Braking control method, device, equipment and medium of adaptive cruise control system

Abstract

The application discloses a brake control method, device and equipment of an adaptive cruise control system and a medium, relates to the technical field of automatic driving, and comprises the following steps: determining an initial deceleration based on the relative speed and the relative distance of the ego vehicle relative to the front vehicle; determining the current expected speed of the ego vehicle by using the initial deceleration and the current deceleration flag of the adaptive cruise control system; determining the speed deviation between the current expected speed and the current actual speed of the ego vehicle, determining the compensation deceleration by using a proportional integral control algorithm based on the speed deviation; obtaining a target deceleration based on the initial deceleration and the compensation deceleration, controlling the ego vehicle to decelerate by using the target deceleration, and determining whether to give a maintenance prompt based on the current deceleration request state of the adaptive cruise control system. The application compensates the calculated initial deceleration, obtains the target deceleration used for controlling the ego vehicle to decelerate, and gives a maintenance prompt, so that the problem of vehicle rear-end collision caused by insufficient deceleration can be avoided.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a braking control method, device, equipment, and medium for an adaptive cruise control system. Background Technology

[0002] like Figure 1 As shown, currently, the deceleration requested by ACC (Adaptive Cruise Control) is mostly calculated based on the relative speed and relative distance between the vehicle and the vehicle in front, and then the calculated deceleration is sent to the CAN (Controller Area Network) bus. Finally, ESC (Electronic Stability Controller) obtains the deceleration from the CAN bus to control the vehicle's deceleration.

[0003] However, current ACC systems mostly do not consider the actual deceleration when calculating the requested deceleration. Sometimes, due to actuator wear or air in the hydraulic lines, the actual deceleration may not reach the requested deceleration, resulting in insufficient braking and making it easy to fail to stop the vehicle, which could lead to a collision hazard.

[0004] In summary, accurately determining the deceleration rate used to control vehicle slowdown in order to improve driving safety is a problem that needs to be solved. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a braking control method, device, equipment, and medium for an adaptive cruise control system, capable of accurately determining the deceleration rate used to control vehicle deceleration, thereby improving vehicle driving safety. The specific solution is as follows:

[0006] In a first aspect, this application discloses a braking control method for an adaptive cruise control system, comprising:

[0007] The initial deceleration is determined based on the vehicle's current relative speed and relative distance to the vehicle in front;

[0008] The current desired speed of the vehicle is determined using the initial deceleration and the current deceleration flag of the adaptive cruise control system.

[0009] Determine the speed deviation between the current desired vehicle speed and the current actual vehicle speed, and determine the compensation deceleration based on the speed deviation using a proportional-integral control algorithm;

[0010] The target deceleration is obtained based on the initial deceleration and the compensated deceleration, and the vehicle deceleration is controlled using the target deceleration. The system also determines whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system.

[0011] Optionally, determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system includes:

[0012] Determine the current deceleration flag of the adaptive cruise control system;

[0013] If the deceleration flag is set from the first preset value to the second preset value, the current expected speed of the vehicle is determined based on the initial deceleration and the current actual speed of the vehicle.

[0014] If the current deceleration flag remains at the second preset value, the current desired vehicle speed is determined based on the initial deceleration and the previous desired vehicle speed.

[0015] Optionally, before determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system, the method further includes:

[0016] Determine whether the adaptive cruise control system is currently activated;

[0017] If the adaptive cruise control system is currently activated, then the step of determining the current desired vehicle speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system is performed.

[0018] If the adaptive cruise control system is not currently activated, the step of determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system is prohibited.

[0019] Optionally, determining the compensating deceleration based on the speed deviation using a proportional-integral control algorithm includes:

[0020] The current proportional term is determined based on the speed deviation and the preset proportional control coefficient;

[0021] The current integral term is determined based on the speed deviation, the preset integral control coefficient, and the previous integral term.

[0022] The compensation deceleration is determined based on the current proportional term and the current integral term.

[0023] Optionally, determining whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system includes:

[0024] When the adaptive cruise control system is in a deceleration request state, the current actual deceleration compensation ratio is determined;

[0025] When the current total deceleration request time meets the preset conditions, the comparison result between the actual deceleration compensation ratio and the preset deceleration compensation ratio threshold is determined, and a maintenance prompt is determined based on the comparison result.

[0026] Optionally, determining the current actual deceleration compensation ratio includes:

[0027] The previous total deceleration request time is updated using the program's runtime cycle to obtain the current total deceleration request time, and it is determined whether the compensation deceleration is greater than a preset deceleration compensation threshold.

[0028] If the compensation deceleration is greater than the preset deceleration compensation threshold, the previous deceleration compensation time is updated using the program running cycle to obtain the updated current deceleration compensation time.

[0029] If the compensated deceleration is not greater than the preset deceleration compensation threshold, then the previous deceleration compensation time is taken as the current deceleration compensation time.

[0030] The ratio of the current deceleration compensation time to the current total deceleration request time is determined as the current actual deceleration compensation ratio.

[0031] Optionally, the step of determining the comparison result between the actual deceleration compensation ratio and the preset deceleration compensation ratio threshold when the current total deceleration request time meets the preset condition, and determining whether to issue a maintenance prompt based on the comparison result, includes:

[0032] When the current total deceleration request time is greater than a preset time threshold, determine the comparison result between the actual deceleration compensation ratio and the preset deceleration compensation ratio threshold;

[0033] If the comparison result shows that the actual deceleration compensation ratio is greater than the preset deceleration compensation ratio threshold, a maintenance prompt will be issued, and the current deceleration compensation time and the current total deceleration request time will be reset.

[0034] If the comparison result indicates that the actual deceleration compensation ratio is not greater than the preset deceleration compensation ratio threshold, then no maintenance prompt will be issued, and the current deceleration compensation time and the current total deceleration request time will be reset.

[0035] Secondly, this application discloses a braking control device for an adaptive cruise control system, comprising:

[0036] The initial deceleration determination module is used to determine the initial deceleration based on the current relative speed and relative distance of the vehicle to the vehicle in front.

[0037] The desired vehicle speed determination module is used to determine the current desired vehicle speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system.

[0038] The supplementary acceleration determination module is used to determine the speed deviation between the current expected vehicle speed and the current actual vehicle speed, and to determine the compensation deceleration based on the speed deviation using a proportional-integral control algorithm.

[0039] The target deceleration determination module is used to obtain the target deceleration based on the initial deceleration and the compensated deceleration, and to control the vehicle deceleration using the target deceleration;

[0040] The maintenance prompt module is used to determine whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system.

[0041] Thirdly, this application discloses an electronic device, including:

[0042] Memory, used to store computer programs;

[0043] A processor is used to execute the computer program to implement the steps of the braking control method of the aforementioned disclosed adaptive cruise control system.

[0044] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the aforementioned braking control method of the adaptive cruise control system.

[0045] As can be seen, this application discloses determining an initial deceleration based on the vehicle's current relative speed and relative distance to the vehicle in front; determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system; determining the speed deviation between the current desired speed and the vehicle's current actual speed, and determining a compensation deceleration based on the speed deviation using a proportional-integral control algorithm; obtaining a target deceleration based on the initial deceleration and the compensation deceleration, and controlling the vehicle's deceleration using the target deceleration; and determining whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system. Therefore, after determining the initial deceleration based on the vehicle's current relative speed and distance to the preceding vehicle, this application further needs to determine the current deceleration flag of the adaptive cruise control system. Using the initial deceleration and the current deceleration flag, the desired current speed of the vehicle is determined, and the speed deviation between the desired current speed and the vehicle's current actual speed is calculated. Based on this speed deviation, a proportional-integral (PI) control algorithm is used to determine the compensation deceleration. In other words, this application obtains the compensation deceleration by performing a PI closed-loop control by subtracting the desired current speed from the actual current speed. Furthermore, the final target deceleration used to control the vehicle's deceleration is obtained based on both the initial deceleration and the compensation deceleration. That is, after calculating the initial deceleration, this application also needs to compensate for the initial deceleration to obtain the final target deceleration used to control the vehicle's deceleration, thereby avoiding insufficient deceleration leading to insufficient braking and rear-end collisions, thus improving vehicle driving safety. In addition, this application can also determine whether to issue a maintenance reminder based on the current deceleration request status of the adaptive cruise control system, thereby reminding the driver to have the vehicle inspected, further ensuring vehicle driving safety. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0047] Figure 1 This application discloses a flowchart of a conventional ACC request deceleration calculation method.

[0048] Figure 2 This is a flowchart of a braking control method for an adaptive cruise control system disclosed in this application;

[0049] Figure 3 This is a flowchart of a specific braking control method for an adaptive cruise control system disclosed in this application;

[0050] Figure 4 This application discloses a flowchart for calculating requested deceleration based on compensated deceleration.

[0051] Figure 5 This is a schematic diagram of the braking control device structure of an adaptive cruise control system disclosed in this application;

[0052] Figure 6 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0054] Currently, most adaptive cruise control (ACC) systems do not consider the actual deceleration when calculating the requested deceleration. Sometimes, due to actuator wear or air in the hydraulic lines, the actual deceleration may not reach the requested deceleration, resulting in insufficient braking and potentially causing a collision. Therefore, this application discloses a braking control method, device, equipment, and medium for an adaptive cruise control system, which can accurately determine the deceleration used to control vehicle slowdown, thereby improving driving safety.

[0055] See Figure 2 As shown in the figure, this application discloses a braking control method for an adaptive cruise control system, the method comprising:

[0056] Step S11: Determine the initial deceleration based on the current relative speed and relative distance of the vehicle to the vehicle in front.

[0057] In this embodiment, it is necessary to obtain information such as the relative speed and relative distance of the vehicle to the vehicle in front, and then use the internal algorithm logic of ACC to determine the initial deceleration requested by ACC based on the relative speed and relative distance, denoted as accel_req.

[0058] Step S12: Determine the current desired speed of the vehicle using the initial deceleration and the current deceleration flag of the adaptive cruise control system.

[0059] In this embodiment, the current deceleration flag of the adaptive cruise control system is determined so as to determine the vehicle's current desired speed using the initial deceleration and the current deceleration flag.

[0060] It should be noted that before determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system, the process includes: determining whether the adaptive cruise control system is currently activated; if the adaptive cruise control system is currently activated, then the step of determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system is executed; if the adaptive cruise control system is not currently activated, then the step of determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system is prohibited. That is, before determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system, it is necessary to determine whether the adaptive cruise control system is currently activated. This can be understood as follows: pressing the ACC switch activates the adaptive cruise control system, and the corresponding indicator light illuminates, while the instrument panel displays "ACC activated." If the adaptive cruise control system is currently activated, then the step of determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system can be executed; if the adaptive cruise control system is not currently activated, then the program ends, i.e., the current process exits.

[0061] Step S13: Determine the speed deviation between the current desired vehicle speed and the current actual vehicle speed, and determine the compensation deceleration based on the speed deviation using a proportional-integral control algorithm.

[0062] In this embodiment, the speed deviation between the current expected vehicle speed and the current actual vehicle speed is determined, and the compensation deceleration is determined based on the speed deviation using a proportional-integral control algorithm. That is, this application obtains the compensation deceleration by subtracting the current expected vehicle speed from the current actual vehicle speed and performing a PI (Proportional-Integral) closed loop. The speed closed loop can solve the problem of insufficient actuator response or response overshoot during deceleration, and avoid problems such as rear-end collisions caused by insufficient deceleration.

[0063] Step S14: Obtain the target deceleration based on the initial deceleration and the compensated deceleration, and use the target deceleration to control the vehicle to decelerate, and determine whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system.

[0064] In this embodiment, the target deceleration used to control the vehicle's deceleration is obtained jointly from the initial deceleration and the compensated deceleration. This target deceleration is then input to the CAN bus so that the ESC can obtain it from the CAN bus for vehicle deceleration control. That is, after calculating the initial deceleration, this application also compensates for it to obtain the final target deceleration used to control the vehicle's deceleration, thereby avoiding problems such as insufficient braking leading to rear-end collisions due to insufficient deceleration, thus improving vehicle driving safety. In addition, this application can also determine whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system, thereby reminding the driver to have the vehicle inspected, further ensuring vehicle driving safety.

[0065] Furthermore, the aforementioned determination of whether to issue a maintenance reminder based on the current deceleration request state of the adaptive cruise control system includes: determining the current actual deceleration compensation ratio when the adaptive cruise control system is in a deceleration request state; determining the comparison result between the actual deceleration compensation ratio and a preset deceleration compensation ratio threshold when the current total deceleration request time meets a preset condition; and determining whether to issue a maintenance reminder based on the comparison result. That is, when the adaptive cruise control system is in a deceleration request state, it needs to determine the current actual deceleration compensation ratio, compare the actual deceleration compensation ratio with the preset deceleration compensation ratio threshold when the current total deceleration request time meets a preset condition to obtain a comparison result, and then determine whether to issue a maintenance reminder to the driver based on the comparison result.

[0066] In a specific implementation, determining the current actual deceleration compensation ratio includes: updating the previous total deceleration request time using the program's runtime cycle to obtain the current total deceleration request time, and determining whether the compensation deceleration is greater than a preset deceleration compensation threshold; if the compensation deceleration is greater than the preset deceleration compensation threshold, updating the previous deceleration compensation time using the program's runtime cycle to obtain the updated current deceleration compensation time; if the compensation deceleration is not greater than the preset deceleration compensation threshold, using the previous deceleration compensation time as the current deceleration compensation time; and determining the ratio of the current deceleration compensation time to the current total deceleration request time as the current actual deceleration compensation ratio. That is, when the adaptive cruise control system is in a deceleration request state, the current total deceleration request time needs to be updated, and when the compensation deceleration is greater than the preset deceleration compensation threshold, the current deceleration compensation time also needs to be updated. Finally, the ratio of the current deceleration compensation time to the current total deceleration request time is determined as the current actual deceleration compensation ratio.

[0067] Furthermore, the aforementioned determination of the comparison result between the actual deceleration compensation ratio and the preset deceleration compensation ratio threshold when the current total deceleration request time meets the preset conditions, and the determination of whether to issue a maintenance prompt based on the comparison result, includes: when the current total deceleration request time is greater than the preset time threshold, determining the comparison result between the actual deceleration compensation ratio and the preset deceleration compensation ratio threshold; if the comparison result is that the actual deceleration compensation ratio is greater than the preset deceleration compensation ratio threshold, then a maintenance prompt is issued, and the current deceleration compensation time and the current total deceleration request time are reset; if the comparison result is that the actual deceleration compensation ratio is not greater than the preset deceleration compensation ratio threshold, then no maintenance prompt is issued, and the current deceleration compensation time and the current total deceleration request time are reset. That is, when the current total deceleration request time is greater than the preset time threshold, it is necessary to determine whether the actual deceleration compensation ratio is greater than the preset deceleration compensation ratio threshold. If it is greater, a maintenance prompt is issued, and the current deceleration compensation time and the current total deceleration request time are reset to zero; if it is not greater, no maintenance prompt is issued, and the current deceleration compensation time and the current total deceleration request time are also reset to zero. In this embodiment, setting a preset time threshold can reduce false triggering to a certain extent. The preset time threshold can be set according to the specific business scenario, such as 50s, 40s, etc. This embodiment does not limit this.

[0068] In the above process, the compensation deceleration is set as accel_comp, time_decel is the total deceleration request time of ACC, time_decel_comp is the required deceleration compensation time, decel_comp_thres_C is the preset deceleration compensation threshold, percent_decel_comp is the actual deceleration compensation ratio, and percent_decelcomp_thres_C is the preset deceleration compensation ratio threshold. Assuming the program execution period is dT, which represents how often the program runs, the execution period is typically set to 20ms.

[0069] The previous total deceleration request time is denoted as time_decel_old. When the ACC is in a deceleration request state, the current total deceleration request time, time_decel_new, can be obtained by updating the previous total deceleration request time using the program's runtime cycle. The specific formula is as follows:

[0070] time_decel_new=time_decel_old+dT;

[0071] Furthermore, it is determined whether |accel_comp| is greater than decel_comp_thres_C. If it is, the previous deceleration compensation time, time_decel_comp_old, is updated using the program's runtime cycle to obtain the updated current deceleration compensation time, time_decel_comp_new. The specific formula is as follows:

[0072] time_decel_comp_new=time_decel_comp_old+dT;

[0073] If |accel_comp| is not greater than decel_comp_thres_C, then the previous deceleration compensation time is directly used as the current deceleration compensation time, that is, time_decel_comp_old remains unchanged.

[0074] Then, the ratio of the current deceleration compensation time (time_decel_comp_new) to the current total deceleration request time (time_decel_new) is determined as the current actual deceleration compensation ratio (percent_decel_comp), specifically as follows:

[0075] percent_decel_comp=time_decel_comp_new / time_decel_new.

[0076] When time_decel ≥ 50s, it is determined whether percent_decel_comp is greater than percent_decel_comp_thres_C. If so, a maintenance reminder is issued, and time_decel and time_decel_comp are reset to 0. Otherwise, time_decel and time_decel_comp are reset to 0, but no maintenance reminder is issued. In other words, this application can further determine whether to issue a maintenance reminder, thereby reminding the driver to have the vehicle inspected in a timely manner, further ensuring safety.

[0077] As can be seen, this application discloses determining an initial deceleration based on the vehicle's current relative speed and relative distance to the vehicle in front; determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system; determining the speed deviation between the current desired speed and the vehicle's current actual speed, and determining a compensation deceleration based on the speed deviation using a proportional-integral control algorithm; obtaining a target deceleration based on the initial deceleration and the compensation deceleration, and controlling the vehicle's deceleration using the target deceleration. Therefore, after determining the initial deceleration based on the vehicle's current relative speed and relative distance to the vehicle in front, this application further needs to determine the current deceleration flag of the adaptive cruise control system to determine the vehicle's current desired speed using the initial deceleration and the current deceleration flag, and to determine the speed deviation between the current desired speed and the vehicle's current actual speed, thereby determining the compensation deceleration based on the speed deviation using a proportional-integral control algorithm. In other words, this application obtains the compensation deceleration by performing a PI closed-loop control by subtracting the current desired speed from the current actual speed. Furthermore, the target deceleration used in this application to control the vehicle's deceleration is obtained based on both the initial deceleration and the compensated deceleration. That is, after calculating the initial deceleration, this application also compensates for the initial deceleration to obtain the final target deceleration used to control the vehicle's deceleration, thereby avoiding problems such as rear-end collisions caused by insufficient deceleration and inadequate braking, thus improving vehicle driving safety. In addition, this application can also determine whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system, thereby reminding the driver to have the vehicle inspected, further ensuring vehicle driving safety.

[0078] See Figure 3 and Figure 4 As shown in the illustration, this application discloses a specific braking control method for an adaptive cruise control system. Compared to the previous embodiment, this embodiment further explains and optimizes the technical solution. Specifically, it includes:

[0079] Step S21: Determine the initial deceleration based on the current relative speed and relative distance of the vehicle to the vehicle in front.

[0080] Step S22: Determine the current deceleration flag of the adaptive cruise control system. If the current deceleration flag is set from a first preset value to a second preset value, then determine the current desired speed of the vehicle based on the initial deceleration and the current actual speed of the vehicle. If the current deceleration flag remains at the second preset value, then determine the current desired speed of the vehicle based on the initial deceleration and the previous desired speed.

[0081] In this embodiment, the current actual vehicle speed v_act is obtained from the CAN bus, with a first preset value of 0 and a second preset value of 1. If the current deceleration flag of the adaptive cruise control system is set from 0 to 1, indicating that it is currently at the rising edge of the signal level, it means that it has just switched from acceleration to deceleration, i.e., it has just entered the deceleration state. Therefore, the current desired vehicle speed v_desire is determined based on the initial deceleration accel_req and the vehicle's current actual vehicle speed v_act. The specific calculation formula is as follows:

[0082] v_desire=v_act+accel_req*dT;

[0083] If the adaptive cruise control system's current deceleration flag remains at 1, it indicates that the current signal level is neither on a rising edge nor a falling edge, meaning that the system has entered a deceleration state and remains in a deceleration state. Therefore, the current desired vehicle speed v_desire_new is determined based on the initial deceleration accel_req and the previous desired vehicle speed v_desire_old. The specific calculation formula is as follows:

[0084] v_desire_new=v_desire_old+accel_req*dT.

[0085] Step S23: Determine the speed deviation between the current expected vehicle speed and the current actual vehicle speed.

[0086] In this embodiment, the speed deviation (speed_error) between the current expected vehicle speed and the current actual vehicle speed is determined. The specific calculation formula is as follows:

[0087] speed_error=v_desire-v_act.

[0088] Step S24: Determine the current proportional term based on the speed deviation and the preset proportional control coefficient; determine the current integral term based on the speed deviation, the preset integral control coefficient and the previous integral term; determine the compensation deceleration based on the current proportional term and the current integral term.

[0089] In this embodiment, the proportional-integral control algorithm is needed to calculate the compensation deceleration accel_comp. Specifically, the current proportional term P_term_new needs to be determined based on the speed deviation speed_error and the preset proportional control coefficient kp, and the current integral term I_term_new needs to be determined based on the speed deviation speed_error, the preset integral control coefficient ki, and the previous integral term I_term_old. The specific calculation formula is as follows:

[0090] P_term_new=kp×speed_error;

[0091] I_term_new=I_term_old+ki×speed_error×dT;

[0092] It should be noted that the previous integral term here is the integral term calculated at the previous moment. These integral terms are stored in ACC. If this is the first calculation, then the previous integral term is zero or a pre-set initial value.

[0093] In different operating conditions, the values ​​of the preset proportional control coefficient kp and the preset integral control coefficient ki can be different, and the values ​​must also take into account information such as the current speed and acceleration.

[0094] Finally, the compensation deceleration accel_comp is determined based on the current proportional term P_term_new and the current integral term I_term_new. The specific calculation formula is as follows:

[0095] accel_comp=P_term_new+I_term_new.

[0096] Step S25: Obtain the target deceleration based on the initial deceleration and the compensated deceleration, and use the target deceleration to control the vehicle to decelerate, and determine whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system.

[0097] For more detailed processing procedures of steps S21 and S25, please refer to the corresponding content disclosed in the foregoing embodiments, which will not be repeated here.

[0098] As can be seen, this application determines the current desired vehicle speed by using the current deceleration flag state of the adaptive cruise control system. If the current deceleration flag changes from 0 to 1, it indicates that the vehicle has just switched from acceleration to deceleration. The current desired vehicle speed is then determined based on the initial deceleration and the vehicle's current actual speed. If the current deceleration flag remains at 1, it indicates that the vehicle is continuously decelerating. The current desired vehicle speed is then determined based on the initial deceleration and the previous desired speed. Compensated deceleration is then obtained by performing a PI closed-loop calculation by subtracting the current desired speed from the current actual speed. This speed closed-loop calculation can solve the problem of insufficient actuator response or overshoot during deceleration, avoiding rear-end collisions caused by insufficient deceleration.

[0099] See Figure 5 As shown in the figure, this application discloses a braking control device for an adaptive cruise control system, the device comprising:

[0100] The initial deceleration determination module 11 is used to determine the initial deceleration based on the current relative speed and relative distance of the vehicle to the vehicle in front;

[0101] The desired vehicle speed determination module 12 is used to determine the current desired vehicle speed of the vehicle using the initial deceleration and the current deceleration flag of the adaptive cruise control system.

[0102] The supplementary acceleration determination module 13 is used to determine the speed deviation between the current expected vehicle speed and the current actual vehicle speed, and to determine the compensation deceleration based on the speed deviation using a proportional-integral control algorithm.

[0103] The target deceleration determination module 14 is used to obtain a target deceleration based on the initial deceleration and the compensated deceleration, and to control the vehicle deceleration using the target deceleration;

[0104] The maintenance prompt module 15 is used to determine whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system.

[0105] As can be seen, this application discloses determining an initial deceleration based on the vehicle's current relative speed and relative distance to the vehicle in front; determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system; determining the speed deviation between the current desired speed and the vehicle's current actual speed, and determining a compensation deceleration based on the speed deviation using a proportional-integral control algorithm; obtaining a target deceleration based on the initial deceleration and the compensation deceleration, and controlling the vehicle's deceleration using the target deceleration; and determining whether to issue a maintenance prompt based on the current deceleration request status of the adaptive cruise control system. Therefore, after determining the initial deceleration based on the vehicle's current relative speed and distance to the preceding vehicle, this application further needs to determine the current deceleration flag of the adaptive cruise control system. Using the initial deceleration and the current deceleration flag, the desired current speed of the vehicle is determined, and the speed deviation between the desired current speed and the vehicle's current actual speed is calculated. Based on this speed deviation, a proportional-integral (PI) control algorithm is used to determine the compensation deceleration. In other words, this application obtains the compensation deceleration by performing a PI closed-loop control by subtracting the desired current speed from the actual current speed. Furthermore, the final target deceleration used to control the vehicle's deceleration is obtained based on both the initial deceleration and the compensation deceleration. That is, after calculating the initial deceleration, this application also needs to compensate for the initial deceleration to obtain the final target deceleration used to control the vehicle's deceleration, thereby avoiding insufficient deceleration leading to insufficient braking and rear-end collisions, thus improving vehicle driving safety. In addition, this application can also determine whether to issue a maintenance reminder based on the current deceleration request status of the adaptive cruise control system, thereby reminding the driver to have the vehicle inspected, further ensuring vehicle driving safety.

[0106] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Specifically, it may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the braking control method of the adaptive cruise control system executed by the electronic device disclosed in any of the foregoing embodiments.

[0107] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0108] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0109] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored on it include operating system 221, computer program 222 and data 223, etc., and the storage method can be temporary storage or permanent storage.

[0110] The operating system 221 manages and controls the various hardware devices and computer programs 222 on the electronic device 20 to enable the processor 21 to perform calculations and processing on the massive amounts of data 223 in the memory 22. It can be Windows, Unix, Linux, etc. The computer program 222, in addition to including a computer program capable of performing the braking control method of the adaptive cruise control system executed by the electronic device 20 as disclosed in any of the foregoing embodiments, may further include computer programs capable of performing other specific tasks. The data 223 may include data received by the electronic device from external devices, as well as data collected by its own input / output interface 25.

[0111] Furthermore, this application also discloses a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, it implements the braking control method steps of the adaptive cruise control system disclosed in any of the foregoing embodiments.

[0112] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0113] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0114] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, compact disc read-only memory (CD-ROM), or any other form of storage medium known in the art.

[0115] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0116] The above provides a detailed description of the braking control method, apparatus, device, and storage medium of an adaptive cruise control system provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A braking control method for an adaptive cruise control system, characterized in that, include: The initial deceleration is determined based on the vehicle's current relative speed and relative distance to the vehicle in front; The current desired speed of the vehicle is determined using the initial deceleration and the current deceleration flag of the adaptive cruise control system. Determine the speed deviation between the current desired vehicle speed and the current actual vehicle speed, and determine the compensation deceleration based on the speed deviation using a proportional-integral control algorithm; The target deceleration is obtained based on the initial deceleration and the compensated deceleration, and the vehicle deceleration is controlled by the target deceleration. The current deceleration request status of the adaptive cruise control system is used to determine whether to issue a maintenance prompt. The step of determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system includes: Determine the current deceleration flag of the adaptive cruise control system; If the deceleration flag is set from the first preset value to the second preset value, the current expected speed of the vehicle is determined based on the initial deceleration and the current actual speed of the vehicle. If the current deceleration flag remains at the second preset value, the current desired vehicle speed is determined based on the initial deceleration and the previous desired vehicle speed. The determination of the compensating deceleration based on the speed deviation using a proportional-integral control algorithm includes: The current proportional term is determined based on the speed deviation and the preset proportional control coefficient; The current integral term is determined based on the speed deviation, the preset integral control coefficient, and the previous integral term. The compensation deceleration is determined based on the current proportional term and the current integral term.

2. The braking control method of the adaptive cruise control system according to claim 1, characterized in that, Before determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system, the method further includes: Determine whether the adaptive cruise control system is currently activated; If the adaptive cruise control system is currently activated, then the step of determining the current desired vehicle speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system is performed. If the adaptive cruise control system is not currently activated, the step of determining the vehicle's current desired speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system is prohibited.

3. The braking control method of the adaptive cruise control system according to claim 1 or 2, characterized in that, The process of determining whether to issue a maintenance notification based on the current deceleration request status of the adaptive cruise control system includes: When the adaptive cruise control system is in a deceleration request state, the current actual deceleration compensation ratio is determined; When the current total deceleration request time meets the preset conditions, the comparison result between the actual deceleration compensation ratio and the preset deceleration compensation ratio threshold is determined, and a maintenance prompt is determined based on the comparison result.

4. The braking control method of the adaptive cruise control system according to claim 3, characterized in that, Determining the current actual deceleration compensation ratio includes: The previous total deceleration request time is updated using the program's runtime cycle to obtain the current total deceleration request time, and it is determined whether the compensation deceleration is greater than a preset deceleration compensation threshold. If the compensation deceleration is greater than the preset deceleration compensation threshold, the previous deceleration compensation time is updated using the program running cycle to obtain the updated current deceleration compensation time. If the compensated deceleration is not greater than the preset deceleration compensation threshold, then the previous deceleration compensation time is taken as the current deceleration compensation time. The ratio of the current deceleration compensation time to the current total deceleration request time is determined as the current actual deceleration compensation ratio.

5. The braking control method for the adaptive cruise control system according to claim 4, characterized in that, The step of determining the comparison result between the actual deceleration compensation ratio and the preset deceleration compensation ratio threshold when the current total deceleration request time meets the preset conditions, and determining whether to issue a maintenance prompt based on the comparison result, includes: When the current total deceleration request time is greater than a preset time threshold, determine the comparison result between the actual deceleration compensation ratio and the preset deceleration compensation ratio threshold; If the comparison result shows that the actual deceleration compensation ratio is greater than the preset deceleration compensation ratio threshold, a maintenance prompt will be issued, and the current deceleration compensation time and the current total deceleration request time will be reset. If the comparison result indicates that the actual deceleration compensation ratio is not greater than the preset deceleration compensation ratio threshold, then no maintenance prompt will be issued, and the current deceleration compensation time and the current total deceleration request time will be reset.

6. A braking control device for an adaptive cruise control system, characterized in that, include: The initial deceleration determination module is used to determine the initial deceleration based on the current relative speed and relative distance of the vehicle to the vehicle in front. The desired vehicle speed determination module is used to determine the current desired vehicle speed using the initial deceleration and the current deceleration flag of the adaptive cruise control system. The supplementary acceleration determination module is used to determine the speed deviation between the current expected vehicle speed and the current actual vehicle speed, and to determine the compensation deceleration based on the speed deviation using a proportional-integral control algorithm. The target deceleration determination module is used to obtain the target deceleration based on the initial deceleration and the compensated deceleration, and to control the vehicle deceleration using the target deceleration; The maintenance reminder module is used to determine whether to issue a maintenance reminder based on the current deceleration request status of the adaptive cruise control system. Specifically, the desired vehicle speed determination module is used to determine the current deceleration flag position of the adaptive cruise control system; if the current deceleration flag position is set from a first preset value to a second preset value, the current desired vehicle speed is determined based on the initial deceleration and the current actual vehicle speed; if the current deceleration flag position remains at the second preset value, the current desired vehicle speed is determined based on the initial deceleration and the previous desired vehicle speed. The supplementary acceleration determination module is specifically used to determine the current proportional term based on the speed deviation and the preset proportional control coefficient; to determine the current integral term based on the speed deviation, the preset integral control coefficient and the previous integral term; and to determine the compensation deceleration based on the current proportional term and the current integral term.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the braking control method of the adaptive cruise control system as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, Used to store a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the braking control method of the adaptive cruise control system as described in any one of claims 1 to 5.

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