Cruise speed control method, device, equipment and storage medium

Abstract

The present application discloses a cruise speed control method, device, equipment and storage medium, and relates to the field of intelligent driving technology. The present application includes: when a current vehicle meets intelligent cruise control conditions, analyzing the navigation information of the current vehicle to obtain the characteristics of the intersection ahead, and when the characteristics of the intersection ahead are preset road characteristics, determining the lane where the current vehicle is located, and when the lane where the current vehicle is located is a target cruise speed control lane, comparing the speed of the current vehicle with a preset speed threshold, and when the speed of the current vehicle is greater than the lower limit of the safe speed range, controlling the cruise speed of the current vehicle, and realizing the use of the road ahead information and vehicle trajectory information obtained by the vehicle navigation, in the scenario where turning or avoiding is required ahead, the cruise control is intervened in advance, and the safety and intelligence in some scenarios are improved without increasing the hardware cost.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a cruise speed control method, device, equipment and storage medium. Background Art

[0002] Intelligent cruise control (ICC) is a key technology in the field of intelligent driving. As the ICC technology of intelligent cruise control continues to mature and stabilize, it is still the mainstream application solution. The intelligent cruise control (ICC) completely inherits the adaptive cruise function in longitudinal control. Currently, there are two operating modes for adaptive cruise, namely fixed-speed cruise and following cruise mode. These two operating modes can basically adapt to most road scenes. However, in the actual road test process, it was found that in some scenes, such as high-speed merging intersections or Y-shaped fork intersections ahead, this type of two-in-one or one-in-two road intersections, if only simple mode switching is used, it cannot adapt well to the current environment, but instead causes additional safety risks.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present application is to provide a cruise speed control method, device, equipment and storage medium, aiming to solve the technical problem of cruise speed control in the prior art in solving the mechanized acceleration at an intersection with a one-to-two or two-in-one feature ahead.

[0005] To achieve the above objectives, the present application proposes a cruise speed control method, the cruise speed control method comprising:

[0006] When the current vehicle meets the intelligent cruise control condition, analyzing the navigation information of the current vehicle to obtain the characteristics of the intersection ahead;

[0007] When the front intersection feature is a preset road feature, determining the lane where the current vehicle is located;

[0008] When the lane where the current vehicle is located is a target cruise speed control lane, the speed of the current vehicle is compared with a preset speed threshold, and when the speed of the current vehicle is greater than a lower limit of a safe speed range, the cruise speed of the current vehicle is controlled.

[0009] In one embodiment, when the speed of the current vehicle is greater than the lower limit of the safe speed range, the step of controlling the cruising speed of the current vehicle includes:

[0010] When the current vehicle speed is greater than the lower limit of the safe vehicle speed range, comparing the current vehicle speed with the upper limit of the safe vehicle speed range;

[0011] When the speed of the current vehicle is less than the upper limit of the safe speed range, obtaining the distance between the current vehicle and the target lane;

[0012] When the distance between the current vehicle and the target lane is greater than a preset distance threshold, the speed of the current vehicle is monitored in real time. When the speed of the current vehicle is greater than the upper limit of the safe speed range, the cruising speed of the current vehicle is controlled by limiting the speed of the current vehicle to the upper limit of the safe speed range.

[0013] In one embodiment, after the step of obtaining the distance between the current vehicle and the target lane when the speed of the current vehicle is less than the upper limit of the safe speed range, the method further includes:

[0014] When the distance between the current vehicle and the target lane is less than a preset distance threshold, comparing the acceleration request value with a preset acceleration request threshold;

[0015] When the acceleration request value is greater than a preset acceleration request threshold, the preset acceleration request threshold is used as the acceleration request value, and the speed of the current vehicle after acceleration with the acceleration request value is obtained; when the speed of the current vehicle is greater than the upper limit of the safe speed range, the cruising speed of the current vehicle is controlled by limiting the speed of the current vehicle to the upper limit of the safe speed range.

[0016] In one embodiment, before the step of comparing the acceleration request value with a preset acceleration request threshold, the method further includes:

[0017] detecting an acceleration request type of the vehicle;

[0018] When the acceleration request type is non-human acceleration, a step of comparing the acceleration request value with a preset acceleration request threshold is performed.

[0019] In one embodiment, the step of controlling the cruising speed of the current vehicle by limiting the speed of the current vehicle to the upper limit of the safe speed range includes:

[0020] Determining the current vehicle speed and the speed corresponding to the upper limit of the safe speed range;

[0021] Reducing the speed of the current vehicle based on a preset speed attenuation ratio to obtain a decelerated vehicle speed;

[0022] When the vehicle speed after deceleration is greater than the speed corresponding to the upper limit of the safe speed range, the step of reducing the speed of the current vehicle based on a preset speed attenuation ratio to obtain the vehicle speed after deceleration is repeated until the vehicle speed after deceleration is no greater than the speed corresponding to the upper limit of the safe speed range.

[0023] In one embodiment, when the front intersection feature is a preset road feature, the step of determining the lane where the current vehicle is located includes:

[0024] Comparing the intersection feature with a preset road feature, and obtaining the road condition information ahead of the current vehicle when the intersection feature is the same as the preset road feature;

[0025] Lane identification is performed on the front road condition information to determine the lane where the current vehicle is located.

[0026] In one embodiment, when the current vehicle meets the intelligent cruise control condition, before the step of analyzing the navigation information of the current vehicle to obtain the characteristics of the intersection ahead, the step further includes:

[0027] Detecting the lane where the current vehicle is located, and when the lane where the current vehicle is located does not meet the lane corresponding to the one-to-two or two-to-one road feature, monitoring the lane change behavior of the current vehicle;

[0028] When the current vehicle changes lanes, the lane where the current vehicle is located is obtained in real time. When the lane where the current vehicle is located is a target lane change lane and the intelligent cruise assist system is in an activated state, it is determined that the current vehicle meets the intelligent cruise control conditions.

[0029] In addition, to achieve the above purpose, the present application also proposes a cruise speed control device, the cruise speed control device comprising:

[0030] The intersection monitoring module is used to analyze the navigation information of the current vehicle to obtain the characteristics of the intersection ahead when the current vehicle meets the intelligent cruise control conditions;

[0031] A lane recognition module, used to determine the lane where the current vehicle is located when the feature of the road intersection ahead is a preset road feature;

[0032] The vehicle speed control module is used to compare the speed of the current vehicle with a preset speed threshold when the lane where the current vehicle is located is a target cruise speed control lane, and to control the cruise speed of the current vehicle when the speed of the current vehicle is greater than the lower limit of the safe speed range.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a cruise speed control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the cruise speed control method described above.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the cruise speed control method described above are implemented.

[0035] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the cruise speed control method described above are implemented.

[0036] One or more technical solutions proposed in the present application have at least the following technical effects: when the current vehicle meets the intelligent cruise control conditions, the navigation information of the current vehicle is analyzed to obtain the characteristics of the intersection ahead; when the characteristics of the intersection ahead are preset road characteristics, the lane of the current vehicle is determined; when the lane of the current vehicle is a target cruise speed control lane, the speed of the current vehicle is compared with a preset speed threshold; when the speed of the current vehicle is greater than the lower limit of the safe speed range, the cruise speed of the current vehicle is controlled, so as to utilize the road ahead information and vehicle trajectory information obtained by the vehicle navigation, intervene in the cruise control in advance in scenarios such as turning or avoiding ahead, and improve the safety and intelligence in some scenarios without increasing the hardware cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] Figure 1 A flow chart of the cruise speed control method according to the present invention;

[0040] Figure 2 A schematic diagram of a vehicle about to turn right at an intersection provided in an embodiment of a cruise speed control method of the present application;

[0041] Figure 3 A schematic diagram of a vehicle driving at an intersection from a secondary road to a main road provided in an embodiment of a cruise speed control method of the present application;

[0042] Figure 4 A schematic diagram of a vehicle driving from a main road into a right ramp at an intersection provided in an embodiment of a cruise speed control method of the present application;

[0043] Figure 5 A brief flowchart of the cruise speed control method provided in the second embodiment of the present application;

[0044] Figure 6 This is a schematic diagram of the module structure of the cruise speed control device according to an embodiment of the present application;

[0045] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the cruise speed control method in the embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solution of the embodiment of the present application is: when the current vehicle meets the intelligent cruise control conditions, the navigation information of the current vehicle is analyzed to obtain the characteristics of the intersection ahead; when the characteristics of the intersection ahead are preset road characteristics, the lane of the current vehicle is determined; when the lane of the current vehicle is a target cruise speed control lane, the speed of the current vehicle is compared with a preset speed threshold; when the speed of the current vehicle is greater than the lower limit of the safe speed range, the cruise speed of the current vehicle is controlled.

[0050] In this embodiment, for the convenience of description, the following description is made by taking the identification of the cruise speed control device as the execution subject.

[0051] When solving the acceleration problem at intersections with one-to-two or two-in-one features, the following problems often occur in the prior art. For example, after the vehicle turns on the smart cruise control, it is driving in the rightmost lane and is about to enter the right-turn lane. Due to the unknown driving intention, the vehicle is still driving straight at a high speed or even accelerating straight, which requires the driver to brake urgently to slow down before entering the curve. Or, the vehicle on the right side of the vehicle in front of the vehicle is about to merge into the main road from the auxiliary road. Since the sensor cannot detect it in time, the vehicle is still approaching the merging entrance at a high speed or even accelerating, resulting in the vehicle being unable to brake in time when the vehicle on the right cuts in, causing a collision risk. Or, the vehicle in front of the vehicle is about to enter the right ramp from the main road. Since the driving intention cannot be detected, the vehicle still passes the ramp at a higher speed or accelerates, resulting in the driver having to brake to slow down before changing lanes and merging into the ramp. Or, the vehicle is about to enter the main road from the auxiliary road. Since the intention to change lanes cannot be known, the vehicle is still driving at a higher speed or accelerating on the auxiliary road, which is inconsistent with the actual driver's intention. The high-speed driving or accelerating driving described in the above scenario has the following situations: one is that the cruise control speed is set too high; one is that the front vehicle is driving too fast when following a vehicle, and the speed of the self-driving vehicle is also too fast; one is that when following the front vehicle, the front vehicle cuts out and the self-driving vehicle switches to cruise control and accelerates; one is that when following the front vehicle, the front vehicle accelerates and the self-driving vehicle also accelerates with the front vehicle. It can be seen that in the prior art, the cruise speed control for vehicles at intersections, especially at one-to-two or two-in-one intersections, is too mechanical and cannot intelligently control the vehicle speed.

[0052] The present application provides a solution, which, through a cruise control strategy, controls the vehicle to avoid excessive speed or sudden acceleration when encountering the above-mentioned scenarios, while ensuring the original driving intention of the vehicle, only by controlling the upper speed limit and the upper speed limit of acceleration and deceleration, thereby increasing the intelligence and safety in two-in-one or one-split-two road scenarios.

[0053] It can be seen from the above embodiments that when the current vehicle meets the intelligent cruise control conditions, the present application analyzes the navigation information of the current vehicle to obtain the characteristics of the intersection ahead, and when the characteristics of the intersection ahead are preset road characteristics, determines the lane where the current vehicle is located, and when the lane where the current vehicle is located is the target cruise speed control lane, compares the speed of the current vehicle with the preset speed threshold, and when the speed of the current vehicle is greater than the lower limit of the safe speed range, controls the cruise speed of the current vehicle, and utilizes the road ahead information and vehicle trajectory information obtained by the vehicle navigation to intervene in cruise control in advance in scenarios such as turning or avoiding ahead, thereby improving safety and intelligence in some scenarios without increasing hardware costs.

[0054] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a cruise speed control device, etc. The following takes the cruise speed control device as an example to illustrate this embodiment and the following embodiments.

[0055] Based on this, the present application embodiment provides a cruise speed control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the cruise speed control method of the present application.

[0056] In this embodiment, the cruise speed control method includes steps S10 to S30:

[0057] Step S10: When the current vehicle meets the intelligent cruise control conditions, the navigation information of the current vehicle is analyzed to obtain the characteristics of the intersection ahead.

[0058] It should be noted that the smart cruise control conditions refer to the situation where the vehicle is in the lane of a one-to-two lane or two-to-one lane, and the smart cruise function is activated; the vehicle's navigation information refers to the analysis of the navigation content in the vehicle's navigation software, such as "100 meters ahead, enter the right turn lane"; the intersection characteristics refer to the actual situation of the current intersection, which corresponds to lane diversion and lane merging.

[0059] In the specific implementation, it is judged whether the current vehicle meets the intelligent cruise control conditions. When the current vehicle meets the intelligent cruise control conditions, the navigation information of the vehicle can be obtained through the communication bus in the vehicle, and the distance to the intersection and the specific road conditions of the road ahead can be analyzed from the navigation information. For example, the right turn lane and the ramp are both corresponding to one lane splitting into two lanes, that is, corresponding to the one-in-two intersection characteristics. If entering the main road, it corresponds to merging from the ramp or auxiliary road into the main road. At this time, the two lanes are merged into one lane, meeting the two-in-one intersection characteristics. Figure 2 to Figure 4 As shown, Figure 2 This is a schematic diagram of a driving intersection where a vehicle is about to turn right. Figure 3 This is a schematic diagram of the intersection where vehicles merge from the auxiliary road into the main road. Figure 4 This is a schematic diagram of a vehicle driving from the main road into the right ramp at the intersection. Figure 2 When a vehicle is driving in the rightmost lane and is about to enter the right-turn lane, due to the unknown driving intention, the vehicle is still driving straight at a high speed, or even accelerating straight, causing the driver to brake urgently to slow down before entering the curve. Figure 3In the example, the vehicle on the right in front of the vehicle is about to merge into the main road from the auxiliary road. Since the sensor cannot detect it in time, the vehicle is still approaching the merge entrance at a high speed or even accelerating. As a result, when the vehicle on the right cuts in, the vehicle cannot brake in time, causing a collision risk. Figure 4 The vehicle ahead is about to enter the right ramp from the main road. Since the driving intention cannot be detected, the vehicle still passes the ramp at a higher speed or accelerates, causing the driver to brake and slow down before changing lanes to merge into the ramp. The above road conditions are all at a one-to-two or two-to-one intersection. Since the driving intention is unknown, the intersection is missed or an accident occurs. Therefore, in this embodiment, when the current vehicle meets the intelligent cruise control conditions, the navigation information of the current vehicle can be analyzed to obtain the characteristics of the intersection ahead, and the subsequent vehicle speed control can be performed.

[0060] Exemplarily, when the current vehicle meets the intelligent cruise control condition, before the step of analyzing the navigation information of the current vehicle to obtain the characteristics of the intersection ahead, the method further includes:

[0061] Detecting the lane where the current vehicle is located, and when the lane where the current vehicle is located does not meet the lane corresponding to the one-to-two or two-to-one road feature, monitoring the lane change behavior of the current vehicle;

[0062] When the current vehicle changes lanes, the lane where the current vehicle is located is obtained in real time. When the lane where the current vehicle is located is a target lane change lane and the intelligent cruise assist system is in an activated state, it is determined that the current vehicle meets the intelligent cruise control conditions.

[0063] It should be noted that the target lane for lane change refers to the rightmost lane in the main road at a one-to-two or two-to-one intersection.

[0064] In a specific implementation, the intelligent cruise control system needs to be reactivated in each vehicle ignition cycle, and the intelligent cruise control conditions need to be met when the vehicle cruise speed control is performed. At this time, the vehicle's lane needs to be detected. At this time, it can be determined whether the front is an intersection with a one-to-two or two-in-one road feature based on the navigation information. At the same time, the lane where the vehicle is located is detected to determine the lane where the current vehicle is located. At this time, the road condition information in front of the vehicle can be obtained based on the vehicle camera, and the lane line in the road condition information is identified to determine the current lane. When the current vehicle is not in the rightmost lane, it means that the current vehicle is not at the intersection of a one-to-two or two-in-one intersection. At this time, there is no possibility of missing the intersection or colliding with the incoming vehicle. Therefore, the condition for controlling the cruise speed will not be triggered at this time. If there is a lane change behavior, the current lane of the vehicle can be detected in real time. When the current vehicle is in the target lane for lane change, the activation state of the intelligent cruise assistance system is detected. When the intelligent cruise assistance system is in an activated state, it is determined that the current vehicle meets the intelligent cruise control conditions.

[0065] Step S20, when the front intersection feature is a preset road feature, determining the lane where the current vehicle is located.

[0066] It should be noted that the preset road characteristics refer to the road characteristics of a one-to-two or two-to-one road, which is mainly reflected in the intersection where the rightmost lane splits into a lane or a lane merges left into the rightmost lane, causing the number of rightmost lanes on the main road to increase or decrease.

[0067] In the specific implementation, the communication of each vehicle component will share information data based on the vehicle body bus. The current mainstream communication bus is the CAN bus. Depending on the different electronic and electrical architectures of the vehicle body, it may also be a communication solution such as Flexray, Ethernet, etc. However, no matter which bus mode is used, each component can obtain the status information shared by other components through the bus. In the embodiment, the main controller of the intelligent driving makes a judgment by obtaining the operating status of the navigation in real time. If the navigation trajectory planning is in operation and the intelligent cruise assist system is in an activated state, the navigation information is obtained and monitored in real time, and the operation mode of integrating navigation information is entered. If the navigation is in operation, the road information sent by the navigation can be used to obtain the road condition information ahead in advance, such as "the intersection ahead, please pay attention to the road conditions". Through similar reminder signals, the vehicle speed or acceleration can be planned in advance. If the navigation is not running, the navigation information is not monitored, and it runs in the default cruise control and follow-up cruise mode. If the navigation is in operation and the intelligent cruise assist system is in a suppressed state, it runs in the background monitoring mode, only monitoring, and no intervention control. If the operation mode of integrating navigation information has been successfully activated before, but the intelligent cruise assist system is in a suppressed state due to the driver taking over or the objective environment, the background still needs to monitor the road condition information ahead during this ignition cycle while the navigation is running continuously, and monitor the activation status of the intelligent cruise assist system in real time. After activation, the road condition information can be output immediately and the vehicle speed can be planned in advance. When the navigation information such as "the intersection ahead, please pay attention to the road conditions" is obtained, the intersection characteristics of the road ahead can be determined. If the navigation is running, the intelligent cruise assist system is in a closed state and runs in the default fixed speed cruise and follow-up cruise mode. If the navigation is in an activated state and the intelligent cruise assist system is closed, since it is impossible to obtain whether the user has the intention to turn on the intelligent cruise assist system, there is no need to monitor the road information in the background to save memory resources for the background operation. When the intersection characteristics ahead are preset road characteristics, the lane of the current vehicle is identified, and the current lane is determined specifically according to the lane line of the road ahead.

[0068] Exemplarily, when the front intersection feature is a preset road feature, the step of determining the lane where the current vehicle is located includes:

[0069] Comparing the intersection feature with a preset road feature, and obtaining the road condition information ahead of the current vehicle when the intersection feature is the same as the preset road feature;

[0070] Lane identification is performed on the front road condition information to determine the lane where the current vehicle is located.

[0071] In a specific implementation, when the intersection features are obtained, they can be compared with the preset road features. Based on the characteristic information of the intersection, the lane information ahead can be detected to determine the lane line information of the lane, and the lane line information can be compared with the lane line features corresponding to the preset road features. For the one-to-two or two-in-one road intersection features, there is a feature of the intersection of lane lines. Therefore, according to the preset road features, it is determined whether the lane where the current vehicle is located is the rightmost lane. When performing vehicle speed control, this embodiment does not need to obtain all road information, but only focuses on the prompt information of the intersection that meets the two-in-one or one-to-two road characteristics. Then, there is no need to obtain high-precision distance data, so it can be completed in combination with conventional navigation map data. If the vehicle is covered by a high-precision map, the control will be more accurate.

[0072] Step S30, when the lane where the current vehicle is located is a target cruise speed control lane, the speed of the current vehicle is compared with a preset speed threshold, and when the speed of the current vehicle is greater than the lower limit of the safe speed range, the cruise speed of the current vehicle is controlled.

[0073] It should be noted that the target cruise speed control lane refers to a lane that requires cruise speed control, including an intersection lane on a main road with a one-to-two or two-in-one intersection feature, or a lane that merges into a ramp on a main road.

[0074] In a specific implementation, when the navigation trajectory planning is in operation and the intelligent cruise assist system is in an activated state, or when the navigation trajectory planning is in operation and the intelligent cruise assist system is in an activated state, the vehicle cruise speed is controlled. This embodiment takes the scenario where the vehicle is about to enter the right turn lane as an example. After obtaining the navigation information, it is determined whether the current vehicle is in the rightmost lane. If it is in the rightmost lane, the speed of the current vehicle is compared with the preset speed threshold to determine whether the current speed exceeds the lower limit of the safe speed range. The specific lower limit of the safe speed range can be set by itself. This embodiment takes 60km / h as an example for explanation. If it does not exceed the lower limit of the safe speed, the control will not be intervened until the speed reaches the lower limit of the safe speed. If it has not reached the lower limit of the safe speed, the control will not be intervened throughout the whole process until the straight road exceeds the control area or is manually taken over. When the speed of the current vehicle is greater than the lower limit of the safe speed range, the cruise speed of the current vehicle is controlled.

[0075] Exemplarily, when the speed of the current vehicle is greater than the lower limit of the safe speed range, the step of controlling the cruising speed of the current vehicle includes:

[0076] When the current vehicle speed is greater than the lower limit of the safe vehicle speed range, comparing the current vehicle speed with the upper limit of the safe vehicle speed range;

[0077] When the speed of the current vehicle is less than the upper limit of the safe speed range, obtaining the distance between the current vehicle and the target lane;

[0078] When the distance between the current vehicle and the target lane is greater than a preset distance threshold, the speed of the current vehicle is monitored in real time. When the speed of the current vehicle is greater than the upper limit of the safe speed range, the cruising speed of the current vehicle is controlled by limiting the speed of the current vehicle to the upper limit of the safe speed range.

[0079] In a specific implementation, if the lower limit of the safe speed is exceeded, it is determined whether the upper limit of the safe speed is exceeded. If the upper limit of the safe speed is exceeded, the vehicle is driven at the upper limit speed. If the upper limit of the safe speed is not exceeded, the distance between the current vehicle and the right-turn lane ahead is determined. When the distance is greater than a set threshold, such as 60m, the specific distance threshold can be set by itself. When the distance is greater than the set threshold, the current vehicle speed is monitored in real time, and it is determined whether the current vehicle speed exceeds the upper limit of the safe speed range, such as 90km / h. If the upper limit value is exceeded, the upper limit speed value is maintained for driving. If the upper limit of the safe speed range is not exceeded, control is not intervened until the distance is less than the threshold or the vehicle speed reaches the upper limit of the safe speed. When the distance is less than the set threshold, it is determined whether the current vehicle has a non-human automatic acceleration trend, such as switching from cruise control to cruise control or accelerating the vehicle in front during cruise control, and the cruising speed of the current vehicle is controlled by limiting the speed of the current vehicle to the upper limit of the safe speed range.

[0080] Exemplarily, when the speed of the current vehicle is less than the upper limit of the safe speed range, after the step of obtaining the distance between the current vehicle and the target lane, the method further includes:

[0081] When the distance between the current vehicle and the target lane is less than a preset distance threshold, comparing the acceleration request value with a preset acceleration request threshold;

[0082] When the acceleration request value is greater than a preset acceleration request threshold, the preset acceleration request threshold is used as the acceleration request value, and the speed of the current vehicle after acceleration with the acceleration request value is obtained; when the speed of the current vehicle is greater than the upper limit of the safe speed range, the cruising speed of the current vehicle is controlled by limiting the speed of the current vehicle to the upper limit of the safe speed range.

[0083] Exemplarily, before the step of comparing the acceleration request value with a preset acceleration request threshold, the method further includes:

[0084] detecting an acceleration request type of the vehicle;

[0085] When the acceleration request type is non-human acceleration, a step of comparing the acceleration request value with a preset acceleration request threshold is performed.

[0086] In the specific implementation, when the distance is less than the set threshold, it is determined whether the current vehicle has an unintended automatic acceleration trend, such as switching from cruise control to cruise control or accelerating with the vehicle in front during cruise control. If so, it is determined whether the current acceleration request value exceeds the set threshold, such as 2m / s2. If it exceeds the acceleration setting threshold, the acceleration upper limit value is used for acceleration control to ensure that the acceleration does not exceed the acceleration setting threshold. If it does not exceed the acceleration setting threshold, it drives at the current acceleration. When the upper limit of the safe speed range is exceeded at any time during the acceleration process, the safe speed upper limit value is maintained for driving; if not, the control is not intervened until it exceeds the control area. During the regulation process, if artificial acceleration occurs, the control is exited immediately, based on the driver's wishes. When the speed upper limit is reached at any time during the above process, it will no longer accelerate to maintain the speed upper limit.

[0087] Exemplarily, the step of controlling the cruising speed of the current vehicle by limiting the speed of the current vehicle to the upper limit of the safe speed range includes:

[0088] Determining the current vehicle speed and the speed corresponding to the upper limit of the safe speed range;

[0089] Reducing the speed of the current vehicle based on a preset speed attenuation ratio to obtain a decelerated vehicle speed;

[0090] When the vehicle speed after deceleration is greater than the speed corresponding to the upper limit of the safe speed range, the step of reducing the speed of the current vehicle based on a preset speed attenuation ratio to obtain the vehicle speed after deceleration is repeated until the vehicle speed after deceleration is no greater than the speed corresponding to the upper limit of the safe speed range.

[0091] In the specific implementation, when the intelligent cruise assist system is activated and the navigation is in operation, and the vehicle meets the control state, if the speed has far exceeded the upper limit of the safe speed, the vehicle will be reduced by 10%*the current speed. If the current speed is 100km / h, it will be 10km / h. The specific speed attenuation ratio is set according to the specific situation. Under the premise of reducing the speed as much as possible, but not making the deceleration appear abrupt. If the speed is reduced by 10%, the speed is lower than the upper limit of the safe speed, then when the speed reaches the safe speed, it will no longer be reduced. Correspondingly, when the front of the vehicle is about to approach the vehicle merging intersection, when the front of the vehicle is about to enter the ramp, when the front of the vehicle is about to merge from the auxiliary road to the main road, etc., after obtaining the navigation information, the speed can be controlled according to the above scheme. Since the above scenarios involve judging the safe speed threshold, the threshold should not be set to a single fixed value, which is easy to cause the problem of state switching back and forth when the speed critically jumps. Therefore, it is necessary to set the threshold tolerance interval. When the upper limit of the tolerance is exceeded, the control starts, and when it is reduced to the lower limit of the tolerance, the control is exited. The timing of speed and acceleration control in the above scenarios needs to be reasonably designed. Control should be stopped immediately when there is human braking or acceleration during the control process, when it is detected that the vehicle has exceeded the required control scenario during control, such as when it is detected that it has reached the right-turn lane, the vehicle merge entrance, the merge ramp or has passed the merge ramp, when the steering wheel is turned at a large angle during the control process, and when other functions intervene in the control.

[0092] The present embodiment provides a cruise speed control method. When a current vehicle meets intelligent cruise control conditions, the navigation information of the current vehicle is analyzed to obtain the characteristics of the intersection ahead. When the characteristics of the intersection ahead are preset road characteristics, the lane of the current vehicle is determined. When the lane of the current vehicle is a target cruise speed control lane, the speed of the current vehicle is compared with a preset speed threshold. When the speed of the current vehicle is greater than the lower limit of a safe speed range, the cruise speed of the current vehicle is controlled. The method uses the road ahead information and vehicle trajectory information obtained by the vehicle navigation to intervene in cruise control in advance in scenarios such as turning or avoiding ahead, thereby improving safety and intelligence in some scenarios without increasing hardware costs.

[0093] For example, in order to help understand the implementation process of the cruise speed control method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 5 , Figure 5A brief flow chart of a cruise speed control method is provided, specifically: when performing cruise speed control, the lane of the vehicle can be detected to determine whether it is in the control lane. If not, it is determined whether it exceeds the control area. If so, it is determined whether the vehicle speed exceeds the lower limit of the safe speed. If so, it is determined whether it exceeds the upper limit of the safe speed. If so, the vehicle speed is limited. If not, it is determined whether it enters the distance threshold range. If not, it is determined whether the speed exceeds the upper limit. If so, it is determined whether to accelerate. If not, it is determined whether it has exceeded the control area. If so, the acceleration threshold is determined to determine whether it exceeds the acceleration threshold. If not, the speed is detected to determine whether the speed reaches the upper line. If so, the acceleration is limited and it is determined whether the speed exceeds the upper limit. If so, the speed is limited to the upper limit of the safe speed and the control is terminated. If not, it is determined whether the control area has been exceeded. If it has exceeded the control area, the control is terminated. If not, it is determined whether it is manually taken over. If it is manually taken over, the vehicle speed control is terminated. If there is no manual takeover, it is executed to determine whether the vehicle is in the lane.

[0094] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the cruise speed control method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0095] This application also provides a cruise speed control device, please refer to Figure 6 , the cruise speed control device comprises:

[0096] The intersection monitoring module 10 is used to analyze the navigation information of the current vehicle to obtain the characteristics of the intersection ahead when the current vehicle meets the intelligent cruise control conditions;

[0097] A lane recognition module 20, used to determine the lane where the current vehicle is located when the feature of the front intersection is a preset road feature;

[0098] The speed control module 30 is used to compare the speed of the current vehicle with a preset speed threshold when the lane where the current vehicle is located is a target cruise speed control lane, and to control the cruise speed of the current vehicle when the speed of the current vehicle is greater than the lower limit of the safe speed range. The cruise speed control device provided in the present application adopts the cruise speed control method in the above-mentioned embodiment, which can solve the technical problem of the cruise speed control in the prior art to solve the mechanization of acceleration at the intersection with a one-to-two or two-in-one feature ahead. Compared with the prior art, the beneficial effects of the cruise speed control device provided in the present application are the same as the beneficial effects of the cruise speed control method provided in the above-mentioned embodiment, and the other technical features in the cruise speed control device are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0099] The present application provides a cruise speed control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the cruise speed control method in the above-mentioned embodiment one.

[0100] Reference below Figure 7 , which shows a schematic diagram of the structure of a cruise speed control device suitable for implementing the embodiment of the present application. The cruise speed control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The cruise speed control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0101] like Figure 7As shown, the cruise speed control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the cruise speed control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the cruise speed control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a cruise speed control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0102] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0103] The cruise speed control device provided by the present application adopts the cruise speed control method in the above embodiment, which can solve the technical problem of the cruise speed control in the prior art in solving the mechanization of acceleration at the intersection with a one-to-two or two-in-one feature ahead. Compared with the prior art, the beneficial effects of the cruise speed control device provided by the present application are the same as the beneficial effects of the cruise speed control method provided by the above embodiment, and the other technical features in the cruise speed control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0104] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0105] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0106] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the cruise speed control method in the above-mentioned embodiment.

[0107] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0108] The computer-readable storage medium may be included in the cruise speed control device; or may exist independently without being assembled into the cruise speed control device.

[0109] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the cruise speed control device, the cruise speed control device:

[0110] When the current vehicle meets the intelligent cruise control condition, analyzing the navigation information of the current vehicle to obtain the characteristics of the intersection ahead;

[0111] When the front intersection feature is a preset road feature, determining the lane where the current vehicle is located;

[0112] When the lane where the current vehicle is located is a target cruise speed control lane, the speed of the current vehicle is compared with a preset speed threshold, and when the speed of the current vehicle is greater than a lower limit of a safe speed range, the cruise speed of the current vehicle is controlled.

[0113] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0114] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0115] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0116] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned cruise speed control method, and can solve the technical problem of the cruise speed control in the prior art in solving the mechanization of acceleration at the intersection with a one-to-two or two-in-one feature ahead. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the cruise speed control method provided by the above-mentioned embodiment, and will not be repeated here.

[0117] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned cruise speed control method when executed by a processor.

[0118] The computer program product provided by the present application can solve the technical problem of the cruise speed control in the prior art to solve the mechanized acceleration at the intersection with the one-to-two or two-in-one feature ahead. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the cruise speed control method provided by the above embodiment, which will not be repeated here.

[0119] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A cruise speed control method, characterized in that: The cruise speed control method comprises: When the current vehicle meets the intelligent cruise control condition, analyzing the navigation information of the current vehicle to obtain the characteristics of the intersection ahead; When the front intersection feature is a preset road feature, determining the lane where the current vehicle is located; When the lane where the current vehicle is located is a target cruise speed control lane, the speed of the current vehicle is compared with a preset speed threshold, and when the speed of the current vehicle is greater than the lower limit of the safe speed range, the cruise speed of the current vehicle is controlled, and the target cruise speed control lane includes the rightmost lane of the main road at a one-to-two or two-to-one intersection or a ramp merging into the main road; Wherein, before the step of analyzing the navigation information of the current vehicle to obtain the characteristics of the intersection ahead when the current vehicle meets the intelligent cruise control condition, the method further includes: Detecting the lane where the current vehicle is located, and when the lane where the current vehicle is located does not meet the lane corresponding to the one-to-two or two-to-one road feature, monitoring the lane change behavior of the current vehicle; When the current vehicle changes lanes, the lane where the current vehicle is located is obtained in real time. When the lane where the current vehicle is located is a target cruise speed control lane and the intelligent cruise assist system is activated, it is determined that the current vehicle meets the intelligent cruise control conditions.

2. The method according to claim 1, characterized in that When the speed of the current vehicle is greater than the lower limit of the safe speed range, the step of controlling the cruising speed of the current vehicle comprises: When the current vehicle speed is greater than the lower limit of the safe vehicle speed range, comparing the current vehicle speed with the upper limit of the safe vehicle speed range; When the speed of the current vehicle is less than the upper limit of the safe speed range, obtaining the distance between the current vehicle and the target lane for lane change; When the distance between the current vehicle and the target lane for lane change is greater than a preset distance threshold, the speed of the current vehicle is monitored in real time. When the speed of the current vehicle is greater than the upper limit of the safe speed range, the cruising speed of the current vehicle is controlled by limiting the speed of the current vehicle to the upper limit of the safe speed range.

3. The method according to claim 2, characterized in that After the step of obtaining the distance between the current vehicle and the target lane for lane change when the speed of the current vehicle is less than the upper limit of the safe speed range, the method further includes: When the distance between the current vehicle and the target lane change lane is less than a preset distance threshold, comparing the acceleration request value with a preset acceleration request threshold; When the acceleration request value is greater than a preset acceleration request threshold, the preset acceleration request threshold is used as the acceleration request value, and the speed of the current vehicle after acceleration with the preset acceleration request threshold is obtained; when the speed of the current vehicle is greater than the upper limit of the safe speed range, the cruising speed of the current vehicle is controlled by limiting the speed of the current vehicle to the upper limit of the safe speed range.

4. The method according to claim 3, characterized in that Before the step of comparing the acceleration request value with the preset acceleration request threshold, the method further includes: detecting an acceleration request type of the vehicle; When the acceleration request type is non-human acceleration, a step of comparing the acceleration request value with a preset acceleration request threshold is performed.

5. The method as claimed in claim 2, characterized in that The step of controlling the cruising speed of the current vehicle by limiting the speed of the current vehicle to the upper limit of the safe speed range comprises: Determining the current vehicle speed and the speed corresponding to the upper limit of the safe speed range; Reducing the speed of the current vehicle based on a preset speed attenuation ratio to obtain a decelerated vehicle speed; When the vehicle speed after deceleration is greater than the speed corresponding to the upper limit of the safe speed range, the step of reducing the speed of the current vehicle based on a preset speed attenuation ratio to obtain the vehicle speed after deceleration is repeated until the vehicle speed after deceleration is no greater than the speed corresponding to the upper limit of the safe speed range.

6. The method according to claim 1, characterized in that When the feature of the road intersection ahead is a preset road feature, the step of determining the lane where the current vehicle is located comprises: Comparing the intersection feature with a preset road feature, and obtaining the road condition information ahead of the current vehicle when the intersection feature is the same as the preset road feature; Lane identification is performed on the front road condition information to determine the lane where the current vehicle is located.

7. A cruise speed control device, characterized in that: The device comprises: The intersection monitoring module is used to analyze the navigation information of the current vehicle to obtain the characteristics of the intersection ahead when the current vehicle meets the intelligent cruise control conditions; A lane recognition module, used to determine the lane where the current vehicle is located when the feature of the road intersection ahead is a preset road feature; A vehicle speed control module, for comparing the speed of the current vehicle with a preset speed threshold when the lane where the current vehicle is located is a target cruise speed control lane, and controlling the cruise speed of the current vehicle when the speed of the current vehicle is greater than the lower limit of a safe speed range, wherein the target cruise speed control lane includes the rightmost lane of a main road at a one-to-two or two-to-one intersection or a ramp merging into the main road; Wherein, before the step of analyzing the navigation information of the current vehicle to obtain the characteristics of the intersection ahead when the current vehicle meets the intelligent cruise control condition, the method further includes: Detecting the lane where the current vehicle is located, and when the lane where the current vehicle is located does not meet the lane corresponding to the one-to-two or two-to-one road feature, monitoring the lane change behavior of the current vehicle; When the current vehicle changes lanes, the lane where the current vehicle is located is obtained in real time. When the lane where the current vehicle is located is a target cruise speed control lane and the intelligent cruise assist system is activated, it is determined that the current vehicle meets the intelligent cruise control conditions.

8. A cruise speed control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the cruise speed control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the cruise speed control method according to any one of claims 1 to 6 are implemented.

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