Control method and equipment of adaptive cruise control system (ACC)
By judging the dynamic lateral movement status of the vehicle in the adaptive cruise control system ACC and switching the lane model when necessary, the problem of goal selection stability and comfort during lane change is solved, and a more stable goal selection is achieved and higher customer satisfaction.
Patent Information
- Application Number
- CN202311013108.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-11
- Publication Date
- 2025-02-18
AI Technical Summary
In the adaptive cruise control system ACC, when the vehicle is ready to change lanes to the outside lane, there is a delay in the sensor detection and lane module reconstruction process, making it difficult for the ACC to stably select objects in front and follow, which leads to loss of targets and uncomfortable control emergency. move.
By receiving the turn-related information of the vehicle, it is determined whether the dynamic lateral movement is being carried out. If so, the second lane model is used to replace the first lane model for target selection. The first lane model is used in the case where the vehicle does not undergo dynamic lateral movement.
It improves the target selection processing capability of the adaptive cruise control system ACC, ensures the stability and loss of target selection, improves the longitudinal driving comfort experience of the driving assistance system, and improves customer satisfaction.
Smart Images
Figure CN119459694A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the control field of an adaptive cruise control system ACC, and more specifically, to a control method and device for an adaptive cruise control system ACC, a computer storage medium, a computer program product, and an advanced driver assistance system ADAS. Background Art
[0002] As the main basic component of the advanced driver assistance system ADAS, the main purpose of the adaptive cruise control system ACC is to be able to select the moving vehicle in front of the vehicle as the primary target (also called the "target vehicle"), and to control the longitudinal motion state and following distance of the vehicle in real time and comfortably according to the motion state of the primary target.
[0003] However, in the current driver assistance system, when the vehicle is preparing to change lanes to the outer lane before entering the highway exit ramp, due to a certain delay in sensor detection and lane module reconstruction, when the vehicle and the object in front change lanes to the adjacent lane at the same time, it is difficult for the adaptive cruise control system ACC to stably select the object in front and smoothly follow it to the target lane. This will cause the ACC target to be lost, resulting in uncomfortable control jerks, and will also make the driver fear and distrust the driver assistance system. Summary of the invention
[0004] According to one aspect of the present application, a control method for an adaptive cruise control system ACC is provided, the method comprising: receiving turning-related information of a vehicle when executing the function of the adaptive cruise control system ACC; judging whether the vehicle is performing dynamic lateral movement based on the turning-related information; and using a second lane model to replace a first lane model for target selection when the vehicle is performing dynamic lateral movement, wherein the first lane model is used for a situation where the vehicle is not performing dynamic lateral movement.
[0005] As a supplement or alternative to the above solution, in the above method, the turn-related information includes: whether the lane change indicator switch is turned on, the steering angle, and one or more of the turning curvature of the vehicle.
[0006] As a supplement or replacement for the above-mentioned scheme, in the above-mentioned method, judging whether the vehicle is performing dynamic lateral movement based on the turning-related information includes: when the vehicle speed of the vehicle satisfies a first threshold range and the turning curvature of the vehicle is greater than a second threshold or the lane change indicator switch is turned on or the steering angle is greater than a third threshold, it is determined that the vehicle is performing dynamic lateral movement, wherein the turning curvature is determined based on the vehicle speed and yaw angular velocity of the vehicle.
[0007] As a supplement or replacement for the above-mentioned scheme, in the above-mentioned method, the first lane model is a normal lane model and the second lane model is a special case lane model, and the second lane model is used to replace the first lane model for target selection, including: selecting the object closest to the vehicle in the rectangular frame area in front of the vehicle as the target vehicle, wherein the width of the rectangular frame area covers the lane where the vehicle is located and the target change lane.
[0008] As a supplement or alternative to the above solution, in the above method, the width of the rectangular frame area is 8 meters and the length is 100 meters.
[0009] As a supplement or replacement for the above-mentioned scheme, the above-mentioned method also includes: when the vehicle is not performing dynamic lateral movement, using the first lane model to select the target, wherein using the first lane model to select the target includes: receiving the lateral speed and lateral position of the potential target; calculating the probability that the potential target is in the own lane and the lateral overlap rate between the vehicle and the potential target based on the lateral speed and lateral position; and selecting the target vehicle based on the probability and the lateral overlap rate.
[0010] According to another aspect of the present application, a control device of an adaptive cruise control system ACC is provided, the device comprising: a receiving device for receiving turning-related information of a vehicle when executing the function of the adaptive cruise control system ACC; a judging device for judging whether the vehicle is performing dynamic lateral movement based on the turning-related information; and a target selecting device for using a second lane model to replace a first lane model for target selection when the vehicle is performing dynamic lateral movement, wherein the first lane model is used for a situation where the vehicle is not performing dynamic lateral movement.
[0011] As a supplement or replacement for the above solution, in the above device, the turn-related information includes: whether the lane change indicator switch is turned on, the steering angle, and one or more of the turning curvature of the vehicle.
[0012] As a supplement or replacement for the above-mentioned scheme, in the above-mentioned device, the judgment device is configured to: when the vehicle speed of the vehicle satisfies the first threshold range, and the turning curvature of the vehicle is greater than the second threshold or the lane change indicator switch is turned on or the steering angle is greater than the third threshold, it is determined that the vehicle is performing dynamic lateral movement, wherein the turning curvature is determined based on the vehicle speed and yaw angular velocity of the vehicle.
[0013] As a supplement or alternative to the above-mentioned scheme, in the above-mentioned device, the first lane model is a normal lane model and the second lane model is a special situation lane model, and the target selection device is configured to select the object closest to the vehicle in the rectangular frame area in front of the vehicle as the target vehicle when the judgment device determines that the vehicle is performing dynamic lateral movement, wherein the rectangular frame area covers the lane where the vehicle is located and the target change lane in the width direction.
[0014] As a supplement or alternative to the above solution, in the above device, the width of the rectangular frame area is 8 meters and the length is 100 meters.
[0015] As a supplement or alternative to the above-mentioned scheme, in the above-mentioned device, the target selection device is also configured to: when the vehicle is not performing dynamic lateral movement, use the first lane model to perform target selection, wherein using the first lane model to perform target selection includes: receiving the lateral speed and lateral position of the potential target; calculating the probability that the potential target is in the own lane and the lateral overlap rate between the vehicle and the potential target based on the lateral speed and lateral position; and selecting the target vehicle based on the probability and the lateral overlap rate.
[0016] According to another aspect of the present application, a computer storage medium is provided, wherein the medium includes instructions, and the instructions execute the above method when executed.
[0017] According to another aspect of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method described above is implemented.
[0018] According to yet another aspect of the present application, an advanced driving assistance system (ADAS) is provided. The advanced driving assistance system (ADAS) includes the device as described above.
[0019] The control scheme of the adaptive cruise control system ACC of the embodiment of the present application receives the turning-related information of the vehicle when executing the function of the adaptive cruise control system ACC, and determines whether the vehicle is performing dynamic lateral movement based on the turning-related information. If it is determined to be yes, the second lane model is used to replace the first lane model (for example, the normal lane model) for target selection. This scheme can greatly improve the processing capability of the adaptive cruise control system ACC target selection, make it more stable and not lose the target, improve the longitudinal driving comfort experience of the driving assistance system (avoid unnecessary emergency braking) and improve customer satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] The above and other objects and advantages of the present application will become more fully apparent from the following detailed description in conjunction with the accompanying drawings, wherein the same or similar elements are represented by the same reference numerals.
[0021] Figure 1 A schematic flow chart of a control method of an adaptive cruise control system ACC according to an embodiment of the present application is shown;
[0022] Figure 2 A schematic diagram showing the structure of a control device of an adaptive cruise control system ACC according to an embodiment of the present application is shown;
[0023] Figure 3 A schematic diagram showing a special case lane model according to an embodiment of the present application; and
[0024] Figure 4 A schematic diagram showing a vehicle identifying a target object ahead according to an embodiment of the present application is shown. DETAILED DESCRIPTION
[0025] Hereinafter, a control scheme of an adaptive cruise control system ACC according to various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings.
[0026] Figure 1 FIG. 1 is a flow chart showing a control method 1000 of an adaptive cruise control system ACC according to an embodiment of the present application. Figure 1 As shown, the control method 1000 of the adaptive cruise control system ACC includes:
[0027] In step S110, when executing the function of the adaptive cruise control system ACC, receiving the turning related information of the vehicle;
[0028] In step S120, judging whether the vehicle is performing dynamic lateral movement based on the turn-related information; and
[0029] In step S130, when the vehicle is performing dynamic lateral movement, the second lane model is used to replace the first lane model for target selection, wherein the first lane model is used when the vehicle is not performing dynamic lateral movement.
[0030] In the context of this application, the term "adaptive cruise control system ACC" is also referred to as an adaptive cruise control function, which sends instructions to the actuator according to the driving status (e.g., distance and speed) of the target vehicle in front and the vehicle itself, thereby deciding whether to accelerate or decelerate, or exit cruise. In some embodiments, when there is a risk of collision, the adaptive cruise control system ACC will prompt the driver and take active braking intervention. Moreover, when the distance to the vehicle in front is too small, the adaptive cruise control system ACC can appropriately brake the wheels by cooperating with the anti-lock braking system, etc., so as to always maintain a safe distance from the vehicle in front. In general, the adaptive cruise control system ACC can reduce the driver's driving fatigue to a certain extent.
[0031] In step S110, when the function of the adaptive cruise control system ACC is executed, the turning related information of the vehicle is received. That is, the control method 1000 of the adaptive cruise control system ACC needs to be executed when the function of the adaptive cruise control system ACC is executed.
[0032] The term "turning related information of the vehicle" means any information that can be used to determine whether the vehicle is turning. In one embodiment, the turning related information includes: whether the lane change indicator switch is turned on, the steering angle, and the turning curvature of the vehicle.
[0033] In step S120, it is determined whether the vehicle is undergoing dynamic lateral movement based on the turning related information. Here, "the vehicle is undergoing dynamic lateral movement" may include a situation where the vehicle is changing lanes when the function of the adaptive cruise control system ACC is running (before entering the highway exit ramp). As described in step S120, it is determined whether the vehicle is undergoing dynamic lateral movement based on the turning related information. In one embodiment, when the vehicle speed of the vehicle meets the first threshold range (for example, 30-100kph), and the turning curvature of the vehicle is greater than the second threshold (the second threshold is, for example, 0.0025) or the lane change indicator switch is turned on or the steering angle is greater than the third threshold (the third threshold is, for example, a preset angle), it is determined that the vehicle is undergoing dynamic lateral movement. For example, when the vehicle speed of the vehicle meets the first threshold range and the turning curvature of the vehicle is greater than the second threshold, it is determined that the vehicle is undergoing dynamic lateral movement. For another example, when the vehicle speed of the vehicle meets the first threshold range and the lane change indicator switch is turned on, it is determined that the vehicle is undergoing dynamic lateral movement. For another example, when the vehicle speed of the vehicle meets the first threshold range and the lane change indicator switch is turned on, it is determined that the vehicle is undergoing dynamic lateral movement. For another example, when the vehicle speed of the vehicle meets the first threshold range and the steering angle is greater than the third threshold, it is determined that the vehicle is undergoing dynamic lateral movement.
[0034] In one embodiment, the turning curvature ρ is determined according to the vehicle speed u and the yaw rate ω of the vehicle. Specifically, the turning curvature ρ can be determined according to the following formula: In one embodiment, when the turning curvature ρ is less than 0.0025, it is considered that the vehicle is traveling on a straight road, and when the turning curvature ρ is greater than or equal to 0.0025, it is considered that the vehicle is traveling on a curve.
[0035] When it is determined that the vehicle is performing dynamic lateral movement, in step S130, the second lane model is used to replace the first lane model for target selection. It can be seen that the second lane model is a target selection model different from the first lane model. In one or more embodiments, the first lane model is a normal lane model and the second lane model is a special case lane model.
[0036] Figure 3 FIG. 4 shows a schematic diagram of a special case lane model according to an embodiment of the present application. Figure 3 As shown in FIG. 3 , the vehicle 310 follows the preceding vehicle 320 while executing the function of the adaptive cruise control system ACC, and changes lanes from the lane where the vehicle is located (also referred to as the “own lane”) 330 to the adjacent lane 340. In the “special case lane model”, the object closest to the vehicle is selected as the target vehicle in the rectangular frame area 350 in front of the vehicle. Figure 3 As can be seen in the figure, the width of the rectangular frame area 350 covers the lane 330 where the vehicle is located and the target lane 340 (i.e., the left lane line of the lane 330 to the right lane line of the target lane 340). In one embodiment, the width of the rectangular frame area is 8 meters and the length is 100 meters. For this special area (i.e., the rectangular frame area), the objects in front of the lane change (such as the front vehicle 320) or the objects in the adjacent lanes will be included in the potential targets for consideration. Then, ACC can select the nearest object to track without losing the target.
[0037] In one embodiment, a flag can be set to indicate whether the vehicle is performing dynamic lateral movement. For example, when the flag indicates that the vehicle is performing dynamic lateral movement (i.e., certain conditions are met), the first lane model that is usually used is no longer used, and the second lane model should be used, such as using the radar coordinate system to find a close-range object with a rectangular area in the front bumper. The object in this area is most likely to be the front object that should be followed and controlled. At the same time, the front lane-changing object will also appear in this area, and the ACC function can select it without losing the target.
[0038] although Figure 1Not shown, in one embodiment, the method 1000 further includes: when the vehicle is not performing dynamic lateral movement, using the first lane model to select a target. In one embodiment, using the first lane model (i.e., the normal lane model) to select a target includes: receiving the lateral speed and lateral position of a potential target; calculating the probability that the potential target is in the own lane and the lateral overlap rate between the vehicle and the potential target according to the lateral speed and lateral position; and selecting a target vehicle according to the probability and the lateral overlap rate (for example, applying different weights to the probability p1 and the lateral overlap rate p2 and calculating a final score for selection).
[0039] refer to Figure 4 , which shows a schematic diagram of a vehicle identifying a target in front of it. Figure 4 As shown, based on the image information, multiple target vehicles are determined, for example, Figure 4 In the figure, a front (potential) target vehicle in the own lane is defined by a bounding box 410 and a (potential) target vehicle in an adjacent lane is defined by a bounding box 420 .
[0040] In one embodiment, the original image information obtained by the sensor can be used and calculated in the pixel coordinate system to avoid the information loss caused by the coordinate system conversion in the sensor information fusion process, so that the calculated overlap rate is also more accurate, which can provide a good reference for subsequent vehicle control. In one embodiment, in the pixel coordinate system, calculating the pixel overlap rate overlap_rate of the bounding box of the potential target vehicle and the lane where the vehicle is located may include: calculating according to the pixel width w1 of the bounding box, the coordinates of the center position of the bounding box (x, y), the lane width w2, and the longitudinal distance d between the potential target vehicle and the vehicle. In other embodiments, the overlap rate of the potential target vehicle and the vehicle can also be calculated based on the lateral offset of the potential target vehicle (for example, relative to the center line of the lane).
[0041] The method 1000 of each embodiment of the present application can change the target selection logic by converting (replacing) the lane model (under certain conditions) without adding any new sensors, thereby greatly improving the processing capability of the ACC function object selection, making it more stable without losing the target, and improving driving comfort and customer satisfaction.
[0042] In addition, it is easy for a person skilled in the art to understand that the control method 1000 of the adaptive cruise control system ACC provided in the above one or more embodiments of the present application can be implemented by a computer program. For example, the computer program is included in a computer program product, and when the computer program is executed by a processor, the control method 1000 of the adaptive cruise control system ACC of one or more embodiments of the present application is implemented. For another example, when a computer storage medium (such as a USB flash drive) storing the computer program is connected to a computer, the control method 1000 of the adaptive cruise control system ACC of one or more embodiments of the present application can be executed by running the computer program.
[0043] refer to Figure 2 , Figure 2 FIG. 2 shows a schematic diagram of the structure of a control device 2000 of an adaptive cruise control system ACC according to an embodiment of the present application. Figure 2 As shown, the device 2000 includes: a receiving device 210, a judging device 220 and a target selecting device 230. The receiving device 210 is used to receive the turning related information of the vehicle when executing the function of the adaptive cruise control system ACC; the judging device 220 is used to judge whether the vehicle is performing dynamic lateral movement based on the turning related information; and the target selecting device 230 is used to use the second lane model to replace the first lane model to perform target selection when the vehicle is performing dynamic lateral movement, wherein the first lane model is used when the vehicle is not performing dynamic lateral movement.
[0044] In the context of this application, the term "adaptive cruise control system ACC" is also referred to as an adaptive cruise control function, which sends instructions to the actuator according to the driving status (e.g., distance and speed) of the target vehicle in front and the vehicle itself, thereby deciding whether to accelerate or decelerate, or exit cruise. In some embodiments, when there is a risk of collision, the adaptive cruise control system ACC will prompt the driver and take active braking intervention. Moreover, when the distance to the vehicle in front is too small, the adaptive cruise control system ACC can appropriately brake the wheels by cooperating with the anti-lock braking system, etc., so as to always maintain a safe distance from the vehicle in front. In general, the adaptive cruise control system ACC can reduce the driver's driving fatigue to a certain extent.
[0045] The receiving device 210 is configured to receive the turning related information of the host vehicle when executing the function of the adaptive cruise control system ACC. That is, the control device 2000 of the adaptive cruise control system ACC executes when running the function of the adaptive cruise control system ACC.
[0046] The term "turning related information of the vehicle" means any information that can be used to determine whether the vehicle is turning. In one embodiment, the turning related information includes: whether the lane change indicator switch is turned on, the steering angle, and the turning curvature of the vehicle.
[0047] The judging device 220 is configured to judge whether the vehicle is undergoing dynamic lateral movement based on the turning-related information. Here, "the vehicle is undergoing dynamic lateral movement" may include a situation where the vehicle is changing lanes when the function of the adaptive cruise control system ACC is running (before entering the highway exit ramp). In one embodiment, when the speed of the vehicle meets the first threshold range (e.g., 30-100kph), and the turning curvature of the vehicle is greater than the second threshold (the second threshold is, for example, 0.0025) or the lane change indicator switch is turned on or the steering angle is greater than the third threshold (the third threshold is, for example, a preset angle), the judging device 220 determines that the vehicle is undergoing dynamic lateral movement. For example, when the vehicle speed of the vehicle meets the first threshold range and the turning curvature of the vehicle is greater than the second threshold, the judging device 220 determines that the vehicle is undergoing dynamic lateral movement. For another example, when the vehicle speed of the vehicle meets the first threshold range and the lane change indicator switch is turned on, the judging device 220 determines that the vehicle is undergoing dynamic lateral movement. For another example, when the vehicle speed of the vehicle meets the first threshold range and the steering angle is greater than the third threshold, the judging device 220 determines that the vehicle is undergoing dynamic lateral movement.
[0048] In one embodiment, the turning curvature ρ is determined according to the vehicle speed u and the yaw rate ω of the vehicle. Specifically, the turning curvature ρ can be determined according to the following formula: In one embodiment, when the turning curvature ρ is less than 0.0025, the judging device 220 considers that the vehicle is traveling on a straight road, and when the turning curvature ρ is greater than or equal to 0.0025, the judging device 220 considers that the vehicle is traveling on a curve.
[0049] When the judging device 220 judges that the vehicle is performing dynamic lateral movement, the target selection device 230 uses the second lane model to replace the first lane model to perform target selection. It can be seen that the second lane model is a target selection model different from the first lane model. In one or more embodiments, the first lane model is a normal lane model and the second lane model is a special case lane model.
[0050] In one embodiment, the target selection device 230 is configured to select the object closest to the vehicle in the rectangular frame area (under the radar coordinate system) in front of the vehicle (in front of the front bumper) as the target vehicle when the judgment device 220 determines that the vehicle is undergoing dynamic lateral movement, wherein the rectangular frame area covers the lane where the vehicle is located and the target change lane in the width direction. In one or more embodiments, the width of the rectangular frame area is 8 meters and the length is 100 meters.
[0051] In one embodiment, the target selection device 230 is further configured to: when the host vehicle is not performing dynamic lateral movement, use the first lane model to perform target selection. Specifically, using the first lane model to perform target selection includes: receiving the lateral speed and lateral position of the potential target; calculating the probability that the potential target is in the host vehicle lane and the lateral overlap rate between the host vehicle and the potential target according to the lateral speed and lateral position; and selecting the target vehicle according to the probability and the lateral overlap rate.
[0052] In one embodiment, the control device 2000 of the adaptive cruise control system ACC may be integrated into various advanced driving assistance systems ADAS. In one embodiment, the advanced driving assistance system ADAS may be installed in a vehicle.
[0053] "Advanced driver assistance system", also known as ADAS or advanced driver assistance system. It uses various sensors installed on the car (such as millimeter wave radar, lidar, single / binocular camera and satellite navigation) to sense the surrounding environment at any time during the car's driving, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform systematic calculations and analysis, so as to make the driver aware of possible dangers in advance, effectively increasing the comfort and safety of car driving. In one embodiment, in addition to adaptive cruise control ACC, the advanced driving assistance system may also include a navigation and real-time traffic system TMC, an electronic police system ISA (Intelligent speed adaptation or intelligent speed advice), a vehicle network (Vehicularcommunication systems), a lane departure warning system LDWS (Lane departure warning system), a collision avoidance or pre-collision system (Collision avoidance system or Precrash system), a night vision system (Night Vision system), an adaptive light control (Adaptive light control), a pedestrian protection system (Pedestrian protection system), an automatic parking system (Automatic parking), traffic sign recognition (Traffic sign recognition), a blind spot detection (Blind spot detection), a driver fatigue detection (Driver drowsiness detection), a downhill control system (Hill descent control) and an electric vehicle warning sounds (Electric vehicle warning sounds) system, etc.
[0054] In summary, the control scheme of the adaptive cruise control system ACC of the embodiment of the present application receives the turning-related information of the vehicle when executing the function of the adaptive cruise control system ACC, and determines whether the vehicle is performing dynamic lateral movement based on the turning-related information. If it is determined to be yes, the second lane model is used to replace the first lane model (for example, the normal lane model) for target selection. This scheme can greatly improve the processing capability of the adaptive cruise control system ACC target selection, make it more stable and not lose the target, improve the longitudinal driving comfort experience of the driving assistance system (avoid unnecessary emergency braking) and improve customer satisfaction.
[0055] The above examples mainly illustrate the control scheme of the adaptive cruise control system ACC of the embodiment of the present application. Although only some of the implementation methods of the present application are described, it should be understood by those skilled in the art that the present application can be implemented in many other forms without departing from its subject matter and scope. Therefore, the examples and implementation methods shown are regarded as illustrative rather than restrictive, and the present application may cover various modifications and substitutions without departing from the spirit and scope of the present application as defined in the claims.
Claims
1. A control method for an adaptive cruise control system ACC, characterized in that: The method comprises: When executing the function of the adaptive cruise control system ACC, receiving turning related information of the vehicle; Determining whether the vehicle is performing dynamic lateral movement based on the turning related information; and When the vehicle is performing dynamic lateral movement, the second lane model is used to replace the first lane model for target selection, wherein the first lane model is used for the situation that the vehicle is not performing dynamic lateral movement.
2. The method of claim 1, wherein: The turning related information includes: whether the lane change indicator light switch is turned on, the steering angle, and one or more of the turning curvature of the vehicle.
3. The method according to claim 1 or 2, wherein: Determining whether the vehicle is performing dynamic lateral movement based on the turning related information includes: When the vehicle speed of the vehicle satisfies the first threshold range and the turning curvature of the vehicle is greater than the second threshold or the lane change indicator switch is turned on or the steering angle is greater than the third threshold, it is determined that the vehicle is performing dynamic lateral movement, wherein the turning curvature is determined according to the vehicle speed and yaw angular velocity of the vehicle.
4. The method of claim 1, wherein: The first lane model is a normal lane model and the second lane model is a special case lane model, and the second lane model is used to replace the first lane model to perform target selection, including: An object closest to the vehicle is selected as a target vehicle in a rectangular frame area in front of the vehicle, wherein the width of the rectangular frame area covers the lane where the vehicle is located and the target lane change.
5. The method of claim 4, wherein: The width of the rectangular frame area is 8 meters and the length is 100 meters.
6. The method of claim 1, further comprising: When the vehicle is not performing dynamic lateral movement, the first lane model is used to select the target, wherein the first lane model is used to select the target including: receiving the lateral velocity and lateral position of the potential target; Calculating the probability that the potential target is in the own lane and the lateral overlap rate between the own vehicle and the potential target according to the lateral speed and the lateral position; and A target vehicle is selected according to the probability and the lateral overlap rate.
7. A control device for an adaptive cruise control system ACC, characterized in that: The device comprises: A receiving device, used to receive turning related information of the vehicle when executing the function of the adaptive cruise control system ACC; A judging device, for judging whether the vehicle is performing dynamic lateral movement based on the turning related information; and The target selection device is used to use the second lane model to replace the first lane model to perform target selection when the vehicle is performing dynamic lateral movement, wherein the first lane model is used in the case where the vehicle is not performing dynamic lateral movement.
8. The device of claim 7, wherein: The turning related information includes: whether the lane change indicator light switch is turned on, the steering angle, and one or more of the turning curvature of the vehicle.
9. The device according to claim 7 or 8, wherein: The judging device is configured as follows: When the vehicle speed of the vehicle satisfies the first threshold range and the turning curvature of the vehicle is greater than the second threshold or the lane change indicator switch is turned on or the steering angle is greater than the third threshold, it is determined that the vehicle is performing dynamic lateral movement, wherein the turning curvature is determined according to the vehicle speed and yaw angular velocity of the vehicle.
10. The device of claim 7, wherein: The first lane model is a normal lane model and the second lane model is a special case lane model, and the target selection device is configured to select an object closest to the vehicle in a rectangular frame area in front of the vehicle as a target vehicle when the judgment device determines that the vehicle is performing dynamic lateral movement, wherein the rectangular frame area covers the lane where the vehicle is located and the target change lane in the width direction.
11. The device of claim 10, wherein: The width of the rectangular frame area is 8 meters and the length is 100 meters.
12. The device of claim 7, wherein: The target selection device is further configured to: when the vehicle is not performing dynamic lateral movement, use the first lane model to perform target selection, wherein using the first lane model to perform target selection includes: receiving the lateral velocity and lateral position of the potential target; Calculating the probability that the potential target is in the own lane and the lateral overlap rate between the own vehicle and the potential target according to the lateral speed and the lateral position; and A target vehicle is selected according to the probability and the lateral overlap rate.
13. A computer storage medium, characterized in that: The medium includes instructions that, when executed, perform the method of any one of claims 1 to 6.
14. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.
15. An advanced driver assistance system ADAS, characterized in that: The advanced driver assistance system ADAS comprises the apparatus according to any one of claims 7 to 12.