Adaptive cruise redundancy control method and system and medium

Abstract

The invention relates to the technical field of automobile control, in particular to a self-adaptive cruise redundancy control method and system and a medium. The self-adaptive cruise redundancy control method comprises the steps that sensor sensing information and ultra-wideband sensing information are obtained and correspondingly collected based on a sensor and an ultra-wideband antenna; the sensor at least comprises a camera and a radar; when the vehicle is in an abnormal working condition, taking the ultra-wideband sensing information as supplementary information of the sensor sensing information to generate comprehensive sensing information; and controlling the vehicle to execute a self-adaptive cruise function based on the comprehensive sensing information. The reliability of the self-adaptive cruise function can be improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile control technology, and in particular to an adaptive cruise redundancy control method, system and medium. Background Art

[0002] With the continuous development of automobile technology, the automatic driving function has become an important part of modern automobiles. Among them, the Adaptive Cruise Control (ACC), as a key function of the advanced driver assistance system, can automatically adjust the speed and distance of the vehicle according to the situation of the vehicle in front, and rely on distance measurement without relying on images. Among them, this system usually uses radar or laser sensors to measure the distance and relative speed to the vehicle in front, thereby reducing the driver's operation on the accelerator and brake, greatly improving driving comfort and safety.

[0003] The ACC system currently on the market achieves perception functions through the combination of radar and camera. The core of this system is to achieve lane recognition and adaptive cruise functions through the fusion of camera signals and radar signals, and use images and electromagnetic wave signals to double confirm objects to ensure recognition accuracy.

[0004] Radar will perform differently under different conditions. In severe weather such as rain, snow and fog, radar performance will be affected to a certain extent, and may even malfunction.

[0005] Cameras are more affected by the weather. Bad weather such as rain, snow and fog, as well as camera failures, can have a serious impact on the camera's imaging quality. When it rains, as long as a drop of rain sticks to the lens, it will have a great impact on the camera; when it snows, the snowflakes on the lens will melt into water and block the camera. Especially in cold conditions, the melted snowflakes may freeze on the lens and form opaque obstacles; heavy fog will have a uniform impact on the camera's field of view, reducing its clarity and visibility. In addition, image recognition is greatly affected by the ambient light outside the car. In dark or flickering light and shadow environments, the reliability of camera recognition is severely limited. Summary of the invention

[0006] In view of the above technical problems, the present invention provides an adaptive cruise redundancy control method, system and medium, which at least solve one of the problems described in the above background technology.

[0007] A first aspect of the present invention provides an adaptive cruise redundancy control method, comprising: Acquire and respectively collect sensor perception information and ultra-wideband perception information based on a sensor and an ultra-wideband antenna, wherein the sensor includes at least a camera and a radar; When the vehicle is in an abnormal operating condition, the ultra-wideband sensing information is used as supplementary information of the sensor sensing information to generate comprehensive sensing information; The vehicle is controlled to perform an adaptive cruise function according to the comprehensive perception information.

[0008] As an optional implementation manner, a method for determining that a vehicle is in an abnormal operating condition includes: Obtain and determine the vehicle's operating condition based on weather type and / or sensor failure; When the weather type meets the preset weather type and / or the sensor fails, it is determined that the vehicle is in an abnormal operating condition.

[0009] As an optional implementation manner, when the vehicle is in an abnormal operating condition, controlling the vehicle to perform an adaptive cruise function according to the comprehensive perception information includes: When the weather type meets the preset weather type and / or the sensor fails, controlling the vehicle to perform the adaptive cruise function based on the comprehensive perception information; or When the weather type meets the preset weather type and / or the sensor fails, the vehicle is controlled to perform an adaptive cruise function based on the ultra-wideband perception information.

[0010] As an optional implementation, it also includes: When the vehicle is in normal operating conditions, the vehicle is controlled to perform the adaptive cruise control function based on sensor perception information.

[0011] As an optional implementation manner, a method for determining whether a vehicle is in a normal operating condition includes: Obtain and determine the vehicle's operating condition based on weather type and / or sensor failure; When the weather type does not meet the preset weather type and the sensor is not faulty, it is determined that the vehicle is in a normal operating condition.

[0012] A second aspect of the present invention provides an adaptive cruise control system comprising: A sensing unit, configured to respectively collect sensor sensing information and ultra-wideband sensing information based on a sensor and an ultra-wideband antenna, wherein the sensor includes at least a camera and a radar; A control unit, configured to receive and process the sensor perception information and the ultra-wideband perception information; and when the vehicle is in an abnormal operating condition, use the ultra-wideband perception information as supplementary information to the sensor perception information to generate comprehensive perception information and corresponding control instructions; An execution unit is used to execute the adaptive cruise function according to the control instruction.

[0013] As an optional implementation, the adaptive cruise control system further includes: a third-party APP and a vehicle diagnostic unit; wherein, The third-party APP is used to obtain weather types; The vehicle diagnostic unit is used to determine whether a sensor is faulty.

[0014] As an optional implementation, the control unit is further used to obtain and determine the working condition of the vehicle based on the weather type and / or whether the sensor is faulty; When the weather type meets the preset weather type and / or the sensor fails, it is determined that the vehicle is in an abnormal operating condition, and the sensor failure includes a camera or radar failure; When the weather type does not meet the preset weather type and the sensor is not faulty, it is determined that the vehicle is in a normal operating condition.

[0015] As an optional implementation, the control unit includes an intelligent driving domain controller integrating an ultra-wideband chip and a power amplifier.

[0016] As an optional implementation, the ultra-wideband antenna information collected by the perception unit is the relative position information of the vehicle relative to other vehicles, vulnerable road users and / or road traffic facilities. The control unit uses the sensor perception information as the main perception information, the ultra-wideband information as the auxiliary perception information, and the auxiliary perception information as the supplementary information of the main perception information to generate comprehensive perception information.

[0017] A third aspect of the present invention provides an electronic device, comprising: At least one processor; and at least one memory in communication with the processor, wherein: the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the adaptive cruise redundancy control method as described in the first aspect of the present invention.

[0018] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computer, the adaptive cruise redundancy control method as described in the first aspect of the present invention is executed.

[0019] The present invention uses UWB technology to more accurately identify the distance between vehicles in abnormal weather conditions or when traditional sensors fail, thereby better improving the reliability of the adaptive cruise function. In scenarios where the confidence of the perception unit is reduced, the reliability of the adaptive cruise function is at risk. By incorporating UWB technology as a redundant solution, the present invention can correct the information loss caused by traditional sensors, greatly improve the reliability and practical value of the adaptive cruise function, and better ensure the comfort of the driver and the safety of the passengers in the car. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1The figure is a flow chart of an adaptive cruise control redundancy method in an embodiment of the present invention.

[0021] Figure 2 The block diagram of an adaptive cruise control system according to an embodiment of the present invention is shown in FIG.

[0022] Figure 3 The block diagram of another adaptive cruise redundant control system in an embodiment of the present invention is shown in FIG.

[0023] Figure 4 The figure is a working schematic diagram of an adaptive cruise control system according to an embodiment of the present invention.

[0024] Figure 5 FIG. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0026] It should be understood that the terms "first", "second", and "third" etc. in the claims, specifications, and drawings of the present disclosure are used to distinguish different objects rather than to describe a specific order. The terms "include" and "comprise" used in the specification and claims of the present disclosure indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their collections. It should also be understood that the terms used in this disclosure specification are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0027] Ultra-wideband (UWB) technology is a wireless transmission technology that uses extremely short electromagnetic pulses to communicate over a wide frequency band. UWB technology has the characteristics of high data transmission rate, low power consumption, and strong anti-interference ability. In vehicle applications, UWB technology can be used for precise positioning and ranging, providing high-precision relative position information for adaptive cruise control systems. The working principle of UWB technology is to transmit and receive narrow pulse signals in the nanosecond or picosecond range. These signals are very narrow in the time domain, but occupy a wide bandwidth in the frequency domain. By measuring the propagation time of the signal, the UWB system can calculate the distance between the transmitter and the receiver.

[0028] like Figure 1 As shown, the first aspect of the present invention provides an adaptive cruise redundancy control method, comprising the following steps: Step 100: Obtain and collect sensor perception information and ultra-wideband perception information based on the sensor and the ultra-wideband antenna respectively.

[0029] Specifically, the sensor can be understood as a traditional sensor, that is, a sensor conventionally used in the prior art, which at least includes a camera and a radar.

[0030] In certain embodiments, the present invention can acquire and implement adaptive cruise control based on a variety of perception information, including traditional sensors (cameras and radars) and ultra-wideband antennas (UWB antennas). Traditional sensors can collect sensor perception information, such as image data and distance data of the vehicle in front; UWB antennas can collect ultra-wideband perception information, such as relative position information of adjacent vehicles.

[0031] Step S200: When the vehicle is in an abnormal operating condition, the ultra-wideband perception information is used as supplementary information to the sensor perception information to generate comprehensive perception information.

[0032] Step S300: Controlling the vehicle to perform an adaptive cruise function based on the comprehensive perception information.

[0033] Here, the present invention integrates UWB technology and can accurately identify the relative distance between vehicles in abnormal weather environments (such as rain, snow, fog, etc.) or when traditional sensors fail. This not only improves the reliability and stability of the adaptive cruise function in the autonomous driving system, but also enhances redundancy and safety.

[0034] In one embodiment of the present invention, a method for determining whether a vehicle is in an abnormal operating condition includes: Obtain and determine the vehicle's operating condition based on weather type and / or sensor failure; When the weather type meets the preset weather type and / or the sensor fails, it is determined that the vehicle is in an abnormal operating condition; When the weather type does not meet the preset weather type and the sensor is not faulty, the vehicle is judged to be in normal operating condition; Specifically, the weather type can be obtained through a built-in APP in the car computer, or other third-party APPs. The preset weather types include at least rain, snow, fog and other weather types. Technical personnel in this field can also expand the preset weather types according to actual conditions. For example, haze, hail weather types, etc. can also be included in the category of preset weather types.

[0035] Specifically, the vehicle diagnostic unit or on-board ECU will sense the working status of sensors such as cameras and radars in real time. If a fault occurs, it will detect the abnormality through the diagnostic program and report the fault.

[0036] In one embodiment of the present invention, when the vehicle is in a normal operating condition, the vehicle is controlled to perform an adaptive cruise function based on sensor perception information.

[0037] In one embodiment of the present invention, when the vehicle is in an abnormal operating condition, the ultra-wideband sensing information is used as supplementary information of the sensor sensing information to generate comprehensive sensing information, including: When the weather type meets the preset weather type and / or the sensor fails, the sensor perception information is used as the main perception information, the ultra-wideband information is used as the auxiliary perception information, and the auxiliary perception information is used as the supplementary information of the main perception information to generate comprehensive perception information.

[0038] In some embodiments, the present invention can use traditional sensors and UWB antennas to collect perception information at the same time. Traditional sensors can be used as the main source of information, while the information provided by the UWB antenna can be used as an auxiliary or supplement. This dual perception method can improve the reliability of the vehicle in harsh environmental conditions.

[0039] The present invention can selectively use these perception information according to whether the vehicle is in normal working condition or abnormal working condition. For example, under normal weather conditions and when the sensor is not faulty, it can mainly rely on the data of traditional sensors, while in bad weather (such as heavy fog, heavy rain or heavy snow) or when the sensor fails, it may rely more on the perception information provided by the UWB antenna. Under extreme conditions, when the weather is bad and the sensor fails, it can only rely on the perception information provided by the UWB antenna as a backup data source to ensure the continuous operation of the adaptive cruise function. This redundant design can enhance the robustness of the system and improve driving safety.

[0040] UWB technology is used for positioning, and its advantages are strong anti-interference ability, ability to work stably in complex tasks, more accurate positioning, low latency, and the ability to replace traditional sensors for position and distance determination, and to provide more accurate vehicle distance information in harsh environments.

[0041] In some embodiments, relative position information collected by UWB technology is used as auxiliary input information to assist the vehicle's control unit in achieving effective perception through the relative position information determined by UWB technology, that is, UWB antenna → control unit → execution unit, while avoiding the unscientific and irrational results of using only traditional perception circuits, that is, camera + radar perception → control unit.

[0042] By fusing multi-source perception information, the present invention can maintain accurate perception of surrounding vehicles in various complex environments, thereby improving the reliability and safety of the adaptive cruise function. This redundant design helps reduce the risk of failure of a single sensor and provides the vehicle with a more comprehensive environmental perception capability.

[0043] like Figure 2-Figure 4 As shown, the second aspect of the present invention provides an adaptive cruise redundancy control system, comprising: A sensing unit, used for respectively collecting sensor sensing information and ultra-wideband sensing information based on a sensor and an ultra-wideband antenna, wherein the sensor includes at least a camera and a radar; and the ultra-wideband antenna is a UWB antenna; A control unit, configured to receive and process the sensor perception information and the ultra-wideband perception information; and when the vehicle is in an abnormal operating condition, use the ultra-wideband perception information as supplementary information to the sensor perception information to generate comprehensive perception information and corresponding control instructions; An execution unit is used to execute the adaptive cruise function according to the control instruction.

[0044] The adaptive cruise redundancy system implemented by integrating UWB technology provided by the present invention improves the reliability of the adaptive cruise function under various working conditions.

[0045] In one embodiment of the present invention, the adaptive cruise control system further includes a third-party APP and a vehicle diagnostic unit; wherein, The third-party APP is used to obtain weather types; The vehicle diagnostic unit is used to determine whether the sensor is faulty.

[0046] In one embodiment of the present invention, the control unit is further used to obtain and determine the working condition of the vehicle based on the weather type and / or whether the sensor is faulty; When the weather type meets the preset weather type and / or the sensor fails, it is determined that the vehicle is in an abnormal operating condition, and the sensor failure includes a camera failure or a radar failure; When the weather type does not meet the preset weather type and the sensor is not faulty, the vehicle is judged to be in a normal operating condition. For example, when it is sunny and the sensor is operating well, the vehicle is judged to be in a normal operating condition.

[0047] When the vehicle is in normal operating conditions, the control unit generates corresponding control instructions based on the sensor perception information to control the execution unit to perform the adaptive cruise function.

[0048] For details, please continue to refer to Figure 3 In the adaptive cruise redundant control system provided by the present invention, its specific adaptive cruise solution includes two links: Link 1: camera + radar + control unit + execution unit; Link 2: UWB antenna + control unit + execution unit.

[0049] The above two links provided by the present invention can cover the reliability of the adaptive cruise function in most scenarios (weather environment and sensor failure).

[0050] For the perception unit, UWB antenna, UWB chip and PA amplifier are added, and link 1 and link 2 work simultaneously; under normal environmental conditions, link 1 is the main one and link 2 is the auxiliary one. Under the premise that the external environmental weather affects the perception information of link 1, the adaptive cruise function is realized through the supplementary information of link 2 to improve the functional reliability.

[0051] In one embodiment of the present invention, the UWB antenna information collected by the perception unit may be the relative position information of the vehicle relative to other vehicles, vulnerable road users and / or road traffic facilities. The control unit uses the sensor perception information as the main perception information and the ultra-wideband information as the auxiliary perception information, and processes these two types of information accordingly, verifies or uses the auxiliary perception information as supplementary information, and assists the control unit in realizing the adaptive cruise function.

[0052] In one embodiment of the present invention, the control unit includes an intelligent driving domain controller integrating an ultra-wideband chip, namely, a UWB chip, and a power amplifier, namely, a PA amplifier.

[0053] Please continue reading Figure 3 : Number ① is the link where the traditional sensor-camera provides perception information to the vehicle; Number ② is the link where the traditional sensor-radar provides perception information to the vehicle; Number ③ is a newly added link based on UWB technology, namely, the UWB antenna vehicle provides perception information. Among them, the intelligent driving domain controller in the control unit integrates the PA amplifier and UWB chip, which can provide relative position information more accurately.

[0054] Number ④ indicates that the control unit sends the processed information to the execution unit in the form of control instructions, and the execution unit executes the adaptive cruise function by controlling corresponding actuators such as throttle controller, brake controller, etc.

[0055] Specifically, the intelligent driving domain controller, also known as the autonomous driving domain controller (ADC), is a key component in the autonomous driving system. It is responsible for processing data from various vehicle sensors and making corresponding control decisions. It is an integrated high-performance computing platform. The technologies of the relevant domain controllers used in the present invention are all existing technologies and are mainly used for information processing.

[0056] Preferably, UWB technology has fewer restrictions on weather, time and geographical location, and can achieve high-precision positioning. In order to expand the range of UWB technology and obtain relative position information at longer distances, a UWB chip and a PA amplifier can be integrated on the ADC, where the UWB chip is responsible for processing the UWB signal, and the power amplifier can enhance the transmission power of the UWB signal. The integrated PA amplifier and UWB chip can provide more accurate relative position information for the control unit.

[0057] like Figure 4 As shown, in an application scenario of the present invention, after the vehicle enters the adaptive cruise mode, under normal working conditions, the traditional sensor perception information is used as the input of the control unit to complete the all-road adaptive cruise function; Under abnormal operating conditions, including abnormal weather conditions (rain, snow, fog, etc.) affecting the collection of sensor perception information and sensor failures affecting the collection of perception information, the relative position information collected by UWB technology is integrated as the auxiliary input of the control unit, and the traditional sensor perception information is relied upon as the input of the control unit to complete the all-road condition adaptive cruise function.

[0058] The present invention obtains vehicle relative position information in a wider geographical range through the cooperation of UWB antennas, UWB chips and PA amplifiers, thereby maintaining the effective operation of the adaptive cruise function under various complex working conditions, significantly reducing the risk of safety accidents, and improving user driving experience and driving safety.

[0059] The present invention adds a UWB antenna, a UWB chip and a PA amplifier, integrates relatively accurate relative position information, solves the accuracy of adaptive cruise control under abnormal working conditions through a redundant solution, and improves the reliability and intelligence of this function; The present invention adds an existing method for handling failure of perception information after combining with UWB technology, thereby better improving user driving safety and reducing safety accidents and hidden dangers.

[0060] like Figure 5 As shown, the third aspect of the present invention provides an electronic device, including: At least one processor; and at least one memory in communication with the processor, wherein: the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method described in any of the above embodiments.

[0061] A fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0062] It can be understood that computer-readable storage media may include: any entity or device capable of carrying a computer program, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc. A computer program includes a computer program code. The computer program code may be in source code form, object code form, an executable file, or some intermediate form, etc. A computer-readable storage medium may include: any entity or device capable of carrying a computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0063] In certain embodiments of the present invention, the electronic device may include a controller or a processor, and the controller is a single-chip microcomputer chip that integrates a processor, a memory, a communication module, etc. The processor may refer to a processor included in the controller. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.

[0064] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0065] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0066] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive cruise redundancy control method, characterized in that: include: Acquire and respectively collect sensor perception information and ultra-wideband perception information based on the sensor and the ultra-wideband antenna, wherein the sensor includes at least a camera and a radar; When the vehicle is in an abnormal operating condition, the ultra-wideband sensing information is used as supplementary information of the sensor sensing information to generate comprehensive sensing information; Based on the comprehensive perception information, the vehicle is controlled to perform an adaptive cruise function.

2. The adaptive cruise control redundancy method according to claim 1, characterized in that: Methods for determining that a vehicle is in an abnormal operating condition include: Obtain and determine the vehicle's operating condition based on weather type and / or sensor failure; When the weather type meets the preset weather type and / or the sensor fails, it is determined that the vehicle is in an abnormal operating condition.

3. The adaptive cruise control redundancy method according to claim 2, characterized in that: The controlling the vehicle to perform the adaptive cruise function according to the comprehensive perception information includes: When the weather type meets the preset weather type and / or the sensor fails, controlling the vehicle to perform the adaptive cruise function based on the comprehensive perception information; or When the weather type meets the preset weather type and / or the sensor fails, the vehicle is controlled to perform an adaptive cruise function based on the ultra-wideband perception information.

4. The adaptive cruise control redundancy method according to claim 1, characterized in that: Also includes: When the vehicle is in normal operating conditions, the vehicle is controlled to perform the adaptive cruise control function based on sensor perception information.

5. The adaptive cruise control redundancy method according to claim 3, characterized in that: Methods for judging whether the vehicle is in normal working condition include: Obtain and determine the vehicle's operating condition based on weather type and / or sensor failure; When the weather type does not meet the preset weather type and the sensor is not faulty, it is determined that the vehicle is in a normal operating condition.

6. An adaptive cruise control system characterized by: include: A sensing unit, configured to respectively collect sensor sensing information and ultra-wideband sensing information based on a sensor and an ultra-wideband antenna, wherein the sensor includes at least a camera and a radar; A control unit, configured to receive and process the sensor perception information and the ultra-wideband perception information; and when the vehicle is in an abnormal operating condition, using the ultra-wideband sensing information as supplementary information to the sensor sensing information to generate comprehensive sensing information and corresponding control instructions; The execution unit is used to control the vehicle to execute the adaptive cruise function according to the control instruction.

7. The adaptive cruise control system according to claim 6, characterized in that: Also includes: Third-party APP and vehicle diagnostic unit; among them, The third-party APP is used to obtain weather types; The vehicle diagnostic unit is used to determine whether a sensor is faulty.

8. The adaptive cruise control system according to claim 7, characterized in that: The control unit is also used to obtain and determine the working condition of the vehicle based on the weather type and / or whether the sensor is faulty; When the weather type meets the preset weather type and / or the sensor fails, it is determined that the vehicle is in an abnormal operating condition, and the sensor failure includes a camera or radar failure; When the weather type does not meet the preset weather type and the sensor is not faulty, it is determined that the vehicle is in a normal operating condition.

9. The adaptive cruise control system according to claim 6, characterized in that: The control unit includes an intelligent driving domain controller integrating an ultra-wideband chip and a power amplifier.

10. The adaptive cruise control system according to claim 6 or 9, characterized in that: The ultra-wideband antenna information collected by the perception unit is the relative position information of the vehicle relative to other vehicles, vulnerable road users and / or road traffic facilities. The control unit uses the sensor perception information as the main perception information, the ultra-wideband information as the auxiliary perception information, and the auxiliary perception information as the supplementary information of the main perception information to generate comprehensive perception information.

11. An electronic device, characterized in that: include: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the adaptive cruise redundancy control method as described in any one of claims 1 to 5.

12. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a computer, the adaptive cruise redundancy control method according to any one of claims 1 to 5 is executed.

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