Vehicle speed control method and system under cruise working condition

Abstract

The invention belongs to the technical field of intelligent vehicle control, and provides a vehicle speed control method and system under a cruise working condition, and when an adjacent vehicle and a self vehicle run side by side and the self vehicle is switched from first constant speed cruise to accelerated running, second constant speed cruise is carried out at a vehicle speed increased when accelerator acceleration is finished; when the adjacent vehicle and the vehicle run in a staggered manner, the first constant-speed cruise is switched again, so that the intention of the driver can be effectively judged; when it is judged that the adjacent vehicle has the lane changing intention through the signal lamp of the adjacent vehicle, the driving angle of the adjacent vehicle is judged; when the lane changing signal lamp of the adjacent vehicle is turned on and the front wheels tend to the lane where the vehicle is located, the vehicle is controlled to run at a first speed in a decelerated mode; and when the lane changing signal lamp of the adjacent vehicle is turned on and the front wheels tend to any one of the lanes where the vehicle is located, the vehicle is controlled to run at the second speed at the second speed, the intention of a driver on the adjacent lane is judged, the speed is actively reduced, the overtaking space is made for the adjacent vehicle, and the safety is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent vehicle control, and in particular relates to a vehicle speed control method and system under cruising conditions. Background Art

[0002] With the continuous emergence of new energy vehicles, the level of vehicle autonomous driving has developed rapidly towards high-level unmanned driving. At present, various auxiliary sensors of autonomous driving systems are increasing, and lidar sensors are gradually being adopted by major OEMs. The use of lidar has improved the vehicle's perception and recognition capabilities.

[0003] At present, adaptive cruise control is only implemented by the visual algorithm of a single camera. It has a single function and it is difficult to judge the driving intentions of the driver and vehicles in the adjacent lanes. When the driver accelerates to overtake, the car will immediately reduce speed as soon as the accelerator is released to interrupt the driver's overtaking. When following a vehicle, it relies on the target vehicle in front to follow. When the vehicle in the adjacent lane intends to cut in, it cannot be detected in time, which can easily trigger emergency braking, reducing the driver's driving experience. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a vehicle speed control method and system under a cruising condition. When the neighboring vehicle and the own vehicle are traveling side by side and the own vehicle switches from the first cruise control to accelerated driving, the second cruise control is performed at the vehicle speed increased at the end of throttle acceleration; until the neighboring vehicle and the own vehicle stagger and drive, the vehicle is switched to the first cruise control again; the driver's intention can be effectively judged, and after the driver accelerates, the vehicle cruises at the speed increased after the accelerator is pressed, and the cruising speed is restored after the driver completes overtaking; and when it is judged through the signal light of the neighboring vehicle that the neighboring vehicle has the intention to change lanes, the driving angle of the neighboring vehicle is judged; when the neighboring vehicle's lane change signal light is on and the front wheel tends to the lane where the own vehicle is located, the own vehicle is controlled to reduce speed at the first rate; when the neighboring vehicle's lane change signal light is on and the front wheel tends to any one of the lanes where the own vehicle is located, the own vehicle is controlled to reduce speed at the second rate, the driver's intention of the adjacent lane is judged, the speed is actively reduced, and the overtaking space is given to the neighboring vehicle, thereby improving safety.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides a vehicle speed control method under a cruising condition, comprising:

[0007] Get the location information, signal light and angle information of the neighboring vehicle;

[0008] Determine the relative position of the vehicle and the neighboring vehicle based on the position information and angle information of the neighboring vehicle;

[0009] When the neighboring vehicle and the vehicle are traveling side by side, and the vehicle switches from the first cruise control to acceleration, the second cruise control is performed at the vehicle speed increased at the end of throttle acceleration; until the neighboring vehicle and the vehicle pass each other, the vehicle switches back to the first cruise control; the driving speed of the second cruise control is greater than the driving speed of the first cruise control;

[0010] When it is determined through the signal light of the neighboring vehicle that the neighboring vehicle intends to change lanes, the driving angle of the neighboring vehicle is determined; when the neighboring vehicle's lane change signal light is on and the front wheels tend to the lane where the own vehicle is located, the own vehicle is controlled to slow down at a first rate; when the neighboring vehicle's lane change signal light is on and the front wheels tend to any one of the lanes where the own vehicle is located, the own vehicle is controlled to slow down at a second rate, and the first rate is greater than the second rate.

[0011] Furthermore, when the vehicle is traveling at the second cruise control, the distance and relative speed from the vehicle to the target vehicle ahead are determined; when the distance and relative speed exceed a preset range, and the neighboring vehicle is traveling side by side with the vehicle, the vehicle is switched to the third cruise control; wherein the driving speed of the third cruise control is greater than the driving speed of the first cruise control and less than the driving speed of the second cruise control;

[0012] When the distance and the relative speed exceed the preset range, and the neighboring vehicle and the own vehicle are traveling at a staggered distance, the fourth cruise control is switched to; the driving speed of the fourth cruise control is lower than the driving speed of the first cruise control.

[0013] Furthermore, the judgment factor is determined by the distance and relative speed from the vehicle to the target vehicle in front. When the judgment factor is less than a threshold, it is determined that the distance and relative speed exceed a preset range. The judgment factor C is:

[0014]

[0015] Wherein, H is the distance from the vehicle to the target vehicle in front; H0 is the preset safety distance; α is the adjustment parameter, when H is greater than H, α is a positive number, otherwise α is equal to 0; V2 is the speed of the vehicle; V1 is the speed of the target vehicle; β is the adjustment parameter, when V2 is greater than V1, β is a positive number, otherwise β is equal to 0.

[0016] Furthermore, a line segment AB is drawn from the middle position in front of the vehicle to the front wheel of the neighboring vehicle, and a vertical line AC is drawn from the middle position in front of the vehicle to the side of the neighboring vehicle; when the angle ABC is greater than a preset angle, it is determined that the front wheel is inclined to the lane where the vehicle is located.

[0017] Furthermore, when the front wheel of the neighboring vehicle exceeds the front wheel of the neighboring vehicle to the dividing line between the two lanes, the distance BD between the front wheel of the neighboring vehicle and the dividing line between the two lanes is determined; when the distance BD and the angle ABC meet the preset conditions, it is determined that the front wheel tends to the lane where the own vehicle is located.

[0018] Furthermore, the judgment factor F of the front wheel tending to the lane where the vehicle is located is determined by the distance BD and the angle ABC. When the judgment factor F is greater than a preset value, it is determined that the front wheel tends to the lane where the vehicle is located. The judgment factor F is:

[0019]

[0020] in, The distance between the front wheel of the adjacent vehicle and the dividing line between the two lanes; is the preset safety distance; ABC is the angle; ABC0 is the preset safety angle; γ and δ are preset parameters.

[0021] In a second aspect, the present invention further provides a vehicle speed control system under a cruising condition, comprising:

[0022] The data acquisition module is configured to: obtain the position information, signal light and angle information of the neighboring vehicle;

[0023] The relative position determination module is configured to: determine the relative position of the vehicle and the neighboring vehicle based on the position information and angle information of the neighboring vehicle;

[0024] The first operating condition control module is configured to: when the neighboring vehicle and the vehicle are traveling side by side and the vehicle switches from the first cruise control to acceleration, perform the second cruise control at the vehicle speed increased at the end of throttle acceleration; until the neighboring vehicle and the vehicle are traveling in a staggered manner, and then switch back to the first cruise control; the driving speed of the second cruise control is greater than the driving speed of the first cruise control;

[0025] The second operating condition control module is configured as follows: when it is determined through the signal light of the neighboring vehicle that the neighboring vehicle intends to change lanes, the driving angle of the neighboring vehicle is determined; when the neighboring vehicle's lane change signal light is on and the front wheels tend to the lane where the own vehicle is located, the own vehicle is controlled to slow down at a first rate; when the neighboring vehicle's lane change signal light is on and the front wheels tend to any one of the lanes where the own vehicle is located, the own vehicle is controlled to slow down at a second rate, and the first rate is greater than the second rate.

[0026] In a third aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle speed control method under the cruising condition described in the first aspect.

[0027] In a fourth aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein when the processor executes the program, the steps of the vehicle speed control method under the cruise condition described in the first aspect are implemented.

[0028] In a fifth aspect, the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the vehicle speed control method under the cruising condition described in the first aspect are implemented.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] In the present invention, when the neighboring vehicle is traveling side by side with the vehicle, and the vehicle switches from the first cruise control to accelerated driving, the second cruise control is performed at the speed increased when the accelerator is finished; until the neighboring vehicle and the vehicle stagger and travel, the vehicle switches back to the first cruise control; the driver's intention can be effectively judged, and after the driver accelerates, the vehicle cruises at the speed increased after the accelerator is pressed, and after the driver completes overtaking, the vehicle returns to the cruising speed; and when the neighboring vehicle's signal light is judged to have the intention to change lanes, the driving angle of the neighboring vehicle is judged; when the neighboring vehicle's lane change signal light is on and the front wheels are inclined to the direction of the vehicle, the neighboring vehicle's driving angle ... and when the neighboring vehicle's lane change signal light is on and the front wheels are inclined to the direction of the vehicle, the neighboring vehicle's driving angle is judged. When the neighboring vehicle is in the same lane, the vehicle is controlled to slow down at a first rate; when the neighboring vehicle's lane change signal light is on and the front wheels tend to any one of the lanes where the vehicle is located, the vehicle is controlled to slow down at a second rate, judge the intention of the driver in the adjacent lane, actively slow down, and give the neighboring vehicle overtaking space, thereby improving safety; and when the neighboring vehicle only meets the conditions that the lane change signal light is on or the front wheels tend to the lane where the vehicle is located, it may be caused by the neighboring vehicle driver's misoperation. At this time, the speed is slowed down to avoid the problem of reduced vehicle stability caused by excessive deceleration, and safe avoidance can be made when the neighboring vehicle actually changes lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0032] Figure 1 This is the overtaking condition of embodiment 1 of the present invention;

[0033] Figure 2 This is the adjacent vehicle cut-in working condition of embodiment 1 of the present invention;

[0034] Figure 3 This is the angle determination method of embodiment 1 of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0037] Embodiment 1:

[0038] This embodiment provides a vehicle speed control method under cruising conditions, which, combined with the excellent environmental perception and object recognition capabilities of the laser radar, can enhance the vehicle's perception capabilities; the driver's operation is combined with information input from various sensors, and the domain controller performs processing and judgment, thereby solving the driving capability under complex conditions.

[0039] like Figure 1 As shown, in the current mainstream driving solutions, a single smart camera cannot accurately identify the driver's intentions. When following a vehicle under cruise control, a parallel vehicle appears on the left. The driver steps on the accelerator to accelerate, indicating an intention to overtake. When the vehicle's speed is higher than the set speed and the parallel vehicle on the left, the driver releases the accelerator and chooses an opportunity to overtake. The smart camera will immediately issue a deceleration command to restore to the cruising speed, interrupting the driver's overtaking, giving the driver a bad driving experience.

[0040] Based on this, in this embodiment, after combining with the laser radar to identify the surrounding environment, the driver's intention can be effectively judged. After the driver accelerates, the vehicle speed increased by pressing the accelerator is maintained for cruising. After the driver completes overtaking, the cruising speed is restored.

[0041] Specifically, the position information of the neighboring vehicle is obtained; when the neighboring vehicle is traveling side by side with the vehicle, and the vehicle switches from the first cruise control to the accelerated driving, the second cruise control is performed at the vehicle speed increased at the end of the throttle acceleration; until the neighboring vehicle and the vehicle stagger, the vehicle switches back to the first cruise control; the driving speed of the second cruise control is the driving speed of the first cruise control;

[0042] In this embodiment, when the vehicle is traveling at the second cruise control, the distance and relative speed from the vehicle to the target vehicle in front are determined; when the distance and relative speed exceed the preset range, and the neighboring vehicle is traveling side by side with the vehicle, the vehicle is switched to the third cruise control; wherein the driving speed of the third cruise control is greater than the driving speed of the first cruise control and less than the driving speed of the second cruise control;

[0043] When the distance and the relative speed exceed the preset range, and the neighboring vehicle and the own vehicle are traveling at a staggered distance, the fourth cruise control is switched to; the driving speed of the fourth cruise control is lower than the driving speed of the first cruise control.

[0044] It is understandable that when the distance and relative speed exceed the preset range, and the neighboring car and the self-vehicle are driving side by side, there is a risk of rear-end collision between the self-vehicle and the target car in front, and there are certain safety hazards when driving side by side with the neighboring car; at this time, driving at the third cruise speed can not only complete overtaking, but also reduce the risk of the target car in front. When the distance and relative speed exceed the preset range, and the neighboring car and the self-vehicle drive staggered, there is a risk of rear-end collision between the self-vehicle and the target car in front. Because overtaking has been completed, there is no safety hazard caused by driving side by side. At this time, driving at the fourth cruise speed can minimize the driving risk between the target car in front.

[0045] Optionally, the judgment factor is determined by the distance and relative speed from the vehicle to the target vehicle in front. When the judgment factor is less than a threshold, it is determined that the distance and relative speed exceed a preset range. The judgment factor C is:

[0046]

[0047] Wherein, H is the distance from the vehicle to the target vehicle in front; H0 is the preset safety distance; α is the adjustment parameter, when H is greater than H, α is a positive number, otherwise α is equal to 0; V2 is the speed of the vehicle; V1 is the speed of the target vehicle; β is the adjustment parameter, when V2 is greater than V1, β is a positive number, otherwise β is equal to 0.

[0048] It can be understood that when the distance H between the ego vehicle and the target vehicle in front is larger, the judgment factor C is larger and the safer it is; when the distance H between the ego vehicle and the target vehicle in front is less than the preset safety distance H0, it is determined that there is a safety hazard, at this time α is equal to 0, and the judgment factor C is reduced to the maximum extent. The larger the difference between the ego vehicle speed V2 and the target vehicle speed V1, the smaller the relative speed, the smaller the judgment factor C, and the greater the risk; when the ego vehicle speed V2 is less than the target vehicle speed V1, it is determined that there is no rear-end collision risk, at this time β is equal to 0, and the judgment factor C is increased to the maximum extent.

[0049] like Figure 2 As shown in the figure, under adaptive cruise control, when the vehicle is following the target vehicle in front and the vehicle in the right lane intends to overtake and is about to cut into the driver's lane, the single smart camera alone is unable to sense and identify the intention of the vehicle on the right and continues to follow the target vehicle in front. When the right side crosses the lane line, the AEB emergency brake will be triggered, scaring the driver. In addition, emergency braking at high speeds is extremely dangerous and can easily cause a collision.

[0050] Based on this, in this embodiment, the vehicle signal lights are identified by the forward-looking driving camera to judge the intention of the driver in the adjacent lane, and the speed is actively reduced to make overtaking space for the adjacent vehicle. After the vehicle cuts in, the millimeter-wave radar detects the distance to the vehicle in front to ensure a safe gap. At the same time, the vehicle in front is taken as the target vehicle for following driving to avoid sudden emergency braking and ensure the safety of the driver.

[0051] Specifically, the position information, signal light and angle information of the neighboring vehicle are obtained; the relative position of the own vehicle and the neighboring vehicle is determined based on the position information and angle information of the neighboring vehicle; when it is determined through the signal light of the neighboring vehicle that the neighboring vehicle has the intention to change lanes, the driving angle of the neighboring vehicle is determined; when the neighboring vehicle's lane change signal light is on and the front wheels tend to the lane where the own vehicle is located, the own vehicle is controlled to slow down at a first rate; when the neighboring vehicle's lane change signal light is on and the front wheels tend to any one of the lanes where the own vehicle is located, the own vehicle is controlled to slow down at a second rate, and the first rate is greater than the second rate.

[0052] like Figure 3 As shown, a line segment AB is drawn from the middle position in front of the vehicle to the front wheel of the neighboring vehicle, and a vertical line AC is drawn from the middle position in front of the vehicle to the side of the neighboring vehicle; when the angle ABC is greater than the preset angle, it is determined that the front wheel tends to the lane where the vehicle is located.

[0053] If the angle ABC is used alone for judgment, there is a phenomenon that the neighboring vehicle adjusts its lane. Based on this, in the present embodiment, when the front wheel of the neighboring vehicle exceeds the front wheel of the neighboring vehicle to the dividing line between the two lanes, the distance BD between the front wheel of the neighboring vehicle and the dividing line between the two lanes is determined; when the distance BD and the angle ABC meet the preset conditions, it is determined that the front wheel tends to the lane where the own vehicle is located; judging by the two conditions of distance BD and angle ABC improves the judgment accuracy and avoids the problem of arbitrary deceleration affecting the vehicle stability.

[0054] Optionally, a judgment factor F indicating that the front wheel tends to the lane where the vehicle is located is determined by the distance BD and the angle ABC. When the judgment factor F is greater than a preset value, it is determined that the front wheel tends to the lane where the vehicle is located. The judgment factor F is:

[0055]

[0056] in, The distance between the front wheel of the adjacent vehicle and the dividing line between the two lanes; is the preset safety distance; ABC is the angle; ABC0 is the preset safety angle; γ and δ are preset parameters.

[0057] This embodiment solves the technical problem that the existing cruise mode cannot make different cruise controls according to the different states of the current vehicle, the distance to the vehicle in front, the lane change intention of the turn signal of the adjacent lane, and cannot judge the intention of the driver of the vehicle, resulting in poor flexibility. It also solves the technical problem that the existing cruise mode has low cruise control accuracy because there is only one target reference vehicle, thereby improving the driver's driving experience.

[0058] Embodiment 2:

[0059] This embodiment provides a vehicle speed control system under a cruising condition, including:

[0060] The data acquisition module is configured to: obtain the position information, signal light and angle information of the neighboring vehicle;

[0061] The relative position determination module is configured to: determine the relative position of the vehicle and the neighboring vehicle based on the position information and angle information of the neighboring vehicle;

[0062] The first operating condition control module is configured to: when the neighboring vehicle and the vehicle are traveling side by side and the vehicle switches from the first cruise control to acceleration, perform the second cruise control at the vehicle speed increased at the end of throttle acceleration; until the neighboring vehicle and the vehicle are traveling in a staggered manner, and then switch back to the first cruise control; the driving speed of the second cruise control is greater than the driving speed of the first cruise control;

[0063] The second operating condition control module is configured as follows: when it is determined through the signal light of the neighboring vehicle that the neighboring vehicle intends to change lanes, the driving angle of the neighboring vehicle is determined; when the neighboring vehicle's lane change signal light is on and the front wheels tend to the lane where the own vehicle is located, the own vehicle is controlled to slow down at a first rate; when the neighboring vehicle's lane change signal light is on and the front wheels tend to any one of the lanes where the own vehicle is located, the own vehicle is controlled to slow down at a second rate, and the first rate is greater than the second rate.

[0064] The working method of the system is the same as the vehicle speed control method under the cruising condition in Example 1, and will not be repeated here.

[0065] Embodiment 3:

[0066] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the vehicle speed control method under the cruising condition described in Example 1 are implemented.

[0067] Embodiment 4:

[0068] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, the steps of the vehicle speed control method under the cruising condition described in Example 1 are implemented.

[0069] Embodiment 5:

[0070] This embodiment provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the vehicle speed control method under the cruising condition described in Example 1 are implemented.

[0071] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A vehicle speed control method under cruising conditions, characterized in that: include: Get the location information, signal light and angle information of the neighboring vehicle; Determine the relative position of the vehicle and the neighboring vehicle based on the position information and angle information of the neighboring vehicle; When the neighboring vehicle and the vehicle are traveling side by side, and the vehicle switches from the first cruise control to acceleration, the second cruise control is performed at the vehicle speed increased at the end of throttle acceleration; until the neighboring vehicle and the vehicle pass each other, the vehicle switches back to the first cruise control; the driving speed of the second cruise control is greater than the driving speed of the first cruise control; When it is determined through the signal light of the neighboring vehicle that the neighboring vehicle intends to change lanes, the driving angle of the neighboring vehicle is determined; when the neighboring vehicle's lane change signal light is on and the front wheels tend to the lane where the own vehicle is located, the own vehicle is controlled to slow down at a first rate; when the neighboring vehicle's lane change signal light is on and the front wheels tend to any one of the lanes where the own vehicle is located, the own vehicle is controlled to slow down at a second rate, and the first rate is greater than the second rate.

2. The vehicle speed control method under cruising condition as claimed in claim 1, characterized in that: When the vehicle is traveling at the second cruise control, the distance and relative speed from the vehicle to the target vehicle ahead are determined; when the distance and relative speed exceed the preset range, and the neighboring vehicle is traveling side by side with the vehicle, the vehicle is switched to the third cruise control; wherein the driving speed of the third cruise control is greater than the driving speed of the first cruise control and less than the driving speed of the second cruise control; When the distance and the relative speed exceed the preset range, and the neighboring vehicle and the own vehicle are traveling at a staggered distance, the fourth cruise control is switched to; the driving speed of the fourth cruise control is lower than the driving speed of the first cruise control.

3. The vehicle speed control method under cruising condition as claimed in claim 2, characterized in that: The judgment factor is determined by the distance and relative speed from the vehicle to the target vehicle in front. When the judgment factor is less than the threshold, it is determined that the distance and relative speed exceed the preset range; the judgment factor C is: Wherein, H is the distance from the vehicle to the target vehicle in front; H0 is the preset safety distance; α is the adjustment parameter, when H is greater than H, α is a positive number, otherwise α is equal to 0; V2 is the speed of the vehicle; V1 is the speed of the target vehicle; β is the adjustment parameter, when V2 is greater than V1, β is a positive number, otherwise β is equal to 0.

4. The vehicle speed control method under cruising condition as claimed in claim 1, characterized in that: Draw line segment AB from the middle position in front of the vehicle to the front wheel of the neighboring vehicle, and draw perpendicular line AC from the middle position in front of the vehicle to the side of the neighboring vehicle; when angle ABC is greater than the preset angle, it is determined that the front wheel is inclined to the lane where the vehicle is located.

5. The vehicle speed control method under cruising condition as claimed in claim 4, characterized in that: When the front wheel of the neighboring vehicle exceeds the front wheel of the neighboring vehicle to the dividing line between the two lanes, the distance BD between the front wheel of the neighboring vehicle and the dividing line between the two lanes is determined; when the distance BD and the angle ABC meet the preset conditions, it is determined that the front wheel tends to the lane where the own vehicle is located.

6. The vehicle speed control method under cruising condition as claimed in claim 5, characterized in that: The judgment factor F of the front wheel tending to the lane where the vehicle is located is determined by the distance BD and the angle ABC. When the judgment factor F is greater than a preset value, it is determined that the front wheel tends to the lane where the vehicle is located. The judgment factor F is: in, The distance between the front wheel of the adjacent vehicle and the dividing line between the two lanes; is the preset safety distance; ABC is the angle; ABC0 is the preset safety angle; γ and δ are preset parameters.

7. A vehicle speed control system under cruising conditions, characterized in that: include: The data acquisition module is configured to: obtain the position information, signal light and angle information of the neighboring vehicle; The relative position determination module is configured to: determine the relative position of the vehicle and the neighboring vehicle based on the position information and angle information of the neighboring vehicle; The first operating condition control module is configured to: when the neighboring vehicle and the vehicle are traveling side by side and the vehicle switches from the first cruise control to acceleration, perform the second cruise control at the vehicle speed increased at the end of throttle acceleration; until the neighboring vehicle and the vehicle are traveling in a staggered manner, and then switch back to the first cruise control; the driving speed of the second cruise control is greater than the driving speed of the first cruise control; The second operating condition control module is configured as follows: when it is determined through the signal light of the neighboring vehicle that the neighboring vehicle intends to change lanes, the driving angle of the neighboring vehicle is determined; when the neighboring vehicle's lane change signal light is on and the front wheels tend to the lane where the own vehicle is located, the own vehicle is controlled to slow down at a first rate; when the neighboring vehicle's lane change signal light is on and the front wheels tend to any one of the lanes where the own vehicle is located, the own vehicle is controlled to slow down at a second rate, and the first rate is greater than the second rate.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle speed control method under the cruising condition as described in any one of claims 1 to 6 are implemented.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the program, the steps of the vehicle speed control method under the cruising condition as described in any one of claims 1-6 are implemented.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle speed control method under cruising conditions as described in any one of claims 1 to 6 are implemented.

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