A method, apparatus and vehicle for determining a car following acceleration

Abstract

The application provides a method, device and vehicle for determining a following acceleration. The method is applied to a first vehicle and comprises the following steps: obtaining a lateral distance and a lateral offset ratio between the first vehicle and a second vehicle; wherein the second vehicle is located on one side of the front left and the front right of the first vehicle; determining a weight value corresponding to relative motion data of the first vehicle relative to a target vehicle according to the lateral distance and the lateral offset ratio; wherein the target vehicle comprises at least one vehicle located in front of the first vehicle; and determining the following acceleration of the first vehicle according to the weight value and the relative motion data. According to the scheme of the application, the following acceleration of the vehicle can be accurately and reasonably provided even when the vehicle is in an irregular traffic flow.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a method, apparatus, and vehicle for determining car-following acceleration. Background Technology

[0002] In existing vehicle following schemes, which are mainly designed for regular traffic flow in a single file, the optimal acceleration of the current vehicle is calculated by only utilizing the influence of the vehicle directly in front on the current vehicle.

[0003] However, in actual traffic flow, multiple vehicles following each other on the road can easily create irregular traffic flows that are not in a straight line. Under these irregular traffic flow conditions, existing car-following control schemes cannot provide vehicles with accurate car-following acceleration. Summary of the Invention

[0004] This invention provides a method, apparatus, and vehicle for determining car-following acceleration, solving the problem of how to provide accurate car-following acceleration for vehicles operating in irregular traffic flow conditions.

[0005] In a first aspect, embodiments of the present invention provide a method for determining car-following acceleration, applied to a first vehicle, comprising:

[0006] Obtain the lateral distance and lateral offset ratio between the first vehicle and the second vehicle; wherein the second vehicle is located on one side of the first vehicle, either to the left front or to the right front.

[0007] Based on the lateral distance and the lateral offset ratio, a weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle is determined; wherein, the target vehicle includes at least one vehicle located in front of the first vehicle;

[0008] Based on the weight value and the relative motion data, the following acceleration of the first vehicle is determined.

[0009] Optionally, determining the weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio includes:

[0010] exist At that time, based on the lateral offset ratio, a first weight value corresponding to the first relative motion data and a second weight value corresponding to the second relative motion data are determined;

[0011] The target vehicle includes a second vehicle and a fourth vehicle, with the fourth vehicle located directly in front of the first vehicle; the first relative motion data is the relative motion data between the first vehicle and the second vehicle, and the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle.

[0012] Optionally, the first weight value is 1-2p, the second weight value is 2p, and p is the lateral offset ratio.

[0013] Optionally, determining the weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio includes:

[0014] exist Determine the third weight value corresponding to the second relative motion data and the fourth weight value corresponding to the third relative motion data;

[0015] The target vehicle includes a third vehicle and a fourth vehicle, wherein the fourth vehicle is located directly in front of the first vehicle, and the third vehicle is located on the other side of the first vehicle's left front and right front; the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle, and the third relative motion data is the relative motion data between the first vehicle and the third vehicle.

[0016] Optionally, the third weight value is 2(1-p), the fourth weight value is 2p-1, and p is the lateral offset ratio.

[0017] Optionally, the first relative motion data includes: a first speed difference and a first position difference between the first vehicle and the second vehicle; the second relative motion data includes: a second speed difference and a second position difference between the first vehicle and the fourth vehicle.

[0018] Determining the following acceleration of the first vehicle based on the weight value and the relative motion data includes:

[0019] According to the first formula, determine the following acceleration of the first vehicle;

[0020] The first formula is:

[0021] a(t)=k{V[w1×Δx 1,2 (t)+w2×Δx 1,4 (t)]-v1(t)}+λ[w1×

[0022] Δv 1,2 (t)+w2×Δv 1,4 (t)];

[0023] Where a(t) is the following acceleration of the first vehicle predicted at time t, and V[w1×Δx] 1,2 (t)+w2×Δx 1,4[v1(t)] represents the expected speed of the first vehicle, v1(t) represents the speed of the first vehicle at time t, w1 represents the first weight value, w2 represents the second weight value, p represents the lateral offset ratio, k and λ are sensitivity coefficients, and Δx represents the lateral offset ratio. 1,2 (t) represents the first position difference between the first vehicle and the second vehicle at time t, Δv 1,2 (t) represents the first speed difference between the first vehicle and the second vehicle at time t, Δx 1,4 (t) represents the second position difference between the first vehicle and the fourth vehicle at time t, Δv 1,4 (t) represents the second speed difference between the first vehicle and the fourth vehicle at time t.

[0024] Optionally, the second relative motion data includes: a second speed difference and a second position difference between the first vehicle and the fourth vehicle; the third relative motion data includes: a third speed difference and a third position difference between the first vehicle and the third vehicle.

[0025] Determining the following acceleration of the first vehicle based on the weight value and the relative motion data includes:

[0026] The following acceleration of the first vehicle is determined according to the second formula;

[0027] The second formula is:

[0028] a(t)=k{V[w4×Δx 1,3 (t)+w3×Δx 1,4 (t)]-v1(t)}+λ[w4×

[0029] Δv 1,3 (t)+w3×Δv 1,4 (t)];

[0030] Where a(t) is the predicted following acceleration of the first vehicle at time t, and V[w4×Δx] 1,3 (t)+w3×Δx 1,4 [v1(t)] represents the expected speed of the first vehicle, v1(t) represents the speed of the first vehicle at time t, w3 represents the third weight value, w4 represents the fourth weight value, p represents the lateral offset ratio, k and λ are sensitivity coefficients, and Δx represents the lateral offset ratio. 1,3 (t) represents the third position difference between the first vehicle and the third vehicle at time t, Δv 1,3 (t) represents the third speed difference between the first vehicle and the third vehicle at time t, Δx 1,4 (t) represents the second position difference between the first vehicle and the fourth vehicle at time t, Δv 1,4(t) represents the second speed difference between the first vehicle and the fourth vehicle at time t.

[0031] Optionally, obtaining the lateral distance and lateral offset ratio between the first vehicle and the second vehicle includes:

[0032] When the longitudinal distance between the first vehicle and the vehicle directly in front is less than or equal to twice the safety distance, the lateral distance and lateral offset ratio between the first vehicle and the second vehicle are obtained.

[0033] In a second aspect, embodiments of the present invention provide a vehicle comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method for determining car-following acceleration as described in the first aspect.

[0034] Thirdly, embodiments of the present invention provide a device for determining car-following acceleration, applied to a first vehicle, comprising:

[0035] The first acquisition module is used to acquire the lateral distance and lateral offset ratio between the first vehicle and the second vehicle; wherein the second vehicle is located on one side of the first vehicle, either to the left front or to the right front.

[0036] The first determining module is used to determine a weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio; wherein the target vehicle includes at least one vehicle located in front of the first vehicle.

[0037] The second determining module is used to determine the following acceleration of the first vehicle based on the weight value and the relative motion data.

[0038] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, characterized in that, when executed by a processor, the computer program implements the determination step of the method for determining car-following acceleration as described in the first aspect.

[0039] Fifthly, embodiments of the present invention provide a computer program product, characterized in that it includes computer instructions, which, when executed by a processor, implement the determination step of the method for determining car-following acceleration as described in the first aspect.

[0040] The beneficial effects of the above-mentioned technical solution of the present invention are:

[0041] In the above scheme, the first vehicle acquires the lateral distance and lateral offset ratio between itself and a second vehicle; wherein the second vehicle is located on one side, either to the left or right front of the first vehicle; based on the lateral distance and the lateral offset ratio, a weight value corresponding to the relative motion data of the first vehicle relative to a target vehicle is determined; wherein the target vehicle includes at least one vehicle located in front of the first vehicle; based on the weight value and the relative motion data, the following acceleration of the first vehicle is determined. Thus, under irregular traffic flow conditions, considering the lateral distance and the lateral offset ratio, accurate following acceleration can be provided for the vehicle, enabling it to form a reasonable following behavior. Attached Figure Description

[0042] Figure 1 A flowchart illustrating the method for determining the car-following acceleration according to an embodiment of the present invention;

[0043] Figure 2 A schematic diagram illustrating traffic flow conditions according to an embodiment of the present invention;

[0044] Figure 3 A structural block diagram illustrating the apparatus for determining car-following acceleration according to an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram illustrating the hardware structure of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0046] To make the technical problems, technical solutions, and advantages of this invention clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this invention. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this invention. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0047] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0048] In various embodiments of the present invention, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0049] In addition, the terms "system" and "network" are often used interchangeably in this article.

[0050] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0052] First Embodiment

[0053] like Figure 1 As shown, an embodiment of the present invention provides a method for determining car-following acceleration, characterized in that it is applied to a first vehicle and includes:

[0054] Step 101: Obtain the lateral distance and lateral offset ratio between the first vehicle and the second vehicle; wherein the second vehicle is located on one side of the first vehicle, either to the left front or to the right front.

[0055] like Figure 2 In this context, the lateral distance between the first vehicle and the second vehicle is the distance between the centerlines of the first vehicle and the second vehicle. For example... Figure 2 In the middle, the lateral spacing is Lg 1,2 . Figure 2 In this context, the dashed line indicates the center line of the vehicle's travel, while the solid line represents the road boundary.

[0056] The lateral offset ratio is the ratio of the lateral clearance to the maximum lateral clearance; the maximum lateral clearance is the distance between the centerlines of the second vehicle and the third vehicle, with the second vehicle located on one side of the left front and right front of the first vehicle, and the third vehicle located on the other side of the left front and right front of the first vehicle. Figure 2 In the middle, the maximum lateral spacing is Lg max .

[0057] For example, in a connected environment without lane markings or clearly defined lane markings, vehicle following behavior is not constrained by lane markings. Therefore, during vehicle movement, there are often leading vehicles on both sides with lateral clearance. For instance, in one traffic situation, a second vehicle is located to the left and right front of the first vehicle, the other side to the left and right front of the first vehicle includes a third vehicle, and directly in front of the first vehicle is a fourth vehicle. Figure 2 In the middle, the second vehicle 2 is located to the right front of the first vehicle 1, the third vehicle 3 is located to the left front of the first vehicle 1, and the fourth vehicle 4 is located directly in front of the first vehicle 1.

[0058] Step 102: Determine the weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio; wherein the target vehicle includes at least one vehicle located in front of the first vehicle.

[0059] In this step, the area in front of the first vehicle includes: directly in front, to the left front, and to the right front.

[0060] In such Figure 2 In the traffic conditions shown, the target vehicles include the second and fourth vehicles, or the target vehicles include the third and fourth vehicles.

[0061] Optionally, the relative motion data includes: relative motion speed and relative longitudinal position difference; where longitudinal refers to the vehicle's direction of travel.

[0062] Step 103: Determine the following acceleration of the first vehicle based on the weight value and the relative motion data.

[0063] In the above embodiments, when the vehicle is in an irregular traffic flow, considering the lateral distance and lateral offset ratio, it can provide the vehicle with accurate following acceleration, enabling the vehicle to form a reasonable following behavior.

[0064] It should be noted that, compared with the prior art, the embodiments of this application have at least the following advantages:

[0065] 1) Existing car-following acceleration calculation schemes are suitable for regular traffic flows in a straight line, and are often applicable to environments with clear lane markings. In this embodiment, by introducing the lateral spacing and lateral offset ratio between vehicles, it can be applied to scenarios without lane markings, and can cover industrial parks that are not municipal roads or some old municipal roads.

[0066] 2) Existing car-following acceleration calculation schemes assume or assume that all vehicles ahead have the same impact on the current vehicle when considering the influence of multiple vehicles ahead, which fails to specifically reflect actual traffic conditions. In this application, the influence weights of multiple vehicles ahead are combined with actual traffic conditions. A method is proposed to determine the influence weights of each vehicle ahead based on the lateral offset ratio and lateral distance, making the calculated car-following acceleration more consistent with actual traffic conditions.

[0067] The above embodiments will be described in two different ways below.

[0068] Scenario 1:

[0069] In some embodiments, in step 102 above, determining the weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio includes:

[0070] exist At that time, based on the lateral offset ratio, a first weight value corresponding to the first relative motion data and a second weight value corresponding to the second relative motion data are determined;

[0071] The target vehicle includes a second vehicle and a fourth vehicle, with the fourth vehicle located directly in front of the first vehicle; the first relative motion data is the relative motion data between the first vehicle and the second vehicle, and the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle.

[0072] Optionally, the first weight value is 1-2p, the second weight value is 2p, and p is the lateral offset ratio.

[0073] In this embodiment, In this case, it indicates that the first vehicle is closer to the rear of the second and fourth vehicles. Therefore, based on the lateral offset ratio, a first weight value corresponding to the first relative motion data between the first and second vehicles, and a second weight value corresponding to the second relative motion data between the first and fourth vehicles are determined. Then, using the first weight value, the second weight value, the first relative motion data, and the second relative motion data, the following acceleration of the first vehicle is calculated. Thus, when the first vehicle is in an irregular traffic flow situation, At the same time, it can combine the relative motion data of the second and fourth vehicles to obtain a reasonable and accurate following acceleration.

[0074] In some embodiments, the first relative motion data includes: a first speed difference and a first position difference between the first vehicle and the second vehicle; the second relative motion data includes: a second speed difference and a second position difference between the first vehicle and the fourth vehicle;

[0075] Step 103 above includes:

[0076] According to the first formula, determine the following acceleration of the first vehicle;

[0077] The first formula is:

[0078] a(t)=k{V[w1×Δx 1,2 (t)+w2×Δx 1,4 (t)]-v1(t)}+λ[w1×

[0079] Δv 1,2 (t)+w2×Δv 1,4 (t)];

[0080] Where a(t) is the following acceleration of the first vehicle predicted at time t, and V[w1×Δx] 1,2 (t)+w2×Δx 1,4 [v1(t)] represents the expected speed of the first vehicle, v1(t) represents the speed of the first vehicle at time t, w1 represents the first weight value, w2 represents the second weight value, p represents the lateral offset ratio, k and λ are sensitivity coefficients, and Δx represents the lateral offset ratio. 1,2 (t) represents the first position difference between the first vehicle and the second vehicle at time t, Δv 1,2 (t) represents the first speed difference between the first vehicle and the second vehicle at time t, Δx 1,4 (t) represents the second position difference between the first vehicle and the fourth vehicle at time t, Δv 1,4 (t) represents the second speed difference between the first vehicle and the fourth vehicle at time t.

[0081] In practice, the car-following acceleration a(t) = k{U[Δx] 1,2 (t),Δx 1,3 (t),Δx 1,4 (t)]-v1(t)}+λG[Δv 1,2 (t),Δv 1,3 (t),Δv 1,4 [t];in 0≤Lg 1,2 ≤0.5Lg max When, U[Δx 1,2 (t),Δx 1,3 (t),Δx 1,4 [(t)]=V[w1×Δx] 1,2 (t)+w2×Δx 1,4 (t)];

[0082] G[Δv 1,2 (t),Δv 1,3 (t),Δv 1,4 [(t)]=[w1×Δv] 1,2 (t)+w2×Δv 1,4 [t], w1 is the th

[0083] A weight value is given, w2 is the second weight value, and k and λ are sensitivity coefficients.

[0084] Where, Δx 1,2 (t)=x2(t)-x1(t),Δx 1,3(t)=x3(t)-x1(t),Δx 1,4 (t)=x4(t)-x1(t), Δv 1,2 (t)=v2(t)-v1(t), Δv 1,3 (t)=v3(t)-v1(t), Δv 1,4 x1(t) = v4(t) - v1(t), where x1(t) is the position of the first vehicle at time t (in meters), x2(t) is the position of the second vehicle at time t (in meters), x3(t) is the position of the third vehicle at time t (in meters), x4(t) is the position of the fourth vehicle at time t (in meters), v1(t) is the speed of the first vehicle at time t (in meters / s), v2(t) is the speed of the second vehicle at time t (in meters / s), v3(t) is the speed of the third vehicle at time t (in meters / s), and v4(t) is the speed of the fourth vehicle at time t (in meters / s).

[0085] Optionally, such as Figure 2 In this context, the relative position difference between two vehicles can be the distance between the rear of the vehicle in front and the front of the vehicle behind. Alternatively, the relative position difference between two vehicles can also be the distance between the center points of the two vehicles.

[0086] Where V[n] represents the speed optimization function, n represents the input value corresponding to the nth car, tanh is the hyperbolic tangent function, and h c This is the longitudinal safety distance.

[0087] In the above embodiments, under the condition of irregular traffic flow with vehicles in front of the left, front, and right of the vehicle, the target vehicle and the weights corresponding to the relative motion data between the target vehicle and the vehicle in front of the left or right can be determined based on the lateral distance and lateral offset ratio between the vehicle and the vehicle in front of the left or right. Based on the weights and relative motion data, a reasonable and accurate following acceleration can be obtained, enabling the vehicle to form a reasonable following behavior.

[0088] Scenario 2:

[0089] In some embodiments, in step 102 above, determining the weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio includes:

[0090] exist Determine the third weight value corresponding to the second relative motion data and the fourth weight value corresponding to the third relative motion data;

[0091] The target vehicle includes a third vehicle and a fourth vehicle, wherein the fourth vehicle is located directly in front of the first vehicle, and the third vehicle is located on the other side of the first vehicle's left front and right front; the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle, and the third relative motion data is the relative motion data between the first vehicle and the third vehicle.

[0092] Optionally, the third weight value is 2(1-p), the fourth weight value is 2p-1, and p is the lateral offset ratio.

[0093] In this embodiment, This indicates that the first vehicle is closer to the rear of the third and fourth vehicles. Therefore, based on the lateral offset ratio, a fourth weight value corresponding to the third relative motion data between the first and third vehicles, and a third weight value corresponding to the second relative motion data between the first and fourth vehicles, are determined. Using these third and fourth weight values, the second and third relative motion data, the following acceleration of the first vehicle is calculated. Thus, when the first vehicle is in an irregular traffic flow situation, It can combine the relative motion data of the third and fourth vehicles to obtain a reasonable and accurate following acceleration.

[0094] In some embodiments, the second relative motion data includes: a second speed difference and a second position difference between the first vehicle and the fourth vehicle; the third relative motion data includes: a third speed difference and a third position difference between the first vehicle and the third vehicle;

[0095] Step 103 above includes:

[0096] The following acceleration of the first vehicle is determined according to the second formula;

[0097] The second formula is:

[0098] a(t)=k{V[w4×Δx 1,3 (t)+w3×Δx 1,4 (t)]-v1(t)}+λ[w4×

[0099] Δv 1,3 (t)+w3×Δv 1,4 (t)];

[0100] Where a(t) is the predicted following acceleration of the first vehicle at time t, and V[w4×Δx] 1,3 (t)+w3×Δx 1,4[v1(t)] represents the expected speed of the first vehicle, v1(t) represents the speed of the first vehicle at time t, w3 represents the third weight value, w4 represents the fourth weight value, p represents the lateral offset ratio, k and λ are sensitivity coefficients, and Δx represents the lateral offset ratio. 1,3 (t) represents the third position difference between the first vehicle and the third vehicle at time t, Δv 1,3 (t) represents the third speed difference between the first vehicle and the third vehicle at time t, Δx 1,4 (t) represents the second position difference between the first vehicle and the fourth vehicle at time t, Δv 1,4 (t) represents the second speed difference between the first vehicle and the fourth vehicle at time t.

[0101] In practice, the car-following acceleration a(t) = k{U[Δx] 1,2 (t),Δx 1,3 (t),Δx 1,4 (t)]-v1(t)}+λG[Δv 1,2 (t),Δv 1,3 (t),Δv 1,4 (t)];at 0.5Lg max ≤Lg 1,2 ≤Lg max When, U[Δx 1,2 (t),Δx 1,3 (t),Δx 1,4 [(t)]=V[w4×Δx] 1,3 (t)+w3×Δx 1,4 (t)];

[0102] G[Δv 1,2 (t),Δv 1,3 (t),Δv 1,4 [(t)]=[w4×Δv] 1,3 (t)+w3×Δv 1,4 [t], w3 is what

[0103] The third weight value is mentioned above, w4 is the fourth weight value, and k and λ are sensitivity coefficients;

[0104] Where, Δx 1,2 (t)=x2(t)-x1(t),Δx 1,3 (t)=x3(t)-x1(t),Δx 1,4 (t)=x4(t)-x1(t), Δv 1,2 (t)=v2(t)-v1(t), Δv 1,3 (t)=v3(t)-v1(t), Δv 1,4x1(t) = v4(t) - v1(t), where x1(t) is the position of the first vehicle at time t (in meters), x2(t) is the position of the second vehicle at time t (in meters), x3(t) is the position of the third vehicle at time t (in meters), x4(t) is the position of the fourth vehicle at time t (in meters), v1(t) is the speed of the first vehicle at time t (in meters / s), v2(t) is the speed of the second vehicle at time t (in meters / s), v3(t) is the speed of the third vehicle at time t (in meters / s), and v4(t) is the speed of the fourth vehicle at time t (in meters / s).

[0105] Where V[n] represents the speed optimization function, n represents the input value corresponding to the nth car, tanh is the hyperbolic tangent function, and h c This is the longitudinal safety distance.

[0106] In the above embodiments, under the condition of irregular traffic flow with vehicles in front of the left, front, and right of the vehicle, the target vehicle and the weights corresponding to the relative motion data between the target vehicle and the vehicle in front of the left or right can be determined based on the lateral distance and lateral offset ratio between the vehicle and the vehicle in front of the left or right. Based on the weights and relative motion data, a reasonable and accurate following acceleration can be obtained, enabling the vehicle to form a reasonable following behavior.

[0107] In some embodiments, step 103 above, obtaining the lateral distance and lateral offset ratio between the first vehicle and the second vehicle, includes:

[0108] When the longitudinal distance between the first vehicle and the vehicle directly in front is less than or equal to twice the safety distance, the lateral distance and lateral offset ratio between the first vehicle and the second vehicle are obtained.

[0109] Among them, the safe distance refers to the longitudinal safe distance for following.

[0110] In one exemplary application scenario, the method for determining car-following acceleration provided in this application includes the following steps:

[0111] Step 1: During the first vehicle's operation with a robust or conservative autonomous driving strategy, the first vehicle's controller (MCU) identifies information from the onboard perception unit to determine whether there are no lane lines or no obvious lane lines on the current road surface; if so, step 2 is triggered; otherwise, the process ends.

[0112] In the case of a robust or conservative autonomous driving strategy, the first vehicle, under the control of the MCU, travels at a constant speed of less than or equal to 40 km / h.

[0113] Step 2: The OBU of the first vehicle communicates with the MCU and receives road environment signals through the OBU to determine whether the current road is a road without lane lines or without obvious lane lines.

[0114] Step 3: The first vehicle's OBU receives the Basic Safety Message (BSM) from other vehicles; based on the BSM, it determines whether there is a vehicle in front of the first vehicle; if so, it triggers Step 4; otherwise, it triggers Step 1.

[0115] The BSM message must include at least the following fields: longitude, latitude, heading, speed, acceleration, and vehicle class.

[0116] Step 4: The OBU of the first vehicle determines, based on its own BSM message and the BSM messages of other vehicles, whether the longitudinal distance between the first vehicle and the adjacent vehicle in front is less than twice the safe distance; if so, step 5 is triggered; otherwise, step 1 is triggered.

[0117] Step 5: The OBU of the first vehicle starts and executes the vehicle following behavior.

[0118] Step 6: The OBU of the first vehicle calculates the distance difference (i.e., relative position difference), lateral distance, lateral offset ratio, and relative speed difference between the first vehicle and the multiple vehicles ahead in the BSM message sent by other vehicles.

[0119] Step 9: In At that time, determine the following acceleration a(t) = k{V[((1-2p)×Δx]} 1,2 (t)+2p×Δx 1,4 (t)]-v1(t)}+λ[(1-2p)×Δv 1,2 (t)+2p×Δv 1,4 (t)];in At that time, the following acceleration a(t) is determined to be k{V[(2p-1)×Δx}. 1,3 (t)+2(1-p)×Δx 1,4 (t)]-v1(t)}+λ[(2p-1)×Δv 1,3 (t)+2(1-p)×Δv 1,4 (t)];

[0120] In this configuration, the second vehicle is located on one side of the first vehicle's left front and right front, the third vehicle is located on the other side of the first vehicle's left front and right front, and the fourth vehicle is located directly in front of the first vehicle; p is the lateral offset ratio, and k and λ are sensitivity coefficients; Δx 1,2 (t)=x2(t)-x1(t),Δx 1,3 (t)=x3(t)-x1(t),Δx 1,4 (t)=x4(t)-x1(t), Δv 1,2 (t)=v2(t)-v1(t), Δv 1,3 (t)=v3(t)-v1(t), Δv 1,4 x1(t) = v4(t) - v1(t), where x1(t) is the position of the first vehicle at time t (in meters), x2(t) is the position of the second vehicle at time t (in meters), x3(t) is the position of the third vehicle at time t (in meters), x4(t) is the position of the fourth vehicle at time t (in meters), v1(t) is the speed of the first vehicle at time t (in meters / s), v2(t) is the speed of the second vehicle at time t (in meters / s), v3(t) is the speed of the third vehicle at time t (in meters / s), and v4(t) is the speed of the fourth vehicle at time t (in meters / s).

[0121] Understandably, since the lateral offset ratio is the ratio of the lateral clearance to the maximum lateral clearance; the maximum lateral clearance is the distance between the centerlines of the second vehicle and the third vehicle, and the second vehicle is located on one side of the left front and right front of the first vehicle, while the third vehicle is located on the other side of the left front and right front of the first vehicle, the following special cases exist:

[0122] If the lateral distance between the first vehicle and the second vehicle is 0, then a(t) = k{V[Δx]} 1,2 [(t)]-v1(t)}+λΔv 1,2 (t).

[0123] If the lateral distance between the first vehicle and the second vehicle is Then a(t)=k{V[Δx] 1,4 [(t)]-v1(t)}+λΔv 1,4 (t).

[0124] If the lateral distance between the first vehicle and the second vehicle is the maximum lateral distance, then a(t) = k{V[Δx]} 1,3 [(t)]-v1(t)}+λΔv 1,3 (t).

[0125] It should be noted that the calculated optimal acceleration at the current moment serves as a decision suggestion for the current vehicle's following behavior.

[0126] Step 10: The OBU of the first vehicle communicates with the MCU to obtain the optimal acceleration at the current moment, and the MCU executes the following behavior decision suggestion of the first vehicle at the current moment.

[0127] The program enters the next loop, triggering step 1.

[0128] Second Embodiment

[0129] like Figure 3 As shown, an embodiment of the present invention provides a device 300 for determining car-following acceleration, applied to a first vehicle, comprising:

[0130] The first acquisition module 301 is used to acquire the lateral distance and lateral offset ratio between the first vehicle and the second vehicle; wherein the second vehicle is located on one side of the first vehicle, either to the left front or to the right front.

[0131] The first determining module 302 is used to determine the weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio; wherein the target vehicle includes at least one vehicle located in front of the first vehicle.

[0132] The second determining module 303 is used to determine the following acceleration of the first vehicle based on the weight value and the relative motion data.

[0133] Optionally, the first determining module 302 includes:

[0134] The first determining submodule is used to... At that time, based on the lateral offset ratio, a first weight value corresponding to the first relative motion data and a second weight value corresponding to the second relative motion data are determined;

[0135] The target vehicle includes a second vehicle and a fourth vehicle, with the fourth vehicle located directly in front of the first vehicle; the first relative motion data is the relative motion data between the first vehicle and the second vehicle, and the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle.

[0136] Optionally, the first weight value is 1-2p, the second weight value is 2p, and p is the lateral offset ratio.

[0137] Optionally, determining the weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio includes:

[0138] The second determining submodule is used to... Determine the third weight value corresponding to the second relative motion data and the fourth weight value corresponding to the third relative motion data;

[0139] The target vehicle includes a third vehicle and a fourth vehicle, wherein the fourth vehicle is located directly in front of the first vehicle, and the third vehicle is located on the other side of the first vehicle's left front and right front; the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle, and the third relative motion data is the relative motion data between the first vehicle and the third vehicle.

[0140] Optionally, the third weight value is 2(1-p), the fourth weight value is 2p-1, and p is the lateral offset ratio.

[0141] Optionally, the first relative motion data includes: a first speed difference and a first position difference between the first vehicle and the second vehicle; the second relative motion data includes: a second speed difference and a second position difference between the first vehicle and the fourth vehicle.

[0142] The second determining module 303 includes:

[0143] The third determining submodule is used to determine the following acceleration of the first vehicle according to the first formula;

[0144] The first formula is:

[0145] a(t)=k{V[w1×Δx 1,2 (t)+w2×Δx 1,4 (t)]-v1(t)}+λ[w1×

[0146] Δv 1,2 (t)+w2×Δv 1,4 (t)];

[0147] Where a(t) is the following acceleration of the first vehicle predicted at time t, and V[w1×Δx] 1,2 (t)+w2×Δx 1,4 [v1(t)] represents the expected speed of the first vehicle, v1(t) represents the speed of the first vehicle at time t, w1 represents the first weight value, w2 represents the second weight value, p represents the lateral offset ratio, k and λ are sensitivity coefficients, and Δx represents the lateral offset ratio. 1,2 (t) represents the first position difference between the first vehicle and the second vehicle at time t, Δv 1,2 (t) represents the first speed difference between the first vehicle and the second vehicle at time t, Δx 1,4 (t) represents the second position difference between the first vehicle and the fourth vehicle at time t, Δv 1,4(t) represents the second speed difference between the first vehicle and the fourth vehicle at time t.

[0148] Optionally, the second relative motion data includes: a second speed difference and a second position difference between the first vehicle and the fourth vehicle; the third relative motion data includes: a third speed difference and a third position difference between the first vehicle and the third vehicle.

[0149] The second determining module 303 includes:

[0150] The fourth determining submodule is used to determine the following acceleration of the first vehicle according to the second formula;

[0151] The second formula is:

[0152] a(t)=k{V[w4×Δx 1,3 (t)+w3×Δx 1,4 (t)]-v1(t)}+λ[w4×

[0153] Δv 1,3 (t)+w3×Δv 1,4 (t)];

[0154] Where a(t) is the predicted following acceleration of the first vehicle at time t, and V[w4×Δx] 1,3 (t)+w3×Δx 1,4 [v1(t)] represents the expected speed of the first vehicle, v1(t) represents the speed of the first vehicle at time t, w3 represents the third weight value, w4 represents the fourth weight value, p represents the lateral offset ratio, k and λ are sensitivity coefficients, and Δx represents the lateral offset ratio. 1,3 (t) represents the third position difference between the first vehicle and the third vehicle at time t, Δv 1,3 (t) represents the third speed difference between the first vehicle and the third vehicle at time t, Δx 1,4 (t) represents the second position difference between the first vehicle and the fourth vehicle at time t, Δv 1,4 (t) represents the second speed difference between the first vehicle and the fourth vehicle at time t.

[0155] Optionally, the first acquisition module 301 includes:

[0156] The first acquisition submodule is used to acquire the lateral distance and lateral offset ratio between the first vehicle and the second vehicle when the longitudinal distance between the first vehicle and the vehicle directly in front is less than or equal to twice the safety distance.

[0157] The second embodiment of the present invention corresponds to the method of the first embodiment described above. All the implementation means in the first embodiment described above are applicable to the embodiment of the device for determining the following acceleration, and can achieve the same technical effect.

[0158] Third Embodiment

[0159] To better achieve the above objectives, such as Figure 4 As shown, the third embodiment of the present invention also provides a vehicle, specifically a first vehicle, comprising:

[0160] The processor 400; and the memory 420 connected to the processor 400 via a bus interface, the memory 420 being used to store programs and data used by the processor 400 during operation, and the processor 400 calling and executing the programs and data stored in the memory 420.

[0161] The transceiver 410 is connected to a bus interface and is used to receive and send data under the control of the processor 400; the processor 400 is used to read the program in the memory 420 to implement the following steps:

[0162] Obtain the lateral distance and lateral offset ratio between the first vehicle and the second vehicle; wherein the second vehicle is located on one side of the first vehicle, either to the left front or to the right front.

[0163] Based on the lateral distance and the lateral offset ratio, a weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle is determined; wherein, the target vehicle includes at least one vehicle located in front of the first vehicle;

[0164] Based on the weight value and the relative motion data, the following acceleration of the first vehicle is determined.

[0165] Among them, Figure 4 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 400) and memory (memory 420). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 410 can be multiple elements, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. For different terminals, the user interface 430 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc. The processor 400 is responsible for managing the bus architecture and general processing, and the memory 420 can store data used by the processor 400 during operation.

[0166] Optionally, the processor 400 is also used to read the program from the memory 420 to perform the following steps:

[0167] exist At that time, based on the lateral offset ratio, a first weight value corresponding to the first relative motion data and a second weight value corresponding to the second relative motion data are determined;

[0168] The target vehicle includes a second vehicle and a fourth vehicle, with the fourth vehicle located directly in front of the first vehicle; the first relative motion data is the relative motion data between the first vehicle and the second vehicle, and the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle.

[0169] Optionally, the first weight value is 1-2p, the second weight value is 2p, and p is the lateral offset ratio.

[0170] Optionally, the processor 400 is also used to read the program from the memory 420 to perform the following steps:

[0171] exist Determine the third weight value corresponding to the second relative motion data and the fourth weight value corresponding to the third relative motion data;

[0172] The target vehicle includes a third vehicle and a fourth vehicle, wherein the fourth vehicle is located directly in front of the first vehicle, and the third vehicle is located on the other side of the first vehicle's left front and right front; the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle, and the third relative motion data is the relative motion data between the first vehicle and the third vehicle.

[0173] Optionally, the third weight value is 2(1-p), the fourth weight value is 2p-1, and p is the lateral offset ratio.

[0174] Optionally, the first relative motion data includes: a first speed difference and a first position difference between the first vehicle and the second vehicle; the second relative motion data includes: a second speed difference and a second position difference between the first vehicle and the fourth vehicle.

[0175] The processor 400 is also used to read the program from the memory 420 to perform the following steps:

[0176] According to the first formula, determine the following acceleration of the first vehicle;

[0177] The first formula is:

[0178] a(t)=k{V[w1×Δx1,2 (t)+w2×Δx 1,4 (t)]-v1(t)}+λ[w1×

[0179] Δv 1,2 (t)+w2×Δv 1,4 (t)];

[0180] Where a(t) is the following acceleration of the first vehicle predicted at time t, and V[w1×Δx] 1,2 (t)+w2×Δx 1,4 [v1(t)] represents the expected speed of the first vehicle, v1(t) represents the speed of the first vehicle at time t, w1 represents the first weight value, w2 represents the second weight value, p represents the lateral offset ratio, k and λ are sensitivity coefficients, and Δx represents the lateral offset ratio. 1,2 (t) represents the first position difference between the first vehicle and the second vehicle at time t, Δv 1,2 (t) represents the first speed difference between the first vehicle and the second vehicle at time t, Δx 1,4 (t) represents the second position difference between the first vehicle and the fourth vehicle at time t, Δv 1,4 (t) represents the second speed difference between the first vehicle and the fourth vehicle at time t.

[0181] Optionally, the second relative motion data includes: a second speed difference and a second position difference between the first vehicle and the fourth vehicle; the third relative motion data includes: a third speed difference and a third position difference between the first vehicle and the third vehicle.

[0182] The processor 400 is also used to read the program from the memory 420 to perform the following steps:

[0183] The following acceleration of the first vehicle is determined according to the second formula;

[0184] The second formula is:

[0185] a(t)=k{V[w4×Δx 1,3 (t)+w3×Δx 1,4 (t)]-v1(t)}+λ[w4×

[0186] Δv 1,3 (t)+w3×Δv 1,4 (t)];

[0187] Where a(t) is the predicted following acceleration of the first vehicle at time t, and V[w4×Δx] 1,3 (t)+w3×Δx 1,4[v1(t)] represents the expected speed of the first vehicle, v1(t) represents the speed of the first vehicle at time t, w3 represents the third weight value, w4 represents the fourth weight value, p represents the lateral offset ratio, k and λ are sensitivity coefficients, and Δx represents the lateral offset ratio. 1,3 (t) represents the third position difference between the first vehicle and the third vehicle at time t, Δv 1,3 (t) represents the third speed difference between the first vehicle and the third vehicle at time t, Δx 1,4 (t) represents the second position difference between the first vehicle and the fourth vehicle at time t, Δv 1,4 (t) represents the second speed difference between the first vehicle and the fourth vehicle at time t.

[0188] Optionally, the processor 400 is also used to read the program in the memory 420 to perform the following steps:

[0189] When the longitudinal distance between the first vehicle and the vehicle directly in front is less than or equal to twice the safety distance, the lateral distance and lateral offset ratio between the first vehicle and the second vehicle are obtained.

[0190] The present invention provides a first vehicle that acquires the lateral distance and lateral offset ratio between the first vehicle and a second vehicle, wherein the second vehicle is located on one side of the first vehicle's left front and right front. Based on the lateral distance and the lateral offset ratio, a weight value corresponding to the relative motion data of the first vehicle relative to a target vehicle is determined; wherein the target vehicle includes at least one vehicle located in front of the first vehicle. Based on the weight value and the relative motion data, the following acceleration of the first vehicle is determined. Thus, under conditions of irregular traffic flow, considering the lateral distance and lateral offset ratio, an accurate following acceleration can be provided for the vehicle, enabling the first vehicle to exhibit reasonable following behavior.

[0191] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a computer program instructing the relevant hardware to implement them. The computer program includes instructions to perform some or all of the steps of the above methods; and the computer program can be stored in a readable storage medium, which can be any form of storage medium.

[0192] This application also provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, they implement the various processes of the first embodiment described above and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0193] In addition, specific embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method in the first embodiment described above. This achieves the same technical effect, and to avoid repetition, will not be described further here.

[0194] Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Moreover, the steps performing the above-described series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of the present invention.

[0195] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of the present invention can also be achieved simply by providing a program product containing program code implementing the method or apparatus. That is, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent to the present invention. Furthermore, the steps performing the above series of processes can naturally be performed in the order described, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel or independently of each other.

[0196] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for determining car-following acceleration, characterized in that, Applied to the first vehicle, including: Obtain the lateral distance and lateral offset ratio between the first vehicle and the second vehicle; wherein the second vehicle is located on one side of the first vehicle, either to the left front or to the right front. Based on the lateral distance and the lateral offset ratio, a weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle is determined; wherein, the target vehicle includes at least one vehicle located in front of the first vehicle; The following acceleration of the first vehicle is determined based on the weight value and the relative motion data; The step of determining the weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio includes: In 0 ≤ the lateral spacing ≤ ( When the lateral offset ratio is calculated (×maximum lateral distance), the first weight value corresponding to the first relative motion data and the second weight value corresponding to the second relative motion data are determined according to the lateral offset ratio. The target vehicle includes a second vehicle and a fourth vehicle, with the fourth vehicle located directly in front of the first vehicle. The first relative motion data is the relative motion data between the first vehicle and the second vehicle, and the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle. The first relative motion data includes a first speed difference and a first position difference between the first vehicle and the second vehicle. The second relative motion data includes a second speed difference and a second position difference between the first vehicle and the fourth vehicle.

2. The method for determining car-following acceleration according to claim 1, characterized in that, The first weight value is The second weight value is , The lateral offset ratio is given.

3. The method for determining car-following acceleration according to claim 1, characterized in that, The step of determining the weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio includes: exist( When the lateral distance (×maximum lateral distance) < the lateral distance ≤ the maximum lateral distance, determine the third weight value corresponding to the second relative motion data and the fourth weight value corresponding to the third relative motion data; The target vehicle includes a third vehicle and a fourth vehicle, wherein the fourth vehicle is located directly in front of the first vehicle, and the third vehicle is located on the other side of the first vehicle's left front and right front; the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle, and the third relative motion data is the relative motion data between the first vehicle and the third vehicle.

4. The method for determining car-following acceleration according to claim 3, characterized in that, The third weight value is The fourth weight value is , The lateral offset ratio is given.

5. The method for determining car-following acceleration according to claim 1, characterized in that, Determining the following acceleration of the first vehicle based on the weight value and the relative motion data includes: According to the first formula, determine the following acceleration of the first vehicle; The first formula is: ； in, Let V be the following acceleration of the first vehicle predicted at time t. [ ] represents the expected speed of the first vehicle. Let be the speed of the first vehicle at time t. As the first weight value, As the second weight value, Let k be the lateral offset ratio. Sensitivity coefficient Let be the first position difference between the first vehicle and the second vehicle at time t. Let be the first speed difference between the first vehicle and the second vehicle at time t. Let t be the second position difference between the first vehicle and the fourth vehicle. Let t be the second speed difference between the first vehicle and the fourth vehicle.

6. The method for determining car-following acceleration according to claim 3, characterized in that, The second relative motion data includes: a second speed difference and a second position difference between the first vehicle and the fourth vehicle; the third relative motion data includes: a third speed difference and a third position difference between the first vehicle and the third vehicle. Determining the following acceleration of the first vehicle based on the weight value and the relative motion data includes: The following acceleration of the first vehicle is determined according to the second formula; The second formula is: ； in, Let V be the following acceleration of the first vehicle predicted at time t. [ ] represents the expected speed of the first vehicle. Let be the speed of the first vehicle at time t. The third weight value, The fourth weight value, Let k be the lateral offset ratio. Sensitivity coefficient Let be the third position difference between the first vehicle and the third vehicle at time t. Let be the third speed difference between the first vehicle and the third vehicle at time t. Let t be the second position difference between the first vehicle and the fourth vehicle. Let t be the second speed difference between the first vehicle and the fourth vehicle.

7. The method for determining car-following acceleration according to claim 1, characterized in that, The step of obtaining the lateral distance and lateral offset ratio between the first vehicle and the second vehicle includes: When the longitudinal distance between the first vehicle and the vehicle directly in front is less than or equal to twice the safety distance, the lateral distance and lateral offset ratio between the first vehicle and the second vehicle are obtained.

8. A vehicle comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the steps of the method for determining car-following acceleration as described in any one of claims 1 to 7.

9. A device for determining car-following acceleration, characterized in that, Applied to the first vehicle, including: The first acquisition module is used to acquire the lateral distance and lateral offset ratio between the first vehicle and the second vehicle; wherein the second vehicle is located on one side of the first vehicle, either to the left front or to the right front. The first determining module is used to determine a weight value corresponding to the relative motion data of the first vehicle relative to the target vehicle based on the lateral distance and the lateral offset ratio; wherein the target vehicle includes at least one vehicle located in front of the first vehicle. The second determining module is used to determine the following acceleration of the first vehicle based on the weight value and the relative motion data; Specifically, the first determining module is used to: when 0 ≤ the lateral spacing ≤ ( When the lateral offset ratio is calculated (×maximum lateral distance), the first weight value corresponding to the first relative motion data and the second weight value corresponding to the second relative motion data are determined according to the lateral offset ratio. The target vehicle includes a second vehicle and a fourth vehicle, with the fourth vehicle located directly in front of the first vehicle. The first relative motion data is the relative motion data between the first vehicle and the second vehicle, and the second relative motion data is the relative motion data between the first vehicle and the fourth vehicle. The first relative motion data includes a first speed difference and a first position difference between the first vehicle and the second vehicle. The second relative motion data includes a second speed difference and a second position difference between the first vehicle and the fourth vehicle.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the determining step of the method for determining car-following acceleration as described in any one of claims 1 to 7.

11. A computer program product, characterized in that, Includes computer instructions, which, when executed by a processor, implement the determining step of the method for determining car-following acceleration as described in any one of claims 1 to 7.

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