the preceding vehicle; summing the braking distance, the preset safe distance, and the parking distance of the preceding vehicle to obtain a summation result; if the current distance is greater than the summation result, the target parking braking mode of the target vehicle is determined to be the first braking mode, and the specified deceleration is used as the second braking mode. A braking deceleration is determined; if the current distance is equal to the summation result, the target parking braking mode of the target vehicle is determined to be a second braking mode, and the specified deceleration is used as the second braking deceleration; the second braking mode is different from the first braking mode; if the current distance is less than the summation result, the target parking braking mode of the target vehicle is determined to be a third braking mode, and a third braking deceleration corresponding to the third braking mode is determined based on the current speed of the target vehicle and the current distance; the third braking mode is different from the first braking mode and different from the second braking mode. Based on the target parking braking method and the target braking deceleration, the target vehicle is controlled to perform a parking braking operation, specifically including: if the target parking braking method is a first braking method, the target vehicle is controlled to coast until the current distance between the target vehicle and the preceding vehicle is less than or equal to the summation result, and the target vehicle is controlled to perform parking braking with the first braking deceleration until it stops; if the target parking braking method is a second braking method, the target vehicle is controlled to directly perform parking braking with the second braking deceleration until it stops; if the target vehicle's parking braking method is a third braking method, the target vehicle is controlled to directly perform parking braking with the third braking deceleration until it stops.

2. The method according to claim 1, characterized in that, When the current speed of the target vehicle is less than or equal to a first speed threshold, the method further includes: Obtain the preset parking probability weight, and the historical parking probability value of the preceding vehicle in the previous parking probability statistical period; The parking probability of the vehicle in front is determined based on the preset parking probability weight, the historical parking probability value, the acceleration of the vehicle in front, and the speed of the vehicle in front. If the parking probability reaches the parking probability threshold, then it is determined that the vehicle in front has a parking tendency.

3. The method according to claim 2, characterized in that, Determining the target deceleration of the target vehicle includes: The stopping distance of the vehicle in front is determined based on the speed and acceleration of the vehicle in front. Based on the target vehicle's current speed, the actual distance between the target vehicle and the vehicle in front, the preset safe distance between the target vehicle and the vehicle in front, and the probability of the vehicle in front stopping, the first deceleration of the target vehicle is determined. The deceleration with the larger absolute value between the first deceleration and the second deceleration is taken as the target deceleration of the target vehicle, and the second deceleration is determined by the adaptive cruise control system.

4. The method according to claim 1, characterized in that, Determining the braking distance required for the target vehicle to decelerate to a specified deceleration until it comes to a complete stop includes: Obtain the initial speed of the target vehicle when it brakes to a stop at the specified deceleration; Based on the initial speed, the calibrated braking response time, and the calibrated braking response rate, determine the mapping relationship between the specified deceleration and the corresponding braking distance; Based on the mapping relationship and the specified deceleration, the braking distance required for the target vehicle to decelerate to a stop at the specified deceleration is determined.

5. The method according to claim 4, characterized in that, The mapping relationship includes a first sub-mapping relationship, a second sub-mapping relationship, and a third sub-mapping relationship. Determining the braking distance required for the target vehicle to decelerate to a stop at the specified deceleration rate based on the mapping relationship and the specified deceleration rate includes: Based on the first sub-mapping relationship, the initial speed, and the calibrated braking response time, determine the first sub-distance traveled at a constant speed at the initial speed; Based on the second sub-mapping relationship, the initial speed, the specified deceleration, and the calibrated braking response rate, the second sub-distance within the target time period is determined, where the target time period is the time elapsed from the deceleration of the target vehicle to the specified deceleration. Based on the third sub-mapping relationship, the initial speed, the specified deceleration, and the calibrated braking response rate, determine the third sub-distance for deceleration at the specified deceleration. The first sub-distance, the second sub-distance, and the third sub-distance are weighted and summed to obtain the braking distance required for the target vehicle to decelerate at a specified deceleration until it comes to a complete stop.

6. The method according to claim 1, characterized in that, The method further includes: During the process of controlling the target vehicle to stop in the target parking braking mode, if it is detected that the opening degree of the accelerator pedal of the target vehicle reaches the opening threshold, the parking braking operation for the target vehicle is released, and the target vehicle is controlled to perform a following operation for the vehicle in front.

7. A vehicle driving control device, characterized in that, For performing the vehicle driving control method as described in any one of claims 1-6; the apparatus includes: The first determining module is used to determine the target deceleration of the target vehicle when the target vehicle is driving based on the adaptive cruise control system, if the current speed of the target vehicle is less than or equal to a first speed threshold and the vehicle in front of the target vehicle has a tendency to stop. The second determining module is used to determine the braking distance required for the target vehicle to decelerate to a stop at a specified deceleration if the current speed of the target vehicle is less than or equal to a second speed threshold during the process of controlling the target vehicle to decelerate at the target deceleration. The third determining module is used to determine the target parking braking mode of the target vehicle and the target braking deceleration corresponding to the target parking braking mode based on the current distance between the target vehicle and the preceding vehicle and the braking distance. The control module is used to control the target vehicle to perform a parking braking operation based on the target parking braking method and the target braking deceleration.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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