Acceleration control-based car following cruise method, device and equipment

Abstract

The invention discloses a vehicle following cruise method, device and equipment based on acceleration control, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining the speed of a vehicle, obtaining a target inter-vehicle distance according to the speed of the vehicle and a preset inter-vehicle time distance, and obtaining a relational graph of the speed of the vehicle and the target inter-vehicle distance; obtaining a relational graph of the inter-vehicle distance and the target relative speed according to the relational graph of the vehicle speed and the target inter-vehicle distance; obtaining the speed of a front vehicle and the actual distance between vehicles, and obtaining the actual relative speed according to the speed of the vehicle and the speed of the front vehicle; according to the actual relative speed, the actual vehicle-to-vehicle distance and a relation graph of the vehicle-to-vehicle distance and the target relative speed, vehicle following acceleration is obtained; and controlling the vehicle to carry out vehicle-following cruise according to the vehicle-following acceleration. The vehicle following acceleration is obtained by introducing the target inter-vehicle distance and the target relative speed, and the vehicle is controlled to carry out vehicle following cruise according to the vehicle following acceleration, so that the robustness of the vehicle following method is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle-following cruise method, device and equipment based on acceleration control. Background Art

[0002] With the development of the transportation industry, the safety and comfort of vehicle driving have received more and more attention. As an important part of the intelligent transportation system, the cruise control technology aims to help vehicles automatically maintain a safe distance from the vehicle in front during driving, thereby reducing the driver's operating burden and avoiding traffic accidents such as rear-end collisions to a certain extent. However, the existing acceleration-based cruise control algorithm is usually designed based on some assumptions and simplified models, such as assuming that the vehicle's driving environment is ideal and the vehicle's dynamic characteristics are linear. However, the actual traffic scenes and vehicle driving conditions are often very complex and there are large differences from these assumptions. When the actual situation does not match the model assumptions, the performance of the control algorithm will decline, resulting in weak robustness of the following system. Summary of the invention

[0003] The main purpose of the present application is to provide a vehicle-following cruise method, device and equipment based on acceleration control, aiming to solve the technical problem that the existing vehicle-following methods are generally not robust enough.

[0004] To achieve the above purpose, the present application proposes a vehicle-following cruise method based on acceleration control, and the vehicle-following cruise method based on acceleration control includes:

[0005] Obtaining the vehicle speed, obtaining the target vehicle distance according to the vehicle speed and the preset vehicle distance, and obtaining a relationship diagram between the vehicle speed and the target vehicle distance;

[0006] Obtaining a relationship diagram between the vehicle distance and the target relative speed according to the relationship diagram between the vehicle speed and the target vehicle distance;

[0007] Obtaining the speed of the preceding vehicle and the actual inter-vehicle distance, and obtaining the actual relative speed according to the speed of the present vehicle and the speed of the preceding vehicle;

[0008] Obtaining a vehicle-following acceleration according to the actual relative speed, the actual vehicle-to-vehicle distance, and a relationship diagram between the vehicle-to-vehicle distance and the target relative speed;

[0009] The vehicle is controlled to perform following cruise according to the following acceleration.

[0010] In one embodiment, the step of obtaining the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed includes:

[0011] If the actual relative speed is less than the target relative speed, and the actual relative speed is greater than the first preset relative speed, and the actual inter-vehicle distance is less than the first preset inter-vehicle distance, then obtaining a first slope value according to a relationship diagram between the inter-vehicle distance and the target relative speed;

[0012] By inputting the first slope value and the first preset relative speed, a first vehicle following acceleration is outputted, and the vehicle following acceleration is determined to be the first vehicle following acceleration.

[0013] In one embodiment, the step of obtaining the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed includes:

[0014] If the actual relative speed is less than the target relative speed, and the actual relative speed is less than the second preset relative speed, and the actual inter-vehicle distance is greater than the second preset inter-vehicle distance, then obtaining a second slope value according to a relationship diagram between the inter-vehicle distance and the target relative speed;

[0015] By inputting the second slope value and the second preset relative speed, a second following vehicle acceleration is outputted, and the following vehicle acceleration is determined to be the second following vehicle acceleration.

[0016] In one embodiment, if the actual relative speed is less than the target relative speed, and the actual relative speed is less than the second preset relative speed, and the actual vehicle distance is greater than the second preset vehicle distance, before the step of obtaining the second slope value according to the relationship diagram between the vehicle distance and the target relative speed, the step further includes:

[0017] defining a maximum value and a minimum value of the second preset relative speed;

[0018] Obtaining a predicted speed of a first front vehicle and a predicted speed of a second front vehicle;

[0019] By inputting the maximum value of the second preset relative speed, the minimum value of the second preset relative speed, the first front vehicle predicted speed and the second front vehicle predicted speed, a gradual slope diagram of the second preset relative speed is obtained;

[0020] According to the gradual slope diagram of the second preset relative speed, based on the speed of the preceding vehicle, a second preset relative speed is obtained.

[0021] In one embodiment, the step of obtaining the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed includes:

[0022] If the actual relative speed is greater than the target relative speed, obtaining a first slope value according to a relationship diagram between the vehicle distance and the target relative speed;

[0023] By inputting the actual vehicle distance, the target vehicle distance and the first slope value, a first updated target relative speed is outputted;

[0024] Obtaining a relationship diagram between the vehicle speed and the gain amount according to the somatosensory experience value, and obtaining a first gain amount according to the vehicle speed and the relationship diagram between the vehicle speed and the gain amount;

[0025] By inputting the actual relative speed, the first updated target relative speed, and the first gain, a third vehicle following acceleration is output, and the vehicle following acceleration is determined to be the third vehicle following acceleration.

[0026] In one embodiment, the step of obtaining the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed includes:

[0027] If the actual relative speed is less than the target relative speed, and the actual relative speed is less than the first preset relative speed, and the actual vehicle distance is less than the second preset vehicle distance, then obtaining a second slope value according to a relationship diagram between the vehicle distance and the target relative speed;

[0028] By inputting the actual vehicle distance, the target vehicle distance and the second slope value, a second updated target relative speed is outputted;

[0029] Obtaining a relationship diagram between the vehicle speed and the gain amount according to the somatosensory experience value, and obtaining a second gain amount according to the vehicle speed and the relationship diagram between the vehicle speed and the gain amount;

[0030] By inputting the actual relative speed, the second updated target relative speed and the second gain, a fourth vehicle following acceleration is output, and the vehicle following acceleration is determined to be the fourth vehicle following acceleration.

[0031] In one embodiment, after the step of outputting the first vehicle following acceleration, the method further includes:

[0032] Obtaining natural time by inputting the first slope value, the actual relative speed and the first preset relative speed;

[0033] After the natural time has passed, the following vehicle acceleration is switched from the first following vehicle acceleration to the third following vehicle acceleration or the fourth following vehicle acceleration according to the actual vehicle distance and the target vehicle distance.

[0034] In one embodiment, the step of obtaining a relationship diagram between the vehicle speed and the gain according to the somatosensory experience value comprises:

[0035] The minimum cruising speed, the maximum cruising speed, the minimum gain of the minimum cruising speed, the maximum gain of the maximum cruising speed, the current time distance between vehicles and the anti-shake offset are defined and input according to the somatosensory experience value, so as to output a relationship diagram between the vehicle speed and the gain.

[0036] In addition, to achieve the above purpose, the present application also proposes a vehicle-following cruise device based on acceleration control, and the vehicle-following cruise device based on acceleration control includes:

[0037] An acquisition module is used to acquire the vehicle speed, acquire the target vehicle distance according to the vehicle speed and the preset vehicle time interval, and obtain a relationship diagram between the vehicle speed and the target vehicle distance;

[0038] A determination module, configured to obtain a relationship diagram between the vehicle distance and the target relative speed according to the relationship diagram between the vehicle speed and the target vehicle distance;

[0039] The determination module is further used to obtain the speed of the preceding vehicle and the actual vehicle-to-vehicle distance, and to obtain the actual relative speed according to the speed of the own vehicle and the speed of the preceding vehicle;

[0040] The determination module is further configured to obtain a following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and a relationship diagram between the vehicle distance and the target relative speed;

[0041] The control module is used to control the vehicle to perform following cruise according to the following acceleration.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle following cruise device based on acceleration control, the device comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle following cruise method based on acceleration control as described above.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the acceleration control-based vehicle following cruise method as described above are implemented.

[0044] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the vehicle following cruise method based on acceleration control as described above are implemented.

[0045] One or more technical solutions proposed in this application obtain the speed of the vehicle, obtain the target vehicle distance according to the speed of the vehicle and the preset vehicle time interval, and obtain the relationship diagram between the speed of the vehicle and the target vehicle distance; obtain the relationship diagram between the vehicle distance and the target relative speed according to the relationship diagram between the speed of the vehicle and the target vehicle distance; obtain the speed of the preceding vehicle and the actual vehicle distance, and obtain the actual relative speed according to the speed of the vehicle and the speed of the preceding vehicle; obtain the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed; and control the vehicle to perform following vehicle cruising according to the following vehicle acceleration. By introducing the target vehicle distance and the target relative speed, the following vehicle acceleration is obtained, and the vehicle is controlled to perform following vehicle cruising according to the following vehicle acceleration, the robustness of the following vehicle method is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 A flow chart of the first embodiment of the vehicle following cruise method based on acceleration control provided by the present application;

[0049] Figure 2 A schematic diagram of the relationship between the vehicle speed and the target vehicle distance provided for the vehicle following cruise method based on acceleration control in this application;

[0050] Figure 3 A schematic diagram of the relationship between the vehicle distance and the target relative speed provided for the vehicle following cruise method based on acceleration control in this application;

[0051] Figure 4 A schematic diagram of a first slope value provided for the vehicle following cruise method based on acceleration control of the present application;

[0052] Figure 5 A schematic diagram of a second slope value provided for the vehicle following cruise method based on acceleration control of the present application;

[0053] Figure 6 A schematic diagram of the relationship between the vehicle speed and the gain provided for the vehicle following cruise method based on acceleration control in this application;

[0054] Figure 7A flow chart of the second embodiment of the vehicle following cruise method based on acceleration control provided by the present application;

[0055] Figure 8 A schematic diagram of a gradual slope of a second preset relative speed provided for the vehicle following cruise method based on acceleration control of the present application;

[0056] Fig. 9 A flow chart of the third embodiment of the vehicle following cruise method based on acceleration control provided by the present application;

[0057] Fig.10 This is a schematic diagram of the module structure of a vehicle-following cruise device based on acceleration control according to an embodiment of the present application;

[0058] Fig.11 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle following cruise method based on acceleration control in the embodiment of the present application.

[0059] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0060] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0061] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0062] The main solutions of the embodiments of this application are:

[0063] The algorithms of existing vehicle following methods are usually designed based on some assumptions and simplified models, such as assuming that the vehicle's driving environment is ideal and the vehicle's dynamic characteristics are linear. However, actual traffic scenes and vehicle driving conditions are often very complex and differ greatly from these assumptions. When the actual situation does not match the model assumptions, the performance of the control algorithm will decline, resulting in weak robustness of the vehicle following system.

[0064] The present application provides a solution by introducing a target vehicle-to-vehicle distance and a target relative speed to obtain a vehicle-following acceleration, and controlling the vehicle to perform a vehicle-following cruise according to the vehicle-following acceleration, thereby improving the robustness of the vehicle-following method.

[0065] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a car-following cruise device based on acceleration control, etc. The following takes the car-following cruise system based on acceleration control as an example to illustrate this embodiment and the following embodiments.

[0066] Based on this, the embodiment of the present application provides a vehicle following cruise method based on acceleration control, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle following cruise method based on acceleration control of the present application.

[0067] In this embodiment, the vehicle-following cruising method based on acceleration control includes steps S10 to S50:

[0068] Step S10: Acquire the vehicle speed, acquire the target vehicle distance according to the vehicle speed and the preset vehicle time interval, and obtain a relationship diagram between the vehicle speed and the target vehicle distance.

[0069] It should be noted that the headway refers to the time interval between the front and rear vehicles passing the same reference point in the same lane. It reflects the time distance relationship between the front and rear vehicles during driving and is an important indicator for measuring the longitudinal spacing of vehicles in traffic flow. The preset headway is a specific value set by the user for the headway, such as 2.5 seconds.

[0070] In addition, the vehicle-to-vehicle distance is the distance between the vehicle and the vehicle in front, and the target vehicle-to-vehicle distance is the stable and safe vehicle-to-vehicle distance that the vehicle needs to maintain with the vehicle in front during the following process.

[0071] In addition, when the vehicle is driving, the vehicle speed is the physical speed of the vehicle, which is usually constantly changing. Therefore, in dynamic driving, the proportional-integral-derivative (PID) algorithm can be used to dynamically obtain a relatively stable and safe target vehicle distance based on the vehicle speed and the preset vehicle time distance. It can be understood that the vehicle speed V can be obtained by dynamically obtaining a relatively stable and safe target vehicle distance. veh The distance d from the target workshop desire For easy understanding, please refer to the relationship diagram Figure 2 , Figure 2 The schematic diagram of the relationship between the vehicle speed and the target vehicle distance provided for the vehicle following cruise method based on acceleration control in this application needs to be explained as follows: Figure 2It is only a schematic diagram (the specific values ​​may vary). The tauGap in the figure is the preset workshop time distance, tauGapMin is the minimum value of the preset workshop time distance, and tauGapMax is the maximum value of the preset workshop time distance. The difference between the maximum and minimum values ​​of the preset workshop time distance is set between 1.0s and 1.9s based on experience.

[0072] Step S20: obtaining a relationship diagram between the vehicle speed and the target vehicle distance according to the relationship diagram between the vehicle speed and the target vehicle distance.

[0073] It should be noted that different target relative speeds will correspond to different vehicle distances, so the vehicle distance d and the target relative speed V are introduced in this application. rel-des For the relationship diagram, please refer to Figure 3 , Figure 3 A schematic diagram of the relationship between the vehicle distance and the target relative speed provided by the vehicle following cruise method based on acceleration control in this application, wherein, as shown in the following formula 1, the definition Figure 3 The corresponding curve f(d) of the relationship diagram shown is:

[0074] V rel-des =f(d) (Formula 1)

[0075] In addition, according to the relationship diagram between the vehicle speed and the target vehicle distance, a relationship diagram between the vehicle distance and the target relative speed can be obtained through a series of algorithms.

[0076] in addition, Figure 3 The δVraw shown is the actual relative speed V rel The relationship diagram corresponds to the difference of the curve f(d), which is specifically shown in the following formula 2:

[0077] δV raw =V rel -f(d) (Formula 2)

[0078] It is understandable that when δV raw When it is less than 0, it means that the actual relative speed is less than the target relative speed, and the vehicle needs to slow down. Correspondingly, when δV raw When it is greater than 0, it means that the actual relative speed is greater than the target relative speed, and the vehicle needs to accelerate.

[0079] Step S30: Obtain the speed of the preceding vehicle and the actual inter-vehicle distance, and obtain the actual relative speed according to the speed of the own vehicle and the speed of the preceding vehicle.

[0080] It should be noted that the front vehicle speed is the physical speed of the front vehicle. During the following process, the front vehicle speed is usually constantly changing, and the actual vehicle distance is usually constantly changing. Therefore, in this application, the front vehicle speed V at a certain moment is obtained.obj and the actual vehicle distance d, the actual relative speed V rel Defined as the front vehicle speed V obj Subtract the vehicle speed V veh , that is, the actual relative speed V rel It may be positive, zero, or negative, as shown in the following formula 3:

[0081] V rel =V obj -V veh (Formula 3)

[0082] In addition, the actual vehicle-to-vehicle distance refers to the actual physical distance from the vehicle in front in the same lane while driving on the road. In the field of autonomous driving, this concept is particularly important because it is directly related to the vehicle's safe following and collision prevention.

[0083] Understandably, when satisfied Figure 3 When the curve shown is taken from the figure, it can be considered that the relationship between vehicle distance and relative speed is appropriate.

[0084] Step S40: Obtaining the vehicle-following acceleration according to the actual relative speed, the actual vehicle-to-vehicle distance, and a relationship diagram between the vehicle-to-vehicle distance and the target relative speed.

[0085] It should be noted that the following vehicle acceleration refers to the physical acceleration that this application needs to control the vehicle and the vehicle in front to maintain a relatively safe and stable state.

[0086] In addition, in the first case of following a vehicle, you can refer to Figure 3 , if the actual relative speed is less than the target relative speed, that is, V rel is less than f(d), and the actual relative speed is greater than the first preset relative speed, that is, V rel Greater than Figure 3 V open , and the actual vehicle distance is less than the first preset vehicle distance, that is, d is less than Figure 3 V open The corresponding d open , this situation can be identified as the vehicle following the vehicle at a close distance, but when the speed of the vehicle in front is high, a corresponding anti-collision strategy needs to be formulated. Then, the first slope value is obtained according to the relationship diagram between the vehicle distance and the target relative speed, that is, according to Figure 3 Get the first slope value k open For ease of understanding, please refer to Figure 4 , Figure 4 A schematic diagram of the first slope value provided by the vehicle following cruise method based on acceleration control in this application, and k open The value is the negative reciprocal of the first time proportional constant. For example, if the value of the first time proportional constant is 2, then kopen The value is -0.5.

[0087] In addition, the time proportional constant is a parameter that characterizes the dynamic characteristics of the system. It describes the response speed of the system output (such as the acceleration of the vehicle) to the change of the input (such as the control command). In the following vehicle system, the time constant can affect the response time of the vehicle to the change of the acceleration of the preceding vehicle, thereby affecting the stability and safety of the vehicle. The first time proportional constant is the response time corresponding to the positive value (i.e. acceleration) of the system response acceleration. In addition, the first preset relative speed V open It is a fixed value set by the user based on experience.

[0088] In the first following vehicle situation, by inputting the first slope value and the first preset relative speed, a first following vehicle acceleration is output, and the following vehicle acceleration is determined to be the first following vehicle acceleration. Specifically, the calculation method is shown in the following formula 4:

[0089] a follow =k open *V open (Formula 4)

[0090] In addition, in the second case of following a vehicle, you can refer to Figure 3 , if the actual relative speed is less than the target relative speed, that is, V rel is less than f(d), and the actual relative speed is less than the second preset relative speed, that is, V rel Less than Figure 3 V close , and the actual vehicle distance is greater than the second preset vehicle distance, that is, d is greater than Figure 3 V close The corresponding d close , this situation can be identified as the vehicle following the vehicle at a long distance, but the speed of the vehicle in front is low, and a corresponding anti-collision strategy needs to be formulated. Then, the second slope value is obtained according to the relationship diagram between the vehicle distance and the target relative speed, that is, according to Figure 3 Get the second slope value k close For ease of understanding, please refer to Figure 5 , Figure 5 A schematic diagram of a second slope value provided by the vehicle following cruise method based on acceleration control in this application, and k close The value is the negative reciprocal of the second time proportional constant. For example, if the value of the second time proportional constant is 4, then k open The value is -0.25.

[0091] In addition, the second time proportional constant is the corresponding response time when the system response acceleration is negative (i.e., deceleration). In addition, the second preset relative speed V close It is a dynamic value, and its size is related to the speed of the vehicle ahead.

[0092] In the second following vehicle situation, the second slope value and the second preset relative speed are input to obtain the second following vehicle acceleration, and the following vehicle acceleration is determined to be the second following vehicle acceleration. Specifically, the calculation method is shown in the following formula 5:

[0093] a follow =k close *V close (Formula 5)

[0094] In addition, in the third case of following a vehicle, you can refer to Figure 3 , if the actual relative speed is greater than the target relative speed, that is, V rel If the actual vehicle distance d and the target vehicle distance d are greater than f(d), the first slope value is obtained according to the relationship diagram between the vehicle distance and the target relative speed; by inputting the actual vehicle distance d and the target vehicle distance d desire and the first slope value k open , output the first updated target relative speed V rel_target1 , specifically, the calculation method is shown in the following formula 6:

[0095] V rel_target1 =(dd desire )*k open (Formula 6)

[0096] In addition, the first updated target relative speed is the target relative speed that needs to be achieved after the acceleration output is controlled within this unit time, and then the relationship diagram between the vehicle speed and the gain is obtained based on the somatosensory experience value, and the first gain is obtained based on the vehicle speed and the relationship diagram between the vehicle speed and the gain, wherein the somatosensory experience value is an experience value for ensuring the riding comfort of users in the car, and the gain is a dynamic gain value obtained based on the somatosensory experience value. Therefore, a relationship diagram between the vehicle speed and the gain can be constructed, so as to obtain the corresponding first gain μ1 based on the vehicle speed, so as to further ensure the riding comfort of users in the car.

[0097] In the third following vehicle situation, by inputting the actual relative speed V rel , the first updated target relative speed V rel_target1 and the first gain μ1, the third following vehicle acceleration is outputted, and the following vehicle acceleration is determined to be the third following vehicle acceleration. Specifically, the calculation method is shown in the following formula 7:

[0098]

[0099] In addition, in the fourth following situation, you can refer to Figure 3 , if the actual relative speed is less than the target relative speed, that is, V relis less than f(d), and the actual relative speed is less than the first preset relative speed, that is, V rel Less than Figure 3 V open , and the actual vehicle distance is less than the second preset vehicle distance, that is, d is less than Figure 3 V close The corresponding d close , then the second slope value is obtained according to the relationship diagram between the vehicle distance and the target relative speed; by inputting the actual vehicle distance d, the target vehicle distance d desire and the second slope value k close , output the second updated target relative speed V rel_target2 , specifically, the calculation method is shown in the following formula 8:

[0100] V rel_target2 =(dd desire )*k close (Formula 8)

[0101] In addition, the second updated target relative speed is the target relative speed that needs to be achieved after the acceleration output is controlled within this unit time. Then, the relationship diagram between the vehicle speed and the gain is obtained based on the somatosensory experience value, and the second gain is obtained based on the vehicle speed and the relationship diagram between the vehicle speed and the gain. The corresponding second gain μ2 is obtained according to the vehicle speed to further ensure the riding comfort of users in the vehicle.

[0102] In addition, the step of obtaining the relationship diagram between the vehicle speed and the gain amount according to the somatosensory experience value described above includes: defining and inputting the minimum cruising speed, the maximum cruising speed, the minimum gain for the minimum cruising speed, the maximum gain for the maximum cruising speed, the current time distance between vehicles, and the anti-shake offset according to the somatosensory experience value, thereby outputting the relationship diagram between the vehicle speed and the gain amount.

[0103] Specifically, for the adaptive cruise control system, it is necessary to be sensitive while ensuring comfort. Therefore, it is necessary to set a control gain (loss) and meet the following conditions: large actual vehicle headway, output a small change to ensure comfort; small actual vehicle headway, output a large change to ensure safety; per unit time, the greater the speed, the greater the distance traveled, the smaller the relative time distance, and therefore the greater the relative gain; the control gain determines the strategy. Specifically, the following parameters are defined: minimum cruising speed VCurrentLow (dynamic speed, determined by the current vehicle speed); maximum cruising design speed VCruseHigh; minimum gain μMin for minimum cruising speed; maximum gain μMax for maximum cruising speed; current vehicle headway Tcurrent; anti-shake offset T_MaxOffset when setting the target vehicle headway; by designing the dynamic [VCurrentLow, VCruseHigh] in the speed range, the gain μ proportional function is obtained, as shown in the following formula 9:

[0104] μ=Max(Min(T current ,T set +T_MaxOffset),μMin) (Equation 9)

[0105] Thus, the relationship between the vehicle speed and the gain can be obtained. For details, please refer to Figure 6 , Figure 6 A schematic diagram of the relationship between the vehicle speed and the gain provided for the vehicle following cruise method based on acceleration control in this application.

[0106] In the fourth following vehicle situation, by inputting the actual relative speed and the second updated target relative speed V rel_target2 and the second gain μ2, the fourth following vehicle acceleration is outputted, and the following vehicle acceleration is determined to be the fourth following vehicle acceleration. Specifically, the calculation method is shown in the following formula 10:

[0107]

[0108] In addition, in the fifth case of following a vehicle, you can refer to Figure 3 , that is, when the actual vehicle distance and the actual relative speed meet Figure 3 When the curve shown is taken as follow Should be 0.

[0109] In addition, when there is no need for excessive acceleration to follow the vehicle, but in order to maintain the current vehicle speed, the minimum acceleration value is artificially set to a_CloseMin. It should be noted that the minimum acceleration value is usually artificially set based on experience.

[0110] Step S50: Control the vehicle to perform following cruise according to the following acceleration.

[0111] It should be noted that cruise control is a vehicle driving mode that combines the two functions of following and cruising. In this mode, the vehicle can not only automatically maintain a safe distance from the vehicle in front, but also travel at a set acceleration within a certain range.

[0112] This embodiment provides a method for following a vehicle based on acceleration control, which obtains the speed of the vehicle, obtains the target vehicle distance according to the speed of the vehicle and the preset vehicle time interval, and obtains a relationship diagram between the speed of the vehicle and the target vehicle distance; obtains a relationship diagram between the vehicle distance and the target relative speed according to the relationship diagram between the speed of the vehicle and the target vehicle distance; obtains the speed of the preceding vehicle and the actual vehicle distance, and obtains the actual relative speed according to the speed of the vehicle and the speed of the preceding vehicle; obtains the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed; and controls the vehicle to perform following vehicle cruising according to the following vehicle acceleration. By introducing the target vehicle distance and the target relative speed, the following vehicle acceleration is obtained, and the vehicle is controlled to perform following vehicle cruising according to the following vehicle acceleration, the robustness of the following vehicle method is improved.

[0113] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 7 , before step S40, steps A41 to A44 are included:

[0114] Step A41: Define the maximum value and the minimum value of the second preset relative speed.

[0115] It should be noted that, as described above, the second preset relative speed V close It is a dynamic value, so according to experience, the maximum value of the second preset relative speed is defined as P_VCloseMax, and the minimum value of the second preset relative speed is defined as P_VCloseMin.

[0116] Step A42: Obtain the predicted speed of the first leading vehicle and the predicted speed of the second leading vehicle.

[0117] It should be noted that the predicted speed of the preceding vehicle refers to the prediction of the speed change of the preceding vehicle in the future by various sensors and algorithms in the field of autonomous driving technology. The first predicted speed of the preceding vehicle is the predicted speed corresponding to the maximum value of the second preset relative speed, defined as P_VCloseToVObj1, and the second predicted speed of the preceding vehicle is the predicted speed corresponding to the minimum value of the second preset relative speed, defined as P_VCloseToVObj2.

[0118] Step A43: Obtain a gradual slope diagram of the second preset relative speed by inputting the maximum value of the second preset relative speed, the minimum value of the second preset relative speed, the first front vehicle predicted speed and the second front vehicle predicted speed.

[0119] It should be noted that, through the PID algorithm, by inputting the maximum value of the second preset relative speed, the minimum value of the second preset relative speed, the first front vehicle predicted speed and the second front vehicle predicted speed, the gradual slope diagram of the second preset relative speed can be obtained. Figure 8 , Figure 8 A schematic diagram of the gradual slope of the second preset relative speed provided for the vehicle following cruise method based on acceleration control in this application.

[0120] Step A44: Obtaining a second preset relative speed based on the speed of the preceding vehicle according to the gradual slope diagram of the second preset relative speed.

[0121] It can be understood that the current second preset relative speed can be obtained according to the gradual slope diagram of the second preset relative speed and according to the current speed of the preceding vehicle.

[0122] This embodiment defines the maximum value and minimum value of the second preset relative speed; obtains the predicted speed of the first preceding vehicle and the predicted speed of the second preceding vehicle; obtains the gradient slope diagram of the second preset relative speed by inputting the maximum value of the second preset relative speed, the minimum value of the second preset relative speed, the first preceding vehicle predicted speed and the second preceding vehicle predicted speed; obtains the second preset relative speed based on the gradient slope diagram of the second preset relative speed and the speed of the preceding vehicle. By obtaining the gradient slope diagram of the second preset relative speed, the dynamic second preset relative speed is reflected, and the output of the second following vehicle acceleration is further improved, thereby improving the adaptability of the following vehicle cruise method.

[0123] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the first and second embodiments can be referred to the above description, and will not be described in detail later. Fig. 9 , after step S40, steps B41 to B42 are also included:

[0124] Step B41: Obtain natural time by inputting the first slope value, the actual relative speed and the first preset relative speed.

[0125] It should be noted that if the actual relative speed is less than the target relative speed, and the actual relative speed is greater than the first preset relative speed, and the actual vehicle distance is less than the first preset vehicle distance, the actual acceleration in a certain vehicle following process is first defined as a, as shown in the following formula 11:

[0126] a=k open *V rel (Formula 11)

[0127] The natural time t is defined as the time when the actual relative speed reaches the first preset relative speed V open The time required is as shown in Equation 12:

[0128] V rel +at=V open (Formula 12)

[0129] It can be understood that the specific value of the natural time t can be calculated according to Formula 11 and Formula 12, and this value can be output as a reference for the anti-collision strategy when following a vehicle at a close distance but with a high speed.

[0130] Step B42: after the natural time has passed, the following vehicle acceleration is switched from the first following vehicle acceleration to the third following vehicle acceleration or the fourth following vehicle acceleration according to the actual vehicle distance and the target vehicle distance.

[0131] It should be noted that after the natural time has passed, the actual relative speed will reach the first preset relative speed, but the actual vehicle distance will also change accordingly. Therefore, according to the actual vehicle distance, the following acceleration should be switched from the first following acceleration to the third following acceleration or the fourth following acceleration. Specifically, when the actual vehicle distance is less than the target vehicle distance, the following acceleration is switched from the first following acceleration to the fourth following acceleration; when the actual vehicle distance is greater than the target vehicle distance, the following acceleration is switched from the first following acceleration to the third following acceleration.

[0132] In this embodiment, the natural time is obtained by inputting the first slope value, the actual relative speed and the first preset relative speed; after the natural time has passed, the following acceleration is switched from the first following acceleration to the third following acceleration or the fourth following acceleration according to the actual vehicle distance and the target vehicle distance. By obtaining the natural time and dynamically adjusting the following acceleration, the safety of the following cruise is further guaranteed.

[0133] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle-following cruise method based on acceleration control of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0134] This application also provides a vehicle following cruise device based on acceleration control, please refer to Fig.10 The vehicle-following cruise device based on acceleration control comprises:

[0135] The acquisition module 10 is used to acquire the vehicle speed, acquire the target vehicle distance according to the vehicle speed and the preset vehicle time distance, and obtain a relationship diagram between the vehicle speed and the target vehicle distance.

[0136] The determination module 20 is used to obtain a relationship diagram between the vehicle speed and the target vehicle distance according to the relationship diagram between the vehicle speed and the target vehicle distance.

[0137] The determination module 20 is further used to obtain the speed of the preceding vehicle and the actual vehicle-to-vehicle distance, and to obtain the actual relative speed according to the speed of the own vehicle and the speed of the preceding vehicle.

[0138] The determination module 20 is further configured to obtain the vehicle following acceleration according to the actual relative speed, the actual vehicle distance, and a relationship diagram between the vehicle distance and the target relative speed.

[0139] The control module 30 is used to control the vehicle to perform the following cruise according to the following acceleration.

[0140] The acceleration-controlled car-following cruise device provided by the present application adopts the acceleration-controlled car-following cruise method in the above-mentioned embodiment, which can solve the technical problem that the existing car-following methods are generally not robust. Compared with the prior art, the beneficial effects of the acceleration-controlled car-following cruise device provided by the present application are the same as the beneficial effects of the acceleration-controlled car-following cruise method provided by the above-mentioned embodiment, and the other technical features of the acceleration-controlled car-following cruise device are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0141] In one embodiment, the determination module 20 is further used to obtain a first slope value according to a relationship diagram between the vehicle distance and the target relative speed if the actual relative speed is less than the target relative speed, and the actual relative speed is greater than a first preset relative speed, and the actual vehicle distance is less than a first preset vehicle distance; by inputting the first slope value and the first preset relative speed, outputting a first following acceleration, and determining that the following acceleration is the first following acceleration.

[0142] In one embodiment, the determination module 20 is further used to obtain a second slope value according to a relationship diagram between the vehicle distance and the target relative speed if the actual relative speed is less than the target relative speed, and the actual relative speed is less than a second preset relative speed, and the actual vehicle distance is greater than a second preset vehicle distance; by inputting the second slope value and the second preset relative speed, a second following acceleration is output, and the following acceleration is determined to be the second following acceleration.

[0143] In one embodiment, the determination module 20 is also used to define the maximum and minimum values ​​of the second preset relative speed; obtain the predicted speed of the first leading vehicle and the predicted speed of the second leading vehicle; obtain a gradient slope diagram of the second preset relative speed by inputting the maximum value of the second preset relative speed, the minimum value of the second preset relative speed, the first predicted speed of the leading vehicle and the second predicted speed of the leading vehicle; and obtain the second preset relative speed based on the gradient slope diagram of the second preset relative speed and the speed of the leading vehicle.

[0144] In one embodiment, the determination module 20 is also used to obtain a first slope value according to the relationship diagram between the vehicle distance and the target relative speed if the actual relative speed is greater than the target relative speed; output a first updated target relative speed by inputting the actual vehicle distance, the target vehicle distance and the first slope value; obtain a relationship diagram between the vehicle speed and the gain according to the somatosensory experience value, and obtain a first gain according to the vehicle speed and the relationship diagram between the vehicle speed and the gain; output a third following acceleration by inputting the actual relative speed, the first updated target relative speed and the first gain, and determine that the following acceleration is the third following acceleration.

[0145] In one embodiment, the determination module 20 is also used to obtain a second slope value according to a relationship diagram between the vehicle distance and the target relative speed if the actual relative speed is less than the target relative speed, and the actual relative speed is less than a first preset relative speed, and the actual vehicle distance is less than a second preset vehicle distance; output a second updated target relative speed by inputting the actual vehicle distance, the target vehicle distance and the second slope value; obtain a relationship diagram between the vehicle speed and the gain according to the somatosensory experience value, and obtain a second gain according to the vehicle speed and the relationship diagram between the vehicle speed and the gain; output a fourth following acceleration by inputting the actual relative speed, the second updated target relative speed and the second gain, and determine that the following acceleration is the fourth following acceleration.

[0146] In one embodiment, the determination module 20 is further used to obtain the natural time by inputting the first slope value, the actual relative speed and the first preset relative speed; after the natural time has passed, the following vehicle acceleration is switched from the first following vehicle acceleration to the third following vehicle acceleration or the fourth following vehicle acceleration according to the actual vehicle distance and the target vehicle distance.

[0147] In one embodiment, the determination module 20 is also used to define and input the minimum cruising speed, the maximum cruising speed, the minimum gain of the minimum cruising speed, the maximum gain of the maximum cruising speed, the current time distance between vehicles and the anti-shake offset according to the somatosensory experience value, so as to output the relationship diagram between the vehicle speed and the gain.

[0148] The present application provides a vehicle-following cruise device based on acceleration control, and the vehicle-following cruise device based on acceleration control includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle-following cruise method based on acceleration control in the above-mentioned embodiment one.

[0149] Reference below Fig.11 , which shows a schematic diagram of the structure of a vehicle-following cruise control device suitable for implementing the embodiment of the present application. The vehicle-following cruise control device based on acceleration control in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.11 The acceleration-controlled vehicle-following cruise control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0150] like Fig.11As shown, the acceleration-controlled cruise control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM) 1004. Various programs and data required for the operation of the acceleration-controlled cruise control device are also stored in RAM 1004. The processing device 1001, ROM 1002, and RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the acceleration-controlled cruise control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an acceleration-controlled cruise control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0151] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0152] The acceleration-controlled car-following cruise device provided by the present application adopts the acceleration-controlled car-following cruise method in the above-mentioned embodiment, which can solve the technical problem that the existing car-following methods are generally not robust. Compared with the prior art, the beneficial effects of the acceleration-controlled car-following cruise device provided by the present application are the same as the beneficial effects of the acceleration-controlled car-following cruise method provided by the above-mentioned embodiment, and the other technical features of the acceleration-controlled car-following cruise device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0153] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0154] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0155] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle-following cruise method based on acceleration control in the above-mentioned embodiment.

[0156] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0157] The computer-readable storage medium may be included in the acceleration-controlled vehicle-following cruise control device; or may exist independently without being assembled into the acceleration-controlled vehicle-following cruise control device.

[0158] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the acceleration-controlled following cruise device, the acceleration-controlled following cruise device: obtains the speed of the vehicle, obtains the target vehicle-to-vehicle distance according to the speed of the vehicle and the preset vehicle-to-vehicle time distance, and obtains a relationship diagram between the speed of the vehicle and the target vehicle-to-vehicle distance; obtains a relationship diagram between the vehicle-to-vehicle distance and the target relative speed according to the relationship diagram between the speed of the vehicle and the target vehicle-to-vehicle distance; obtains the speed of the preceding vehicle and the actual vehicle-to-vehicle distance, and obtains the actual relative speed according to the speed of the vehicle and the speed of the preceding vehicle; obtains the following vehicle acceleration according to the actual relative speed, the actual vehicle-to-vehicle distance, and the relationship diagram between the vehicle-to-vehicle distance and the target relative speed; and controls the vehicle to perform following cruise according to the following vehicle acceleration.

[0159] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0160] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0161] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0162] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle-following cruise method based on acceleration control, and can solve the technical problem that the existing vehicle-following methods are generally not robust. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vehicle-following cruise method based on acceleration control provided by the above-mentioned embodiment, and will not be elaborated here.

[0163] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned acceleration control-based vehicle following cruise method.

[0164] The computer program product provided by the present application can solve the technical problem that the existing vehicle following methods are generally not robust enough. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the vehicle following cruise method based on acceleration control provided by the above embodiment, which will not be elaborated here.

[0165] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle following cruising method based on acceleration control, characterized in that: The vehicle-following cruising method based on acceleration control comprises: Obtaining the vehicle speed, obtaining the target vehicle distance according to the vehicle speed and the preset vehicle distance, and obtaining a relationship diagram between the vehicle speed and the target vehicle distance; According to the relationship diagram between the vehicle speed and the target vehicle distance, a relationship diagram between the vehicle distance and the target relative speed is obtained; Obtaining the speed of the preceding vehicle and the actual inter-vehicle distance, and obtaining the actual relative speed according to the speed of the own vehicle and the speed of the preceding vehicle; Obtaining a vehicle-following acceleration according to the actual relative speed, the actual vehicle-to-vehicle distance, and a relationship diagram between the vehicle-to-vehicle distance and the target relative speed; The vehicle is controlled to perform following cruise according to the following acceleration.

2. The method according to claim 1, characterized in that The step of obtaining the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed comprises: If the actual relative speed is less than the target relative speed, and the actual relative speed is greater than the first preset relative speed, and the actual inter-vehicle distance is less than the first preset inter-vehicle distance, then obtaining a first slope value according to a relationship diagram between the inter-vehicle distance and the target relative speed; By inputting the first slope value and the first preset relative speed, a first vehicle following acceleration is outputted, and the vehicle following acceleration is determined to be the first vehicle following acceleration.

3. The method according to claim 1, characterized in that The step of obtaining the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed comprises: If the actual relative speed is less than the target relative speed, and the actual relative speed is less than the second preset relative speed, and the actual inter-vehicle distance is greater than the second preset inter-vehicle distance, then obtaining a second slope value according to a relationship diagram between the inter-vehicle distance and the target relative speed; By inputting the second slope value and the second preset relative speed, a second following vehicle acceleration is outputted, and the following vehicle acceleration is determined to be the second following vehicle acceleration.

4. The method according to claim 3, characterized in that If the actual relative speed is less than the target relative speed, and the actual relative speed is less than the second preset relative speed, and the actual vehicle distance is greater than the second preset vehicle distance, before the step of obtaining the second slope value according to the relationship diagram between the vehicle distance and the target relative speed, the method further includes: defining a maximum value and a minimum value of the second preset relative speed; Obtaining a predicted speed of a first front vehicle and a predicted speed of a second front vehicle; By inputting the maximum value of the second preset relative speed, the minimum value of the second preset relative speed, the first front vehicle predicted speed and the second front vehicle predicted speed, a gradual slope diagram of the second preset relative speed is obtained; According to the gradual slope diagram of the second preset relative speed, based on the speed of the preceding vehicle, a second preset relative speed is obtained.

5. The method according to claim 1, characterized in that The step of obtaining the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed comprises: If the actual relative speed is greater than the target relative speed, obtaining a first slope value according to a relationship diagram between the vehicle distance and the target relative speed; By inputting the actual vehicle distance, the target vehicle distance and the first slope value, a first updated target relative speed is outputted; Obtaining a relationship diagram between the vehicle speed and the gain amount according to the somatosensory experience value, and obtaining a first gain amount according to the vehicle speed and the relationship diagram between the vehicle speed and the gain amount; By inputting the actual relative speed, the first updated target relative speed, and the first gain, a third vehicle following acceleration is output, and the vehicle following acceleration is determined to be the third vehicle following acceleration.

6. The method according to claim 1, characterized in that The step of obtaining the following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and the relationship diagram between the vehicle distance and the target relative speed comprises: If the actual relative speed is less than the target relative speed, and the actual relative speed is less than the first preset relative speed, and the actual vehicle distance is less than the second preset vehicle distance, then obtaining a second slope value according to a relationship diagram between the vehicle distance and the target relative speed; By inputting the actual vehicle distance, the target vehicle distance and the second slope value, a second updated target relative speed is outputted; Obtaining a relationship diagram between the vehicle speed and the gain amount according to the somatosensory experience value, and obtaining a second gain amount according to the vehicle speed and the relationship diagram between the vehicle speed and the gain amount; By inputting the actual relative speed, the second updated target relative speed and the second gain, a fourth vehicle following acceleration is output, and the vehicle following acceleration is determined to be the fourth vehicle following acceleration.

7. The method according to any one of claims 2 to 5, characterized in that After the step of outputting the first following vehicle acceleration, the method further includes: Obtaining natural time by inputting the first slope value, the actual relative speed and the first preset relative speed; After the natural time has passed, the following vehicle acceleration is switched from the first following vehicle acceleration to the third following vehicle acceleration or the fourth following vehicle acceleration according to the actual vehicle distance and the target vehicle distance.

8. The method according to claim 5 or 6, characterized in that The step of obtaining a relationship diagram between the vehicle speed and the gain according to the somatosensory experience value comprises: The minimum cruising speed, the maximum cruising speed, the minimum gain of the minimum cruising speed, the maximum gain of the maximum cruising speed, the current time distance between vehicles and the anti-shake offset are defined and input according to the somatosensory experience value, so as to output a relationship diagram between the vehicle speed and the gain.

9. A vehicle following cruise device based on acceleration control, characterized in that: The device comprises: An acquisition module is used to acquire the vehicle speed, acquire the target vehicle distance according to the vehicle speed and the preset vehicle time interval, and obtain a relationship diagram between the vehicle speed and the target vehicle distance; A determination module, configured to obtain a relationship diagram between the vehicle distance and the target relative speed according to the relationship diagram between the vehicle speed and the target vehicle distance; The determination module is further used to obtain the speed of the preceding vehicle and the actual vehicle-to-vehicle distance, and to obtain the actual relative speed according to the speed of the own vehicle and the speed of the preceding vehicle; The determination module is further configured to obtain a following vehicle acceleration according to the actual relative speed, the actual vehicle distance, and a relationship diagram between the vehicle distance and the target relative speed; The control module is used to control the vehicle to perform following cruise according to the following acceleration.

10. A vehicle-following cruise device based on acceleration control, characterized in that: The device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the acceleration-controlled vehicle following cruise method as described in any one of claims 1 to 8.

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