Automatic driving car following time interval control method and device, storage medium and program product

Abstract

The invention relates to an automatic driving car following time interval control method and device, a storage medium and a program product, and relates to the technical field of automatic driving. The method is executed by a first vehicle with an automatic driving function. The method comprises the following steps: acquiring driving speeds of a second vehicle and the first vehicle through a sensing module; the second vehicle is located on the same lane as the first vehicle, is in front of the first vehicle and runs at a speed lower than that of the first vehicle; obtaining a first distance and a second distance through a responsibility sensitive safety model based on the second vehicle and the driving speed of the first vehicle; the first distance is a travel distance when the second vehicle begins to decelerate to zero at the maximum deceleration. The second distance is a driving distance when the first vehicle accelerates according to the maximum acceleration and then decelerates to zero; calculating a difference value between the first distance and the second distance as a target distance; taking a result obtained by dividing the target distance by the running speed of the second vehicle as a target time interval; and driving according to the target time interval.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and in particular to an autonomous driving following vehicle time distance control method, device, storage medium and program product. Background Art

[0002] With the continuous development of autonomous driving technology, the safety of autonomous driving technology has also received widespread attention. Among them, autonomous driving following technology is particularly important.

[0003] In the related technology, when a vehicle turns on the following control function of full-speed adaptive cruise control and follows the vehicle in front, the driver can select a fixed following distance. The following distance is a fixed amount of time based on experience, indicating the time required for the following vehicle to hit the front vehicle if the front vehicle suddenly stops and the rear vehicle maintains its current speed. After the driver selects the following distance, the vehicle follows the front vehicle at a fixed following distance to realize the automatic following function.

[0004] However, in the above scheme, the vehicle automatically follows the vehicle in front with a fixed following distance. In the event of an emergency in the following scene, the safety of the vehicle cannot be guaranteed, and the automatic driving following distance control effect is poor. Summary of the invention

[0005] The embodiments of the present application provide a method, device, storage medium and program product for controlling the time distance between vehicles in an automatic driving and following a vehicle, which can improve the time distance control effect of the automatic driving and following a vehicle, and ensure the safety of the vehicle when following a vehicle. The technical solution is as follows:

[0006] In one aspect, a method for controlling the time distance between vehicles in an automatic driving and following a vehicle is provided. The method is performed by a first vehicle with an automatic driving function, and includes:

[0007] Acquire the driving speeds of the second vehicle and the first vehicle through a perception module; the perception module includes a sensor component of the first vehicle; the second vehicle is a vehicle that is in the same lane as the first vehicle and in front of the first vehicle and travels at a lower speed than the first vehicle;

[0008] Based on the driving speeds of the second vehicle and the first vehicle, a first distance and a second distance are obtained through a responsibility-sensitive safety model; the first distance is the driving distance when the second vehicle starts to decelerate to zero at the maximum deceleration; the second distance is the driving distance when the first vehicle accelerates at the maximum acceleration and then decelerates to zero;

[0009] Calculating a difference between the first distance and the second distance as a target distance; the target distance is a safe following distance between the first vehicle and the second vehicle;

[0010] The target distance is divided by the travel speed of the second vehicle to obtain a result as a target time interval; the target time interval is a safe following time interval between the first distance and the second time interval;

[0011] Drive according to the stated target time interval.

[0012] On the other hand, a device for controlling the time distance between vehicles and vehicles under automatic driving is provided, the device comprising:

[0013] A driving speed acquisition module, used for acquiring the driving speeds of a second vehicle and the first vehicle through a sensing module; the sensing module includes a sensor component of the first vehicle; the second vehicle is a vehicle that is in the same lane as the first vehicle and is in front of the first vehicle and is traveling at a lower speed than the first vehicle;

[0014] A distance acquisition module, configured to acquire a first distance and a second distance based on the driving speeds of the second vehicle and the first vehicle through a responsibility-sensitive safety model; the first distance is the driving distance when the second vehicle starts to decelerate to zero at the maximum deceleration; the second distance is the driving distance when the first vehicle accelerates at the maximum acceleration and then decelerates to zero;

[0015] a target distance determination module, configured to calculate a difference between the first distance and the second distance as a target distance; the target distance being a safe following distance between the first vehicle and the second vehicle;

[0016] a target time distance determination module, configured to obtain a result obtained by dividing the target distance by the driving speed of the second vehicle as a target time distance; the target time distance is a safe following time distance between the first distance and the second time distance;

[0017] A driving module is used for driving according to the target time interval.

[0018] In some embodiments, the apparatus further comprises:

[0019] The driving speed acquisition module of the cut-in vehicle is used to acquire the driving speed of the cut-in vehicle in the case where a vehicle in the second lane cuts into the first lane before the sensing module acquires the driving speeds of the second vehicle and the first vehicle; the second lane is a lane beside the lane where the first vehicle is located; the first lane is the lane where the first vehicle is located; the cut-in vehicle is a vehicle in the second lane that is about to cut into the first lane;

[0020] The second vehicle determination module is used to determine that the cutting-in vehicle is the second vehicle when the driving speed of the cutting-in vehicle is lower than the driving speed of the first vehicle and the cutting-in vehicle is in front of the first vehicle before the driving speeds of the second vehicle and the first vehicle are acquired by the perception module.

[0021] In some embodiments, the apparatus further comprises:

[0022] The determination module is used to determine that the second vehicle is about to cut into the first lane when the offset distance between the vehicle in the second lane and the center of the second lane meets a specified distance threshold and the lateral speed of the vehicle in the second lane is greater than a specified speed threshold.

[0023] In some embodiments, the distance acquisition module is used to obtain, through the responsibility-sensitive safety model, the quotient of the square of the driving speed of the second vehicle and twice the maximum deceleration of the second vehicle as the first distance; and to obtain, through the responsibility-sensitive safety model, the sum of the reaction speed of the first vehicle, the distance traveled by the acceleration within the reaction time of the driver of the first vehicle, and the distance required for the first vehicle to stop completely from discovering the situation, as the second distance.

[0024] In some embodiments, the apparatus further comprises:

[0025] A calculation module is used to recalculate the target distance and the target time interval when the speed change of the second vehicle exceeds a speed change threshold.

[0026] In some embodiments, the apparatus further comprises:

[0027] The prompt module is used to issue a prompt message when the deceleration speed of the second vehicle meets a specified deceleration threshold; the prompt message is used to indicate that there is a potential dangerous situation ahead of the first vehicle.

[0028] On the other hand, a computer device is provided, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the automatic driving following vehicle time control method as described above.

[0029] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the automatic driving following vehicle time distance control method as described above.

[0030] In another aspect, a computer program product is provided, the computer program product comprising a computer program, the computer program being stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the automatic driving following vehicle time distance control method provided in the above-mentioned various optional implementations.

[0031] The technical solution provided by this application may have the following beneficial effects:

[0032] The perception module obtains the speed information of the second vehicle (i.e., the front vehicle) and the first vehicle (i.e., the vehicle itself) in real time, ensuring the timeliness and accuracy of the data. The first distance, i.e., the distance required for the front vehicle to stop by emergency braking under current conditions, and the second distance, i.e., the distance for the vehicle itself to stop after accelerating under the most unfavorable conditions, are calculated based on the driving speeds of the two vehicles. The difference between the two distances is defined as the safe following distance between the two vehicles. The two distances indicate the extreme scenarios under the maximum acceleration and deceleration that the two vehicles may take, ensuring that the first vehicle can maintain sufficient buffer space even in the face of sudden changes in the front vehicle. The target time distance is determined based on the safe following distance, combining the physical distance between vehicles and the actual speed of the front vehicle, so that the target time distance can more flexibly adapt to safety requirements under different speed conditions, so that the vehicle can maintain a high sensitivity to the traffic conditions ahead at any time and respond in a timely manner, effectively avoiding the potential collision risk of the vehicle itself caused by the sudden change in the behavior of the front vehicle, greatly enhancing the control effect of the following time distance during the automatic driving process, and improving the safety of the following time distance control of the automatic driving.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 This is an application environment diagram of an automatic driving following vehicle time distance control method involved in an embodiment of the present application;

[0036] Figure 2 This is a flow chart of an automatic driving following vehicle time distance control method provided by an embodiment of the present application;

[0037] Figure 3 This is a flow chart of an automatic driving following vehicle time distance control method provided by an embodiment of the present application;

[0038] Figure 4It is a schematic diagram of the principle of an RSS model provided by an embodiment of the present application;

[0039] Figure 5 is a block diagram of an automatic driving following vehicle time distance control device provided by an exemplary embodiment of the present application;

[0040] Figure 6 It is a structural diagram of a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0041] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0042] Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as recited in the appended claims.

[0043] This application proposes a method for controlling the time distance between vehicles in an autonomous driving and following a vehicle. This method calculates a dynamic safe following distance by introducing a responsibility-sensitive safety model, which can more accurately respond to actual needs under different traffic conditions, effectively avoid potential collision risks caused by sudden changes in the behavior of the vehicle ahead, and improve the safety of autonomous driving and following a vehicle.

[0044] Figure 1 FIG. 1 is an application environment diagram of an automatic driving following vehicle time distance control method involved in an embodiment of the present application. Figure 1 As shown, the current lane includes a first vehicle 101 and a second vehicle 102. The second vehicle 102 is located in front of the first vehicle 101. The first vehicle 101 has an automatic driving function, full-speed adaptive cruise control, and includes a sensor module.

[0045] During the driving process, the first vehicle 101 obtains the driving speeds of the second vehicle 102 and the first vehicle 101 through the perception module, and sends the obtained driving speeds of the second vehicle 102 and the first vehicle 101 to the responsibility-sensitive safety model. The driving distance (first distance) when the second vehicle 102 starts to decelerate to zero with the maximum deceleration and the driving distance (second distance) when the first vehicle 101 accelerates at the maximum acceleration and then decelerates to zero are obtained through the responsibility-sensitive safety model. The difference between the first distance and the second distance is calculated as the safe following distance (target distance) between the first vehicle 101 and the second vehicle 102. The result of dividing the target distance by the driving speed of the second vehicle 102 is used as the safe following time distance (target time distance) between the first distance and the second time distance. The first vehicle 101 is controlled to travel according to the target time distance through full-speed adaptive cruise control.

[0046] It should be noted that the embodiment of the present application takes the automatic driving following function through full-speed adaptive cruise control as an example, and is not limited to this specific technology. The above methods and principles can be applied to a variety of different automatic driving technologies and advanced driver assistance systems.

[0047] For example, please refer to Figure 2 , Figure 2 This is a flow chart of an automatic driving following vehicle time distance control method provided by an embodiment of the present application. The automatic driving following vehicle time distance control method can be executed by a first vehicle with an automatic driving function. In the embodiment of the present application, the first vehicle can have an automatic driving system or an advanced driving assistance system to realize the automatic driving function.

[0048] For example, the first vehicle may be the above Figure 1 The first vehicle 101 is shown. The above method may include steps 210, 220, 230, 240 and 250, which are specifically implemented as follows:

[0049] Step 210: Acquire the driving speeds of the second vehicle and the first vehicle through a perception module; the perception module includes a sensor component of the first vehicle; the second vehicle is a vehicle that is in the same lane as the first vehicle and is in front of the first vehicle and travels at a lower speed than the first vehicle.

[0050] Among them, the above-mentioned sensor components include but are not limited to radar, lidar, camera, and ultrasonic sensor.

[0051] In some embodiments, when the first vehicle is equipped with a radar or a lidar, the relative speed between the two vehicles can be calculated by transmitting a signal to the second vehicle and receiving a reflected signal, and the travel speeds of the first vehicle and the second vehicle can be determined based on the Doppler effect and the change in frequency.

[0052] In this embodiment of the present application, the road on which the first vehicle is traveling may have at least two lanes.

[0053] In the embodiment of the present application, the perception module of the first vehicle can collect the driving speed of the second vehicle and the first vehicle in real time. The second vehicle is the target following vehicle of the first vehicle.

[0054] Step 220: Based on the driving speeds of the second vehicle and the first vehicle, a first distance and a second distance are obtained through a responsibility-sensitive safety model; the first distance is the driving distance when the second vehicle starts to decelerate to zero at the maximum deceleration; the second distance is the driving distance when the first vehicle accelerates at the maximum acceleration and then decelerates to zero.

[0055] Among them, the above-mentioned responsibility-sensitive safety model is a machine learning model that has the ability to obtain the driving distance of the second vehicle when it starts to decelerate to zero at the maximum deceleration, and the driving distance of the first vehicle when it accelerates to zero after accelerating at the maximum acceleration, based on the driving speeds of the second vehicle and the first vehicle.

[0056] Step 230: Calculate the difference between the first distance and the second distance as the target distance; the target distance is a safe following distance between the first vehicle and the second vehicle.

[0057] In some embodiments, after obtaining the difference between the first distance and the second distance, the first vehicle may select a distance greater than or equal to the difference distance as a safe following distance between the first vehicle and the second vehicle.

[0058] Step 240: Divide the target distance by the driving speed of the second vehicle to obtain a result as a target time interval; the target time interval is a safe following time interval between the first distance and the second time interval.

[0059] After the first vehicle obtains the target distance, the real-time speed of the second vehicle collected by the perception module is obtained, and the target time interval is calculated, and the target time interval is used as the safe following time interval between the first distance and the second time interval.

[0060] Step 250: Drive according to the target time interval.

[0061] The target time interval refers to the safe time interval between the first vehicle (the vehicle itself) and the second vehicle (the preceding vehicle), which is usually measured in seconds.

[0062] For example, if the target time interval is 2 seconds, then no matter how the second vehicle adjusts, the first vehicle will adjust its speed to ensure that the distance with the second vehicle is always kept within the 2-second driving time.

[0063] In an embodiment of the present application, after the first vehicle obtains the calculated target time interval, if the current actual distance between the first vehicle and the second vehicle is less than the target distance, it means that the first vehicle and the second vehicle are too close, and the first vehicle starts to decelerate until the distance between the first vehicle and the second vehicle is maintained at the target distance, and the first vehicle travels at the target time interval; if the current actual distance between the first vehicle and the second vehicle is greater than the target distance, it means that the first vehicle and the second vehicle are far away from each other, and the first vehicle starts to accelerate until the distance between the first vehicle and the second vehicle is maintained at the target distance, and the first vehicle travels at the target time interval; in an embodiment of the present application, the first vehicle changes the speed of the vehicle by adjusting the throttle and the brake so that the actual distance gradually approaches the target distance.

[0064] In the embodiment of the present application, the perception module obtains the speed information of the second vehicle (i.e., the front vehicle) and the first vehicle (i.e., the vehicle itself) in real time, ensuring the timeliness and accuracy of the data. The responsibility-sensitive safety model is used to calculate the first distance, i.e., the distance required for the front vehicle to stop by emergency braking under current conditions, and the second distance, i.e., the distance for the vehicle itself to stop after accelerating under the most unfavorable conditions. The difference between the two distances is defined as the safe following distance between the two vehicles. The two distances indicate the extreme scenarios under the maximum acceleration and deceleration that the two vehicles may take, ensuring that the first vehicle can maintain sufficient buffer space even in the face of sudden changes in the front vehicle. The target time distance is determined based on the safe following distance, combining the physical distance between the vehicles and the actual speed of the front vehicle, so that the target time distance can be more flexibly adapted to the safety requirements under different speed conditions, so that the vehicle can maintain a high sensitivity to the traffic conditions ahead at any time and respond in a timely manner, effectively avoiding the potential collision risk of the vehicle itself caused by the sudden change in the behavior of the front vehicle, greatly enhancing the control effect of the following time distance during the automatic driving process, and improving the safety of the following time distance control of the automatic driving.

[0065] based on Figure 2 , please refer to Figure 3 , Figure 3 This is a flow chart of an automatic driving following vehicle time distance control method provided by an embodiment of the present application. Figure 2 Before the above step 210, the method further includes step 204 and step 206, which are specifically as follows.

[0066] Step 204: When a vehicle in the second lane cuts into the first lane, obtain the driving speed of the cutting-in vehicle; the second lane is a lane adjacent to the lane where the first vehicle is located; the first lane is the lane where the first vehicle is located; the cutting-in vehicle is a vehicle in the second lane that is about to cut into the first lane.

[0067] The side lane may be a left lane or a right lane of the lane where the first vehicle is located.

[0068] The above-mentioned cutting-in vehicle is a vehicle in the side lane that intends to cut into the first lane or a vehicle that is cutting into the first lane.

[0069] It should be noted that in the embodiment of the present application, the number of cutting-in vehicles is one, which may be a vehicle cutting-in from the left lane of the first lane, or a vehicle cutting-in from the right lane of the first lane; when there are two vehicles cutting-in (i.e., one vehicle cutting-in from the left lane and one vehicle cutting-in from the left lane respectively), the vehicle that is closer to the first vehicle or has a faster speed is preferentially selected as the cutting-in vehicle.

[0070] Dynamic adjustment: The system will continuously monitor the status of the two vehicles and dynamically adjust the priority set based on the actual situation.

[0071] Step 206 : When the driving speed of the cutting-in vehicle is lower than the driving speed of the first vehicle and the cutting-in vehicle is in front of the first vehicle, determine that the cutting-in vehicle is the second vehicle.

[0072] In an embodiment of the present application, when the first vehicle detects that a vehicle is cutting into the first lane from the second lane, the speed information of the cutting-in vehicle is immediately obtained, ensuring that the first vehicle can respond promptly to new situations that may affect the safe driving of the vehicle. When it is determined that the speed of the cutting-in vehicle is lower than that of the vehicle and is located in front, the vehicle is identified as a new "second vehicle", that is, a new target to follow, so that measures are taken in advance to maintain a safe distance. The above scheme enhances the responsiveness and safety of the entire autonomous driving system, and can effectively prevent accidents even in complex and changeable road environments, thereby effectively improving safety during driving.

[0073] Based on the scheme shown in any one or more of the above-mentioned embodiments, when the offset distance between the vehicle in the second lane and the center of the second lane meets the specified distance threshold and the lateral speed of the vehicle in the second lane is greater than the specified speed threshold, the first vehicle determines that the second vehicle is about to cut into the first lane.

[0074] The above-mentioned offset distance refers to the degree of deviation of the position of the vehicle in the second lane relative to the center line of the lane in which it is located.

[0075] In the embodiment of the present application, when the distance that the vehicle in the second lane deviates from the center line of the second lane exceeds a specified distance threshold, it indicates that the vehicle has the intention to change lanes.

[0076] The lateral velocity refers to the velocity of the vehicle in the second lane in the lateral direction, that is, the velocity component perpendicular to the center line of the lane.

[0077] In the embodiment of the present application, when the lateral speed of the vehicle in the second lane exceeds the threshold, it indicates that the vehicle is moving quickly toward the first lane.

[0078] In the embodiment of the present application, when the vehicle in the second lane satisfies the following two conditions at the same time, the first vehicle determines that the vehicle has the intention to cut into the first lane.

[0079] Exemplarily, it is assumed that the offset distance threshold is 0.5 meters and the lateral speed threshold is 0.5 meters per second.

[0080] When the first vehicle detects that the vehicle in the second lane deviates from the center line of its lane by more than 0.5 meters and the lateral speed of the vehicle exceeds 0.5 meters per second, the first vehicle determines that the vehicle has the intention to cut into the first lane.

[0081] In an embodiment of the present application, when the first vehicle detects that a vehicle in the second lane has deviated significantly from the center line of the lane and the vehicle exhibits a high lateral movement speed, it indicates that the second vehicle is preparing to change lanes. The first vehicle does not wait until the second vehicle completely enters the lane before reacting, but promptly identifies the impending cut-in event; by identifying potential vehicle cut-in intentions in advance, the first vehicle adjusts its own driving strategy earlier to reserve sufficient space to deal with new obstacles that may suddenly appear in front; the above scheme not only improves the response speed and accuracy of the automatic driving following distance control, but also reduces emergency braking or avoidance operations caused by emergencies, and effectively ensures the safety of the entire following process.

[0082] Based on the scheme shown in any one or more of the above-mentioned embodiments, the above-mentioned step 220 can be implemented as obtaining the quotient of the square of the second vehicle's driving speed and twice the maximum deceleration of the second vehicle through a responsibility-sensitive safety model as the first distance; and obtaining the sum of the reaction speed of the first vehicle, the distance traveled by acceleration within the reaction time of the driver of the first vehicle, and the distance required for the first vehicle to stop completely from discovering the situation through the responsibility-sensitive safety model as the second distance.

[0083] In an embodiment of the present application, the above-mentioned responsibility-sensitive safety model includes a first distance calculation formula for calculating a first distance, and a second distance calculation formula for calculating a second distance. The first vehicle inputs the driving speed of the second vehicle into the first distance calculation formula to obtain the first distance; and inputs the driving speed of the first vehicle into the second distance calculation formula to obtain the second distance.

[0084] The reaction speed of the first vehicle can be obtained by multiplying the current driving speed of the first vehicle by the reaction time of the driver.

[0085] The distance traveled by the acceleration within the reaction time of the driver of the first vehicle can be obtained by multiplying the maximum acceleration of the driver by half of the square of the driver's reaction time.

[0086] The distance required for the first vehicle to stop completely from discovering the situation can be obtained by dividing the square of the sum of the vehicle's current speed and the driver's reaction time by 2 times the comfortable deceleration.

[0087] In the embodiment of the present application, the first distance ensures that even if the front vehicle suddenly takes emergency braking measures, the rear vehicle has enough safety distance to avoid collision. The second distance not only takes into account the reaction speed of the first vehicle itself, but also includes the distance that the vehicle continues to move forward due to inertia during the driver's reaction time, and the total distance from discovering the situation to finally coming to a complete stop. The calculation of the above two distances takes into account the entire process of the first vehicle in actual driving from sensing danger to taking action to coming to a complete stop, ensuring the comprehensiveness and reliability of the calculated first distance and second distance.

[0088] Based on the solutions shown in any one or more of the above embodiments, when the speed change of the second vehicle exceeds the speed change threshold, the first vehicle recalculates the target distance and the target time interval.

[0089] The speed change threshold is a preset value used to determine whether the speed change of the second vehicle is large enough to require recalculation of the target distance and target time interval.

[0090] In an embodiment of the present application, the speed change threshold can be adjusted according to actual conditions, for example, it can be set to 5 kilometers per hour or higher.

[0091] In an embodiment of the present application, when the first vehicle detects that the speed change of the second vehicle exceeds a preset speed change threshold, the first vehicle automatically triggers a mechanism for recalculating the target distance and target time interval.

[0092] In an embodiment of the present application, the first vehicle obtains the latest speed data of the second vehicle and the first vehicle through the perception module, re-applies the responsibility-sensitive safety model to calculate the new first distance and the second distance, and re-calculates the difference as the new target distance based on the new first distance and the second distance, and divides the new target distance by the current speed of the second vehicle to obtain a new target time interval.

[0093] In an embodiment of the present application, when the first vehicle detects that the speed of the vehicle in front (i.e., the second vehicle) has changed significantly, it indicates that the road conditions ahead or the driving behavior of the second vehicle may have changed, and the original safe following distance and time interval are no longer applicable to the current actual driving conditions. In this case, the first vehicle immediately recalculates the target distance and target time interval based on the latest speed information to ensure that the safety distance between the two vehicles always meets the latest driving conditions and avoids potential collision risks caused by slow response. The above scheme effectively ensures that the first vehicle can maintain a sufficient safety buffer zone under any circumstances, thereby greatly reducing the possibility of accidents and effectively ensuring the safety performance of the first vehicle's automatic driving following.

[0094] Based on the solutions shown in any one or more of the above-mentioned embodiments, when the deceleration speed of the second vehicle meets the specified deceleration threshold, the first vehicle issues a prompt message; the prompt message is used to indicate that there is a potential dangerous situation ahead of the first vehicle.

[0095] In an embodiment of the present application, the above-mentioned prompt information can be provided in the form of at least one of a visual prompt (displaying a warning message on a display screen inside the vehicle), an auditory prompt (reminding the driver through a voice prompt or an alarm sound), and a tactile prompt (reminding the driver through seat vibration or steering wheel vibration, etc.).

[0096] In some embodiments, when the deceleration speed of the second vehicle meets the specified deceleration threshold, the first vehicle can issue a prompt message in a combined prompting manner, for example, using visual prompts and auditory prompts at the same time. For example, when the first vehicle detects that the second vehicle is emergency braking, the text message "The vehicle ahead is emergency braking, please slow down" is displayed on the dashboard display of the first vehicle, and a voice prompt "The vehicle ahead is emergency braking, please slow down immediately" is played through the vehicle's audio system.

[0097] In some embodiments, when the deceleration speed of the second vehicle meets the specified deceleration threshold, the first vehicle can issue a prompt message in a graded prompting manner, and different levels of prompting methods can be used according to different degrees of danger. For example, a mild warning can use only visual prompts, and display "The vehicle ahead is decelerating, please pay attention" on the dashboard display screen; while a serious warning uses visual, auditory and tactile prompts at the same time, and displays "The vehicle ahead is braking urgently, please slow down immediately" on the dashboard display screen, and plays a voice prompt "The vehicle ahead is braking urgently, please slow down immediately" through the vehicle audio system, accompanied by a continuous beep, and the seat and steering wheel vibrate slightly for a few seconds.

[0098] In an embodiment of the present application, when the first vehicle detects that the vehicle in front begins to decelerate at a speed exceeding a preset threshold, it indicates that an emergency may have occurred ahead. At this time, a prompt message is immediately sent to the driver, which can ensure that the driver is aware of the special situation that is about to be faced and takes timely measures, such as slowing down in advance and other avoidance actions, thereby effectively improving the safety performance of the automatic driving following vehicle.

[0099] Based on the above Figures 2 to 3 The steps in the embodiments of the present application illustrate an automatic driving following vehicle time distance control strategy based on a responsibility-sensitive safety model.

[0100] The technical solution of this embodiment is mainly: the vehicle calculates a safe following distance based on the distance and speed of the moving target ahead detected by the sensor, based on the RSS (Responsibility Sensitive Safety) model, a formal safety standard designed for autonomous vehicles that aims to prevent traffic accidents by clearly defining safe driving behaviors and responsibilities. The vehicle is controlled and followed according to this safe distance to avoid collision.

[0101] The current full-speed adaptive cruise control's automatic following function is that when the target vehicle speed ahead is less than the vehicle's current cruising speed, the following function actively slows down and adjusts the speed to maintain the set time distance with the vehicle ahead, thus realizing the automatic following function; when the vehicle ahead accelerates, the following function actively accelerates until it reaches the set cruising speed, and when the vehicle ahead decelerates, the following function actively controls the vehicle to decelerate. The time distance is set by operating the time distance setting button on the steering wheel, and is generally selected from five gears: 1.2s, 1.6s, 1.8s, 2.2s, and 2.4s. The gears are all fixed values. In dangerous situations, such as when the vehicle ahead suddenly slows down, or the vehicle ahead in the side lane suddenly cuts in, the distance is too short and the response is not timely, so it is easy to collide, and the entire scene cannot be covered, which is very dangerous.

[0102] It can be seen that on the basis of a fixed time interval, a new following distance calculated based on the RSS responsibility-sensitive model can adapt to various scenarios and greatly improve the safety of the following function of adaptive cruise control.

[0103] The principle of time interval control strategy based on RSS model:

[0104] 1) Identify the target to follow

[0105] Vehicle ahead in this lane: The speed of the vehicle ahead is detected through the vehicle's perception module. If the speed of the vehicle ahead is lower than the target cruising speed of the vehicle, the vehicle ahead is set as the target vehicle to be followed.

[0106] The vehicle ahead cuts in on the side lane: The perception module detects the speed and behavior of the vehicle ahead on the side lane. If it is offset from the center of its lane by a certain distance and its lateral speed is greater than a certain value, it is determined that the vehicle is about to cut in on the vehicle's lane. If the vehicle's speed is lower than that of the vehicle ahead, the vehicle is set as the target vehicle to be followed.

[0107] 2) RSS model calculates safety distance

[0108] The Responsibility-Sensitive Safety Model is a model for ensuring the safety of autonomous vehicles. The model is based on five defined safety principles, combined with specific driving scenarios, and has corresponding safety rules based on rigorous mathematical formulas to ensure the safety of autonomous vehicles.

[0109] Avoid collision with the vehicle in front; maintain a safe lateral distance; use the right of way reasonably; pay attention to the visual blind spot; avoiding accidents is the top priority.

[0110] Under the automatic following function, what needs to be ensured is that the safest following distance is calculated while avoiding collision with the vehicle in front.

[0111] Specifically, the safe following distance can be calculated using formula (1), formula (2) and formula (3).

[0112]

[0113] In the above formula, Vr is the current speed of the vehicle, ρ is the driver's reaction time, and a max is the driver's maximum acceleration, β min Comfortable deceleration, V f Front vehicle speed, β max Maximum deceleration of the vehicle ahead. S f S is the distance traveled by the front vehicle at maximum deceleration. ego It is the distance traveled by the vehicle under acceleration within the reaction time plus the distance traveled under comfortable deceleration. f +d min ≥s ego , in order to avoid collision, please refer to the schematic diagram of the RSS model principle Figure 4 , Figure 4 It is a schematic diagram of the principle of an RSS model provided by an embodiment of the present application.

[0114] This calculation result takes into account the most dangerous situation. The front car starts to slow down at the maximum deceleration. The rear car has a certain reaction time after discovering it and continues to move forward at the maximum acceleration during the reaction time. Then it starts to slow down at the minimum deceleration. If a collision can be avoided in this case, then there is no possibility of rear-end collision for the autonomous vehicle. The calculated d min It is to maintain a safe distance from the vehicle being followed and cover all scenarios, which greatly improves the safety of the automatic following function.

[0115] To summarize, the strategy of this solution is to first detect the target ahead and the speed of the target to be followed, and then calculate the following distance to be met in the most dangerous situation based on the RSS model, and drive at this following distance. Because the following distance to be guaranteed in the most dangerous situation has been taken into account, this following distance can be applied to various scenarios with vehicles in front or on the side, and the vehicle follows the vehicle according to this distance. In the case of the original time interval setting with only a fixed value, the safety of the automatic following function and the adjustability of the following time interval are greatly improved. The safest following distance can be calculated in real time. In the face of emergencies, the front vehicle will not suddenly slow down like in the previous following scenario, and the vehicle will not have time to respond, resulting in a pursuit collision. Instead, it can safely and comfortably slow down to avoid this danger.

[0116] This solution is a time-to-distance control strategy based on the RSS model. It proposes to calculate the safe following distance based on the RSS responsibility-sensitive safety model, and follow the car according to this following distance. Previously, the automatic following function only had a few fixed values ​​that could be set. When an emergency occurred, the distance between the two cars was too short and there was no time to avoid it. On this basis, this solution added a following distance calculated based on the RSS model. This distance is guaranteed to be the safest following distance, ensuring the safety of the automatic driving function, and it is a comfortable deceleration, that is, in the safest case, it can ensure the comfort of the automatic driving following function.

[0117] The above is only an embodiment of the present application and should not be regarded as limiting the present application. Professionals should understand that various deformations and modifications can be made to the embodiments to adapt to different application requirements. Therefore, the scope of the present application should be limited by the claims attached to the claims.

[0118] Please refer to Figure 5 , which shows a block diagram of an automatic driving following vehicle time distance control device provided by an exemplary embodiment of the present application. The automatic driving following vehicle time distance control device can be implemented as all or part of a computer device by hardware or a combination of hardware and software to achieve the above Figures 2 to 3 All or part of the steps in the embodiments shown. Figure 5 As shown, the automatic driving following vehicle time distance control device includes:

[0119] The driving speed acquisition module 501 is used to acquire the driving speeds of the second vehicle and the first vehicle through the perception module; the perception module includes the sensor component of the first vehicle; the second vehicle is a vehicle that is in the same lane as the first vehicle and is in front of the first vehicle and is traveling at a lower speed than the first vehicle;

[0120] The distance acquisition module 502 is used to acquire a first distance and a second distance based on the driving speeds of the second vehicle and the first vehicle through a responsibility-sensitive safety model; the first distance is the driving distance when the second vehicle starts to decelerate to zero at the maximum deceleration; the second distance is the driving distance when the first vehicle accelerates at the maximum acceleration and then decelerates to zero;

[0121] The target distance determination module 503 is used to calculate the difference between the first distance and the second distance as the target distance; the target distance is the safe following distance between the first vehicle and the second vehicle;

[0122] The target time distance determination module 504 is used to divide the target distance by the driving speed of the second vehicle to obtain a result as the target time distance; the target time distance is a safe following time distance between the first distance and the second time distance;

[0123] The driving module 505 is used for driving according to the target time interval.

[0124] In some embodiments, the apparatus further comprises:

[0125] The driving speed acquisition module of the cut-in vehicle is used to acquire the driving speed of the cut-in vehicle in the case where a vehicle in the second lane cuts into the first lane before acquiring the driving speeds of the second vehicle and the first vehicle through the perception module; the second lane is the lane beside the lane where the first vehicle is located; the first lane is the lane where the first vehicle is located; the cut-in vehicle is a vehicle in the second lane that is about to cut into the first lane;

[0126] The second vehicle determination module is used to determine that the cutting-in vehicle is the second vehicle before obtaining the driving speeds of the second vehicle and the first vehicle through the perception module, when the driving speed of the cutting-in vehicle is lower than the driving speed of the first vehicle and the cutting-in vehicle is in front of the first vehicle.

[0127] In some embodiments, the apparatus further comprises:

[0128] The determination module is used to determine that the second vehicle is about to cut into the first lane when the offset distance between the vehicle in the second lane and the center of the second lane meets a specified distance threshold and the lateral speed of the vehicle in the second lane is greater than a specified speed threshold.

[0129] In some embodiments, the distance acquisition module 502 is used to obtain the quotient of the square of the second vehicle's driving speed and twice the maximum deceleration of the second vehicle through a responsibility-sensitive safety model as the first distance; and to obtain the sum of the reaction speed of the first vehicle, the distance traveled by the acceleration within the reaction time of the driver of the first vehicle, and the distance required for the first vehicle to stop completely from discovering the situation through the responsibility-sensitive safety model as the second distance.

[0130] In some embodiments, the apparatus further comprises:

[0131] The calculation module is used to recalculate the target distance and the target time interval when the speed change of the second vehicle exceeds a speed change threshold.

[0132] In some embodiments, the apparatus further comprises:

[0133] The prompt module is used to issue a prompt message when the deceleration speed of the second vehicle meets a specified deceleration threshold; the prompt message is used to indicate that there is a potential dangerous situation ahead of the first vehicle.

[0134] Please refer to Figure 6 , Figure 6 6 is a schematic diagram of the structure of a computer device provided by an exemplary embodiment of the present application. The computer device 600 includes a central processing unit (CPU) 601, a system memory 604 including a random access memory (RAM) 602 and a read-only memory (ROM) 603, and a system bus 605 connecting the system memory 604 and the central processing unit 601. The computer device 600 also includes a basic input / output system (I / O system) 606 that helps transmit information between various devices in the computer, and a large-capacity storage device 607 for storing an operating system 613, application programs 614 and other program modules 615.

[0135] The basic input / output system 606 includes a display 608 for displaying information and an input device 609 such as a mouse and a keyboard for user inputting information. The display 608 and the input device 609 are connected to the central processing unit 601 through an input / output controller 610 connected to the system bus 605. The basic input / output system 606 may also include an input / output controller 610 for receiving and processing inputs from a plurality of other devices such as a keyboard, a mouse, or an electronic stylus. Similarly, the input / output controller 610 also provides output to a display screen, a printer, or other types of output devices.

[0136] The mass storage device 607 is connected to the central processing unit 601 through a mass storage controller (not shown) connected to the system bus 605. The mass storage device 607 and its associated computer readable media provide non-volatile storage for the computer device 600. That is, the mass storage device 607 may include a computer readable medium (not shown) such as a hard disk or a CD-ROM (Compact Disc Read-Only Memory) drive.

[0137] Without loss of generality, computer readable media may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Computer storage media include RAM (Random Access Memory), ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other solid-state storage technologies, CD-ROM, DVD (Digital Video Disc) or other optical storage, cassettes, magnetic tapes, disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media are not limited to the above. The above-mentioned system memory 604 and mass storage device 607 can be collectively referred to as memory.

[0138] The computer device 600 can be connected to the Internet or other network devices through a network interface unit 611 connected to the system bus 605 .

[0139] The memory also includes one or more programs, one or more programs are stored in the memory, and the central processing unit 601 implements the one or more programs by executing the one or more programs. Figures 2 to 3 All or part of the steps in the method shown.

[0140] In an exemplary embodiment, a chip is also provided. The chip includes a programmable logic circuit and / or program instructions. When the chip runs on a computer device, it is used to implement all or part of the steps of the method shown in the above embodiments of the present application.

[0141] In an exemplary embodiment, a computer program product is also provided, the computer program product includes computer instructions, the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor reads and executes the computer instructions from the computer-readable storage medium to implement all or part of the steps of the method shown in the above-mentioned various embodiments of the present application.

[0142] In an exemplary embodiment, a computer-readable storage medium is also provided, in which a computer program is stored. The computer program is loaded and executed by a processor to implement all or part of the steps of the method shown in the above-mentioned embodiments of the present application.

[0143] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program. The above program may be stored in a computer-readable storage medium. The above storage medium may be a read-only memory, a disk or an optical disk, etc.

[0144] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access.

[0145] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for controlling the time distance between vehicles in an automatic driving system and following a vehicle, characterized in that: The method is performed by a first vehicle having an automatic driving function, and the method includes: Acquire the driving speeds of the second vehicle and the first vehicle through a perception module; the perception module includes a sensor component of the first vehicle; the second vehicle is a vehicle that is in the same lane as the first vehicle and in front of the first vehicle and travels at a lower speed than the first vehicle; Based on the driving speeds of the second vehicle and the first vehicle, a first distance and a second distance are obtained through a responsibility-sensitive safety model; the first distance is the driving distance when the second vehicle starts to decelerate to zero at the maximum deceleration; the second distance is the driving distance when the first vehicle accelerates at the maximum acceleration and then decelerates to zero; Calculating a difference between the first distance and the second distance as a target distance; the target distance is a safe following distance between the first vehicle and the second vehicle; The target distance is divided by the travel speed of the second vehicle to obtain a result as a target time interval; the target time interval is a safe following time interval between the first distance and the second time interval; Drive according to the stated target time interval.

2. The method according to claim 1, characterized in that Before acquiring the driving speeds of the second vehicle and the first vehicle by the perception module, the method further includes: When a vehicle in the second lane cuts into the first lane, the speed of the cutting-in vehicle is obtained; the second lane is a lane beside the lane where the first vehicle is located; the first lane is the lane where the first vehicle is located; the cutting-in vehicle is a vehicle in the second lane that is about to cut into the first lane; In a case where the running speed of the cut-in vehicle is lower than the running speed of the first vehicle and the cut-in vehicle is in front of the first vehicle, it is determined that the cut-in vehicle is the second vehicle.

3. The method according to claim 2, characterized in that The method further comprises: When the offset distance between the vehicle in the second lane and the center of the second lane meets a specified distance threshold and the lateral speed of the vehicle in the second lane is greater than a specified speed threshold, it is determined that the second vehicle is about to cut into the first lane.

4. The method according to claim 1, characterized in that: The obtaining the first distance and the second distance based on the driving speeds of the second vehicle and the first vehicle through a responsibility-sensitive safety model includes: By using the responsibility-sensitive safety model, obtaining a quotient of the square of the driving speed of the second vehicle and twice the maximum deceleration of the second vehicle as the first distance; Through the responsibility-sensitive safety model, the sum of the reaction speed of the first vehicle, the distance traveled by the driver of the first vehicle at acceleration within the reaction time, and the distance required for the first vehicle to stop completely after discovering the situation is obtained as the second distance.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the speed change of the second vehicle exceeds a speed change threshold, the target distance and the target time interval are recalculated.

6. The method according to claim 1, characterized in that The method further comprises: When the deceleration speed of the second vehicle meets a specified deceleration threshold, a prompt message is issued; the prompt message is used to indicate that there is a potential dangerous situation ahead of the first vehicle.

7. An automatic driving following vehicle time distance control device, characterized in that: The device comprises: A driving speed acquisition module, used for acquiring the driving speeds of a second vehicle and the first vehicle through a sensing module; the sensing module includes a sensor component of the first vehicle; the second vehicle is a vehicle that is in the same lane as the first vehicle and is in front of the first vehicle and is traveling at a lower speed than the first vehicle; A distance acquisition module, configured to acquire a first distance and a second distance based on the driving speeds of the second vehicle and the first vehicle through a responsibility-sensitive safety model; the first distance is the driving distance when the second vehicle starts to decelerate to zero at the maximum deceleration; the second distance is the driving distance when the first vehicle accelerates at the maximum acceleration and then decelerates to zero; a target distance determination module, configured to calculate a difference between the first distance and the second distance as a target distance; the target distance being a safe following distance between the first vehicle and the second vehicle; a target time distance determination module, configured to obtain a result obtained by dividing the target distance by the driving speed of the second vehicle as a target time distance; the target time distance is a safe following time distance between the first distance and the second time distance; A driving module is used for driving according to the target time interval.

8. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores instructions, and the instructions are executed by the processor to implement the automatic driving following vehicle time distance control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium stores instructions, and the instructions are executed by a processor of a computer device to implement the automatic driving following vehicle time distance control method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium; the computer instructions are read and executed by a processor of a computer device to implement the automatic driving following vehicle time distance control method as described in any one of claims 1 to 6.

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