Vehicle cruise control method and system

Abstract

The present application provides a vehicle cruise control method and system; the vehicle cruise control method includes: after the preset parameters are initialized, obtaining the cruise mode and status information of the current vehicle; then obtaining the current vehicle speed and the motion data of a preset vehicle in the target area to determine the control speed in combination with the cruise mode and status information; and further obtaining the control acceleration according to the control speed and the current vehicle speed to control the vehicle according to the control acceleration and the preset state switching threshold. The present application adopts multi-objective collaborative speed planning to improve the accuracy of cruise control; and different plans can be made according to different states to improve the flexibility of cruise control; in addition, in the stage of controlling the vehicle, different state switching thresholds are considered to avoid frequent switching of the vehicle between acceleration and deceleration states, thereby improving the accuracy of control and the riding comfort of the drivers and passengers in the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle assisted driving technology, and in particular to a vehicle cruise control method and system. Background Art

[0002] With the development of science and technology and the improvement of people's living standards, people's demand for intelligent driving is also increasing. Among them, assisted driving can reduce the driving burden of the driver and improve driving safety and driving experience to a certain extent.

[0003] Cruise control is a technology for maintaining a stable speed in assisted driving, among which fixed-speed cruise and adaptive cruise are two common forms of vehicle cruise technology.

[0004] Among them, the existing adaptive cruise technology mainly calculates the planned speed by detecting the distance and speed of the vehicle in front, but it cannot make different cruise control methods for the different states of the current vehicle and the distance of the vehicle in front. It has poor flexibility, and because there is usually only one target reference vehicle, the accuracy of cruise control is also low. Summary of the invention

[0005] The present application provides a vehicle cruise control method and system to solve the technical problem that the existing cruise mode cannot make different cruise controls according to the different states of the current vehicle and the distance to the preceding vehicle, resulting in poor flexibility, and the technical problem that the cruise control accuracy is low because there is usually only one target reference vehicle.

[0006] Specifically, the present application provides a vehicle cruise control method, comprising the following steps:

[0007] S100: In response to a signal indicating that the initialization of a preset parameter is completed, obtaining the cruise mode and status information of the current vehicle.

[0008] S200: Acquire the current vehicle speed and the motion data of a preset vehicle in the target area, calculate the planned speed in combination with the cruise mode and the state information, and acquire the control speed according to the planned speed.

[0009] S300: Acquire a control acceleration according to the control speed and the current vehicle speed, so as to control the vehicle according to the control acceleration and a preset state switching threshold.

[0010] In the above technical solution, multi-objective collaborative speed planning is adopted to ensure that the dynamic situation of traffic flow is taken into consideration during driving, thereby improving the accuracy of cruise control; and the current state of the vehicle is also taken into consideration when obtaining the control speed of the cruise control, and different plans are made according to different states to improve the flexibility of cruise control; in addition, the use of different state switching thresholds is considered in the stage of controlling the vehicle. The state switching threshold refers to different states of the vehicle, such as starting from a standstill, changing from acceleration to deceleration, changing from deceleration to acceleration, and braking. Different threshold values ​​are set respectively to avoid frequent switching of the vehicle between acceleration and deceleration states, thereby improving the accuracy of control and the riding comfort of the drivers and passengers in the vehicle.

[0011] Furthermore, the cruise mode includes a constant speed cruise mode and an adaptive cruise mode.

[0012] In the above technical solution, users can select different cruise modes according to actual needs, which improves the flexibility of cruise control.

[0013] Furthermore, the motion data includes at least target speed and target distance.

[0014] In the above technical solution, by obtaining motion data such as target speed and target distance, the system can calculate the planned speed more accurately, which can ensure that the vehicle can make corresponding speed adjustments according to the movement conditions in the target area during cruising, maintain a reasonable distance and speed consistency with the target vehicle, and improve driving safety.

[0015] Furthermore, before executing step S100, the following steps are included:

[0016] The preset parameters are initialized at every preset time interval; the preset parameters include control speed and control acceleration.

[0017] In the above technical solution, regular initialization of preset parameters can ensure that the system is in a stable state at the beginning of each round of control, which can help avoid the impact of previously accumulated errors or abnormal values ​​on subsequent control processes, making the control process more accurate and reliable.

[0018] Further, when the cruise mode is the fixed speed cruise mode, the obtaining of the control speed in step S200 includes:

[0019] The first weight of each vehicle in the target area is obtained according to the state information and the target distance.

[0020] The planned speed is calculated according to the current vehicle speed and the preset speed difference in combination with each first weight, and the planned speed is used as the control speed.

[0021] In the above technical solution, when the cruise control mode is in progress, the first weight is 0, and the cruise control can be achieved by only considering the current vehicle speed and the preset speed difference.

[0022] Further, when the cruise mode is the adaptive cruise mode, the acquiring control speed in step S200 includes:

[0023] The second weight of each vehicle in the target area is obtained according to the state information and the target distance.

[0024] The planned speed of a preset point in front of the current vehicle is calculated according to the current vehicle speed, the target speed and the target distance.

[0025] The control speed is determined by combining each planned speed and the second weight.

[0026] In the above technical solution, by comprehensively considering the speed, distance of other vehicles in the target area and the second weight of each vehicle, the influence of various factors on the control speed can be considered more comprehensively, which can improve the adaptability and dynamics of the cruise mode, so as to better adapt to complex driving scenarios; by calculating the planned speed of a preset point in front of the current vehicle according to the current vehicle speed, target speed and target distance, the control stability can be enhanced, which can reduce the amplitude and frequency of speed fluctuations, so as to improve the smoothness and comfort of driving.

[0027] Furthermore, the obtaining of the control acceleration in step S300 includes:

[0028] A control speed difference is calculated based on the control speed and the current vehicle speed.

[0029] A proportional control amount, an integral control amount and a differential control amount are calculated based on the control speed difference and a preset control algorithm, so as to obtain an initial acceleration according to the proportional control amount, the integral control amount and the differential control amount.

[0030] The initial acceleration is optimized to obtain a control acceleration according to the optimization result.

[0031] In the above technical scheme, by using a preset control algorithm to calculate the proportional control amount, the integral control amount and the differential control amount, the vehicle's acceleration can be accurately adjusted according to the control speed difference, so that the vehicle runs more smoothly; the optimization processing includes PID integral saturation suppression, actuator saturation suppression, smoothing filtering, friction compensation and other methods, thereby enhancing the comfort of speed control.

[0032] Further, after executing step S300, the method further includes:

[0033] The current vehicle status is obtained, and it is determined whether cruise control needs to be continued according to the current vehicle status. If not, the process is terminated. Otherwise, the position information of the current vehicle is obtained, and it is determined whether the current vehicle is within a preset range according to the position information. If it is within the preset range, the process directly returns to step S100. If it is not within the preset range, a preset speed is planned according to the current vehicle speed, and the preset speed is used as the current vehicle speed, and the process returns to step S100.

[0034] In the above technical solution, whether the current vehicle position information is within the preset range is determined, and flexible adjustments and adaptations can be made according to the actual driving conditions. If the current vehicle fails to enter the preset range, a preset speed can be planned based on the current vehicle speed, and the process returns to step S100 to restart the next round of cruising, thereby increasing the robustness and adaptability of the cruise mode.

[0035] Based on the same concept, the present application also provides a vehicle cruise control system, the system comprising:

[0036] The first acquisition module is used to obtain the cruise mode and status information of the current vehicle in response to the initialization completion signal of the preset parameters.

[0037] The second acquisition module is used to acquire the current vehicle speed and the motion data of a preset vehicle in the target area, so as to calculate the planned speed in combination with the cruise mode and the state information, and acquire the control speed according to the planned speed.

[0038] Control module: used to obtain control acceleration according to the control speed and the current vehicle speed, so as to control the vehicle according to the control acceleration and a preset state switching threshold.

[0039] In the above technical solution, the system can determine the cruise mode according to the preset parameter initialization completion signal, and perform corresponding control strategy according to the cruise mode. This flexibility can adapt to different vehicle cruising needs; by calculating the control speed by combining multiple parameters, it helps to improve the accuracy, comfort and safety of cruise control; by controlling the vehicle according to the pre-set state switching threshold, the system can achieve precise acceleration control, which helps to reduce cruise errors, improve driving stability and avoid excessive acceleration or deceleration.

[0040] Furthermore, the system also includes:

[0041] Initialization module: used to initialize preset parameters at preset time intervals; the preset parameters include control speed and control acceleration.

[0042] Reset module: used to obtain the current vehicle status, and determine whether cruise control needs to be continued based on the current vehicle status. If not, the process ends; otherwise, the current vehicle position information is obtained, and based on the position information, it is determined whether the current vehicle is within a preset range. If it is within the preset range, it directly returns to the first acquisition module; if it is not within the preset range, a preset speed is planned based on the current vehicle speed, and the preset speed is used as the current vehicle speed, and the process returns to the first acquisition module.

[0043] In the above technical solution, the initialization module initializes the preset parameters at preset intervals. This periodic parameter initialization can ensure that the system is always in a suitable state during operation, and can adjust the control speed and control acceleration according to actual conditions. Through periodic initialization, the system can maintain stable and reliable performance; the reset module can flexibly adjust and adapt according to actual driving conditions, thereby increasing the robustness and adaptability of the cruise mode.

[0044] Compared with the prior art, the beneficial effects of this application are:

[0045] After the preset parameters are initialized, the present application obtains the cruise mode and status information of the current vehicle; then obtains the current vehicle speed and the motion data of a preset vehicle in the target area to determine the control speed in combination with the cruise mode and status information; and further obtains the control acceleration based on the control speed and the current vehicle speed to control the vehicle based on the control acceleration and a preset state switching threshold.

[0046] This application adopts multi-objective collaborative speed planning to ensure that the dynamic situation of traffic flow is taken into consideration during driving, thereby improving the accuracy of cruise control; and different plans can be made according to different conditions to improve the flexibility of cruise control; in addition, in the stage of controlling the vehicle, the use of different state switching thresholds is considered to avoid frequent switching of the vehicle between acceleration and deceleration states, thereby improving the accuracy of control and the riding comfort of the drivers and passengers in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a flow chart of the vehicle cruise control method described in this application.

[0048] Figure 2 for Figure 1 A system framework diagram of the vehicle cruise control method. DETAILED DESCRIPTION

[0049] The present application provides a vehicle cruise control method and system to solve the technical problem that the existing cruise mode cannot make different cruise controls according to the different states of the current vehicle and the distance of the preceding vehicle, resulting in poor flexibility. It is also used to solve the technical problem that the existing cruise mode usually has only one target reference vehicle, resulting in low cruise control accuracy.

[0050] A vehicle cruise control method and system of the present application will be further described in detail below in conjunction with specific embodiments and drawings.

[0051] Embodiment 1:

[0052] See also Figure 1 The present application provides a vehicle cruise control method, comprising the following steps:

[0053] S100: In response to a signal indicating that the initialization of a preset parameter is completed, obtaining the cruise mode and status information of the current vehicle.

[0054] Furthermore, the cruise mode includes a constant speed cruise mode and an adaptive cruise mode.

[0055] In the above technical solution, users can select different cruise modes according to actual needs, which improves the flexibility of cruise control.

[0056] Furthermore, before executing step S100, the following steps are included:

[0057] The preset parameters are initialized at every preset time interval; the preset parameters include control speed and control acceleration.

[0058] In this embodiment, the control speed and control acceleration are initialized once every 20 milliseconds to ensure the real-time performance of the cruise control; other preset times may also be set according to actual application requirements, and are not limited to 20 milliseconds.

[0059] After initialization is completed, the status information and cruise mode will be determined according to the vehicle position and occupant setting information; the occupants can choose whether to perform fixed-speed cruise or adaptive cruise; according to the vehicle position, it can be determined whether the vehicle is currently in the starting state, accelerating to decelerating state, decelerating to accelerating state, or braking state, etc.

[0060] In the above technical solution, regular initialization of preset parameters can ensure that the system is in a stable state at the beginning of each round of control, which can help avoid the impact of previously accumulated errors or abnormal values ​​on subsequent control processes, making the control process more accurate and reliable.

[0061] After the cruise mode and status information are acquired, step S200 may be executed.

[0062] S200: Acquire the current vehicle speed and the motion data of a preset vehicle in the target area, calculate the planned speed in combination with the cruise mode and the state information, and acquire the control speed according to the planned speed.

[0063] Furthermore, the motion data includes at least target speed and target distance.

[0064] In the above technical solution, by obtaining motion data such as target speed and target distance, the system can calculate the planned speed more accurately, which can ensure that the vehicle can make corresponding speed adjustments according to the movement conditions in the target area during cruising, maintain a reasonable distance and speed consistency with the target vehicle, and improve driving safety.

[0065] Further, when the cruise mode is the fixed speed cruise mode, the obtaining of the control speed in step S200 includes:

[0066] The first weight of each vehicle in the target area is obtained according to the state information and the target distance.

[0067] In this embodiment, the motion data of three vehicles in the target area are obtained. The setting range of the target area is not limited here. Those skilled in the art can set a reasonable area range according to actual application requirements.

[0068] It should be noted that the number of vehicles in the target area is not limited to three, and those skilled in the art may set it according to actual application requirements.

[0069] Under different status information, the calculation weights of the three vehicles in the target area are different; in the starting and braking stages, the weight of the vehicle closest to the vehicle is higher to ensure that the vehicle can respond to starting and braking in time; and when the vehicle changes from acceleration to deceleration or from deceleration to acceleration, the calculation weights of the two farther vehicles will be higher, but at the same time, as the vehicle speed increases, the calculation weight of the nearest vehicle in the target area will also increase, and when the vehicle speed reaches a preset speed difference (preferably 80km / h here, and technical personnel in this field can also set it to other speed values), the calculation weight of the nearest vehicle in the target area will become 1 to ensure the safety performance of cruise control.

[0070] The planned speed is calculated according to the current vehicle speed and the preset speed difference in combination with each first weight, and the planned speed is used as the control speed.

[0071] In this embodiment, assuming that the current vehicle speed is 60km / h, the preset speed difference is set by the occupant, and assuming that the current setting is +20km / h, the planned speed is 80km / h, which is used as the control speed.

[0072] In the above technical solution, when the cruise control mode is in progress, the first weight is 0, and the cruise control can be achieved by only considering the current vehicle speed and the preset speed difference.

[0073] Further, when the cruise mode is the adaptive cruise mode, the acquiring control speed in step S200 includes:

[0074] The second weight of each vehicle in the target area is obtained according to the state information and the target distance.

[0075] The planned speed of a preset point in front of the current vehicle is calculated according to the current vehicle speed, the target speed and the target distance.

[0076] The control speed is determined by combining each planned speed and the second weight.

[0077] In this embodiment, when in the starting state of following a vehicle, the weights of the three vehicles in the current area are 0.8, 0.15 and 0.05 respectively; assuming that the speeds of the three vehicles are 8kph, 12kph and 15pkph respectively, and the target distances are 5m, 10m and 15m respectively, then according to the current state of the vehicle speed being 0, the speed planning of 17 points at the center of the front bumper of the vehicle can be calculated (the spacing between each planning point is a fixed number of milliseconds), for example: 0.2, 0.5, 0.8, 1.1, 1.4...; since the current vehicle is in the starting state of following a vehicle, the planning speed of the first point is determined here as the control speed.

[0078] Specifically, the planning speed v plan =(c-τ)·v ref α, Where c is the target distance, τ is the preset following time, and v ref is the reference speed, v i is the speed of the i-th target vehicle, v0 is the current vehicle speed, ω i is the weight of the i-th target vehicle, α is an adjustable parameter; the following vehicle distance, reference speed and adjustable parameters can be set according to actual application requirements and are not limited here.

[0079] In the above technical solution, by comprehensively considering the speed, distance of other vehicles in the target area and the second weight of each vehicle, the influence of various factors on the control speed can be considered more comprehensively, which can improve the adaptability and dynamics of the cruise mode, so as to better adapt to complex driving scenarios; by calculating the planned speed of a preset point in front of the current vehicle according to the current vehicle speed, target speed and target distance, the control stability can be enhanced, which can reduce the amplitude and frequency of speed fluctuations, so as to improve the smoothness and comfort of driving.

[0080] After the control speed is obtained, step S300 may be executed.

[0081] S300: Acquire a control acceleration according to the control speed and the current vehicle speed, so as to control the vehicle according to the control acceleration and a preset state switching threshold.

[0082] Furthermore, the obtaining of the control acceleration in step S300 includes:

[0083] A control speed difference is calculated based on the control speed and the current vehicle speed.

[0084] A proportional control amount, an integral control amount and a differential control amount are calculated based on the control speed difference and a preset control algorithm, so as to obtain an initial acceleration according to the proportional control amount, the integral control amount and the differential control amount.

[0085] In this embodiment, it is assumed that the control speed has been acquired to be 100km / h and the current vehicle speed is 80km / h; the control speed difference is calculated based on the control speed and the current vehicle speed = control speed - current vehicle speed = 100km / h - 80km / h = 20km / h.

[0086] Furthermore, assuming that the preset control algorithm is a PID control algorithm, and the P, I, and D parameters are 0.5, 0.2, and 0.1, respectively, the following formula can be used for calculation:

[0087] Proportional control amount = P parameter * control speed difference = 0.5 * 20km / h = 10km / h.

[0088] Integral control amount = I parameter * ∫ (control speed difference) dt = 0.2 * ∫ (20 km / h) dt.

[0089] Differential control amount = D parameter * d (control speed difference) / dt = 0.1 * d (20km / h) / dt.

[0090] Furthermore, the initial acceleration is calculated by the proportional control amount, the integral control amount and the differential control amount: initial acceleration = proportional control amount + integral control amount + differential control amount = 10km / h + 0.2*∫(20km / h)dt + 0.1*d(20km / h) / dt.

[0091] The initial acceleration is optimized to obtain a control acceleration according to the optimization result.

[0092] In addition, two-dimensional interpolation processing is adopted for the PID parameter values: first, different PID parameters are set according to different states. The PID parameter values ​​of the cruise control state are relatively soft, while the PID parameter values ​​of the adaptive cruise control state are relatively agile. Secondly, in each state, the speed range is distinguished. The PID parameter gradually increases with the increase of speed. The PID parameter values ​​are set according to different speed nodes, and the PID parameters between the speed nodes can be obtained by interpolation calculation.

[0093] In the above technical scheme, by using a preset control algorithm to calculate the proportional control amount, the integral control amount and the differential control amount, the vehicle's acceleration can be accurately adjusted according to the control speed difference, so that the vehicle runs more smoothly; the optimization processing includes PID integral saturation suppression, actuator saturation suppression, smoothing filtering, friction compensation and other methods, thereby enhancing the comfort of speed control.

[0094] Among them, in the PID controller, the integral control amount can be used to eliminate the static error of the system, but if the integration is excessive during the control process, it will cause problems such as overshoot of the controller; therefore, when the integral control amount has reached the output limit of the controller, it is necessary to limit the integral term to avoid controller instability caused by the integral operation.

[0095] The actuator saturation problem means that when the initial acceleration signal is output to the actuator, the actuator cannot move completely according to the initial acceleration signal due to the physical constraints of the actuator; when the actuator signal output reaches the limit, the controller can no longer provide sufficient driving force. In this case, the actuator movement needs to be restricted.

[0096] The initial acceleration signal usually contains noise and interference. Using a smoothing filter can make the signal smoother and more reliable, thereby improving the accuracy and performance of the controller.

[0097] In mechanical systems, friction often has a great impact on control accuracy. In order to eliminate the influence of friction, some friction compensation methods can be used, such as feedforward compensation and feedback compensation, to improve the robustness and control accuracy of the controller.

[0098] Further, after executing step S300, the method further includes:

[0099] The current vehicle status is obtained, and it is determined whether cruise control needs to be continued according to the current vehicle status. If not, the process is terminated. Otherwise, the position information of the current vehicle is obtained, and it is determined whether the current vehicle is within a preset range according to the position information. If it is within the preset range, the process directly returns to step S100. If it is not within the preset range, a preset speed is planned according to the current vehicle speed, and the preset speed is used as the current vehicle speed, and the process returns to step S100.

[0100] In this embodiment, if the current vehicle state is a stopped state, it is determined that the cruise control does not need to be continued.

[0101] Furthermore, it is determined whether the current vehicle is within the preset range, that is, whether the vehicle can perform cruise control normally without deviating from the route set within the preset range, so that the vehicle can be adjusted in time to ensure vehicle safety.

[0102] In the above technical solution, whether the current vehicle position information is within the preset range is determined, and flexible adjustments and adaptations can be made according to the actual driving conditions. If the current vehicle fails to enter the preset range, a preset speed can be planned based on the current vehicle speed, and the process returns to step S100 to restart the next round of cruising, thereby increasing the robustness and adaptability of the cruise mode.

[0103] Embodiment 2:

[0104] See also Figure 2 The present application also provides a vehicle cruise control system, the system comprising:

[0105] The first acquisition module is used to obtain the cruise mode and status information of the current vehicle in response to the initialization completion signal of the preset parameters.

[0106] The second acquisition module is used to acquire the current vehicle speed and the motion data of a preset vehicle in the target area, so as to calculate the planned speed in combination with the cruise mode and the state information, and acquire the control speed according to the planned speed.

[0107] Control module: used to obtain control acceleration according to the control speed and the current vehicle speed, so as to control the vehicle according to the control acceleration and a preset state switching threshold.

[0108] In the above technical solution, the system can determine the cruise mode according to the preset parameter initialization completion signal, and perform corresponding control strategy according to the cruise mode. This flexibility can adapt to different vehicle cruising needs; by calculating the control speed by combining multiple parameters, it helps to improve the accuracy, comfort and safety of cruise control; by controlling the vehicle according to the pre-set state switching threshold, the system can achieve precise acceleration control, which helps to reduce cruise errors, improve driving stability and avoid excessive acceleration or deceleration.

[0109] Furthermore, the system also includes:

[0110] Initialization module: used to initialize preset parameters at preset time intervals; the preset parameters include control speed and control acceleration.

[0111] Reset module: used to obtain the current vehicle status, and determine whether cruise control needs to be continued based on the current vehicle status. If not, the process ends; otherwise, the current vehicle position information is obtained, and based on the position information, it is determined whether the current vehicle is within a preset range. If it is within the preset range, it directly returns to the first acquisition module; if it is not within the preset range, a preset speed is planned based on the current vehicle speed, and the preset speed is used as the current vehicle speed, and the process returns to the first acquisition module.

[0112] In the above technical solution, the initialization module initializes the preset parameters at preset intervals. This periodic parameter initialization can ensure that the system is always in a suitable state during operation, and can adjust the control speed and control acceleration according to actual conditions. Through periodic initialization, the system can maintain stable and reliable performance; the reset module can flexibly adjust and adapt according to actual driving conditions, thereby increasing the robustness and adaptability of the cruise mode.

[0113] In summary, the present application provides a vehicle cruise control method and system; first, after the preset parameters are initialized, the cruise mode and status information of the current vehicle are obtained; then the current vehicle speed and the motion data of a preset vehicle in the target area are obtained to determine the control speed in combination with the cruise mode and status information; and further, the control acceleration is obtained according to the control speed and the current vehicle speed to control the vehicle according to the control acceleration and the preset state switching threshold. The present application adopts multi-objective collaborative speed planning to ensure that the dynamic situation of traffic flow is considered during driving, thereby improving the accuracy of cruise control; and different plans can be made according to different states to improve the flexibility of cruise control; in addition, in the stage of controlling the vehicle, different state switching thresholds are considered to avoid frequent switching of the vehicle between acceleration and deceleration states, thereby improving the accuracy of control and the riding comfort of the drivers and passengers in the vehicle.

[0114] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0115] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0117] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0118] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0119] Although the description of the present application is carried out in conjunction with the above specific embodiments, it is obvious that those skilled in the art can make many substitutions, modifications and changes based on the above content. Therefore, all such substitutions, improvements and changes are included in the spirit and scope of the appended claims.

Claims

1. A vehicle cruise control method, characterized in that: The following steps are involved: S100: Responding to a signal indicating completion of initialization of preset parameters, obtaining cruise mode and status information of the current vehicle; S200: obtaining the current vehicle speed and the motion data of a preset vehicle in the target area, calculating the planned speed in combination with the cruise mode and the state information, and obtaining the control speed according to the planned speed; the motion data at least includes a target speed and a target distance; Wherein, when the cruise mode is the fixed speed cruise mode, the obtaining of the control speed in step S200 includes: obtaining the first weight of each vehicle in the target area according to the state information and the target distance; calculating the planned speed according to the current vehicle speed and the preset speed difference and in combination with each first weight, and using the planned speed as the control speed; When the cruise mode is the adaptive cruise mode, the obtaining of the control speed in step S200 includes: obtaining a second weight of each vehicle in the target area according to the state information and the target distance; calculating the planned speed of each preset point in front of the current vehicle according to the current vehicle speed, the target speed and the target distance; and determining the control speed in combination with each planned speed and the second weight; S300: Acquire a control acceleration according to the control speed and the current vehicle speed, so as to control the vehicle according to the control acceleration and a preset state switching threshold.

2. The vehicle cruise control method according to claim 1, characterized in that: Before executing step S100, the process includes: The preset parameters are initialized at every preset time interval; the preset parameters include control speed and control acceleration.

3. The vehicle cruise control method according to claim 1, characterized in that: The acquisition of control acceleration in step S300 includes: calculating a control speed difference according to the control speed and the current vehicle speed; Calculating a proportional control amount, an integral control amount and a differential control amount based on the control speed difference and a preset control algorithm, so as to obtain an initial acceleration according to the proportional control amount, the integral control amount and the differential control amount; The initial acceleration is optimized to obtain a control acceleration according to the optimization result.

4. The vehicle cruise control method according to claim 3, characterized in that: After executing step S300, it also includes: obtaining the current vehicle status, and judging whether it is necessary to continue cruise control according to the current vehicle status, and if not, ending the process; otherwise, obtaining the current vehicle position information, and judging whether the current vehicle is within a preset range according to the position information, and if it is within the preset range, directly returning to step S100; if it is not within the preset range, planning a preset speed according to the current vehicle speed, taking the preset speed as the current vehicle speed, and returning to step S100.

5. A system using the vehicle cruise control method according to any one of claims 1 to 4, characterized in that: The system comprises: A first acquisition module: used for acquiring the cruise mode and state information of the current vehicle in response to an initialization completion signal of a preset parameter; The second acquisition module is used to acquire the current vehicle speed and the motion data of a preset vehicle in the target area, so as to calculate the planned speed in combination with the cruise mode and the state information, and acquire the control speed according to the planned speed; Control module: used to obtain control acceleration according to the control speed and the current vehicle speed, so as to control the vehicle according to the control acceleration and a preset state switching threshold.

6. The system according to claim 5, characterized in that The system further comprises: Initialization module: used to initialize preset parameters at preset time intervals; the preset parameters include control speed and control acceleration; Reset module: used to obtain the current vehicle status, and determine whether cruise control needs to be continued based on the current vehicle status. If not, the process ends; otherwise, the current vehicle position information is obtained, and based on the position information, it is determined whether the current vehicle is within a preset range. If it is within the preset range, it directly returns to the first acquisition module; if it is not within the preset range, a preset speed is planned based on the current vehicle speed, and the preset speed is used as the current vehicle speed, and the process returns to the first acquisition module.

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