Vehicle cruise control method, device and equipment and storage medium

Abstract

The invention provides a vehicle cruise control method, device and equipment and a storage medium, and belongs to the technical field of vehicle electronic control. The method comprises the steps that under the condition that a cruise function of a vehicle is started, radar information, camera information and navigation information of the vehicle are obtained in real time, and the radar information is used for indicating the distance between the vehicle and surrounding vehicles and the running speed of the surrounding vehicles; the camera information is used for indicating the position distribution condition of surrounding vehicles and the road surface condition of the road where the vehicles are located, the navigation information is used for indicating the traffic signal lamp condition of the road where the vehicles are located, and the surrounding vehicles are vehicles with the distance within a preset distance from the vehicles; and under the condition that at least one of the radar information, the camera information and the navigation information of the vehicle meets a preset condition, the cruise state of the vehicle is adjusted. According to the method, the influence of various road surface factors on vehicle cruise can be comprehensively considered, so that the cruise function of the vehicle can be suitable for complex traffic road conditions, and the driving comfort is improved.

Description

Technical Field

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

[0002] With the gradual popularization of automobiles and the advancement of technology, consumers' demand for vehicle functions is far from being satisfied with simple transportation functions. A more convenient and intelligent driving experience has become one of the important factors that consumers consider when purchasing a vehicle.

[0003] At present, more and more vehicles are equipped with adaptive cruise control function. Adaptive cruise control allows the vehicle to travel at a set fixed speed when there is no vehicle in front, and to follow the vehicle when there is a vehicle in front, maintaining a safe distance from the vehicle in front, thereby freeing the driver's feet as much as possible and reducing driving fatigue.

[0004] However, the existing adaptive cruise control function only uses a radar to detect the operating status of the vehicle in front, without considering the impact of other road factors on vehicle cruising, making the current adaptive cruise control function unsuitable for complex traffic conditions, thereby reducing the user's driving experience. Summary of the invention

[0005] The embodiments of the present application provide a vehicle cruise control method, device, equipment and storage medium, which can comprehensively consider the impact of various road factors on vehicle cruise, so that the vehicle's cruise function can be applied to complex traffic conditions and improve driving comfort. The technical solution is as follows:

[0006] In one aspect, a vehicle cruise control method is provided, the method comprising:

[0007] When the cruise function is activated on the vehicle, radar information, camera information and navigation information of the vehicle are obtained in real time, wherein the radar information is used to indicate the distance between the vehicle and surrounding vehicles and the driving speed of the surrounding vehicles, the camera information is used to indicate the position distribution of the surrounding vehicles and the road surface condition of the road where the vehicle is located, and the navigation information is used to indicate the traffic light condition of the road where the vehicle is located, and the surrounding vehicles are vehicles within a predetermined distance from the vehicle;

[0008] When at least one of the radar information, camera information and navigation information of the vehicle meets a preset condition, the cruise state of the vehicle is adjusted so that the vehicle travels according to the adjusted cruise state, and the cruise state includes at least one of a cruising speed and a cruising route.

[0009] In another aspect, a vehicle cruise control device is provided, the device comprising:

[0010] an acquisition module, for acquiring radar information, camera information and navigation information of the vehicle in real time when the cruise function of the vehicle is activated, wherein the radar information is used to indicate the distance between the vehicle and surrounding vehicles and the travel speed of the surrounding vehicles, the camera information is used to indicate the position distribution of the surrounding vehicles and the road surface condition of the road where the vehicle is located, and the navigation information is used to indicate the traffic light condition of the road where the vehicle is located, and the surrounding vehicles are vehicles within a predetermined distance from the vehicle;

[0011] An adjustment module is used to adjust the cruise state of the vehicle when at least one of the radar information, camera information and navigation information of the vehicle meets a preset condition, so that the vehicle travels according to the adjusted cruise state, and the cruise state includes at least one of a cruise speed and a cruise route.

[0012] In some embodiments, the adjustment module includes:

[0013] a first determining unit, configured to, when it is determined based on the radar information and the camera information that there is a first vehicle in the lane where the vehicle is located, determine, if a travel speed of the first vehicle is less than a preset speed, a distribution of vehicles in a lane adjacent to the lane based on the radar information and the camera information, the first vehicle being a vehicle located in front of the vehicle and within a predetermined distance from the vehicle;

[0014] A route adjustment unit is used to adjust the cruising route of the vehicle when the vehicle distribution in the adjacent lanes meets the preset condition.

[0015] In some embodiments, the route adjustment unit is used to control the vehicle to cut into the adjacent lane from the current lane when it is determined based on the vehicle distribution of the adjacent lane that there are no second vehicles and third vehicles in the adjacent lane, the second vehicle is a vehicle adjacent to the vehicle and within a predetermined distance from the vehicle, and the third vehicle is a vehicle located in front of the vehicle and within a predetermined distance from the vehicle; when it is determined based on the vehicle distribution of the adjacent lane that there is no second vehicle but there is the third vehicle in the adjacent lane, if the distance between the vehicle and the third vehicle is not less than the vehicle safety distance, the vehicle is controlled to cut into the adjacent lane from the current lane.

[0016] In some embodiments, the adjustment module is also used to determine the distance between the vehicle and the first vehicle based on the radar information when it is determined based on the radar information and the camera information that the first vehicle exists in the lane where the vehicle is located, if the driving speed of the first vehicle is not less than a preset speed; and control the cruising speed of the vehicle to be reduced when the distance is less than the vehicle safety distance.

[0017] In some embodiments, the adjustment module further includes:

[0018] a second determination unit, configured to determine, based on the radar information and the camera information, if there is no first vehicle in the lane where the vehicle is located, and if the vehicle enters a traffic section controlled by a target traffic light, determine, based on the navigation information, a display condition of the target traffic light, the target traffic light being any traffic light on the road, and the first vehicle being a vehicle located in front of the vehicle and within a predetermined distance from the vehicle;

[0019] A speed adjustment unit is used to adjust the cruising speed of the vehicle when the display of the target traffic light and the passage time of the vehicle meet the preset conditions, and the passage time is used to indicate the time required for the vehicle to pass through the intersection where the target traffic light is located.

[0020] In some embodiments, the speed adjustment unit is used to control the cruising speed of the vehicle to decrease until the vehicle stops when it is determined based on the display situation that the target traffic light displays a red light; and to control the cruising speed of the vehicle to decrease until the vehicle stops when the target traffic light displays a green light and the vehicle's passing time is greater than the remaining display time of the green light.

[0021] In some embodiments, the second determination unit is further used to determine the depth of water on the road surface and the flatness of the road surface in a preset area in front of the vehicle based on the camera information;

[0022] The speed adjustment unit is further used to control the cruising speed of the vehicle to decrease when the depth of water on the road surface is greater than a preset depth or the road surface flatness is lower than a preset value.

[0023] In another aspect, a control device is provided, which includes a main control module, the main control module includes a processor and a memory, the memory is used to store at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the vehicle cruise control method in the embodiment of the present application.

[0024] On the other hand, a computer-readable storage medium is provided, which is used to store at least one computer program, and the at least one computer program is loaded and executed by a processor to implement the vehicle cruise control method in the embodiment of the present application.

[0025] On the other hand, a computer program product is provided, including a computer program, wherein the computer program is executed by a processor to implement the vehicle cruise control method in the embodiment of the present application.

[0026] An embodiment of the present application provides a vehicle cruise control method, which obtains the vehicle's radar information, camera information and navigation information in real time during the vehicle cruising process, so that the vehicle's control device can analyze the vehicle's radar information, camera information and navigation information in real time, and then can adjust the vehicle's cruise state when it is determined that at least one of the above information meets a preset condition, thereby comprehensively considering the impact of various road factors on the vehicle's cruise, making the vehicle's cruise function applicable to complex traffic conditions and improving driving comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a schematic diagram of an implementation environment of a vehicle cruise control method provided according to an embodiment of the present application;

[0029] Figure 2 is a flow chart of a vehicle cruise control method provided according to an embodiment of the present application;

[0030] Figure 3 is a flow chart of another vehicle cruise control method provided according to an embodiment of the present application;

[0031] Figure 4 is a structural diagram of a vehicle cruise control system provided according to an embodiment of the present application;

[0032] Figure 5 is a block diagram of a vehicle cruise control device provided according to an embodiment of the present application;

[0033] Figure 6 is a block diagram of another vehicle cruise control device provided according to an embodiment of the present application;

[0034] Figure 7It is a structural schematic diagram of a control device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0036] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor are there any limitations on quantity and execution order.

[0037] In the present application, the term "at least one" means one or more, and the term "plurality" means two or more.

[0038] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0039] Figure 1 Schematic diagram of an implementation environment of a vehicle cruise control method provided according to an embodiment of the present application. Figure 1 The implementation environment includes a control device 101, a data acquisition device 102, and an execution device 103. The control device 101, the data acquisition device 102, and the execution device 103 are all located in the vehicle 100, and the control device 101 is connected to the execution device 103 via a CAN (Controller Area Network) bus, and the control device 101 is also connected to the data acquisition device 102 via a wired network or a wireless network.

[0040] In some embodiments, according to the purpose of the vehicle 100, the vehicle 100 may be a car, a bus, a truck, a taxi, etc. According to the power source of the vehicle 100, the vehicle 100 may be a fuel vehicle and a new energy vehicle, including a gasoline vehicle, a pure electric vehicle, a plug-in hybrid vehicle, a fuel cell electric vehicle, etc.

[0041] In some embodiments, the data acquisition device 102 includes a radar, a camera, and a domain controller of a cockpit control system, namely, a cockpit controller. The radar is used to collect distance and angle information of obstacles around the vehicle 100, the camera is used to collect image information of the front, back, left, and right sides of the vehicle 100, and the cockpit controller is used to collect navigation information of the vehicle 100 from a navigation map application.

[0042] In some embodiments, the execution device 103 includes a braking device, a steering device, and an acceleration device. The braking device is used to control the vehicle 100 to decelerate or stop, the steering device is used to control the driving direction of the vehicle 100 and change the vehicle's driving trajectory, and the acceleration device is used to control the acceleration of the vehicle 100.

[0043] In some embodiments, the control device 101 may be a domain controller of an intelligent driving system, which may control the execution device 103 to adjust the cruise state of the vehicle 100 according to the radar information, camera information, and navigation information received from the data acquisition device 102 when the cruise function of the vehicle 100 is activated.

[0044] Figure 2 is a flow chart of a vehicle cruise control method provided according to an embodiment of the present application, the method is executed by a control device of the vehicle, such as Figure 2 As shown, the vehicle cruise control method includes the following steps:

[0045] 201. When the cruise function of the vehicle is activated, the vehicle's control device obtains the vehicle's radar information, camera information and navigation information in real time.

[0046] In the embodiment of the present application, when the vehicle starts the cruise function, in order to make the cruise function applicable to complex traffic conditions during the vehicle's cruise, the vehicle's control device can not only obtain the vehicle's radar information through the vehicle's installed radar to detect the impact of the running state of the vehicle ahead on the vehicle's cruise, but also obtain the vehicle's camera information and navigation information through the vehicle's installed camera and cockpit controller to detect the impact of other road factors on the vehicle's cruise during the cruise. Among them, the radar information is used to indicate the distance between the vehicle and the surrounding vehicles and the driving speed of the surrounding vehicles, the camera information is used to indicate the location distribution of the surrounding vehicles and the road conditions of the road where the vehicle is located, and the navigation information is used to indicate the traffic light conditions of the road where the vehicle is located. The surrounding vehicles are vehicles within a predetermined distance from the vehicle.

[0047] Optionally, for the surrounding vehicles on the left and right sides of the vehicle, the predetermined distance can be 0.5 meters, 1 meter, 2 meters, etc., and for the surrounding vehicles in front and behind the vehicle, the predetermined distance can be 5 meters, 7 meters, 10 meters, etc., and this embodiment of the present application does not limit this.

[0048] 202. When at least one of the radar information, camera information and navigation information of the vehicle meets a preset condition, the control device adjusts the cruising state of the vehicle so that the vehicle travels according to the adjusted cruising state.

[0049] In an embodiment of the present application, the cruising state includes at least one of a cruising speed and a cruising route. The cruising speed is the speed of the vehicle during the cruising process, and the cruising route is the route of the vehicle during the cruising process. When at least one of the radar information, camera information, and navigation information of the vehicle meets the preset conditions, it indicates that the vehicle has at least one of the route adjustment requirements or speed adjustment requirements, so the control device of the vehicle can adjust at least one of the cruising speed and the cruising route of the vehicle. Wherein, when it is determined that the cruising route of the vehicle is adjusted, the control device can send a control instruction to the rotating device installed in the vehicle so that the rotating device can change the cruising route of the vehicle by changing the driving direction of the vehicle. When it is determined that the cruising speed of the vehicle is adjusted, the control device can send a control instruction to the braking device or the acceleration device installed in the vehicle so that the braking device can reduce the cruising speed of the vehicle, or the acceleration device can increase the cruising speed of the vehicle.

[0050] An embodiment of the present application provides a vehicle cruise control method, which obtains the vehicle's radar information, camera information and navigation information in real time during the vehicle cruising process, so that the vehicle's control device can analyze the vehicle's radar information, camera information and navigation information in real time, and then can adjust the vehicle's cruise state when it is determined that at least one of the above information meets a preset condition, thereby comprehensively considering the impact of various road factors on the vehicle's cruise, making the vehicle's cruise function applicable to complex traffic conditions and improving driving comfort.

[0051] Figure 3 is a flow chart of another vehicle cruise control method provided according to an embodiment of the present application, the method being executed by a control device of the vehicle, such as Figure 3 As shown, the vehicle cruise control method includes the following steps:

[0052] 301. When the cruise function of the vehicle is activated, the control device obtains the radar information, camera information and navigation information of the vehicle in real time.

[0053] In the embodiment of the present application, step 301 is the same as step 201 above, and will not be repeated here.

[0054] It should be noted that the cruising state of the vehicle includes at least one of the cruising speed and the cruising route. Accordingly, when it is determined to adjust the cruising route of the vehicle based on at least one of the radar information, the camera information, and the navigation information, the control device can execute the following steps 302-303; when it is determined to adjust the cruising speed of the vehicle based on at least one of the radar information, the camera information, and the navigation information, the control device can execute the following steps 304-305 or execute the following steps 306-307.

[0055] 302. When it is determined based on the radar information and camera information of the vehicle that there is a first vehicle in the lane where the vehicle is located, if the driving speed of the first vehicle is less than a preset speed, the control device determines the vehicle distribution of the adjacent lanes of the lane based on the radar information and the camera information.

[0056] In the embodiment of the present application, since the radar information is used to indicate the distance between the vehicle and the surrounding vehicles, and the camera information is used to indicate the position distribution of the surrounding vehicles, the control device can determine whether there is a vehicle located in front of the vehicle and within a predetermined distance from the vehicle in the lane where the vehicle is located, that is, the first vehicle, based on the radar information and camera information of the vehicle. When there is a first vehicle and the driving speed of the first vehicle is less than the preset speed, it indicates that the driving speed of the first vehicle is too slow, that is, the first vehicle will hinder the driving of the vehicle. In order to avoid hindering the driving of the vehicle due to following the first vehicle when the driving speed of the first vehicle is less than the preset speed, the control device needs to control the vehicle to change lanes. Accordingly, the control device can determine the vehicle distribution of the adjacent lanes of the lane where the vehicle is located based on the radar information and the camera information, and then determine whether the vehicle can be controlled to change lanes based on the vehicle distribution of the adjacent lanes.

[0057] 303. When the distribution of vehicles in adjacent lanes meets preset conditions, the control device adjusts the cruising route of the vehicle.

[0058] In the embodiment of the present application, when the distribution of vehicles in adjacent lanes meets the preset conditions, it indicates that the vehicle can be controlled to change lanes. Since the rotating device is used to control the driving direction of the vehicle and change the driving trajectory of the vehicle, the control device can send a control instruction to the rotating device, and the rotating device can adjust the cruising route of the vehicle based on the control instruction, thereby avoiding the situation where the driving speed of the first vehicle is less than the preset speed and the driving of the vehicle is hindered by following the first vehicle, which brings a more intelligent driving experience to the driver.

[0059] In some embodiments, the vehicle distribution conditions of adjacent lanes satisfying the preset conditions include the following two situations:

[0060] (1) When it is determined based on the distribution of vehicles in the adjacent lane that there is no second vehicle and no third vehicle in the adjacent lane, the vehicle is controlled to cut into the adjacent lane from the current lane. The second vehicle is a vehicle that is adjacent to the vehicle and is within a predetermined distance from the vehicle, and the third vehicle is a vehicle that is located in front of the vehicle and is within a predetermined distance from the vehicle. Accordingly, when there is neither a vehicle adjacent to the vehicle nor a vehicle in front of the vehicle in the adjacent lane, it indicates that when the control device controls the vehicle to change lanes, it will not be affected by the adjacent lane to other vehicles, that is, the vehicle can change lanes safely under the current road conditions, so the control device can control the vehicle to cut into the adjacent lane from the current lane to change the cruising route of the vehicle.

[0061] (2) When it is determined based on the distribution of vehicles in the adjacent lane that there is no second vehicle but there is a third vehicle in the adjacent lane, if the distance between the vehicle and the third vehicle is not less than the vehicle safety distance, the vehicle is controlled to cut into the adjacent lane from the current lane. In the case where there is no second vehicle but there is a third vehicle in the adjacent lane, it indicates that when the control device controls the vehicle to change lanes, it will be affected by the vehicle in front of the vehicle in the adjacent lane. Since the vehicle safety distance refers to the necessary interval distance that the rear vehicle maintains with the front vehicle during driving in order to avoid an accidental collision with the front vehicle, when the distance between the vehicle and the third vehicle is not less than the vehicle safety distance, if the control device controls the vehicle to change lanes, the vehicle will not collide with the third vehicle, so the control device can control the vehicle to cut into the adjacent lane from the current lane. The distance between the vehicle and the third vehicle is the longitudinal distance along the vehicle's driving direction.

[0062] Optionally, in the case where there is a second vehicle in the adjacent lane, the control device will not control the vehicle to change lanes even if the first vehicle obstructs the driving of the vehicle. Since the second vehicle is adjacent to the vehicle and is within a predetermined distance from the vehicle, if the vehicle is controlled to change lanes in the case where there is a second vehicle in the adjacent lane, the vehicle will collide with the second vehicle. Therefore, the control device determines that the vehicle cannot be controlled to change lanes at present, thereby ensuring driving safety.

[0063] Optionally, in the case where there is no second vehicle but there is a third vehicle on the adjacent lane, if the distance between the vehicle and the third vehicle is less than the vehicle safety distance, the control device will not control the vehicle to change lanes. In the case where there is no second vehicle but there is a third vehicle on the adjacent lane, it indicates that when the control device controls the vehicle to change lanes, it will be affected by the vehicle in front of the vehicle on the adjacent lane. Since the vehicle safety distance refers to the necessary interval distance that the rear vehicle maintains with the front vehicle during driving in order to avoid an accidental collision with the front vehicle, when the distance between the vehicle and the third vehicle is less than the vehicle safety distance, if the vehicle is controlled to change lanes, the vehicle will collide with the third vehicle. Therefore, the control device determines that the vehicle cannot be controlled to change lanes at present, thereby ensuring driving safety.

[0064] In some embodiments, when the vehicle ahead does not cause any obstruction to the vehicle's driving, the control device can control the vehicle to follow the vehicle ahead and keep a safe distance from the vehicle ahead. Accordingly, when it is determined based on radar information and camera information that there is a first vehicle in the lane where the vehicle is located, if the driving speed of the first vehicle is not less than the preset speed, the control device determines the distance between the vehicle and the first vehicle based on the radar information; when the distance is less than the vehicle's safe distance, the vehicle's cruising speed is controlled to decrease. Among them, when the driving speed of the first vehicle is not less than the preset speed, it indicates that the driving speed of the first vehicle is normal, that is, the first vehicle does not cause any obstruction to the vehicle's driving, so the control device does not need to control the vehicle to change lanes. In order to ensure that the vehicle and the first vehicle keep a safe distance during the following process, the control device can also timely control the vehicle's cruising speed to decrease when the distance between the two vehicles is less than the vehicle's safe distance, so as to avoid the collision between the vehicle and the first vehicle when the first vehicle is in emergency braking, thereby improving the driving safety.

[0065] 304. When it is determined based on the vehicle's radar information and camera information that there is no first vehicle in the lane where the vehicle is located, if the vehicle enters a traffic section controlled by a target traffic light, the control device determines the display status of the target traffic light based on the navigation information.

[0066] In the embodiment of the present application, similarly to the above step 302, the control device can determine whether there is a vehicle located in front of the vehicle and within a predetermined distance from the vehicle on the lane where the vehicle is located, that is, the first vehicle, based on the radar information and camera information of the vehicle. When the first vehicle does not exist, it indicates that there are no other vehicles that affect the driving of the vehicle on the current lane. In the case where the vehicle enters the traffic section controlled by the target traffic light, it indicates that the control device needs to control the vehicle to pass through the intersection where the target traffic light is located. Since the target traffic light is used to inform the vehicles in the traffic section controlled by it when they can pass and when they need to stop, so as to direct the traffic of the traffic section, the control device needs to determine whether the vehicle can safely pass through the intersection where the target traffic light is located according to the display of the target traffic light. Accordingly, in the case where the vehicle enters the traffic section controlled by the target traffic light, the control device can first determine the display of the target traffic light based on the navigation information. Among them, the target traffic light is any traffic light on the road.

[0067] 305. When the display of the target traffic light and the passing time of the vehicle meet the preset conditions, the control device adjusts the cruising speed of the vehicle.

[0068] In the embodiment of the present application, the travel time is used to indicate the time required for a vehicle to pass through the intersection where the target traffic light is located. When the display of the target traffic light and the travel time of the vehicle meet the preset conditions, it indicates that the current vehicle cannot safely pass through the intersection where the target traffic light is located, so the control device needs to control the vehicle to stop and wait at the intersection. Since the braking device is used to control the vehicle to slow down or stop, the control device can send a control instruction to the braking device, and the braking device can continuously reduce the cruising speed of the vehicle based on the control instruction to stop the vehicle. By timely adjusting the cruising speed of the vehicle when the display of the target traffic light and the travel time of the vehicle meet the preset conditions, the vehicle can be stopped by continuously reducing the cruising speed of the vehicle when the vehicle cannot safely pass through the intersection where the target traffic light is located, thereby ensuring that subsequent vehicles can safely pass through the intersection where the target traffic light is located, which not only improves the safety of driving, but also brings a more intelligent driving experience to the driver.

[0069] In some embodiments, the display condition of the target traffic light and the duration of the vehicle's passage satisfy the preset conditions, which include the following two conditions:

[0070] (1) When it is determined based on the display that the target traffic light shows a red light, the cruising speed of the vehicle is controlled to decrease until the vehicle stops. When the target traffic light shows a red light, it indicates that the intersection where the target traffic light is located is not passable at present, so the control device needs to control the cruising speed of the vehicle to decrease until the vehicle stops.

[0071] (2) When the target traffic light shows green and the vehicle's passing time is longer than the remaining display time of the green light, the vehicle's cruising speed is controlled to decrease until the vehicle stops. When the target traffic light shows green, it indicates that the intersection where the target traffic light is located can be passed. If the vehicle's passing time is longer than the remaining display time of the green light, it indicates that the vehicle cannot pass the intersection where the target traffic light is located before the green light ends. Therefore, the control device needs to control the vehicle's cruising speed to decrease until the vehicle stops.

[0072] Optionally, when the target traffic light displays green and the vehicle's passing time is not greater than the remaining display time of the green light, it indicates that the vehicle can pass the intersection where the target traffic light is located before the green light ends, so the control device does not need to adjust the vehicle's cruising speed.

[0073] Optionally, the passing time can be the time it takes for a vehicle to pass through the intersection where the target traffic light is located at the current driving speed, or it can be the time it takes for a vehicle to pass through the intersection where the target traffic light is located at the road speed limit. Since the road speed limit is the maximum driving speed of the road, the passing time is the shortest passing time of the vehicle. Accordingly, when the passing time of the vehicle at the current driving speed is not greater than the remaining display time of the green light, but the shortest passing time is greater than the remaining display time of the green light, the control device can also control the cruising speed of the vehicle to increase so that the vehicle can smoothly pass through the intersection where the target traffic light is located.

[0074] In some embodiments, when there is a first vehicle on a lane and the first vehicle enters a traffic section controlled by a target traffic light, the control device can determine the driving status of the first vehicle based on radar information; when the driving status, the distribution of vehicles in adjacent lanes, the display of the target traffic light, and the duration of the vehicle's passage meet preset conditions, the control device adjusts the vehicle's cruising route.

[0075] Wherein, in the case that there is a first vehicle on the current lane that also wants to pass through the intersection where the target traffic light is located, the control device needs to consider whether the first vehicle causes an obstruction to the driving of the vehicle. Accordingly, when it is determined based on the driving state of the first vehicle that the driving speed of the first vehicle is reduced, it indicates that the first vehicle begins to decelerate after entering the traffic section controlled by the target traffic light, that is, it indicates that the first vehicle wants to stop and wait at the intersection. In order to avoid the vehicle being unable to pass through the intersection where the target traffic light is located due to following the first vehicle, the control device can determine whether the vehicle can be controlled to change lanes at present according to the distribution of vehicles in adjacent lanes when it is determined based on the display of the target traffic light that the target traffic light displays a green light and the vehicle's passage time is not greater than the remaining display time of the green light. If the distribution of vehicles meets the preset conditions, it indicates that the vehicle can be controlled to change lanes at present, so the control device can promptly control the vehicle to cut into the adjacent lane from the current lane so that the vehicle can smoothly pass through the intersection where the target traffic light is located. The preset conditions are consistent with the preset conditions in the above step 303, and are not repeated here.

[0076] 306. The control device determines the depth of water on the road and the flatness of the road surface in a preset area in front of the vehicle based on the camera information.

[0077] In the embodiment of the present application, since the camera information is also used to indicate the road conditions of the road on which the vehicle is located, the control device can determine the depth of water accumulation and the road surface flatness in the preset area in front of the vehicle based on the camera information. The road surface flatness is used to indicate the flatness of the road surface in the preset area in front. The lower the road surface flatness, the lower the road surface flatness in the preset area in front, that is, the more rugged the road surface.

[0078] 307. When the depth of water on the road surface is greater than a preset depth or the road surface flatness is lower than a preset value, the control device controls the cruising speed of the vehicle to decrease.

[0079] In the embodiment of the present application, when the depth of the road water is greater than the preset depth or the road surface flatness is lower than the preset value, it indicates that the road water in the preset area in front of the vehicle is deep or the road surface is rough. Therefore, the vehicle can appropriately reduce the cruising speed of the vehicle to reduce the height of the water splashing on the road surface during cruising or reduce the degree of vehicle bumps, thereby improving the user's riding experience.

[0080] In order to facilitate understanding of the vehicle cruise control solution provided by the embodiment of the present application, the embodiment of the present application also provides a structural diagram of a vehicle cruise control system. Figure 4As shown, the vehicle cruise control system consists of a radar system, a camera system, an intelligent driving controller (control device), a cockpit controller, a navigation map, an execution system and a display screen. Among them, the vehicle's radar system can collect the distance and angle information of obstacles around the vehicle, and send the collected relevant information to the intelligent driving controller. The vehicle's camera system can collect the image information of the front, back, left and right sides of the vehicle, and transmit the collected image information to the intelligent driving controller. The cockpit controller can receive the navigation information sent by the navigation map, and transmit the navigation information to the intelligent driving controller. The intelligent driving controller can receive the distance and angle information of the radar system, the image signal of the camera system and the navigation information, and after comprehensive processing and judgment of the above information, send the instruction to control the vehicle to adjust the cruise state to the execution system. The execution system includes a braking system, a steering system and an acceleration system. Accordingly, the execution system can receive the control instructions sent by the intelligent driving controller to control the vehicle to change lanes or control the vehicle's cruising speed to decrease or increase. The intelligent driving controller can also send the information that needs to be displayed by the cruise function to the cockpit controller, and control the display screen to display relevant information through the cockpit controller.

[0081] An embodiment of the present application provides a vehicle cruise control method, which obtains the vehicle's radar information, camera information and navigation information in real time during the vehicle cruising process, so that the vehicle's control device can analyze the vehicle's radar information, camera information and navigation information in real time, and then can adjust the vehicle's cruise state when it is determined that at least one of the above information meets a preset condition, thereby comprehensively considering the impact of various road factors on the vehicle's cruise, making the vehicle's cruise function applicable to complex traffic conditions and improving driving comfort.

[0082] Figure 5 is a block diagram of a vehicle cruise control device provided according to an embodiment of the present application. The device is used to execute the steps of the above vehicle cruise control method. Figure 5 , the device comprises:

[0083] The acquisition module 501 is used to acquire radar information, camera information and navigation information of the vehicle in real time when the cruise function is activated in the vehicle, wherein the radar information is used to indicate the distance between the vehicle and surrounding vehicles and the driving speed of the surrounding vehicles, the camera information is used to indicate the position distribution of surrounding vehicles and the road surface condition of the road where the vehicle is located, and the navigation information is used to indicate the traffic light condition of the road where the vehicle is located, and the surrounding vehicles are vehicles within a predetermined distance from the vehicle;

[0084] The adjustment module 502 is used to adjust the cruise state of the vehicle when at least one of the vehicle's radar information, camera information and navigation information meets a preset condition, so that the vehicle travels according to the adjusted cruise state, and the cruise state includes at least one of the cruise speed and the cruise route.

[0085] In some embodiments, Figure 6 is a block diagram of another vehicle cruise control device provided according to an embodiment of the present application. Figure 6 , the adjustment module 502 includes:

[0086] A first determining unit 601 is configured to determine, when it is determined based on the radar information and the camera information that there is a first vehicle in the lane where the vehicle is located, if the travel speed of the first vehicle is less than a preset speed, based on the radar information and the camera information, a distribution of vehicles in adjacent lanes of the lane, the first vehicle being a vehicle located in front of the vehicle and within a predetermined distance from the vehicle;

[0087] The route adjustment unit 602 is used to adjust the cruising route of the vehicle when the distribution of vehicles in adjacent lanes meets a preset condition.

[0088] In some embodiments, the route adjustment unit 602 is used to control the vehicle to cut into the adjacent lane from the current lane when it is determined based on the vehicle distribution in the adjacent lane that there is no second vehicle and a third vehicle in the adjacent lane, the second vehicle is a vehicle adjacent to the vehicle and the distance from the vehicle is within a predetermined distance, and the third vehicle is a vehicle located in front of the vehicle and the distance from the vehicle is within a predetermined distance; when it is determined based on the vehicle distribution in the adjacent lane that there is no second vehicle but there is a third vehicle, if the distance between the vehicle and the third vehicle is not less than the vehicle safety distance, the vehicle is controlled to cut into the adjacent lane from the current lane.

[0089] In some embodiments, the adjustment module 502 is also used to determine the distance between the vehicle and the first vehicle based on the radar information when it is determined based on the radar information and the camera information that there is a first vehicle in the lane where the vehicle is located, if the driving speed of the first vehicle is not less than a preset speed; when the distance is less than the vehicle safety distance, control the cruising speed of the vehicle to be reduced.

[0090] In some embodiments, see Figure 6 , the adjustment module 502 further includes:

[0091] The second determination unit 603 is used to determine the display status of the target traffic light based on the navigation information when it is determined based on the radar information and the camera information that there is no first vehicle in the lane where the vehicle is located, if the vehicle enters the traffic section controlled by the target traffic light, the target traffic light is any traffic light on the road, and the first vehicle is a vehicle located in front of the vehicle and within a predetermined distance from the vehicle;

[0092] The speed adjustment unit 604 is used to adjust the cruising speed of the vehicle when the display of the target traffic light and the vehicle's travel time meet preset conditions. The travel time is used to indicate the time required for the vehicle to pass the intersection where the target traffic light is located.

[0093] In some embodiments, the speed adjustment unit 604 is used to control the cruising speed of the vehicle to decrease until the vehicle stops when it is determined based on the display situation that the target traffic light shows a red light; and to control the cruising speed of the vehicle to decrease until the vehicle stops when the target traffic light shows a green light and the vehicle's passing time is greater than the remaining display time of the green light.

[0094] In some embodiments, the second determination unit 603 is further used to determine the depth of water on the road surface and the flatness of the road surface in a preset area in front of the vehicle based on the camera information;

[0095] The speed adjustment unit 604 is also used to control the cruising speed of the vehicle to decrease when the depth of water on the road surface is greater than a preset depth or the road surface flatness is lower than a preset value.

[0096] An embodiment of the present application provides a vehicle cruise control device, which acquires the vehicle's radar information, camera information and navigation information in real time during the vehicle cruising process, so that the vehicle's control device can analyze the vehicle's radar information, camera information and navigation information in real time, and then can adjust the vehicle's cruise state when it is determined that at least one of the above information meets a preset condition, thereby comprehensively considering the impact of various road factors on the vehicle's cruise, making the vehicle's cruise function applicable to complex traffic conditions and improving driving comfort.

[0097] It should be noted that: the vehicle cruise control device provided in the above embodiment only uses the division of the above functional modules as an example when running an application program. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle cruise control device provided in the above embodiment and the vehicle cruise control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0098] Figure 7 It is a structural schematic diagram of a control device provided according to an embodiment of the present application.

[0099] Typically, the control device 700 includes: a main control module 701, a CAN interface 702, a hard-wire input interface 703, and a hard-wire output interface 704. The main control module 701 is connected to the CAN interface 702, the hard-wire input interface 703, and the hard-wire output interface 704, respectively.

[0100] The main control module 701 generally includes a processor and a memory. Among them, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the vehicle display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning. The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include a high-speed random access memory and a non-volatile memory, such as one or more disk storage devices and flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory is used to store at least one computer program, and the at least one computer program is used to be executed by the processor to implement the vehicle cruise control method provided by the method embodiment of the present application.

[0101] The CAN interface 702 may include a power CAN interface, a motor CAN interface, a brake CAN interface, a diagnostic CAN interface, etc. The power CAN interface is used to communicate with the power system of the vehicle, the motor CAN interface is used to communicate with the motor controller of the vehicle, the brake CAN interface is used to communicate with the brake system of the vehicle, and the diagnostic CAN interface is used to communicate with the diagnostic device.

[0102] The hard-wire input interface 703 is used to receive hard-wire control signals. The hard-wire output interface 704 is used to send control instructions to the electronic control components of the vehicle so that the electronic control components of the vehicle perform corresponding actions. The electronic control components of the vehicle include a power management system, a motor controller, an on-board charger, a body control system, etc.

[0103] The main control module 701 can communicate with the vehicle's power system module, motor controller and diagnostic equipment through the CAN interface 702, and generate control instructions based on the hard-wired control signal received by the hard-wired input interface 703 to send control instructions to the vehicle's electronic control components through the hard-wired output interface 704.

[0104] Those skilled in the art will understand that Figure 7 The structure shown in the figure does not constitute a limitation on the control device 700, and may include more or less components than those shown in the figure, or combine certain components, or adopt a different component arrangement.

[0105] The embodiment of the present application also provides a computer-readable storage medium, in which at least one computer program is stored, and the at least one computer program is loaded and executed by a processor of an electronic device to implement the operation performed by the electronic device in the vehicle cruise control method of the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0106] An embodiment of the present application further provides a computer program product, including a computer program, wherein the computer program is loaded and executed by a processor to implement the vehicle cruise control method as described in the above embodiment.

[0107] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0108] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle cruise control method, characterized in that: The method comprises: When the cruise function is activated on the vehicle, radar information, camera information and navigation information of the vehicle are obtained in real time, wherein the radar information is used to indicate the distance between the vehicle and surrounding vehicles and the driving speed of the surrounding vehicles, the camera information is used to indicate the position distribution of the surrounding vehicles and the road surface condition of the road where the vehicle is located, and the navigation information is used to indicate the traffic light condition of the road where the vehicle is located, and the surrounding vehicles are vehicles within a predetermined distance from the vehicle; When at least one of the radar information, camera information and navigation information of the vehicle meets a preset condition, the cruise state of the vehicle is adjusted so that the vehicle travels according to the adjusted cruise state, and the cruise state includes at least one of a cruising speed and a cruising route.

2. The method according to claim 1, characterized in that When at least one of the radar information, the camera information, and the navigation information of the vehicle satisfies a preset condition, adjusting the cruising state of the vehicle includes: In a case where it is determined based on the radar information and the camera information that there is a first vehicle in the lane where the vehicle is located, if the travel speed of the first vehicle is less than a preset speed, based on the radar information and the camera information, determine the distribution of vehicles in lanes adjacent to the lane, the first vehicle being a vehicle located in front of the vehicle and within a predetermined distance from the vehicle; When the vehicle distribution in the adjacent lanes meets the preset condition, the cruising route of the vehicle is adjusted.

3. The method according to claim 2, characterized in that When the distribution of vehicles in the adjacent lanes meets the preset condition, adjusting the cruising route of the vehicle includes: When it is determined based on the vehicle distribution of the adjacent lane that there is no second vehicle and a third vehicle in the adjacent lane, controlling the vehicle to cut into the adjacent lane from the current lane, the second vehicle being a vehicle adjacent to the vehicle and within a predetermined distance from the vehicle, and the third vehicle being a vehicle located in front of the vehicle and within a predetermined distance from the vehicle; When it is determined based on the vehicle distribution of the adjacent lane that the second vehicle does not exist in the adjacent lane but the third vehicle exists, if the distance between the vehicle and the third vehicle is not less than the vehicle safety distance, the vehicle is controlled to cut into the adjacent lane from the current lane.

4. The method according to claim 2, characterized in that: The method further comprises: In a case where it is determined based on the radar information and the camera information that the first vehicle exists in the lane where the vehicle is located, if the travel speed of the first vehicle is not less than a preset speed, determining a distance between the vehicle and the first vehicle based on the radar information; When the distance is less than the vehicle safety distance, the cruising speed of the vehicle is controlled to decrease.

5. The method according to claim 1, characterized in that When at least one of the radar information, the camera information, and the navigation information of the vehicle satisfies a preset condition, adjusting the cruising state of the vehicle includes: In a case where it is determined based on the radar information and the camera information that there is no first vehicle in the lane where the vehicle is located, if the vehicle enters a traffic section controlled by a target traffic light, based on the navigation information, the display status of the target traffic light is determined, the target traffic light is any traffic light on the road, and the first vehicle is a vehicle located in front of the vehicle and within a predetermined distance from the vehicle; When the display of the target traffic light and the passing time of the vehicle meet the preset conditions, the cruising speed of the vehicle is adjusted, and the passing time is used to indicate the time required for the vehicle to pass the intersection where the target traffic light is located.

6. The method according to claim 5, characterized in that When the display condition of the target traffic light and the passing time of the vehicle meet the preset conditions, adjusting the cruising speed of the vehicle includes: When it is determined based on the display condition that the target traffic light displays a red light, controlling the cruising speed of the vehicle to decrease until the vehicle stops; When the target traffic light displays a green light and the passage time of the vehicle is greater than the remaining display time of the green light, the cruising speed of the vehicle is controlled to decrease until the vehicle stops.

7. The method according to claim 1, characterized in that When at least one of the radar information, the camera information, and the navigation information of the vehicle satisfies a preset condition, adjusting the cruising state of the vehicle includes: Based on the camera information, determining the depth of water on the road and the flatness of the road surface in a preset area in front of the vehicle; When the depth of water on the road surface is greater than a preset depth or the road surface flatness is lower than a preset value, the cruising speed of the vehicle is controlled to decrease.

8. A vehicle cruise control device, characterized in that: The device comprises: an acquisition module, for acquiring radar information, camera information and navigation information of the vehicle in real time when the cruise function of the vehicle is activated, wherein the radar information is used to indicate the distance between the vehicle and surrounding vehicles and the travel speed of the surrounding vehicles, the camera information is used to indicate the position distribution of the surrounding vehicles and the road surface condition of the road where the vehicle is located, and the navigation information is used to indicate the traffic light condition of the road where the vehicle is located, and the surrounding vehicles are vehicles within a predetermined distance from the vehicle; An adjustment module is used to adjust the cruise state of the vehicle when at least one of the radar information, camera information and navigation information of the vehicle meets a preset condition, so that the vehicle travels according to the adjusted cruise state, and the cruise state includes at least one of a cruise speed and a cruise route.

9. A control device, characterized in that: The control device includes a main control module, which includes a processor and a memory, wherein the memory is used to store at least one computer program, and the at least one computer program is loaded by the processor and executes the vehicle cruise control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store at least one computer program, and the at least one computer program is used to execute the vehicle cruise control method according to any one of claims 1 to 7.

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