A method and system for vehicle speed control under cruising conditions

Abstract

This invention belongs to the field of intelligent vehicle control technology and provides a vehicle speed control method and system under cruise control conditions. When a neighboring vehicle is driving alongside the vehicle and the vehicle switches from the first cruise control to acceleration, the second cruise control is performed at the speed increased at the end of acceleration. The system continues until the neighboring vehicle and the vehicle move out of the way, at which point the system switches back to the first cruise control, effectively determining the driver's intention. Furthermore, when the vehicle's traffic lights indicate a lane-changing intention, the system determines the neighboring vehicle's driving angle. When both the neighboring vehicle's lane-changing signal light and its front wheels are tilted towards the vehicle's lane are simultaneously activated, the vehicle is controlled to decelerate at a first speed. When either the neighboring vehicle's lane-changing signal light or its front wheels are tilted towards the vehicle's lane are activated, the vehicle is controlled to decelerate at a second speed. By determining the intention of the driver in the adjacent lane and actively reducing speed, the system provides overtaking space for the neighboring vehicle, improving safety.

Description

Technical Field

[0001] This invention belongs to the field of intelligent vehicle control technology, and particularly relates to a vehicle speed control method and system under cruising conditions. Background Technology

[0002] With the continuous emergence of new energy vehicles, the level of vehicle autonomous driving is rapidly developing towards advanced unmanned driving. At present, various auxiliary sensors for autonomous driving systems are also increasing, and LiDAR sensors are gradually being adopted by major OEMs. The adoption of LiDAR has improved the perception and recognition capabilities of vehicles.

[0003] Currently, adaptive cruise control relies solely on the visual algorithm of a single camera, resulting in limited functionality. It struggles to determine the driving intentions of the driver and vehicles in adjacent lanes. When the driver accelerates to overtake, the vehicle immediately slows down to interrupt the overtaking maneuver if the driver releases the accelerator. When following another vehicle, it relies on the target vehicle ahead for following, and it cannot promptly detect when vehicles in adjacent lanes intend to cut in, which can easily trigger emergency braking and reduce the driver's driving experience. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a vehicle speed control method and system under cruise control conditions. When a neighboring vehicle is driving alongside the vehicle, and the vehicle switches from a first cruise control to acceleration, it maintains a second cruise control at the speed increased after acceleration ends. This continues until the neighboring vehicle and the vehicle move out of the way, at which point it switches back to the first cruise control. This effectively determines the driver's intention, maintaining the speed increased after acceleration and resuming cruise control after overtaking. Furthermore, when a neighboring vehicle's lane change signal indicates a lane change intention, the system determines the neighboring vehicle's driving angle. When both the neighboring vehicle's lane change signal and its front wheels are tilted towards the vehicle's lane are simultaneously present, the system controls the vehicle to decelerate at a first speed. When either the neighboring vehicle's lane change signal or its front wheels are tilted towards the vehicle's lane are present, the system controls the vehicle to decelerate at a second speed. By determining the intentions of drivers in adjacent lanes and proactively reducing speed, the system provides overtaking space for neighboring vehicles, improving safety.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

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

[0007] Obtain the location, traffic light, and angle information of neighboring vehicles;

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

[0009] When a neighboring vehicle is driving alongside the vehicle, and the vehicle switches from the first cruise control to acceleration, the second cruise control is initiated at the speed increased when the acceleration ends; until the neighboring vehicle and the vehicle pass each other, the vehicle switches back to the first cruise control; the speed of the second cruise control is greater than the speed of the first cruise control.

[0010] When the neighboring vehicle's traffic lights indicate that it intends to change lanes, the driving angle of the neighboring vehicle is determined. When both the neighboring vehicle's lane change signal light is on and its front wheels are tilted towards the lane of the vehicle being driven, the vehicle is controlled to slow down at a first speed. When either the neighboring vehicle's lane change signal light is on or its front wheels are tilted towards the lane of the vehicle being driven, the vehicle is controlled to slow down at a second speed, where the first speed is greater than the second speed.

[0011] Furthermore, when the vehicle is traveling at the second cruise control speed, the distance and relative speed between the vehicle and the target vehicle ahead are determined; when the distance and relative speed exceed the preset range, and the adjacent vehicle is traveling alongside the vehicle, the vehicle switches to the third cruise control speed; wherein, the driving speed of the third cruise control speed is greater than the driving speed of the first cruise control speed and less than the driving speed of the second cruise control speed.

[0012] When the distance and relative speed exceed the preset range, and the adjacent vehicle is traveling at a different speed from the vehicle, the system switches to the fourth cruise control; the speed of the fourth cruise control is less than the speed of the first cruise control.

[0013] Furthermore, a judgment factor is determined by the distance and relative speed between the vehicle and the target vehicle ahead. If the judgment factor is less than a threshold, the distance and relative speed are determined to be outside a preset range. The judgment factor C is:

[0014]

[0015] Where H is the distance from the vehicle to the target vehicle ahead; H0 is the preset safe distance; α is an adjustment parameter, which is positive when H is greater than H, otherwise α is equal to 0; V2 is the vehicle speed; V1 is the target vehicle speed; β is an adjustment parameter, which is positive when V2 is greater than V1, otherwise β is equal to 0.

[0016] Furthermore, draw a line segment AB from the center front position of the vehicle to the front wheel of the adjacent vehicle, and draw a perpendicular line AC from the center front position of the vehicle to the side of the adjacent vehicle; when angle ABC is greater than a preset angle, determine that the front wheel tends to be in the lane where the vehicle is located.

[0017] Furthermore, when the front wheel of the adjacent vehicle exceeds the lane divider between the front wheels of the adjacent vehicle, the distance BD between the front wheels of the adjacent vehicle and the lane divider is determined; when the distance BD and angle ABC meet the preset conditions, the front wheels are determined to be inclined towards the lane where the vehicle is located.

[0018] Furthermore, a judgment factor F is determined based on the distance BD and angle ABC to indicate whether the front wheels are inclined towards the lane where the vehicle is located. When the judgment factor F is greater than a preset value, it is determined that the front wheels are inclined towards 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 lane divider; The preset safety distance; ABC is the angle; ABC0 is the preset safety angle; γ and δ are preset parameters.

[0021] Secondly, the present invention also provides a vehicle speed control system for cruising conditions, comprising:

[0022] The data acquisition module is configured to acquire the location information, traffic light information, and angle information of neighboring vehicles.

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

[0024] The first operating condition control module is configured to: when a neighboring vehicle is driving alongside the vehicle and the vehicle switches from the first cruise control to acceleration, the second cruise control is performed at the speed increased when the throttle acceleration ends; until the neighboring vehicle and the vehicle move out of the way, the vehicle switches back to the first cruise control; the speed of the second cruise control is greater than the speed of the first cruise control.

[0025] The second operating condition control module is configured to: determine the driving angle of the adjacent vehicle when the adjacent vehicle's traffic light indicates that the adjacent vehicle intends to change lanes; control the vehicle to decelerate at a first speed when both the adjacent vehicle's lane change signal light is on and the front wheels are inclined towards the vehicle's lane; and control the vehicle to decelerate at a second speed when either the adjacent vehicle's lane change signal light is on or the front wheels are inclined towards the vehicle's lane, wherein the first speed is greater than the second speed.

[0026] Thirdly, the present invention also 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 cruise condition described in the first aspect.

[0027] Fourthly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the steps of the vehicle speed control method under the cruise condition described in the first aspect.

[0028] Fifthly, the present invention also provides a computer program product, the computer program product comprising a computer program, which, when executed by a processor, implements the steps of the vehicle speed control method under cruising conditions described in the first aspect.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] In this invention, when a neighboring vehicle is driving alongside the vehicle and the vehicle switches from the first cruise control to acceleration, the second cruise control is initiated at the speed increased after acceleration ends; this continues until the neighboring vehicle and the vehicle move out of the way, at which point the vehicle switches back to the first cruise control. This effectively determines the driver's intention, maintaining the speed increased after acceleration and resuming cruise control after the driver completes overtaking. Furthermore, when the neighboring vehicle's traffic lights indicate a lane-changing intention, the invention determines the neighboring vehicle's driving angle; and when both the neighboring vehicle's lane-changing signal light illuminates and its front wheels are tilted towards the vehicle, the invention ensures a smooth transition. When in a lane, control the vehicle to slow down at a first speed. When the adjacent vehicle's lane change signal is on and the front wheels are leaning towards either lane, control the vehicle to slow down at a second speed. This allows the system to assess the intentions of the driver in the adjacent lane, proactively reduce speed, and give the adjacent vehicle space to overtake, thus improving safety. Furthermore, if the adjacent vehicle only meets the requirements of having its lane change signal on or its front wheels leaning towards the vehicle, it may be due to a driver error. In this case, the slowdown is slower to avoid decelerating too quickly and causing a decrease in vehicle stability, while still allowing for safe avoidance when the adjacent vehicle actually changes lanes. Attached Figure Description

[0031] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

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

[0033] Figure 2 This is the adjacent vehicle cutting-in scenario of Embodiment 1 of the present invention;

[0034] Figure 3 This is the angle determination method of Embodiment 1 of the present invention. Detailed Implementation

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

[0036] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0037] Example 1:

[0038] This embodiment provides a vehicle speed control method under cruising conditions. By combining the excellent environmental perception and object recognition capabilities of lidar, the vehicle's perception capabilities can be improved. The driver's operation is combined with information input from various sensors, and the domain controller processes and judges the information, thus solving the driving capability problem under complex conditions.

[0039] like Figure 1 As shown, in current mainstream driving solutions, relying solely on a single smart camera for perception cannot accurately identify the driver's intentions. When following another vehicle under cruise control, if a vehicle appears on the left and the driver accelerates, it indicates an intention to overtake. However, if the vehicle's speed exceeds the set speed and the vehicle on the left is also at the same speed, and the driver releases the accelerator to overtake, the smart camera will immediately issue a deceleration command to restore the cruise speed, interrupting the driver's overtaking attempt and resulting in a poor driving experience.

[0040] Based on this, in this embodiment, after identifying the surrounding environment with LiDAR, the driver's intention can be effectively determined. After the driver accelerates, the vehicle maintains the speed increased by pressing the accelerator for cruising. After the driver completes overtaking, the vehicle returns to the cruising speed.

[0041] Specifically, the system obtains the location information of neighboring vehicles; when a neighboring vehicle is driving alongside the vehicle and the vehicle switches from the first cruise control to acceleration, it uses the speed increased at the end of acceleration to perform the second cruise control; until the neighboring vehicle and the vehicle move out of the way, it switches back to the first cruise control; the speed of the second cruise control is the same as the speed of the first cruise control.

[0042] In this embodiment, when the vehicle is traveling at the second cruise control speed, the distance and relative speed between the vehicle and the target vehicle ahead are determined; when the distance and relative speed exceed the preset range, and the adjacent vehicle is traveling alongside the vehicle, the system switches to the third cruise control speed; wherein, the speed of the third cruise control speed is greater than the speed of the first cruise control speed and less than the speed of the second cruise control speed.

[0043] When the distance and relative speed exceed the preset range, and the adjacent vehicle is traveling at a different speed from the vehicle, the system switches to the fourth cruise control; the speed of the fourth cruise control is less than the speed of the first cruise control.

[0044] Understandably, when the distance and relative speed exceed the preset range, and the adjacent vehicle is driving alongside the vehicle ahead, there is a risk of rear-ending the vehicle ahead. Driving alongside the adjacent vehicle also presents certain safety hazards. In this situation, using the third cruise control setting allows for overtaking while minimizing the risk of rear-ending the vehicle ahead. Conversely, when the distance and relative speed exceed the preset range, and the adjacent vehicle is not driving alongside the vehicle ahead, there is still a risk of rear-ending the vehicle ahead. However, since overtaking has already been completed, the safety hazards associated with driving alongside the vehicle are eliminated. In this case, using the fourth cruise control setting minimizes the driving risk associated with rear-ending the vehicle ahead.

[0045] Optionally, a judgment factor is determined by the distance and relative speed between the vehicle and the target vehicle ahead. If the judgment factor is less than a threshold, the distance and relative speed are determined to be outside a preset range. The judgment factor C is:

[0046]

[0047] Where H is the distance from the vehicle to the target vehicle ahead; H0 is the preset safe distance; α is an adjustment parameter, which is positive when H is greater than H, otherwise α is equal to 0; V2 is the vehicle speed; V1 is the target vehicle speed; β is an adjustment parameter, which is positive when V2 is greater than V1, otherwise β is equal to 0.

[0048] Understandably, the greater the distance H between the vehicle and the target vehicle ahead, the larger the judgment factor C, and the safer it is. When the distance H between the vehicle and the target vehicle ahead is less than the preset safe distance H0, a safety hazard is identified, and α equals 0, maximally reducing the judgment factor C. The greater the difference between the vehicle's speed V2 and the target vehicle's speed V1, the smaller the relative speed, and the smaller the judgment factor C, indicating a greater risk. When the vehicle's speed V2 is less than the target vehicle's speed V1, it is determined that there is no risk of a rear-end collision, and β equals 0, maximally increasing the judgment factor C.

[0049] like Figure 2 As shown, in adaptive cruise control, when the vehicle is following the target vehicle in front, if a vehicle in the right lane intends to overtake and cut into the driver's lane, the single smart camera cannot detect and identify the intention of the vehicle on the right. The vehicle continues to follow the target vehicle in front. When the right-side measurement crosses the lane line, it will trigger AEB emergency braking, which will startle the driver. Moreover, high-speed emergency braking is extremely dangerous and can easily cause a collision.

[0050] Based on this, in this embodiment, the vehicle's traffic lights are identified by the forward-looking driving camera to determine the intention of the driver in the adjacent lane, and the vehicle actively slows down to give the adjacent vehicle overtaking space. After the vehicle enters the lane, 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 used as the target vehicle for following, avoiding sudden emergency braking and ensuring the safety of the driver.

[0051] Specifically, the system acquires the location, traffic light, and angle information of neighboring vehicles; determines the relative position of the vehicle to the neighboring vehicle based on the location and angle information; when the neighboring vehicle's traffic light indicates an intention to change lanes, the system determines the neighboring vehicle's driving angle; when both the neighboring vehicle's lane change signal light and its front wheels are inclined towards the vehicle's lane are simultaneously met, the system controls the vehicle to decelerate at a first speed; when either the neighboring vehicle's lane change signal light or its front wheels are inclined towards the vehicle's lane are met, the system controls the vehicle to decelerate at a second speed, where the first speed is greater than the second speed.

[0052] like Figure 3 As shown, draw line segment AB from the middle of the front of the car to the front wheel of the adjacent car, and draw perpendicular line AC from the middle of the front of the car to the side of the adjacent car; when angle ABC is greater than the preset angle, it is determined that the front wheel tends to be in the lane where the car is located.

[0053] Simply using angle ABC for judgment can lead to situations where adjacent vehicles adjust their lanes. Therefore, in this embodiment, when the front wheel of an adjacent vehicle exceeds the lane divider, the distance BD between the front wheel of the adjacent vehicle and the lane divider is determined. When the distance BD and angle ABC meet preset conditions, it is determined that the front wheel is inclined towards the lane of the vehicle itself. By using both distance BD and angle ABC for judgment, the accuracy of the judgment is improved, and the problem of arbitrary speed reduction affecting vehicle stability is avoided.

[0054] Optionally, a judgment factor F indicating the front wheels' tendency to gravitate towards the vehicle's lane is determined using distance BD and angle ABC. When the judgment factor F is greater than a preset value, the front wheels are determined to gravitate towards the vehicle's lane. The judgment factor F is:

[0055]

[0056] in, The distance between the front wheel of the adjacent vehicle and the lane divider; 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 problems of existing cruise control methods, which cannot make different cruise control responses based on the different states of the current vehicle, the distance to the vehicle in front, and the lane change intentions of adjacent lane turn signals, and cannot judge the driver's intentions, resulting in poor flexibility. It also solves the technical problem of low cruise control accuracy caused by existing cruise control methods having only one target reference vehicle, thereby improving the driver's driving experience.

[0058] Example 2:

[0059] This embodiment provides a vehicle speed control system for cruise conditions, including:

[0060] The data acquisition module is configured to acquire the location information, traffic light information, and angle information of neighboring vehicles.

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

[0062] The first operating condition control module is configured to: when a neighboring vehicle is driving alongside the vehicle and the vehicle switches from the first cruise control to acceleration, the second cruise control is performed at the speed increased when the throttle acceleration ends; until the neighboring vehicle and the vehicle move out of the way, the vehicle switches back to the first cruise control; the speed of the second cruise control is greater than the speed of the first cruise control.

[0063] The second operating condition control module is configured to: determine the driving angle of the adjacent vehicle when the adjacent vehicle's traffic light indicates that the adjacent vehicle intends to change lanes; control the vehicle to decelerate at a first speed when both the adjacent vehicle's lane change signal light is on and the front wheels are inclined towards the vehicle's lane; and control the vehicle to decelerate at a second speed when either the adjacent vehicle's lane change signal light is on or the front wheels are inclined towards the vehicle's lane, wherein the first speed is greater than the second speed.

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

[0065] Example 3:

[0066] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the vehicle speed control method under cruising conditions described in Embodiment 1.

[0067] Example 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, it implements the steps of the vehicle speed control method under the cruise condition described in Embodiment 1.

[0069] Example 5:

[0070] This embodiment provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the vehicle speed control method under the cruise condition described in Embodiment 1.

[0071] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A method for controlling vehicle speed under cruising conditions, characterized in that, include: Obtain the location, traffic light, and angle information of neighboring vehicles; Determine the relative position of your vehicle to the neighboring vehicle based on the location and angle information of the neighboring vehicle; When a neighboring vehicle is driving alongside the vehicle, and the vehicle switches from the first cruise control to acceleration, the second cruise control is initiated at the speed increased when the acceleration ends; until the neighboring vehicle and the vehicle pass each other, the vehicle switches back to the first cruise control; the speed of the second cruise control is greater than the speed of the first cruise control. When the neighboring vehicle's traffic lights indicate that it intends to change lanes, the driving angle of the neighboring vehicle is determined. When both the neighboring vehicle's lane change signal light is on and its front wheels are inclined towards the lane of the vehicle being driven, the vehicle is controlled to reduce its speed at a first rate. When either the neighboring vehicle's lane change signal light is on or its front wheels are inclined towards the lane of the vehicle being driven, the vehicle is controlled to reduce its speed at a second rate, where the first rate is greater than the second rate. Draw a line segment AB from the middle of the front of your car to the front wheel of the adjacent car, and draw a perpendicular line AC from the middle of the front of your car to the side of the adjacent car; when angle ABC is greater than a preset angle, determine that the front wheel tends to be in the lane where your car is located. When the front wheel of an adjacent vehicle exceeds the lane divider between the front wheels of the adjacent vehicle, the distance BD between the front wheels of the adjacent vehicle and the lane divider is determined; when the distance BD and angle ABC meet the preset conditions, the front wheels are determined to be inclined towards the lane where the vehicle is located. Factors determining the front wheel's tendency to gravitate towards the vehicle's lane are used to calculate distance BD and angle ABC. F When the judgment factor F When the value is greater than the preset value, the front wheels are determined to be inclined towards the lane where the vehicle is located; judgment factor F for: ； in, The distance between the front wheel of the adjacent vehicle and the lane divider; To establish a preset safe distance; For angle; Preset safety angle; and These are preset parameters.

2. The vehicle speed control method under cruise conditions as described in claim 1, characterized in that, When the vehicle is traveling at the second cruise control speed, the distance and relative speed between the vehicle and the target vehicle ahead are determined. When the distance and relative speed exceed the preset range and the adjacent vehicle is traveling alongside the vehicle, the vehicle switches to the third cruise control speed. The speed of the third cruise control speed is greater than the speed of the first cruise control speed and less than the speed of the second cruise control speed. When the distance and relative speed exceed the preset range, and the adjacent vehicle is traveling at a different speed from the vehicle, the system switches to the fourth cruise control; the speed of the fourth cruise control is less than the speed of the first cruise control.

3. The vehicle speed control method under cruise conditions as described in claim 2, characterized in that, A judgment factor is determined by the distance and relative speed between the current vehicle and the target vehicle ahead. If the judgment factor is less than a threshold, the distance and relative speed are determined to be outside a preset range. C for ： ； in, This represents the distance from the current vehicle to the target vehicle ahead. The preset safe distance; To adjust the parameters, when Greater than hour, If positive, otherwise Equal to 0; For the vehicle's speed; The target vehicle speed; To adjust the parameters, when Greater than hour, If positive, otherwise It equals 0.

4. A vehicle speed control system for cruising conditions, characterized in that, include: The data acquisition module is configured to acquire the location information, traffic light information, and angle information of neighboring vehicles. The relative position determination module is configured to determine the relative position of the vehicle and the neighboring vehicles based on the position and angle information of the neighboring vehicles. The first operating condition control module is configured to: when a neighboring vehicle is driving alongside the vehicle and the vehicle switches from the first cruise control to acceleration, the second cruise control is performed at the speed increased when the throttle acceleration ends; until the neighboring vehicle and the vehicle move out of the way, the vehicle switches back to the first cruise control; the speed of the second cruise control is greater than the speed of the first cruise control. The second operating condition control module is configured to: determine the driving angle of the adjacent vehicle when the adjacent vehicle's traffic light indicates that the adjacent vehicle intends to change lanes; control the vehicle to decelerate at a first speed when both the adjacent vehicle's lane change signal light is on and the front wheels are inclined towards the vehicle's lane; and control the vehicle to decelerate at a second speed when either the adjacent vehicle's lane change signal light is on or the front wheels are inclined towards the vehicle's lane, wherein the first speed is greater than the second speed. Draw a line segment AB from the middle of the front of your car to the front wheel of the adjacent car, and draw a perpendicular line AC from the middle of the front of your car to the side of the adjacent car; when angle ABC is greater than a preset angle, determine that the front wheel tends to be in the lane where your car is located. When the front wheel of an adjacent vehicle exceeds the lane divider between the front wheels of the adjacent vehicle, the distance BD between the front wheels of the adjacent vehicle and the lane divider is determined; when the distance BD and angle ABC meet the preset conditions, the front wheels are determined to be inclined towards the lane where the vehicle is located. Factors determining the front wheel's tendency to gravitate towards the vehicle's lane are used to calculate distance BD and angle ABC. F When the judgment factor F When the value is greater than the preset value, the front wheels are determined to be inclined towards the lane where the vehicle is located; judgment factor F for: ； in, The distance between the front wheel of the adjacent vehicle and the lane divider; To establish a preset safe distance; For angle; Preset safety angle; and These are preset parameters.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the vehicle speed control method under cruise conditions as described in any one of claims 1-3.

6. 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, it implements the steps of the vehicle speed control method under cruise conditions as described in any one of claims 1-3.

7. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the vehicle speed control method under cruise conditions as described in any one of claims 1-3.

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