Vehicle cruise control method and system based on multi-information fusion

Abstract

The present invention discloses a vehicle cruise control method and system based on multi-information fusion, comprising: first, obtaining vehicle driving information and road environment information, and determining the distance and safety distance between a controlled vehicle and a leading vehicle according to the vehicle driving information and the road environment information; then, determining threshold conditions corresponding to different cruise modes according to the safety distance, and matching the distance between the controlled vehicle and the leading vehicle with the threshold conditions corresponding to each cruise model to determine the cruise mode of the controlled vehicle; finally, according to the vehicle driving information and the road environment information, using a cruise controller matching the cruise mode of the controlled vehicle to determine the control quantity information corresponding to the controlled vehicle; finally, determining various control parameters corresponding to the controlled vehicle based on the control quantity information, and controlling corresponding actuators according to various control parameters respectively, thereby freeing the driver from the vehicle decision chain and improving the efficiency and reliability of the automatic driving system.

Description

Technical Field

[0001] The present invention relates to the technical field of cruise control used in a road vehicle driving control system, and in particular to a vehicle cruise control method and system based on multi-information fusion. Background Art

[0002] The demand for research on vehicle cruise control functions stems from the concern for road traffic safety and driving convenience. With the continuous improvement of sensor technology and computing power, as well as the rise of autonomous driving technology, people have become more interested in advanced cruise control systems that can automatically adjust vehicle speed. The research and development of this technology aims to reduce the risk of traffic accidents and improve driving comfort to meet the needs of contemporary society for safe, convenient and intelligent transportation.

[0003] As a complex automobile intelligent driving technology, the vehicle cruise function requires the study of corresponding control methods to realize this function. The current research methods for the vehicle cruise function include PID control, fuzzy logic control, dynamic programming control, model predictive control and reinforcement learning control.

[0004] PID control generally measures the position and speed of the vehicle in front based on vehicle sensors and radars, and uses position difference and speed difference for control to ensure safe following behavior between vehicles. Fuzzy logic control requires modeling of the state information of the vehicle in front, setting fuzzy rules and membership functions so that the vehicle can adjust according to the spacing error. Model predictive control requires state space modeling of the state information of the vehicle in front, and predicting the state of the future vehicle based on the information obtained, and then using optimization algorithms to obtain the optimal solution suitable for cruise control.

[0005] However, the current use of vehicle cruise control still relies mainly on human judgment and decision-making. Even self-driving cars need to rely on human intervention in certain situations. In this case, the driver needs to constantly monitor traffic conditions, respond in a timely manner, and interact with the vehicle's automatic system. This "semi-automatic" state not only increases the burden on the driver, but also reduces the efficiency and reliability of the automatic driving system. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention proposes a vehicle cruise control method and system based on multi-information fusion, which can improve the efficiency and reliability of the automatic driving system. The specific technical solution is as follows:

[0007] In a first aspect, a vehicle cruise control method based on multi-information fusion is provided. In a first implementable manner of the first aspect, the method includes:

[0008] Acquiring vehicle driving information and road environment information, and determining the distance and safety distance between the controlled vehicle and the preceding vehicle according to the vehicle driving information and road environment information;

[0009] Determine the threshold conditions corresponding to different cruise modes according to the safety distance, and match the distance between the controlled vehicle and the preceding vehicle with the threshold conditions corresponding to each cruise model to determine the cruise mode of the controlled vehicle;

[0010] According to the vehicle driving information and the road environment information, a cruise controller matching the cruise mode of the controlled vehicle is used to determine the control amount information corresponding to the controlled vehicle;

[0011] Based on the control amount information, various control parameters corresponding to the controlled vehicle are determined, and corresponding actuators are controlled according to the various control parameters.

[0012] In combination with the first implementable manner of the first aspect, in a second implementable manner of the first aspect, determining the distance and the safety distance between the controlled vehicle and the preceding vehicle according to the vehicle driving information and the road environment information includes:

[0013] It is determined whether the controlled vehicle needs to enter the vehicle cruise mode according to the road environment information. When the road environment information is simple road information, the controlled vehicle enters the vehicle cruise mode.

[0014] In combination with the first implementable manner of the first aspect, in a third implementable manner of the first aspect, determining a safe distance between the controlled vehicle and a preceding vehicle according to the vehicle driving information and the road environment information includes:

[0015] Determining the longitudinal speed of the controlled vehicle through the vehicle driving information, and determining the lane speed limit through the road environment information;

[0016] The safety distance is calculated according to the lane speed limit and the longitudinal speed.

[0017] In combination with the first implementable manner of the first aspect, in a fourth implementable manner of the first aspect, the cruise mode corresponding to the controlled vehicle includes an adaptive cruise mode and a constant speed cruise mode, and the cruise controller matched with the adaptive cruise mode is as follows:

[0018] u=k p x e +k d (v front -v follow )d rel ≤1.2d safe ;

[0019] The cruise controller matched with the cruise control mode is as follows:

[0020] u=k d (v front -v follow )d rel ≥3*d safe ;

[0021] Among them, v front 、v follow are the speed of the front vehicle and the controlled vehicle, d rel is the distance between the controlled vehicle and the preceding vehicle, k p , k d are PD control parameters, d safe is the safety distance, x e is the distance error between the controlled vehicle and the vehicle in front.

[0022] In combination with the first possible implementation of the first aspect, in a fifth possible implementation of the first aspect, when the controlled vehicle is at 1.2d safe <d rel <3*d safe &&v follow <1.5*v front In this case, the controlled vehicle accelerates at the set minimum acceleration. In other cases, the control amount of the controlled vehicle is 0.

[0023] In combination with the first implementable manner of the first aspect, in a sixth implementable manner of the first aspect, determining various control parameters corresponding to the controlled vehicle based on the control amount information includes:

[0024] The various control parameters of the controlled vehicle are compensated through the inverse model.

[0025] In combination with the first implementable manner of the first aspect, in a seventh implementable manner of the first aspect, controlling a corresponding actuator according to the control parameter includes:

[0026] The switching between throttle control and brake control of the controlled vehicle is controlled according to the acceleration in the control amount, the set threshold value and the maximum deceleration of the vehicle.

[0027] In a second aspect, a vehicle cruise control system based on multi-information fusion is provided. In a first implementable manner of the second aspect, the method includes:

[0028] A distance calculation module is configured to obtain vehicle driving information and road environment information, and determine the distance and safety distance between the controlled vehicle and the preceding vehicle according to the vehicle driving information and road environment information;

[0029] A mode matching module is configured to determine threshold conditions corresponding to different cruise modes according to the safety distance, and to match the distance between the controlled vehicle and the preceding vehicle with the threshold conditions corresponding to each cruise model to determine the cruise mode of the controlled vehicle;

[0030] A cruise control module, configured to determine control amount information corresponding to the controlled vehicle by using a cruise controller matching the cruise mode of the controlled vehicle according to the vehicle driving information and the road environment information;

[0031] The bottom control module is configured to determine various control parameters corresponding to the controlled vehicle based on the control quantity information, and control corresponding actuators according to the various control parameters.

[0032] In combination with the first implementable manner of the second aspect, in a second implementable manner of the first aspect, the distance calculation module includes:

[0033] The cruise start unit is configured to determine whether the controlled vehicle needs to enter the vehicle cruise mode according to the road environment information, and when the road environment information is simple road information, the controlled vehicle enters the vehicle cruise mode.

[0034] In combination with the first implementable manner of the second aspect, in a third implementable manner of the first aspect, the distance calculation unit includes:

[0035] a data extraction unit configured to determine the longitudinal speed of the controlled vehicle through the vehicle driving information and to determine the lane speed limit through the road environment information;

[0036] The data calculation unit is configured to calculate the safety distance according to the lane speed limit and the longitudinal speed.

[0037] Beneficial effect: By adopting the vehicle cruise control method and system based on multi-information fusion of the present invention, the safe distance between the controlled vehicle and the vehicle in front can be determined through vehicle driving information and road environment information, and the cruise mode of the controlled vehicle can be automatically switched based on this, and a cruise controller matching the cruise mode can be used to perform cruise control on the controlled vehicle, thereby freeing the driver from the vehicle decision chain and improving the efficiency and reliability of the automatic driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation of the present invention, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0039] Figure 1 A flow chart of a vehicle cruise control method based on multi-information fusion provided by an embodiment of the present invention;

[0040] Figure 2 A system block diagram of a vehicle cruise control system based on multi-information fusion provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0042] like Figure 1 The flowchart of the vehicle cruise control method based on multi-information fusion shown in FIG. 1 includes:

[0043] Step 1: Acquire vehicle driving information and road environment information, and determine the distance and safety distance between the controlled vehicle and the preceding vehicle according to the vehicle driving information and road environment information;

[0044] Step 2: determining threshold conditions corresponding to different cruise modes according to the safety distance, and matching the distance between the controlled vehicle and the preceding vehicle with the threshold conditions corresponding to each cruise model to determine the cruise mode of the controlled vehicle;

[0045] Step 3: according to the vehicle driving information and the road environment information, a cruise controller matching the cruise mode of the controlled vehicle is used to determine the control amount information corresponding to the controlled vehicle;

[0046] Step 4: Determine various control parameters corresponding to the controlled vehicle based on the control quantity information, and control corresponding actuators according to the various control parameters.

[0047] Specifically, first, the road environment information of the vehicle driving section and the driving information of the vehicles driving on the road section can be collected. The road environment information includes the road speed limit, and the vehicle driving information includes the position, speed, acceleration and other dynamic parameters of each vehicle. The distance between each controlled vehicle and the preceding vehicle can be calculated by the position of each vehicle, and the safe distance between each controlled vehicle and the preceding vehicle can be calculated by the road speed limit and the speed of the controlled vehicle. The specific calculation formula is as follows:

[0048]

[0049] Among them, c1, c2 are positive constants, v lim is the road speed limit, v follow is the longitudinal velocity of the controlled vehicle.

[0050] The calculated safety distance takes into account the road speed limit and the speed of the controlled vehicle. While ensuring the basic safety distance between vehicles, the safety distance between vehicles increases as the speed increases. This is in line with human driving habits and normal road rules.

[0051] In this embodiment, the automatic cruise mode of the vehicle is currently only applicable to some simple roads. For complex roads, such as urban roads, busy intersections, etc., it is suitable to adopt the automatic inspection function. Therefore, before performing cruise control, it can be determined whether the controlled vehicle needs to enter the vehicle cruise mode according to the road environment information. When the road environment information is simple road information, the controlled vehicle enters the vehicle cruise mode.

[0052] Then, the threshold conditions corresponding to different cruise modes can be determined based on the calculated safety distance. In this embodiment, the cruise mode of the vehicle can include a fixed-speed cruise mode and an adaptive cruise mode. Among them, the threshold condition corresponding to the fixed-speed cruise mode can be set as: more than 3*d safe That is, if the distance between the controlled vehicle and the vehicle in front exceeds 3*d safe , then the controlled vehicle can enter the cruise control mode. The threshold condition corresponding to the adaptive cruise mode can be set as: no more than 1.2*d safe That is, if the distance between the controlled vehicle and the vehicle in front does not exceed 1.2*d safe , the controlled vehicle can enter the adaptive cruise mode.

[0053] The distance between each controlled vehicle and the vehicle in front is matched with the threshold conditions corresponding to different cruise modes, and the controlled vehicle is automatically controlled to enter the corresponding cruise mode based on the matching result, without relying on human judgment and decision-making.

[0054] Afterwards, a cruise controller matching the cruise mode entered by the controlled vehicle may be used to calculate the control amount information corresponding to the controlled vehicle according to the dynamic parameters of the controlled vehicle and the preceding vehicle, as well as the road environment information.

[0055] Specifically, for the adaptive cruise mode, a cruise controller matching the adaptive cruise mode can be designed according to the dynamic parameters of the controlled vehicle, the preceding vehicle, and the road environment information. The designed cruise controller is as follows:

[0056] u=k p x e +k d (v front -v follow )d rel ≤1.2d safe ;

[0057] Among them, v frontis the speed of the preceding vehicle, d rel is the distance between the controlled vehicle and the preceding vehicle, k p , k d are PD control parameters, d safe is the safety distance, x e is the distance error between the controlled vehicle and the vehicle in front. The specific calculation formula of the distance error is as follows:

[0058] x e =d rel -d safe ;

[0059] d rel =x front -x follow ;

[0060] Among them, x e is the spacing error, x front is the position of the front vehicle, x follow is the location of the accused vehicle.

[0061] In adaptive cruise mode, when the distance between the controlled vehicle and the vehicle in front reaches 1.2*d safe With 3*d safe When the speed of the controlled vehicle reaches 1.5V, the vehicle can be accelerated with a smaller acceleration to avoid excessive vibration of the vehicle and ensure the driving comfort of the vehicle. front When the acceleration of the controlled vehicle can be reduced to 0, the controlled vehicle will not enter the adaptive cruise mode at a high speed, nor will it produce excessive vibrations that affect the ride comfort. That is:

[0062]

[0063] For the cruise control mode, a cruise controller matching the cruise control mode can be designed according to the dynamic parameters of the controlled vehicle and the preceding vehicle. The designed cruise controller is shown as follows:

[0064] u=k d (v front -v follow )d rel ≥3*d safe .

[0065] Finally, various control parameters corresponding to the controlled vehicle can be determined based on the control amount information, and corresponding actuators can be controlled according to the various control parameters.

[0066] Specifically, in order to reduce the pressure of vehicle perception and computing power requirements, and to obtain vehicle or road information beyond the vehicle's perception range, the control method can be deployed on a road test device, and the vehicle driving information and road environment information of all vehicles on the driving section can be obtained through the road test device. The cruise mode of each controlled vehicle can be decided through the road test device, and the control amount of each controlled vehicle can be determined. The road test device can send the corresponding control amount information to the controlled vehicle, and the underlying controller of the controlled vehicle can control the vehicle according to the control amount information.

[0067] Due to the nonlinear and uncertain characteristics of vehicle equipment, the underlying controller can compensate the control parameters of each actuator through the inverse model of the engine torque characteristics when controlling each actuator of the vehicle. For example, for the expected engine torque, the following calculation formula can be used for compensation:

[0068]

[0069] Among them, r w represents the rolling radius of the vehicle tire, i g represents the transmission ratio, i o Indicates the transmission ratio of the main reducer, η T represents the mechanical efficiency of the transmission system, T edes represents the desired engine torque, M represents the mass of the controlled vehicle, C A represents the air resistance coefficient, g represents the gravity coefficient, f represents the rolling resistance coefficient, and v represents the vehicle speed.

[0070] Since there are still nonlinearities such as torque converter coupling that cannot be compensated by the inverse model method, the PID controller can be used to compensate for the control error, and then the desired acceleration and actual acceleration can be made consistent through the joint control of the cruise controller and the underlying PID controller. Specifically:

[0071]

[0072] e a =a i -a act ;

[0073] Among them, a i is the acceleration control value output by the cruise controller, a act is the actual acceleration of the controlled vehicle, k i ′, k′ p , k′ d are the controller parameters of the underlying PID controller.

[0074] For the desired throttle opening, the following calculation formula can be used for compensation:

[0075] θ=MAP -1 (w e , T edes );

[0076] Among them, MAP -1 (w e , T edes ) represents the inverse model of engine torque characteristics, through which the expected throttle opening can be calculated based on the expected engine torque and the current engine speed.

[0077] For the desired braking force, the following calculation formula can be used for compensation:

[0078] F bdes =Ma des +C A v 2 +Mgf;

[0079] For the desired brake pressure, the following calculation can be used for compensation:

[0080]

[0081] Among them, K b Indicates the proportionality coefficient between braking force and braking pressure.

[0082] In this embodiment, optionally, controlling a corresponding actuator according to the control parameter includes:

[0083] The switching between throttle control and brake control of the controlled vehicle is controlled according to the acceleration in the control amount, the set threshold value and the maximum deceleration of the vehicle.

[0084] Specifically, during the actual driving of the vehicle, throttle control and brake control cannot be used at the same time. In order to avoid frequent switching of throttle and brake during the vehicle's automatic cruising, the switching conditions of throttle and brake can be set according to the medium acceleration of the control amount, the set threshold and the maximum deceleration of the vehicle, and the throttle and brake can be controlled to switch according to the switching conditions. Specifically,

[0085] when The vehicle can switch to throttle control when

[0086] when The vehicle can switch to brake control when

[0087] when The vehicle maintains existing control unchanged.

[0088] Among them, a mdec is the maximum deceleration of the controlled vehicle, is the set threshold.

[0089] like Figure 2 The system block diagram of the vehicle cruise control system based on multi-information fusion shown in FIG. 1 includes:

[0090] A distance calculation module is configured to obtain vehicle driving information and road environment information, and determine the distance and safety distance between the controlled vehicle and the preceding vehicle according to the vehicle driving information and road environment information;

[0091] A mode matching module is configured to determine threshold conditions corresponding to different cruise modes according to the safety distance, and to match the distance between the controlled vehicle and the preceding vehicle with the threshold conditions corresponding to each cruise model to determine the cruise mode of the controlled vehicle;

[0092] A cruise control module, configured to determine control amount information corresponding to the controlled vehicle by using a cruise controller matching the cruise mode of the controlled vehicle according to the vehicle driving information and the road environment information;

[0093] The bottom control module is configured to determine various control parameters corresponding to the controlled vehicle based on the control quantity information, and control corresponding actuators according to the various control parameters.

[0094] Specifically, the control system is composed of a distance calculation module, a pattern matching module, a cruise control module and a bottom control module. Among them, the distance calculation module can collect the road environment information of the vehicle driving section and the driving information of the vehicles driving on the road section. The road environment information includes the road speed limit, and the vehicle driving information includes the dynamic parameters such as the position, speed and acceleration of each vehicle.

[0095] The distance calculation unit includes a data extraction unit and a data calculation unit. The data extraction unit can determine the longitudinal speed of the controlled vehicle through the vehicle driving information, and determine the lane speed limit through the road environment information; the data calculation unit can calculate the distance between each controlled vehicle and the preceding vehicle through the position of each vehicle, and calculate the safety distance according to the lane speed limit and the longitudinal speed of the controlled vehicle.

[0096] In this embodiment, optionally, the distance calculation module includes:

[0097] The cruise start unit is configured to determine whether the controlled vehicle needs to enter the vehicle cruise mode according to the road environment information, and when the road environment information is simple road information, the controlled vehicle enters the vehicle cruise mode.

[0098] Specifically, the cruise start unit can determine whether the controlled vehicle needs to enter the vehicle cruise mode according to the road environment information. When the road environment information is simple road information, the controlled vehicle enters the vehicle cruise mode.

[0099] The pattern matching module can determine the threshold conditions corresponding to different cruise modes based on the calculated safety distance, and match the distance between each controlled vehicle and the vehicle in front with the threshold conditions corresponding to different cruise modes, and automatically control the controlled vehicle to enter the corresponding cruise mode according to the matching results, without relying on human judgment and decision-making.

[0100] The cruise control module may use a cruise controller that matches the cruise mode entered by the controlled vehicle, and calculate the control amount information corresponding to the controlled vehicle according to the dynamic parameters of the controlled vehicle and the preceding vehicle, as well as the road environment information.

[0101] The bottom control module can determine various control parameters corresponding to the controlled vehicle based on the control amount information, and control corresponding actuators according to the various control parameters.

[0102] In this embodiment, the optional underlying control module includes a compensation unit, which can compensate the control parameters of each actuator through an inverse model. The underlying control module can control the corresponding actuator according to the control parameters compensated by the compensation unit to achieve automatic cruise control of the controlled vehicle, thereby freeing the driver from the vehicle decision chain and improving the efficiency and reliability of the automatic driving system.

[0103] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A vehicle cruise control method based on multi-information fusion, characterized in that: include: Acquiring vehicle driving information and road environment information, and determining the distance and safety distance between the controlled vehicle and the preceding vehicle according to the vehicle driving information and road environment information, including: The distance between each controlled vehicle and the preceding vehicle is obtained by calculating the position of each vehicle, the longitudinal speed of the controlled vehicle is determined by the vehicle driving information, and the lane speed limit is determined by the road environment information; The safety distance is calculated according to the lane speed limit and the longitudinal speed. The specific calculation formula of the safety distance is as follows: Among them, c1, c2 are positive constants, v lim is the road speed limit, v follow is the longitudinal speed of the controlled vehicle; Determine the threshold conditions corresponding to different cruise modes according to the safety distance, and match the distance between the controlled vehicle and the preceding vehicle with the threshold conditions corresponding to each cruise model to determine the cruise mode of the controlled vehicle; According to the vehicle driving information and the road environment information, a cruise controller matching the cruise mode of the controlled vehicle is used to determine the control amount information corresponding to the controlled vehicle; The cruise modes corresponding to the controlled vehicle include an adaptive cruise mode and a fixed speed cruise mode. The cruise controller matched with the adaptive cruise mode is as follows: u=k p x e +k d (v front -v follow ),d rel ≤1.2d safe ; The cruise controller matched with the cruise control mode is as follows: u=k d (v front -v follow ),d rel ≥3*d safe ; Among them, v front is the speed of the preceding vehicle, d rel is the distance between the controlled vehicle and the preceding vehicle, k p , k d are PD control parameters, d safe is the safety distance, x e is the distance error between the controlled vehicle and the preceding vehicle, u is the acceleration of the controlled vehicle, and the specific calculation formula of the distance error is as follows: x e =d rel -d safe ; d rel =x front -x follow ; Among them, x front is the position of the front vehicle, x follow The location of the vehicle being charged; Based on the control amount information, various control parameters corresponding to the controlled vehicle are determined, and corresponding actuators are controlled according to the various control parameters.

2. The vehicle cruise control method based on multi-information fusion according to claim 1, characterized in that: Determining the distance and safety distance between the controlled vehicle and the preceding vehicle according to the vehicle driving information and the road environment information includes: It is determined whether the controlled vehicle needs to enter the vehicle cruise mode according to the road environment information. When the road environment information is simple road information, the controlled vehicle enters the vehicle cruise mode.

3. The vehicle cruise control method based on multi-information fusion according to claim 1, characterized in that: When the accused vehicle is in 1.2d safe <d rel <3*d safe &&v follow <1.5*v front In this case, the controlled vehicle accelerates at the set minimum acceleration. In other cases, the control amount of the controlled vehicle is 0.

4. The vehicle cruise control method based on multi-information fusion according to claim 1, characterized in that: Determining various control parameters corresponding to the controlled vehicle based on the control amount information includes: The various control parameters of the controlled vehicle are compensated through the inverse model of the engine torque characteristics. For the desired engine torque, the following calculation formula is used for compensation: Among them, r w represents the rolling radius of the vehicle tire, i g represents the transmission ratio, i o Indicates the transmission ratio of the main reducer, η T represents the mechanical efficiency of the transmission system, T edes represents the desired engine torque, M represents the mass of the controlled vehicle, C A represents the air resistance coefficient, g represents the gravity coefficient, f represents the rolling resistance coefficient, and v represents the vehicle speed; and a =a i -the act ; Among them, a i is the acceleration control value output by the cruise controller, a act is the actual acceleration of the controlled vehicle, k i ′, k′ p , k′ d are the controller parameters of the underlying PID controller.

5. The vehicle cruise control method based on multi-information fusion according to claim 1, characterized in that: Controlling the corresponding actuator according to the control parameters includes: The switching between throttle control and brake control of the controlled vehicle is controlled according to the acceleration in the control amount, the set threshold value and the maximum deceleration of the vehicle.

6. A vehicle cruise control system based on multi-information fusion, characterized in that: include: The distance calculation module is configured to obtain vehicle driving information and road environment information, and determine the distance and safety distance between the controlled vehicle and the preceding vehicle according to the vehicle driving information and road environment information. The distance calculation unit can calculate the distance between each controlled vehicle and the preceding vehicle according to the position of each vehicle, including: a data extraction unit configured to determine the longitudinal speed of the controlled vehicle through the vehicle driving information and to determine the lane speed limit through the road environment information; The data calculation unit is configured to calculate the safety distance according to the lane speed limit and the longitudinal speed. The specific calculation formula of the safety distance is as follows: Among them, c1, c2 are positive constants, v lim is the road speed limit, v follow is the longitudinal speed of the controlled vehicle; A mode matching module is configured to determine threshold conditions corresponding to different cruise modes according to the safety distance, and to match the distance between the controlled vehicle and the preceding vehicle with the threshold conditions corresponding to each cruise model to determine the cruise mode of the controlled vehicle; The cruise control module is configured to determine the control amount information corresponding to the controlled vehicle by using a cruise controller matching the cruise mode of the controlled vehicle according to the vehicle driving information and the road environment information. The cruise mode corresponding to the controlled vehicle includes an adaptive cruise mode and a fixed speed cruise mode. The cruise controller matching the adaptive cruise mode is as follows: u=k p x e +k d (v front -v follow ),d rel ≤1.2d safe ; The cruise controller matched with the cruise control mode is as follows: u=k d (v front -v follow ),d rel ≥3*d safe ; Among them, v front is the speed of the preceding vehicle, d rel is the distance between the controlled vehicle and the preceding vehicle, k p , k d are PD control parameters, d safe is the safety distance, x e is the distance error between the controlled vehicle and the preceding vehicle. The specific calculation formula of the distance error is as follows: x e =d rel -d safe ; d rel =x front -x follow ; Among them, x front is the position of the front vehicle, x follow The location of the vehicle being charged; The bottom control module is configured to determine various control parameters corresponding to the controlled vehicle based on the control quantity information, and control corresponding actuators according to the various control parameters.

7. The vehicle cruise control system based on multi-information fusion according to claim 6, characterized in that: The spacing calculation module includes: The cruise start unit is configured to determine whether the controlled vehicle needs to enter the vehicle cruise mode according to the road environment information, and when the road environment information is simple road information, the controlled vehicle enters the vehicle cruise mode.

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