Vehicle cruise control methods, devices, equipment and storage media

Abstract

This application provides a vehicle cruise control method, device, equipment, and storage medium, belonging to the field of vehicle electronic control technology. The method includes: when the vehicle's cruise control function is activated, acquiring in real-time radar information, camera information, and navigation information of the vehicle. The radar information indicates the distance between the vehicle and surrounding vehicles and the speed of surrounding vehicles; the camera information indicates the positional distribution of surrounding vehicles and the road surface conditions of the road where the vehicle is located; and the navigation information indicates the traffic light conditions of the road where the vehicle is located. Surrounding vehicles are those within a predetermined distance of the vehicle. When at least one of the vehicle's radar information, camera information, and navigation information meets preset conditions, the vehicle's cruise control state is adjusted. This method comprehensively considers the impact of various road surface factors on vehicle cruise control, enabling the vehicle's cruise control function to be applicable to complex traffic conditions and improving driving comfort.

Description

Technical Field

[0001] This 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 Technology

[0002] With the increasing popularity of automobiles and the continuous advancement of technology, consumers' demands for vehicle functions have gone far beyond simple transportation. A more convenient and intelligent driving experience has become one of the important factors that consumers consider when purchasing a vehicle.

[0003] Currently, more and more vehicles are being equipped with adaptive cruise control. Adaptive cruise control allows a vehicle to travel at a set fixed speed when there are no vehicles in front, and to follow the vehicle in front when there are vehicles 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 taking into account the impact of other road factors on the vehicle's cruise control. This makes the current adaptive cruise control function unsuitable for complex traffic conditions, thereby reducing the user's driving experience. Summary of the Invention

[0005] This application provides a vehicle cruise control method, device, equipment, and storage medium that comprehensively considers the impact of various road surface factors on vehicle cruise control, enabling the vehicle's cruise function to be applicable to complex traffic conditions and improving driving comfort. The technical solution is as follows:

[0006] On the one hand, a vehicle cruise control method is provided, the method comprising:

[0007] When the vehicle's cruise control function is activated, the radar information, camera information, and navigation information of the vehicle are acquired in real time. The radar information is used to indicate the distance between the vehicle and surrounding vehicles and the speed of the surrounding vehicles. The camera information is used to indicate the location distribution of the surrounding vehicles and the road surface conditions of the road where the vehicle is located. The navigation information is used to indicate the traffic light conditions of the road where the vehicle is located. The surrounding vehicles are those within a predetermined distance of the vehicle.

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

[0009] On the other hand, a vehicle cruise control device is provided, the device comprising:

[0010] The acquisition module is used to acquire the vehicle's radar information, camera information, and navigation information in real time when the vehicle's cruise control function is activated. The radar information is used to indicate the distance between the vehicle and surrounding vehicles and the speed of the surrounding vehicles. The camera information is used to indicate the location distribution of the surrounding vehicles and the road surface conditions of the road where the vehicle is located. The navigation information is used to indicate the traffic light conditions of the road where the vehicle is located. The surrounding vehicles are those within a predetermined distance of the vehicle.

[0011] An adjustment module 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, wherein the cruise state includes at least one of cruise speed and cruise route.

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

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

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

[0015] In some embodiments, the route adjustment unit is configured to, when determining, based on the vehicle distribution in the adjacent lanes, that there are no second or third vehicles in the adjacent lanes, control the vehicle to switch from its current lane to the adjacent lane, wherein 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; and when determining, based on the vehicle distribution in the adjacent lanes, that there are no second vehicles in the adjacent lanes but there are third vehicles, if the distance between the vehicle and the third vehicle is not less than a safe distance, control the vehicle to switch from its current lane to the adjacent lane.

[0016] In some embodiments, the adjustment module is further configured to, 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 speed of the first vehicle is not less than a preset speed, determine the distance between the vehicle and the first vehicle based on the radar information; and if the distance is less than the vehicle's safe distance, control the vehicle's cruising speed to decrease.

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

[0018] The second determining unit is used to determine the display status of the target traffic light based on the navigation information if the vehicle enters a traffic section controlled by the target traffic light, when the first vehicle is not in the lane where the vehicle is located, based on the radar information and the camera information. 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.

[0019] The speed adjustment unit is used to adjust the cruising speed of the vehicle when the display status of the target traffic light and the vehicle's travel time meet the preset conditions. The travel 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 configured to, when determining based on the display situation that the target traffic light is red, control the vehicle's cruising speed to decrease until the vehicle stops; and when the target traffic light is green and the vehicle's travel time is greater than the remaining display time of the green light, control the vehicle's cruising speed to decrease until the vehicle stops.

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

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

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

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

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

[0026] This application provides a vehicle cruise control method. By acquiring the vehicle's radar information, camera information, and navigation information in real time during vehicle cruise, the vehicle's control equipment can analyze the vehicle's radar information, camera information, and navigation information in real time. Then, when it is determined that at least one of the above information meets the preset conditions, the vehicle's cruise state can be adjusted. This allows for a comprehensive consideration of the impact of various road factors on vehicle cruise, making the vehicle's cruise function applicable to complex traffic conditions and improving driving comfort. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0029] Figure 2 This is a flowchart of a vehicle cruise control method provided according to an embodiment of this application;

[0030] Figure 3 This is a flowchart of another vehicle cruise control method provided according to an embodiment of this application;

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

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

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

[0034] Figure 7This is a schematic diagram of the structure of a control device provided according to an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further 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 essentially the same function. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on the quantity or execution order.

[0037] In this application, the term "at least one" means one or more, and "multiple" 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, data stored, data displayed, 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 related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0039] Figure 1 This is a schematic diagram illustrating the implementation environment of a vehicle cruise control method according to an embodiment of this application. See also... 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. 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 can be an automobile, a bus, a truck, a taxi, etc. According to the power source of the vehicle 100, the vehicle 100 can be a gasoline-powered vehicle and a new energy vehicle, including gasoline vehicles, pure electric vehicles, plug-in hybrid electric vehicles, fuel cell electric vehicles, etc.

[0041] In some embodiments, the data acquisition device 102 includes a radar, a camera, and a domain controller for the cockpit control system, i.e., a cockpit controller. The radar is used to acquire distance and angle information from obstacles around the vehicle 100, the camera is used to acquire image information from the front, rear, left, and right sides of the vehicle 100, and the cockpit controller is used to acquire navigation information for 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 controls the vehicle 100 to decelerate or stop, the steering device controls the direction of travel of the vehicle 100 and changes its trajectory, and the acceleration device controls the acceleration of the vehicle 100.

[0043] In some embodiments, the control device 101 can be a domain controller of an intelligent driving system, which can control the execution device 103 to adjust the cruise state of the vehicle 100 based on the radar information, camera information and navigation information sent by the data acquisition device 102 when the vehicle 100 starts the cruise function.

[0044] Figure 2 This is a flowchart of a vehicle cruise control method according to an embodiment of this application. The method is executed by the vehicle's control device, such as... Figure 2 As shown, the vehicle cruise control method includes the following steps:

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

[0046] In this embodiment, when the vehicle's cruise control function is activated, to ensure its applicability to complex traffic conditions during cruise, the vehicle's control equipment can acquire radar information from the vehicle's radar installation to detect the impact of the operating status of vehicles ahead on the cruise control. It can also acquire camera information and navigation information from the vehicle's camera and cockpit controller to detect the impact of other road factors on the cruise control. Specifically, radar information indicates the distance between the vehicle and surrounding vehicles and the speed of surrounding vehicles; camera information indicates the positional distribution of surrounding vehicles and the road surface conditions of the road where the vehicle is located; and navigation information indicates the traffic light conditions of the road where the vehicle is located. Surrounding vehicles are those within a predetermined distance of the vehicle.

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

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

[0049] In this embodiment, the cruise state includes at least one of cruise speed and cruise route. Cruise speed is the vehicle's speed during cruise, and cruise route is the vehicle's route during cruise. When at least one of the vehicle's radar information, camera information, and navigation information meets preset conditions, it indicates that the vehicle has at least one of a route adjustment requirement or a speed adjustment requirement. Therefore, the vehicle's control device can adjust at least one of the vehicle's cruise speed and cruise route. Specifically, when it is determined that the vehicle's cruise route needs adjustment, the control device can send a control command to a rotating device installed in the vehicle, so that the rotating device can change the vehicle's cruise route by changing the vehicle's direction of travel. When it is determined that the vehicle's cruise speed needs adjustment, the control device can send a control command to a braking device or an acceleration device installed in the vehicle, so that the braking device can reduce the vehicle's cruise speed, or the acceleration device can increase the vehicle's cruise speed.

[0050] This application provides a vehicle cruise control method. By acquiring the vehicle's radar information, camera information, and navigation information in real time during vehicle cruise, the vehicle's control equipment can analyze the vehicle's radar information, camera information, and navigation information in real time. Then, when it is determined that at least one of the above information meets the preset conditions, the vehicle's cruise state can be adjusted. This allows for a comprehensive consideration of the impact of various road factors on vehicle cruise, making the vehicle's cruise function applicable to complex traffic conditions and improving driving comfort.

[0051] Figure 3 This is a flowchart of another vehicle cruise control method provided according to an embodiment of this application. The method is executed by the vehicle's control device, such as... Figure 3 As shown, the vehicle cruise control method includes the following steps:

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

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

[0054] It should be noted that the vehicle's cruise status includes at least one of cruise speed and cruise route. Accordingly, if it is determined that the vehicle's cruise route needs to be adjusted based on at least one of radar information, camera information, and navigation information, the control device can execute steps 302-303 below; if it is determined that the vehicle's cruise speed needs to be adjusted based on at least one of radar information, camera information, and navigation information, the control device can execute steps 304-305 below or execute steps 306-307 below.

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

[0056] In this embodiment, since radar information is used to indicate the distance between the vehicle and surrounding vehicles, and camera information is used to indicate the positional distribution of surrounding vehicles, the control device can determine, based on the vehicle's radar and camera information, whether there is a vehicle in front of the vehicle within a predetermined distance in its lane—that is, a first vehicle. When a first vehicle exists and its speed is less than a preset speed, it indicates that the first vehicle is traveling too slowly, meaning it will obstruct the vehicle's movement. To avoid obstructing the vehicle's movement by following the first vehicle when its speed 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 in adjacent lanes based on radar and camera information, and then determine whether it is currently possible to control the vehicle to change lanes based on the vehicle distribution in those adjacent lanes.

[0057] 303. When the vehicle distribution in adjacent lanes meets the preset conditions, the control equipment adjusts the vehicle's cruise route.

[0058] In this embodiment, when the vehicle distribution in adjacent lanes meets preset conditions, it indicates that the vehicle can be controlled to change lanes. Since the rotating device is used to control the vehicle's direction of travel and change its trajectory, the control device can send control commands to the rotating device. The rotating device can then adjust the vehicle's cruising route based on these commands. This avoids obstructing the vehicle's movement by following the first vehicle when its speed is lower than a preset speed, thus providing the driver with a more intelligent driving experience.

[0059] In some embodiments, the vehicle distribution in adjacent lanes meeting preset conditions includes the following two scenarios:

[0060] (1) When it is determined, based on the vehicle distribution in adjacent lanes, that there are no second or third vehicles in the adjacent lanes, the vehicle is controlled to change lanes from its current lane. The second vehicle is an adjacent vehicle within a predetermined distance, and the third vehicle is a vehicle in front of the vehicle within a predetermined distance. Correspondingly, when there are neither adjacent nor in front of the vehicle in the adjacent lanes, it indicates that the control device is not affected by other vehicles in the adjacent lanes when controlling the vehicle to change lanes. That is, the vehicle can safely change lanes under the current road conditions. Therefore, the control device can control the vehicle to change lanes from its current lane to the adjacent lane to alter the vehicle's cruising route.

[0061] (2) If, based on the vehicle distribution in adjacent lanes, it is determined that there is no second vehicle but a third vehicle in the adjacent lane, and the distance between the vehicle and the third vehicle is not less than the vehicle safety distance, the vehicle is controlled to change lanes from its current lane into the adjacent lane. The situation where there is no second vehicle but a third vehicle in the adjacent lane indicates that the control device will be affected by vehicles in front of the vehicle in the adjacent lane when controlling the vehicle to change lanes. Since the vehicle safety distance refers to the necessary distance maintained between a following vehicle and the vehicle in front to avoid an accidental collision, 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, and therefore the control device can control the vehicle to change lanes from its current lane into the adjacent lane. The distance between the vehicle and the third vehicle is the longitudinal distance along the vehicle's direction of travel.

[0062] Optionally, if a second vehicle is present in the adjacent lane, the control device will not control the vehicle to change lanes even if the first vehicle obstructs the vehicle's movement. This is because the second vehicle is adjacent to the first vehicle and within a predetermined distance; therefore, if the first vehicle were to change lanes in the presence of a second vehicle in the adjacent lane, a collision would occur. Thus, the control device determines that it cannot control the vehicle to change lanes at this time, thereby ensuring driving safety.

[0063] Optionally, if there is no second vehicle but a third vehicle in the adjacent lane, and the distance between the vehicle and the third vehicle is less than the safe distance, the control device will not control the vehicle to change lanes. The presence of a third vehicle in the adjacent lane indicates that the control device would be affected by vehicles in front of the vehicle in the adjacent lane when attempting to control a lane change. Since the safe distance refers to the necessary separation between a following vehicle and the vehicle in front to avoid a collision, if the distance between the vehicle and the third vehicle is less than the safe distance, controlling the vehicle to change lanes would result in a collision. Therefore, the control device determines that it cannot control the vehicle to change lanes at this time, thus ensuring driving safety.

[0064] In some embodiments, when the vehicle ahead does not obstruct the vehicle's movement, the control device can control the vehicle to follow the vehicle ahead and maintain a safe distance. Correspondingly, if a first vehicle is determined to be in the vehicle's lane based on radar and camera information, and if the first vehicle's speed is not less than a preset speed, the control device determines the distance between the vehicle and the first vehicle based on radar information; if the distance is less than a safe distance, the control device reduces the vehicle's cruising speed. When the first vehicle's speed is not less than the preset speed, it indicates that the first vehicle's speed is normal, meaning the first vehicle is not obstructing the vehicle's movement, and therefore the control device does not need to control the vehicle to change lanes. To ensure that the vehicle maintains a safe distance from the first vehicle during following, the control device can also promptly reduce the vehicle's cruising speed when the distance between the two vehicles is less than a safe distance, thereby avoiding a collision with the first vehicle during emergency braking and improving driving safety.

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

[0066] In this embodiment, similar to step 302 above, the control device can determine, based on the vehicle's radar and camera information, whether there is a vehicle in front of the vehicle within a predetermined distance in the lane where the vehicle is located, i.e., the first vehicle. If the first vehicle is not present, it indicates that there are no other vehicles in the current lane affecting the vehicle's movement. When the vehicle enters a traffic segment controlled by a 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 vehicles in its controlled traffic segment when they can pass and when they need to stop, thus directing traffic in that segment, the control device needs to determine whether the vehicle can safely pass through the intersection where the target traffic light is located based on the display of the target traffic light. Accordingly, when a vehicle enters a traffic segment controlled by a target traffic light, the control device can first determine the display of the target traffic light based on navigation information. Here, the target traffic light is any traffic light on the road.

[0067] 305. When the target traffic light display and the vehicle's travel time meet the preset conditions, the control equipment adjusts the vehicle's cruising speed.

[0068] In this embodiment, 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 status of the target traffic light and the vehicle's travel time meet preset conditions, it indicates that the current vehicle cannot safely pass through the intersection where the target traffic light is located. Therefore, 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's deceleration or stop, the control device can send control commands to the braking device, which can continuously reduce the vehicle's cruising speed based on these control commands to bring the vehicle to a stop. By adjusting the vehicle's cruising speed in a timely manner when the display status of the target traffic light and the vehicle's travel time meet preset conditions, the vehicle can be brought to a stop by continuously reducing its cruising speed when it cannot safely pass through the intersection where the target traffic light is located. This ensures that subsequent vehicles can safely pass through the intersection where the target traffic light is located, improving driving safety and providing drivers with a more intelligent driving experience.

[0069] In some embodiments, the display status of the target traffic light and the vehicle travel time meet the preset conditions, including the following two:

[0070] (1) When the target traffic light is red based on the display, the vehicle's cruising speed is reduced until the vehicle stops. Specifically, a red target traffic light indicates that passage through the intersection where the target traffic light is located is not permitted; therefore, the control device needs to reduce the vehicle's cruising speed until the vehicle stops.

[0071] (2) When the target traffic light is green and the vehicle's travel time exceeds the remaining display time of the green light, the vehicle's cruising speed is reduced until the vehicle stops. A green target traffic light indicates that passage through the intersection is permitted. If the vehicle's travel time exceeds the remaining display time of the green light, the vehicle cannot pass through the intersection before the green light ends; therefore, the control device must reduce the vehicle's cruising speed until the vehicle stops.

[0072] Optionally, if the target traffic light is green and the vehicle's passage time is no greater than the remaining display time of the green light, it indicates that the vehicle can pass through 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 passage duration can be the time it takes for a vehicle to pass through the intersection where the target traffic light is located at its current 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 speed allowed on that road, this passage duration is the shortest passage duration for the vehicle. Accordingly, if the passage duration at the current speed is not greater than the remaining display duration of the green light, but the shortest passage duration is greater than the remaining display duration of the green light, the control device can also control the vehicle's cruising speed to increase, so that the vehicle can smoothly pass through the intersection where the target traffic light is located.

[0074] In some embodiments, when a first vehicle is present in a lane and the first vehicle enters a traffic segment 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 vehicle distribution in adjacent lanes, the display status of the target traffic light, and the vehicle's travel time meet preset conditions, the control device adjusts the vehicle's cruise route.

[0075] In cases where a first vehicle also intends to pass through the intersection where the target traffic light is located is present in the current lane, the control device needs to consider whether the first vehicle is obstructing the vehicle's movement. Accordingly, if the first vehicle's speed decreases based on its driving status, it indicates that the first vehicle began to decelerate after entering the traffic segment controlled by the target traffic light, meaning it intends to stop and wait at the intersection. To avoid the vehicle being unable to pass through the intersection due to following the first vehicle, the control device, based on the target traffic light's display and determining that the target traffic light is green and the vehicle's passage time is no greater than the remaining green light duration, determines whether the vehicle can change lanes based on the vehicle distribution in adjacent lanes. If the vehicle distribution meets preset conditions, it indicates that the vehicle can change lanes, and the control device can promptly control the vehicle to move from the current lane into an adjacent lane so that the vehicle can smoothly pass through the intersection where the target traffic light is located. This preset condition is consistent with the preset condition in step 303 above and will not be repeated here.

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

[0077] In this embodiment, since the camera information is also used to indicate the road surface conditions of the road where the vehicle is located, the control device can determine the water depth and road surface smoothness in a preset area in front of the vehicle based on the camera information. Road surface smoothness indicates the degree of smoothness of the road surface in the preset area ahead. The lower the road surface smoothness, the lower the smoothness of the road surface in the preset area ahead, that is, the more rugged the road surface.

[0078] 307. When the water depth on the road surface is greater than the preset depth or the road surface smoothness is lower than the preset value, the control equipment will reduce the vehicle's cruising speed.

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

[0080] To facilitate understanding of the vehicle cruise control scheme provided in the embodiments of this application, a structural diagram of a vehicle cruise control system is also provided in the embodiments of this application. For example... 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. The vehicle's radar system collects distance and angle information of obstacles around the vehicle and sends this information to the intelligent driving controller. The vehicle's camera system collects images from the front, rear, left, and right sides of the vehicle and transmits this information to the intelligent driving controller. The cockpit controller receives navigation information from the navigation map and transmits it to the intelligent driving controller. The intelligent driving controller receives distance and angle information from the radar system, image signals from the camera system, and navigation information. After processing and judging this information, it sends commands to the execution system to adjust the vehicle's cruise control status. The execution system includes braking, steering, and acceleration systems. Correspondingly, the execution system receives control commands from the intelligent driving controller to control the vehicle to change lanes or increase / decrease its cruise speed. The intelligent driving controller also sends information that the cruise control function needs to display to the cockpit controller, which then controls the display screen to show the relevant information.

[0081] This application provides a vehicle cruise control method. By acquiring the vehicle's radar information, camera information, and navigation information in real time during vehicle cruise, the vehicle's control equipment can analyze the vehicle's radar information, camera information, and navigation information in real time. Then, when it is determined that at least one of the above information meets the preset conditions, the vehicle's cruise state can be adjusted. This allows for a comprehensive consideration of the impact of various road factors on vehicle cruise, making the vehicle's cruise function applicable to complex traffic conditions and improving driving comfort.

[0082] Figure 5 This is a block diagram of a vehicle cruise control device according to an embodiment of this application. The device is used to perform the steps of the above-described vehicle cruise control method, see [link to relevant documentation]. Figure 5 The device includes:

[0083] The acquisition module 501 is used to acquire the vehicle's radar information, camera information and navigation information in real time when the vehicle's cruise control function is activated. The radar information is used to indicate the distance between the vehicle and surrounding vehicles and the speed of surrounding vehicles. The camera information is used to indicate the location distribution of surrounding vehicles and the road surface conditions of the road where the vehicle is located. The navigation information is used to indicate the traffic light conditions of the road where the vehicle is located. Surrounding vehicles are vehicles within a predetermined distance from the vehicle.

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

[0085] In some embodiments, Figure 6 This is a block diagram of another vehicle cruise control device according to an embodiment of this application. See also... Figure 6 Adjustment module 502 includes:

[0086] The first determining unit 601 is used to determine the vehicle distribution in the adjacent lanes of the lane if the speed of the first vehicle is less than a preset speed, based on radar information and camera information, when it is determined that there is a first vehicle in the lane where the vehicle is located. The first vehicle is 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 vehicle's cruising route when the vehicle distribution in adjacent lanes meets preset conditions.

[0088] In some embodiments, the route adjustment unit 602 is configured to control a vehicle to switch from its current lane to an adjacent lane when it is determined, based on the vehicle distribution in adjacent lanes, that there are no second or third vehicles in the adjacent lanes, wherein 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; and when it is determined, based on the vehicle distribution in adjacent lanes, that there are no second vehicles in the adjacent lanes but there are third vehicles, if the distance between the vehicle and the third vehicle is not less than the vehicle safety distance, the vehicle is controlled to switch from its current lane to the adjacent lane.

[0089] In some embodiments, the adjustment module 502 is further configured to, 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 speed of the first vehicle is not less than a preset speed, determine the distance between the vehicle and the first vehicle based on radar information; and if the distance is less than the vehicle's safe distance, control the vehicle's cruising speed to decrease.

[0090] In some embodiments, see continue to see Figure 6 The adjustment module 502 also includes:

[0091] The second determining unit 603 is used to determine the display status of the target traffic light based on navigation information when the vehicle enters the traffic section controlled by the target traffic light if the vehicle enters the lane where the vehicle is located and the first vehicle is the vehicle located in front of the vehicle and the distance between the vehicle and the first vehicle is within a predetermined distance.

[0092] The speed adjustment unit 604 is used to adjust the cruising speed of the vehicle when the display status 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 through the intersection where the target traffic light is located.

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

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

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

[0096] This application provides a vehicle cruise control device that acquires vehicle radar information, camera information, and navigation information in real time during vehicle cruise. This enables the vehicle's control equipment to analyze the vehicle's radar information, camera information, and navigation information in real time. Furthermore, when at least one of the above information meets preset conditions, the device adjusts the vehicle's cruise state. This allows for a comprehensive consideration of the impact of various road surface factors on vehicle 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 embodiments is only illustrated by the division of the above functional modules when the application is running. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle cruise control device and the vehicle cruise control method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0098] Figure 7 This is a schematic diagram of the structure of a control device provided according to an embodiment of this application.

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

[0100] The main control module 701 typically includes a processor and memory. The processor may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor can be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the vehicle's screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to handle computational 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 high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, a non-transitory computer-readable storage medium in the memory is used to store at least one computer program, which is executed by a processor to implement the vehicle cruise control method provided in the method embodiments of this application.

[0101] The CAN interface 702 may include a powertrain CAN interface, a motor CAN interface, a brake CAN interface, and a diagnostic CAN interface. The powertrain CAN interface is used to communicate with the vehicle's powertrain system, the motor CAN interface is used to communicate with the vehicle's motor controller, the brake CAN interface is used to communicate with the vehicle's braking system, and the diagnostic CAN interface is used to communicate with diagnostic equipment.

[0102] The hard-wired input interface 703 is used to receive hard-wired control signals. The hard-wired output interface 704 is used to send control commands to the vehicle's electronic control components, causing the vehicle's electronic control components to perform corresponding actions. The vehicle's electronic control components include a power management system, a motor controller, an on-board charger, and a body control system.

[0103] The main control module 701 can communicate with the vehicle's powertrain module, motor controller, and diagnostic equipment via the CAN interface 702, and generate control commands based on the hard-wired control signals received by the hard-wired input interface 703, so as to send the control commands to the vehicle's electronic control components via the hard-wired output interface 704.

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

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

[0106] This application also provides a computer program product, including a computer program loaded and executed by a processor to implement the vehicle cruise control method as described in the above embodiments.

[0107] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

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

Claims

1. A vehicle cruise control method, characterized in that, The method, applied to a control device in a vehicle, includes: When the vehicle's cruise control function is activated, the radar information, camera information, and navigation information of the vehicle are acquired in real time. The radar information is used to indicate the distance between the vehicle and surrounding vehicles and the speed of the surrounding vehicles. The camera information is used to indicate the location distribution of the surrounding vehicles and the road surface conditions of the road where the vehicle is located. The navigation information is used to indicate the traffic light conditions of the road where the vehicle is located. The surrounding vehicles are those within a predetermined distance of the vehicle. Based on the camera information, the depth of water accumulation and the smoothness of the road surface in a preset area in front of the vehicle are determined; if the depth of water accumulation is greater than the preset depth or the smoothness of the road surface is lower than the preset value, the cruising speed of the vehicle is controlled to decrease. If, based on the radar information and the camera information, it is determined that a first vehicle exists in the lane where the vehicle is located, and if the speed of the first vehicle is less than a preset speed, the vehicle distribution in the adjacent lanes is determined based on the radar information and the camera information, wherein the first vehicle is a vehicle located in front of the vehicle and within a predetermined distance from the vehicle; if, based on the vehicle distribution in the adjacent lanes, it is determined that there is no second vehicle but a third vehicle exists in the adjacent lane, and if the distance between the vehicle and the third vehicle is not less than a safe distance, the vehicle is controlled to move from its current lane into the adjacent lane; wherein 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. If, based on the radar information and the camera information, it is determined that the first vehicle exists in the lane where the vehicle is located, and if the speed of the first vehicle is not less than a preset speed, the distance between the vehicle and the first vehicle is determined based on the radar information; if the distance is less than the vehicle's safe distance, the vehicle's cruising speed is controlled to decrease. If, based on the radar information and the camera information, it is determined that the first vehicle exists in the lane where the vehicle is located, and the first vehicle has entered the traffic section controlled by the target traffic light, then, based on the radar information, the driving status of the first vehicle is determined, and the target traffic light is any traffic light on the road; if, based on the driving status of the first vehicle, it is determined that the speed of the first vehicle has decreased, and the target traffic light is displaying a green light and the vehicle's passage time is not greater than the remaining display time of the green light, then the step of determining the vehicle distribution of the adjacent lanes of the lane is executed. If, based on the radar information and the camera information, it is determined that there is no first vehicle in the lane where the vehicle is located, and if the vehicle enters the traffic segment controlled by the target traffic light, the display status of the target traffic light is determined based on the navigation information; if the target traffic light is displaying a green light and the vehicle's travel time at its current speed is greater than the remaining display time of the green light, but the shortest travel time is not greater than the remaining display time of the green light, the vehicle's cruising speed is increased, and the shortest travel time is the time it takes for the vehicle to pass through the intersection where the target traffic light is located at the road speed limit.

2. The method according to claim 1, characterized in that, The method further includes: If, based on the vehicle distribution in the adjacent lanes, it is determined that neither the second vehicle nor the third vehicle exists in the adjacent lane, the vehicle is controlled to switch from its current lane into the adjacent lane.

3. The method according to claim 1, characterized in that, The method further includes: If, based on the displayed information, the target traffic light is determined to be red, the vehicle's cruising speed is controlled to decrease until the vehicle comes to a stop.

4. A vehicle cruise control device, characterized in that, Control devices used in vehicles, the device comprising: The acquisition module is used to acquire the vehicle's radar information, camera information, and navigation information in real time when the vehicle's cruise control function is activated. The radar information is used to indicate the distance between the vehicle and surrounding vehicles and the speed of the surrounding vehicles. The camera information is used to indicate the location distribution of the surrounding vehicles and the road surface conditions of the road where the vehicle is located. The navigation information is used to indicate the traffic light conditions of the road where the vehicle is located. The surrounding vehicles are those within a predetermined distance of the vehicle. An adjustment module is used to determine the depth of water accumulation and the smoothness of the road surface in a preset area in front of the vehicle based on the camera information; if the water accumulation depth is greater than a preset depth or the smoothness of the road surface is lower than a preset value, the module controls the vehicle's cruising speed to decrease; if a first vehicle is determined to exist in the lane where the vehicle is located based on the radar information and the camera information, and if the first vehicle's speed is less than a preset speed, the module determines the vehicle distribution in adjacent lanes based on the radar information and the camera information, wherein the first vehicle is a vehicle located in front of the vehicle and within a predetermined distance from the vehicle; and based on the vehicles in adjacent lanes... If the distribution determines that there is no second vehicle but a third vehicle in the adjacent lane, and if the distance between the vehicle and the third vehicle is not less than a safe distance, the vehicle is controlled to move from its current lane into the adjacent lane. The second vehicle is the vehicle adjacent to the vehicle and within a predetermined distance from it, and the third vehicle is the vehicle in front of the vehicle and within a predetermined distance from it. If, based on the radar information and the camera information, it is determined that there is a first vehicle in the lane where the vehicle is located, and if the speed of the first vehicle is not less than a preset speed, based on the radar information, the distance between the vehicle and the first vehicle is determined. The distance between them; if the distance is less than the vehicle's safe distance, control the vehicle's cruising speed to decrease; if it is determined based on the radar information and the camera information that the first vehicle exists in the lane where the first vehicle is located, and the first vehicle enters the traffic section controlled by the target traffic light, determine the driving status of the first vehicle based on the radar information, where the target traffic light is any traffic light on the road; if it is determined based on the driving status of the first vehicle that the first vehicle's speed decreases, and 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, execute the step of determining the vehicle's speed. The steps include: determining the vehicle distribution in adjacent lanes of the road; if, based on the radar information and the camera information, it is determined that there is no first vehicle in the lane where the vehicle is located, and if the vehicle enters the traffic segment controlled by the target traffic light, the display status of the target traffic light is determined based on the navigation information; if the target traffic light displays a green light and the vehicle's travel time at its current speed is greater than the remaining display time of the green light, but the shortest travel time is not greater than the remaining display time of the green light, the vehicle's cruising speed is increased, where the shortest travel time is the time it takes for the vehicle to pass through the intersection where the target traffic light is located at the road speed limit.

5. A control device, characterized in that, The control device includes a main control module, which includes a processor and a memory. The memory is used to store at least one computer program, which is loaded and executed by the processor according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store at least one computer program for performing the vehicle cruise control method according to any one of claims 1 to 3.

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