Vehicle cruise control methods, devices, vehicles, storage media, and software products

Abstract

This application relates to the field of vehicle technology, and in particular to a vehicle cruise control method, device, vehicle, storage medium, and program product. The method includes: acquiring the current vehicle's target speed and cruise scenario; determining planning parameter control indicators based on the target speed and cruise scenario; inputting the target speed, cruise scenario, and planning parameter control indicators into a speed planner; the speed planner outputting the current vehicle's speed planning value and acceleration planning value; determining the current vehicle's target acceleration based on the speed planning value and acceleration planning value; and controlling the current vehicle to perform cruise actions based on the target acceleration. This solves the problems of adaptive cruise control in related technologies, such as the inability to achieve precise acceleration control and the high computational complexity and poor comfort.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle cruise control method, device, vehicle, storage medium, and program product. Background Technology

[0002] ACC (Adaptive Cruise Control) is a driver assistance system that automatically adjusts the vehicle's speed within a speed range set by the driver to maintain a safe distance from the vehicle in front. This system typically uses radar sensors or other types of sensors to detect the position and speed of the vehicle ahead and adjusts the vehicle's speed accordingly.

[0003] In related technologies, adaptive cruise control (ACC) planning and control uses the target vehicle's acceleration as feedforward control and a dual-closed-loop PID controller formed by the distance and speed errors with the target vehicle as feedback control. This combination of feedforward and feedback control achieves ACC following control. However, using the target vehicle's acceleration as feedforward control requires high accuracy and stability in sensing that acceleration. Furthermore, this approach is complex and difficult to adapt, requiring extensive adaptation work when vehicle models change. Additionally, this approach has poor scalability, struggles to integrate with other intelligent driving functions, and has weak capabilities in handling complex operating conditions. Summary of the Invention

[0004] This application provides a vehicle cruise control method, device, vehicle, storage medium, and program product to solve the problems of adaptive cruise control in related technologies, such as the inability to achieve precise acceleration control and the high computational complexity and poor comfort.

[0005] The first aspect of this application provides a vehicle cruise control method, including the following steps: obtaining the target speed of the current vehicle and the cruise scenario; determining the planning parameter control index based on the target speed and the cruise scenario; inputting the target speed, the cruise scenario and the planning parameter control index into a speed planner; the speed planner outputs the speed planning value and acceleration planning value of the current vehicle; determining the target acceleration of the current vehicle based on the speed planning value and the acceleration planning value; and controlling the current vehicle to perform cruise actions based on the target acceleration.

[0006] Optionally, the target acceleration of the current vehicle is determined based on the speed planning value and the acceleration planning value, including: obtaining the current vehicle's slope-compensated acceleration and actual vehicle speed; calculating the speed error compensation acceleration based on the actual vehicle speed and the speed planning value; and determining the target acceleration based on the slope-compensated acceleration, the acceleration planning value, and the speed error compensation acceleration.

[0007] Optionally, the formulas for calculating the velocity planning value and the acceleration planning value are as follows:

[0008] υcmd =υ ego +t·a ego +t 2 ·p1+t 3 p2

[0009] a cmd =a ego +2·t·p1+3·t 2 p2

[0010] Among them, υ cmd For the velocity planning value, a cmd For the acceleration planning value, υ ego The current vehicle speed is t, the time variable is t, and the speed is a. ego Let p1 be the actual acceleration and p1 be the first coefficient to be determined. p2 is the second coefficient to be determined. υ tar Let c be the target speed of the current vehicle, and c be the planning parameter control index.

[0011] Optionally, the cruise scenarios include at least one of: constant speed cruise, following cruise, and cornering deceleration cruise.

[0012] Optionally, the planning parameter control indicators are determined based on the target vehicle speed and the cruise scenario, including: if the cruise scenario is following another vehicle, the planning parameter control indicators are basic indicators, comfort indicators, scenario indicators, and safety indicators. The basic indicators are determined based on the current vehicle's actual speed and the target vehicle speed, while the safety indicators are determined based on the relative distance, relative speed, collision time, and time distance between the current vehicle and other vehicles. If the cruise scenario is constant speed cruise or cornering deceleration cruise, the planning parameter control indicators are basic indicators, comfort indicators, and scenario indicators.

[0013] Optionally, obtaining the target speed of the current vehicle includes: obtaining the user-preset driving speed, cornering speed reduction speed, and reference speed based on other vehicles, wherein the reference speed is determined based on the target vehicle's speed and the distance between the current vehicle and the target vehicle; and taking the minimum value among the preset driving speed, cornering speed reduction speed, and reference speed as the target speed of the current vehicle.

[0014] A second aspect of this application provides a vehicle cruise control device, comprising: an acquisition module for acquiring the target speed of the current vehicle and the cruise scenario; a determination module for determining planning parameter control indicators based on the target speed and the cruise scenario, inputting the target speed, the cruise scenario, and the planning parameter control indicators into a speed planner, and the speed planner outputting the speed planning value and acceleration planning value of the current vehicle; and a control module for determining the target acceleration of the current vehicle based on the speed planning value and the acceleration planning value, and controlling the current vehicle to perform cruise actions based on the target acceleration.

[0015] Optionally, the control module is further configured to acquire the current vehicle's slope-compensated acceleration and actual vehicle speed; calculate the speed error compensation acceleration based on the actual vehicle speed and the speed planning value; and determine the target acceleration based on the slope-compensated acceleration, the acceleration planning value, and the speed error compensation acceleration.

[0016] Optionally, the formulas for calculating the velocity planning value and the acceleration planning value are as follows:

[0017] υ cmd =υ ego +t·a ego +t 2 ·p1+t 3 p2

[0018] a cmd =a ego +2·t·p1+3·t 2 p2

[0019] Among them, υ cmd For the velocity planning value, a cmd For the acceleration planning value, υ ego The current vehicle speed is t, the time variable is t, and the speed is a. ego Let p1 be the actual acceleration and p1 be the first coefficient to be determined. p2 is the second coefficient to be determined. υ tar Let c be the target speed of the current vehicle, and c be the planning parameter control index.

[0020] Optionally, the cruise scenarios include at least one of: constant speed cruise, following cruise, and cornering deceleration cruise.

[0021] Optionally, the determining module is further configured to: if the cruise scenario is following cruise, then the planned parameter control indicators include basic indicators, comfort indicators, scenario indicators, and safety indicators, wherein the basic indicators are determined based on the current vehicle's actual speed and target speed, and the safety indicators are determined based on the relative distance, relative speed, collision time, and time distance between the current vehicle and other vehicles. If the cruise scenario is constant speed cruise or cornering deceleration cruise, then the planned parameter control indicators include basic indicators, comfort indicators, and scenario indicators.

[0022] Optionally, the acquisition module is further configured to: acquire the user-preset driving speed, cornering speed reduction speed, and reference speed based on other vehicles, wherein the reference speed is determined based on the target vehicle's speed and the distance between the current vehicle and the target vehicle; and take the minimum value among the preset driving speed, cornering speed reduction speed, and reference speed as the target speed of the current vehicle.

[0023] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle cruise control method as described in the above embodiments.

[0024] A fourth aspect of this application provides a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed, are used to implement the vehicle cruise control method as described in the above embodiments.

[0025] A fifth aspect of this application provides a computer program product, including a computer program or instructions, which, when executed, implement the vehicle cruise control method as described in the above embodiments.

[0026] Therefore, this application has at least the following beneficial effects:

[0027] This application's embodiments can select different planning and control parameters based on the current vehicle's target speed and the cruise scenario to determine the vehicle's planned speed and acceleration values ​​for the current cruise scenario. Based on these values, a target acceleration is generated, achieving precise control of acceleration during cruise. This approach has low computational complexity and low computational power consumption, and can handle various complex operating conditions and scenarios, thus better meeting the needs of autonomous driving. Therefore, it solves the problems of related technologies, such as the inability of adaptive cruise control to achieve precise acceleration control, high computational complexity, and poor comfort.

[0028] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0030] Figure 1 This is a flowchart of a vehicle cruise control method provided according to an embodiment of this application;

[0031] Figure 2 This is an example diagram of vehicle cruise control provided according to an embodiment of this application;

[0032] Figure 3 This is a block diagram of a vehicle cruise control device according to an embodiment of this application;

[0033] Figure 4 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0034] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0035] The vehicle cruise control method, apparatus, vehicle, storage medium, and program product of this application are described below with reference to the accompanying drawings. Addressing the problems mentioned in the background section, this application provides a vehicle cruise control method. In this method, different planning and control parameters are selected based on the current vehicle's target speed and the cruise scenario to determine the vehicle's planned speed and acceleration values ​​in the current cruise scenario. A target acceleration is then generated based on these planned speed and acceleration values, achieving precise control of acceleration during cruise. This method has low computational complexity and low computational power consumption, and can handle various complex working conditions and scenarios, thus better meeting the needs of autonomous driving. Therefore, it solves the problems of adaptive cruise control in related technologies, such as the inability to achieve precise acceleration control and the high computational complexity and poor comfort.

[0036] Specifically, Figure 1 This is a schematic flowchart of a vehicle cruise control method provided in an embodiment of this application.

[0037] like Figure 1 As shown, the vehicle cruise control method includes the following steps:

[0038] In step S101, the target speed and cruising scenario of the current vehicle are obtained.

[0039] In the embodiments of this application, the cruise scenario includes at least one of: constant speed cruise, following cruise, and curve deceleration cruise.

[0040] Specifically, in this application embodiment, obtaining the target speed of the current vehicle includes: obtaining the user-preset driving speed, cornering speed reduction speed, and reference speed based on other vehicles, wherein the reference speed is determined based on the target vehicle's speed and the distance between the current vehicle and the target vehicle; and taking the minimum value among the preset driving speed, cornering speed reduction speed, and reference speed as the target speed of the current vehicle.

[0041] This application embodiment obtains the vehicle speed, the speed at which the vehicle slows down while cornering, and the reference speed based on other vehicles. For these three values, the smallest one is selected as the final target speed of the current vehicle after arbitration, ensuring that the vehicle will not exceed the safe speed limit set by any party, thereby improving driving safety.

[0042] In step S102, the planning parameter control index is determined based on the target vehicle speed and the cruise scenario. The target vehicle speed, the cruise scenario, and the planning parameter control index are input into the speed planner, and the speed planner outputs the current vehicle's speed planning value and acceleration planning value.

[0043] In one embodiment of this application, if the cruise scenario is following-car cruise, the planning parameter control indicators include basic indicators, comfort indicators, scenario indicators, and safety indicators. The basic indicators are determined based on the current vehicle's actual speed and the target vehicle speed, while the safety indicators are determined based on the relative distance, relative speed, collision time, and time distance between the current vehicle and other vehicles. If the cruise scenario is constant speed cruise or cornering deceleration cruise, the planning parameter control indicators include basic indicators, comfort indicators, and scenario indicators.

[0044] This application embodiment can select different planning and control parameters based on the basic scenario and the target vehicle speed after arbitration, including basic parameter costA, safety parameter costB, comfort parameter costC, and scenario parameter costD. Among them, basic parameter costA is applied to all scenarios and is obtained based on the vehicle speed and the target vehicle speed; safety parameter costB is mainly applied to the following cruise scenario and is obtained by comprehensively considering information such as the relative distance, relative speed, collision time, and time distance between the vehicle and the obstacle vehicle, which can improve the safety of the following cruise phase; comfort parameter costC is applied to all scenarios and can improve the comfort during the scenario transition phase; scenario parameter costD, in addition to being obtained based on the basic scenario, further divides the following cruise scenario into sub-scenarios such as following and stopping, starting, the vehicle ahead cutting in, the vehicle ahead cutting out, and the vehicle ahead braking suddenly, in order to improve the safety and comfort experience of each sub-scenarios.

[0045] Furthermore, in this embodiment of the application, the current vehicle speed, the arbitrated target vehicle speed, and the planning control parameter index cost can be input into the designed speed planner, which will then output the speed planning value and the acceleration planning value. Specifically:

[0046] υ cmd =υ ego +t·a ego +t 2 ·p1+t 3 p2

[0047] a cmd =a ego +2·t·p1+3·t 2 p2

[0048] Among them, υ cmd For the velocity planning value, a cmd For the acceleration planning value, υ ego The current vehicle speed is t, the time variable is t, and the speed is a. egoLet p1 be the actual acceleration and p1 be the first coefficient to be determined. p2 is the second coefficient to be determined. υ tar Let c be the target speed of the current vehicle, and c be the control index of the planning parameters determined in the above embodiment.

[0049] In step S103, the target acceleration of the current vehicle is determined based on the speed planning value and the acceleration planning value, and the current vehicle is controlled to perform cruise action based on the target acceleration.

[0050] In one embodiment of this application, determining the target acceleration of the current vehicle based on the speed planning value and the acceleration planning value includes: obtaining the current vehicle's slope compensation acceleration and actual vehicle speed; calculating the speed error compensation acceleration based on the actual vehicle speed and the speed planning value; and determining the target acceleration based on the slope compensation acceleration, the acceleration planning value, and the speed error compensation acceleration.

[0051] The target acceleration sources include the planned acceleration value, the gradient compensation acceleration, and the speed error compensation acceleration. The planned acceleration value can be determined by the speed planner. The gradient compensation acceleration can be obtained by the vehicle's gradient estimation module. The speed error compensation acceleration is obtained by taking the difference between the planned speed value provided by the speed planner and the vehicle speed, and then applying this difference to the PID controller.

[0052] In actual implementation, to further ensure comfort during cruise, this embodiment of the application can also perform rationality verification and comfort verification on the target acceleration, and output the verified target acceleration. Rationality verification limits the maximum and minimum values ​​of the target acceleration to prevent the acceleration from exceeding the actuator's responsive range or the system's allowed acceleration limit; comfort verification limits the rate of change of the target acceleration to prevent excessive acceleration, thereby improving the comfort of the ACC system.

[0053] The vehicle cruise control method proposed in this application selects different planning control parameters based on the current vehicle's target speed and the cruise scenario to determine the vehicle's planned speed and acceleration values ​​in the current cruise scenario. A target acceleration is then generated based on these values, achieving precise control of acceleration during cruise. This method features low computational complexity and low computational power consumption, and can handle various complex working conditions and scenarios, thus better meeting the needs of autonomous driving. Therefore, it solves the problems of related technologies, such as the inability of adaptive cruise control to achieve precise acceleration control, high computational complexity, and poor comfort.

[0054] The following is combined Figure 2 The vehicle cruise control method according to the embodiments of this application will be described in detail, including the following steps:

[0055] Step 1: Target speed arbitration, which includes the driver's set speed, the target speed for slowing down on curves, and the target speed based on the obstacle vehicle. The smaller of the three values ​​is taken as the target speed after arbitration.

[0056] Step 2: Select planning control index parameters. Different planning control parameters are selected based on the scenario and the target vehicle speed after arbitration, including basic indicators, safety indicators, comfort indicators, scenario indicators, etc.

[0057] Step 3: Input the current vehicle speed, the target vehicle speed after arbitration, and the control parameter indicators into the designed speed planner. The speed planner will output the speed planning value and the acceleration planning value.

[0058] Step 4: The speed controller outputs the target acceleration, which is derived from the acceleration planning value, gradient compensation acceleration, and speed error compensation acceleration.

[0059] Step 5: Perform a rationality check and a comfort check on the target acceleration, and output the checked target acceleration.

[0060] Next, the vehicle cruise control device proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0061] Figure 3 This is a block diagram of a vehicle cruise control device according to an embodiment of this application.

[0062] like Figure 3 As shown, the vehicle cruise control device 10 includes: an acquisition module 100, a determination module 200, and a control module 300.

[0063] The acquisition module 100 is used to acquire the target speed and cruise scenario of the current vehicle; the determination module 200 is used to determine the planning parameter control index based on the target speed and cruise scenario, and inputs the target speed, cruise scenario and planning parameter control index into the speed planner, and the speed planner outputs the speed planning value and acceleration planning value of the current vehicle; the control module 300 is used to determine the target acceleration of the current vehicle based on the speed planning value and acceleration planning value, and controls the current vehicle to perform cruise actions based on the target acceleration.

[0064] In one embodiment of this application, the control module 300 is further configured to acquire the current vehicle's slope compensation acceleration and actual vehicle speed; calculate the speed error compensation acceleration based on the actual vehicle speed and speed planning value; and determine the target acceleration based on the slope compensation acceleration, acceleration planning value, and speed error compensation acceleration.

[0065] In one embodiment of this application, the calculation formulas for the velocity planning value and the acceleration planning value are as follows:

[0066] υcmd =υ ego +t·a ego +t 2 ·p1+t 3 p2

[0067] a cmd =a ego +2·t·p1+3·t 2 p2

[0068] Among them, υ cmd For the velocity planning value, a cmd For the acceleration planning value, υ ego The current vehicle speed is t, the time variable is t, and the speed is a. ego Let p1 be the actual acceleration and p1 be the first coefficient to be determined. p2 is the second coefficient to be determined. υ tar Let c be the target speed of the current vehicle, and c be the planning parameter control index.

[0069] In one embodiment of this application, the cruise scenario includes at least one of: constant speed cruise, following cruise, and curve deceleration cruise.

[0070] In one embodiment of this application, the determining module 200 is further configured to, if the cruise scenario is following cruise, then plan the parameter control indicators as basic indicators, comfort indicators, scenario indicators, and safety indicators, wherein the basic indicators are determined based on the current vehicle's actual speed and target speed, and the safety indicators are determined based on the relative distance, relative speed, collision time, and time distance between the current vehicle and other vehicles. If the cruise scenario is constant speed cruise or cornering deceleration cruise, then plan the parameter control indicators as basic indicators, comfort indicators, and scenario indicators.

[0071] In one embodiment of this application, the acquisition module 100 is further configured to acquire the user-preset driving speed, cornering speed reduction speed and reference speed based on other vehicles, wherein the reference speed is determined based on the target vehicle's speed and the distance between the current vehicle and the target vehicle; the minimum value among the preset driving speed, cornering speed reduction speed and reference speed is taken as the target speed of the current vehicle.

[0072] It should be noted that the foregoing explanation of the vehicle cruise control method embodiment also applies to the vehicle cruise control device of this embodiment, and will not be repeated here.

[0073] The vehicle cruise control device proposed in this application selects different planning control parameters based on the current vehicle's target speed and the cruise scenario to determine the vehicle's planned speed and acceleration values ​​in the current cruise scenario. It then generates a target acceleration based on these values, achieving precise control of acceleration during cruise. This approach features low computational complexity and low computational power consumption, enabling the handling of various complex operating conditions and scenarios, thus better meeting the needs of autonomous driving. Therefore, it solves the problems of related technologies, such as the inability of adaptive cruise control to achieve precise acceleration control, high computational complexity, and poor comfort.

[0074] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0075] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0076] When processor 402 executes the program, it implements the vehicle cruise control method provided in the above embodiments.

[0077] Furthermore, the vehicle also includes:

[0078] Communication interface 403 is used for communication between memory 401 and processor 402.

[0079] The memory 401 is used to store computer programs that can run on the processor 402.

[0080] The memory 401 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0081] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0082] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0083] Processor 402 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0084] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vehicle cruise control method described above.

[0085] This application also provides a computer program product, including: a computer program or instructions, which, when executed, implement the vehicle cruise control method as described in the above embodiments.

[0086] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0087] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0088] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0089] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0090] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0091] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A vehicle cruise control method, characterized in that, Includes the following steps: Obtain the current vehicle's target speed and cruising scenario; Based on the target vehicle speed and the cruise scenario, the planning parameter control index is determined, and the target vehicle speed, the cruise scenario, and the planning parameter control index are input into the speed planner. The speed planner outputs the speed planning value and acceleration planning value of the current vehicle. The target acceleration of the current vehicle is determined based on the speed planning value and the acceleration planning value, and the current vehicle is controlled to perform cruise action based on the target acceleration. The calculation formulas for the velocity planning value and the acceleration planning value are as follows: in, The speed planning value is... The acceleration planning value is... For current vehicle speed, t For time variables, For actual acceleration, The first coefficient to be determined is... , The second coefficient to be determined. , The target speed of the current vehicle. These are the planning parameters and control indicators; Different planning parameter control indicators are selected based on the basic scenario and the target vehicle speed after arbitration, including basic indicator costA, safety indicator costB, comfort indicator costC, and scenario indicator costD. Basic indicator costA is applied to all scenarios and is obtained based on the vehicle's speed and the target vehicle speed. Safety indicator costB is applied to the following cruise scenario and is obtained by comprehensively considering the relative distance, relative speed, collision time, and time distance between the vehicle and the obstacle vehicle. Comfort indicator costC is applied to all scenarios to improve comfort during scenario transitions. In addition to being obtained based on the basic scenario, scenario indicator costD further divides the following cruise scenario into sub-scenarios such as stop-and-go, start-and-go, vehicle cutting in front, vehicle cutting out front, and vehicle braking suddenly in front.

2. The vehicle cruise control method according to claim 1, characterized in that, Determining the target acceleration of the current vehicle based on the speed planning value and the acceleration planning value includes: Obtain the current vehicle's slope-compensated acceleration and actual speed; Calculate the speed error compensation acceleration based on the actual vehicle speed and the speed planning value; The target acceleration is determined based on the slope-compensated acceleration, the acceleration planning value, and the velocity error-compensated acceleration.

3. The vehicle cruise control method according to claim 1, characterized in that, The cruise scenarios include at least one of the following: constant speed cruise, following cruise, and curve deceleration cruise.

4. The vehicle cruise control method according to claim 3, characterized in that, The step of determining the planning parameter control index based on the target vehicle speed and the cruise scenario includes: If the cruise scenario is following the vehicle, then the planning parameter control indicators are basic indicators, comfort indicators, scenario indicators and safety indicators. The basic indicators are determined based on the actual speed of the current vehicle and the target speed, and the safety indicators are determined based on the relative distance, relative speed, collision time and time distance between the current vehicle and other vehicles. If the cruise scenario is constant speed cruise or cornering speed reduction cruise, then the planning parameter control index is the basic index, the comfort index, and the scenario index.

5. The vehicle cruise control method according to claim 1, characterized in that, The process of obtaining the target speed of the current vehicle includes: The system acquires the user-preset driving speed, cornering speed reduction speed, and reference speed based on other vehicles, wherein the reference speed is determined based on the target vehicle's speed and the distance between the current vehicle and the target vehicle. The minimum value among the preset driving speed, the deceleration speed on the curve, and the reference speed is taken as the target speed of the current vehicle.

6. A vehicle cruise control device, characterized in that, To implement the vehicle cruise control method according to any one of claims 1-5, comprising: The acquisition module is used to acquire the current vehicle's target speed and cruising scenario; The determination module is used to determine the planning parameter control index based on the target vehicle speed and the cruise scenario, input the target vehicle speed, the cruise scenario and the planning parameter control index into the speed planner, and the speed planner outputs the speed planning value and acceleration planning value of the current vehicle. The control module is used to determine the target acceleration of the current vehicle based on the speed planning value and the acceleration planning value, and to control the current vehicle to perform cruise actions based on the target acceleration.

7. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle cruise control method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they implement the vehicle cruise control method according to any one of claims 1-5.

9. A computer program product, comprising: A computer program or instruction, characterized in that, when executed, the computer program or instruction implements the vehicle cruise control method according to any one of claims 1-5.

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