Adaptive cruise control method

Abstract

The invention discloses a self-adaptive cruise control method, which is characterized in that the self-adaptive cruise control method comprises the following steps: when an overtaking auxiliary function is activated, judging whether the overtaking auxiliary function meets a fade-out condition or not; under the condition that the overtaking auxiliary function meets the fade-out condition, determining a target acceleration; selecting an acceleration control mode based on the target acceleration; and adjusting the target acceleration based on the selected acceleration control mode. The invention further discloses a driving assistance method which is characterized by comprising the steps that the lane line, the traffic sign, the distance between the vehicle and the front vehicle and the relative speed of the front vehicle are detected in real time; and adjusting the driving state of the vehicle by using the self-adaptive cruise control method. The invention further discloses a driving assistance system, electronic equipment and a computer program product comprising the instructions.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control method, and in particular to an adaptive cruise control method, a driving assistance method, a driving assistance system, an electronic device, and a computer program product. Background Art

[0002] Radar technology is widely used in the field of assisted driving due to its adaptability to various environments and cost-effectiveness. However, in projects related to radar products, especially when implementing overtaking assistance functions in adaptive cruise control systems, radar trajectory planning has shown limitations.

[0003] The overtaking assist function accelerates the vehicle (equipped vehicles) with an additional target acceleration request on top of the normal following target control calculated based on the desired following distance. When the overtaking assist function fades out based on predefined conditions, the target acceleration request value suddenly drops to the normal control value. This sudden change in acceleration may cause noticeable vehicle jerkiness, which reduces ride comfort. Although existing adaptive cruise control systems use various algorithms to try to smooth changes in target acceleration, their limitations mean that jerkiness cannot be completely mitigated. Summary of the invention

[0004] The present application aims to solve the problem of jitter during the fading out of the overtaking assist function of the adaptive cruise control system by adjusting the distance parameters during the fading out of the overtaking assist function. By adjusting these parameters, the present application strives to minimize the acceleration step generated when the overtaking assist function fades out, thereby reducing the perceptible jolt and improving vehicle stability.

[0005] The present application proposes an adaptive cruise control method, characterized in that the adaptive cruise control method includes: when an overtaking assistance function is activated, determining whether the overtaking assistance function meets a fade-out condition; when the overtaking assistance function meets the fade-out condition, determining a target acceleration; based on the target acceleration, selecting an acceleration control mode; and adjusting the target acceleration based on the selected acceleration control mode.

[0006] According to an optional implementation, determining whether the overtaking assist function satisfies a fade-out condition includes: determining the acceleration of the own vehicle and the distance between the own vehicle and the vehicle in front; comparing the acceleration of the own vehicle with an acceleration safety value, and comparing the distance between the own vehicle and the vehicle in front with a distance safety value; and if the acceleration of the own vehicle is greater than the acceleration safety value, or the distance between the own vehicle and the vehicle in front is less than the distance safety value, determining that the overtaking assist function satisfies the fade-out condition.

[0007] According to an optional embodiment, determining the target acceleration includes: determining the speed of the own vehicle and the speed of the preceding vehicle; determining the desired following distance based on the speed of the own vehicle; determining the minimum intrusion distance based on the speed of the preceding vehicle; and calculating the target acceleration at the desired following distance and the target acceleration at the minimum intrusion distance based on the speed of the own vehicle and the speed of the preceding vehicle.

[0008] According to an optional implementation, the acceleration control mode includes a following control mode and a steady-state control mode.

[0009] According to an optional embodiment, adjusting the target acceleration includes: comparing the target acceleration at the expected following distance and the target acceleration at the minimum intrusion distance; when the absolute value of the target acceleration at the expected following distance is less than or equal to the absolute value of the target acceleration at the minimum intrusion distance, using the steady-state control mode as the acceleration control mode; and when the absolute value of the target acceleration at the expected following distance is greater than the absolute value of the target acceleration at the minimum intrusion distance, using the following control mode as the acceleration control mode.

[0010] According to an optional embodiment, adjusting the target acceleration includes: in the following vehicle control mode, transitioning the expected following distance from a current value to a predetermined value; and in the steady-state control mode, transitioning the minimum intrusion distance from a current value to a predetermined value.

[0011] The present application also proposes a driving assistance method, characterized in that the driving assistance method includes: real-time detection of lane lines, traffic signs, the distance between the vehicle and the vehicle in front, and the relative speed of the vehicle in front; and adjusting the driving state of the vehicle using the adaptive cruise control method described in this article.

[0012] The present application also proposes a driving assistance system, characterized in that it includes: a central processing unit, which is configured to execute the driving assistance method described in this article; a sensor network connected to the central processing unit, which includes one or more of radar sensors, cameras, ultrasonic sensors and vehicle speed sensors; an execution component connected to the central processing unit, which includes one or more of a braking system, a steering system and a power system; a human-computer interaction interface connected to the central processing unit, which includes one or more of a dashboard, a central control screen and an audio and video warning device; a communication device connected to the central processing unit, which includes a vehicle-to-vehicle communication device for communicating with other vehicles and a vehicle-to-infrastructure communication device for communicating with traffic signals and road signs.

[0013] The present application also proposes an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor executes the driving assistance method described in this document when executing the computer program.

[0014] According to an optional embodiment, the electronic device is a domain controller or a front-view camera.

[0015] The present application also proposes a computer program product comprising instructions, characterized in that when the instructions are executed in the computer program product, the adaptive cruise control method described in the present invention or the driving assistance method described in the present invention is executed according to the claims.

[0016] The adaptive cruise control method according to the present application selects a smaller target acceleration for vehicle control by calculating the target acceleration under different distance parameters (i.e., the expected following distance and the minimum intrusion distance). The control corresponding to the expected following distance is steady-state control, and the control mode corresponding to the minimum intrusion distance is following control. When the overtaking assist function fades out, the expected following distance or the minimum intrusion distance is smoothly transitioned from the current value to the predetermined value according to the selected acceleration control mode to reduce the change in the target acceleration, thereby obtaining a smoother target acceleration after the overtaking assist function fades out, avoiding obvious bumps in the vehicle. The method according to the present application optimizes the fade-out strategy of the overtaking assist function, improves the smoothness and stability of the adaptive cruise control system, and enhances the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings, in which:

[0018] Figure 1 is a flow chart of an adaptive cruise control method according to the present application.

[0019] Figure 2 It is a flow chart of the driving assistance method according to the present application.

[0020] Figure 3 is a schematic diagram of a driving assistance system according to the present application.

[0021] Figure 4 is a schematic diagram of an electronic device according to the present application.

[0022] According to the detailed description carried out below in conjunction with the accompanying drawings, other purposes and features of the embodiments of this invention will become apparent. However, it should be understood that the accompanying drawings are designed for illustrative purposes only and are not intended to limit the scope of this application. DETAILED DESCRIPTION

[0023] In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It is understood that the various information and variables described in this article are transmitted between various modules, units, and devices in the form of signals or data. Therefore, hereinafter, for the sake of brevity, the information and variables concerned will be directly mentioned, without referring to the signals or data representing them.

[0024] In the following, for the sake of distinction, the vehicle that performs the overtaking action is referred to as the "self-vehicle" and the vehicle targeted by the overtaking action is referred to as the "front vehicle". In any case, the vehicles targeted by the "self-vehicle speed" and "front vehicle speed" in the following do not change with the relative positions of the vehicles.

[0025] The adaptive cruise control method according to the present application involves three important parameters: desired following distance, minimum intrusion distance and target acceleration.

[0026] The desired following distance represents the following distance required for the ego vehicle and the vehicle ahead to maintain the same speed. For safety reasons, the desired following distance changes based on the ego vehicle's speed. Generally, the faster the ego vehicle's speed, the greater the desired following distance.

[0027] The minimum intrusion distance represents the minimum distance between the ego vehicle and the vehicle in front when the ego vehicle is accelerating and approaching the vehicle in front. For safety reasons, the minimum intrusion distance changes based on the speed of the vehicle in front. Generally, the faster the speed of the vehicle in front, the greater the minimum intrusion distance.

[0028] The target acceleration is calculated based on the expected following distance, the minimum intrusion distance, the speed and acceleration of the preceding vehicle, the actual distance between the ego vehicle and the preceding vehicle, etc. The acceleration of the ego vehicle is controlled based on the target acceleration to adjust the relative position and relative speed of the ego vehicle and the preceding vehicle. In actual applications, the target acceleration at the expected following distance and the target acceleration at the minimum intrusion distance may be different.

[0029] The overtaking assist function helps the driver to complete overtaking by combining sensors, cameras and software algorithms. Some vehicles may require the driver to manually activate the overtaking assist function, while others may enable the overtaking assist function by default. When the overtaking assist function is enabled, the sensors installed on the vehicle (such as radar and cameras, etc.) will continuously monitor the environment within the sensor's field of view (including the front of the lane to which the vehicle belongs and the adjacent target lane). Specifically monitor lane lines, the position and speed of other vehicles, and potential obstacles. When the driver wants to overtake, he usually needs to turn on the turn signal. In this case, the overtaking condition is evaluated based on the information collected by the sensor. This information includes the speed and distance of the vehicle in front, the traffic situation in the adjacent lane, the road condition (such as the curvature and slope of the road) and visibility. When it is determined that the overtaking condition is met, the overtaking assist function is enabled to provide the following assistance: automatic acceleration to complete the overtaking faster, provide steering assistance to help the vehicle stay in the center of the lane, and continuously monitor blind spots and alert the driver when there is a potential danger.

[0030] The results of overtaking behavior include successful overtaking and failed / aborted overtaking. In the case of successful overtaking, the overtaking assistance function exits normally. In the case of failed / aborted overtaking, the overtaking assistance function fades out. Specifically, after the overtaking assistance function is enabled, the ego vehicle gradually accelerates, the speed difference (the difference between the ego vehicle speed and the speed of the preceding vehicle) gradually increases, and the vehicle distance (the distance between the ego vehicle and the preceding vehicle) gradually decreases. When the acceleration of the ego vehicle exceeds the acceleration safety value (e.g. 2.5m / s 2 ), or when the distance between the own vehicle and the vehicle ahead is less than the distance safety value (the distance safety value is obtained through a lookup table compiled based on the own vehicle speed), it is considered as overtaking failure / abortion, and the conditions for fading out of the overtaking assist function are met.

[0031] Figure 1 is a flow chart of an adaptive cruise control method according to the present application. The adaptive cruise control method comprises the following steps:

[0032] S101: When the overtaking assistance function is activated, determine whether the overtaking assistance function meets the fade-out condition.

[0033] Specifically, the acceleration of the vehicle and the distance between the vehicle and the vehicle in front are first determined, and then the acceleration of the vehicle is compared with the acceleration safety value, and the distance between the vehicle and the vehicle in front is compared with the distance safety value. If the acceleration of the vehicle is greater than the acceleration safety value, or the distance between the vehicle and the vehicle in front is less than the distance safety value, it is determined that the overtaking assist function meets the fade-out condition.

[0034] S102: When the overtaking assistance function meets the fade-out condition, determine the target acceleration.

[0035] Specifically, the vehicle speed and the front vehicle speed are first determined, then the desired following distance is determined based on the vehicle speed, and the minimum intrusion distance is determined based on the front vehicle speed. Based on the vehicle speed and the front vehicle speed, the target acceleration at the desired following distance and the target acceleration at the minimum intrusion distance are calculated.

[0036] S103: Based on the target acceleration, select the acceleration control mode.

[0037] Specifically, the acceleration control mode includes a following control mode and a steady-state control mode.

[0038] When the overtaking assist function fades out, the adaptive cruise control system needs to smoothly return the vehicle control to the driver, or transition back to the normal cruise state. In order to achieve a smooth transition and avoid abrupt acceleration changes, the system needs to adjust the calculation method of the target acceleration according to different situations. Here, the "overtaking assist activation time" is an important basis for judging the current situation.

[0039] If the overtaking assist function is activated for a short time, the acceleration of the vehicle is likely to exceed the acceleration safety value. At this time, if the fade-out condition is triggered (the acceleration is too high or the distance is too close), it is likely that the acceleration of the vehicle increases instantly when it is approaching the vehicle in front quickly, but the overtaking action may not be truly completed, or the distance from the vehicle in front is not stable enough. In this case, the following control mode is selected according to the method of the present application for acceleration control. In the following control mode, the minimum intrusion distance is used as the decisive parameter for calculating the target acceleration according to the method of the present application (that is, when calculating the target acceleration, the weight of the minimum intrusion distance is higher). This is because, when approaching the vehicle in front quickly, the primary safety consideration is to avoid rear-end collision and ensure a sufficient safety distance from the vehicle in front. Emphasizing the minimum intrusion distance can effectively suppress the acceleration of the vehicle and avoid further approaching the vehicle in front, thereby reducing the risk of rear-end collision. In order to fade out smoothly in the following control mode, the system will smoothly transition the minimum intrusion distance from the current value to the predetermined value. The advantage of this is that even if the overtaking assist is faded out, the change in the target acceleration will be relatively small, avoiding obvious frustration of the vehicle and ensuring ride comfort.

[0040] If the overtaking assistance function has been activated for a long time, it is more likely that the distance between the vehicle and the vehicle in front is less than the safe value of the distance. If the fade-out condition (excessive acceleration or too close distance) is triggered at this time, it is likely that the vehicle has maintained a relatively stable state for a period of time during the overtaking process, but due to some reasons (such as sudden deceleration of the vehicle in front, or changes in road conditions), the distance to the vehicle in front is too close, or the acceleration slightly exceeds the safe value. In this case, the steady-state control mode is selected according to the method of the present application for acceleration control. In the steady-state control mode, according to the method of the present application, the expected following distance is used as the decisive parameter for calculating the target acceleration (that is, when calculating the target acceleration, the expected following distance has a higher weight). This is because, after a period of overtaking assistance, the vehicle may have approached or completed the overtaking action. At this time, it is more important to return to the normal cruise following state and maintain a reasonable expected following distance from the vehicle in front to ensure long-term driving safety and comfort. Emphasizing the expected following distance can guide the vehicle to gradually return to a following distance that is more in line with daily driving habits. In order to smoothly fade out in the steady-state control mode, the system will smoothly transition the expected following distance from the current value to the predetermined value. Similar to the following control mode, this smooth transition is also to avoid sudden changes in the target acceleration and ensure the smoothness of the fade-out process.

[0041] In other words, in step S103, the acceleration control mode is selected by comparing the target acceleration at the expected following distance and the target acceleration at the minimum intrusion distance. If the absolute value of the target acceleration at the expected following distance is less than or equal to the absolute value of the target acceleration at the minimum intrusion distance, the following control mode is used as the acceleration control mode. If the absolute value of the target acceleration at the expected following distance is greater than the absolute value of the target acceleration at the minimum intrusion distance, the steady-state control mode is used as the acceleration control mode. It should be noted that the purpose of using the absolute value of the target acceleration for comparison is to eliminate the influence of the acceleration direction (acceleration is a vector).

[0042] S104: Adjust the target acceleration based on the selected acceleration control mode.

[0043] Specifically, in the following control mode, according to the method of the present application, the minimum intrusion distance is smoothly transitioned from the current value to the predetermined value to cause a smaller change in the target acceleration when the overtaking assist function fades out, thereby obtaining a smoother target acceleration after the overtaking assist function fades out.

[0044] In steady-state control mode, according to the method of the present application, the expected following distance is smoothly transitioned from the current value to the predetermined value to cause a smaller change in the target acceleration when the overtaking assist function fades out, thereby obtaining a smoother target acceleration after the overtaking assist function fades out.

[0045] The predetermined value of the expected following distance can be determined based on vehicle speed, vehicle performance, driver preference, road conditions and traffic density, while the predetermined value of the minimum intrusion distance can be determined based on the speed of the preceding vehicle, the speed of the vehicle itself, sensor performance, braking performance and safety margin. When setting the predetermined value of the expected following distance, the vehicle speed is the primary consideration, because the faster the speed, the longer the safe braking distance naturally needs to be. Therefore, the predetermined value of the expected following distance should increase with the increase in speed, so as to ensure the safety of high-speed driving. At the same time, the performance of the vehicle itself, such as the level of braking efficiency, will also affect the predetermined value of the expected following distance. High-performance vehicles can appropriately reduce the following distance while ensuring safety. The driver's personalized preferences are equally important. The system using this method allows the driver to adjust the predetermined value of the expected following distance by changing the driver's preference options (such as "comfort", "standard", "sports", etc.) within a safe range to meet the comfort needs of different driving habits. In addition, road conditions, such as rainy and snowy weather or winding roads, and traffic density, such as congestion or smooth traffic, will affect the predetermined value of the expected following distance. On the other hand, the preset value of the minimum intrusion distance focuses on the safety bottom line. The speed of the front vehicle and the speed of the vehicle jointly determine the relative approach speed. The higher the speed, the larger the preset value of the minimum intrusion distance is to reserve sufficient reaction time. Sensor performance, including detection distance and accuracy, directly limits the accuracy of the system's perception of the surrounding environment. Sensors with insufficient performance require a larger preset value of the minimum intrusion distance to compensate for uncertainty. Braking performance and safety margin are the last line of defense for vehicles to avoid collisions. Higher braking performance and larger safety margin can reduce the preset value of the minimum intrusion distance to a certain extent.

[0046] The following specifically describes how to smoothly transition the expected following distance from the current value to the predetermined value according to the method of the present application. After a first time period (e.g., 1 second) has passed since the condition for fading out the overtaking assistance function is met, the current value of the expected following distance is updated to a predetermined value using a first coefficient according to the method of the present application. As an example and not a limitation, the first coefficient may be the difference between the current value and the predetermined value of the expected following distance. Then, the method of the present application multiplies the first coefficient by a second coefficient that gradually decreases from 1 to 0 or gradually increases from 0 to 1 to achieve a smooth transition of the expected following distance from the current value to the predetermined value.

[0047] The following specifically describes how to smoothly transition the minimum intrusion distance from the current value to the predetermined value according to the method of the present application. After a first time period has passed since the condition for fading out the overtaking assistance function is met, the current value of the minimum intrusion distance is updated to a predetermined value using a third coefficient according to the method of the present application. As an example and not a limitation, the third coefficient can be multiplied by the current value of the minimum intrusion distance, and its initial value can be 0.5, and varies between 0-1. In each cycle (e.g., 20 milliseconds), the minimum intrusion distance will vary with the first gradient.

[0048] The cruise control method according to the present application is intended to be executed using an adaptive cruise control system, and thus the features of the system and the features of the method described herein may correspond to, be combined with, and be interchangeable with each other.

[0049] Figure 2 is a flow chart of a driving assistance method according to the present application. The driving assistance method comprises the following steps:

[0050] S201: Real-time detection of lane lines, traffic signs, the distance between the vehicle and the vehicle ahead, and the relative speed of the vehicle ahead.

[0051] S202: Using the adaptive cruise control method described above, adjust the driving state of the vehicle.

[0052] Figure 3 2 is a schematic diagram of a driving assistance system according to the present application. The driving assistance system 20 includes a central processing unit 21, a sensor network 22, an execution component 23, a human-machine interaction interface 24 and a communication device 25. The central processing unit 21 may be an electronic control unit (ECU), such as a domain controller, which is configured to execute the above-mentioned adaptive cruise control method. The sensor network 22 is connected to the central processing unit 21 and includes one or more of a radar sensor, a camera, an ultrasonic sensor and a vehicle speed sensor for capturing visual data of lane lines, traffic signs and surrounding vehicles, detecting objects close to the vehicle, and measuring the distance and speed of nearby vehicles. The execution component 23 is connected to the central processing unit 21 and includes one or more of a braking system, a steering system and a power system for adjusting the vehicle speed, maintaining a safe distance from the vehicle in front and assisting the vehicle to stay in the center of the lane. The human-machine interaction interface 24 is connected to the central processing unit and includes one or more of an instrument panel, a central control screen and an audio-visual warning device for displaying the execution status of the driving assistance method, providing operation input to the driver, monitoring the driver's participation and issuing a warning when the driver is not paying attention. The communication device 25 is connected to the central processing unit 21 and includes a vehicle-to-vehicle communication device for sharing information with other vehicles to enhance situational awareness, and a vehicle-to-infrastructure communication device for communicating with traffic signals and road signs to improve navigation.

[0053] Figure 4 3 is a schematic diagram of an electronic device according to the present application. The electronic device 30 includes a memory 31 and a processor 32. The memory 31 can store a computer program. The memory 31 can include an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples of the memory include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a protruding structure in a groove on which instructions are stored, and any suitable combination thereof. When the processor 32 executes the computer program, it executes the above-mentioned adaptive cruise control method. Specifically, the electronic device 30 can be a domain controller or a front-view camera. The domain controller optimizes the operation of various functional areas of the vehicle through centralized management and control. Vehicles are generally divided into different functional domains such as power, chassis, cockpit, body, and automatic driving, and each domain is managed by a dedicated domain controller.

[0054] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the unit, method and computer program product according to the embodiment of the present application. In this regard, each box in the flowchart or block diagram can represent a part of a module, program segment or instruction, and the part of the module, program segment or instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based unit that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0055] As used herein, the term "or" should be interpreted as a mathematical OR, that is, as an inclusive disjunction; rather than as a mathematical exclusive OR (XOR), unless explicitly stated otherwise. In addition, the singular forms "a", "an", and "the" should be interpreted as "at least one", and therefore, unless explicitly stated otherwise, multiple entities of the same kind may also be included. It should also be understood that the terms "comprises", "includes", "includes" and / or "includes" specify the presence of stated features, actions, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components and / or groups thereof.

[0056] Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration and not for limiting the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. An adaptive cruise control method, characterized in that: The adaptive cruise control method comprises: When the overtaking assist function is activated, determining whether the overtaking assist function meets the fade-out condition; When the overtaking assist function meets the fade-out condition, determining the target acceleration; Based on the target acceleration, selecting an acceleration control mode; and Based on the selected acceleration control mode, the target acceleration is adjusted.

2. The adaptive cruise control method according to claim 1, wherein: Determining whether the overtaking assist function meets the fade-out conditions includes: Determine the acceleration of the vehicle and the distance between the vehicle and the vehicle in front; Comparing the acceleration of the own vehicle with the acceleration safety value, and comparing the distance between the own vehicle and the leading vehicle with the distance safety value; and If the acceleration of the own vehicle is greater than the acceleration safety value, or the distance between the own vehicle and the front vehicle is less than the distance safety value, it is determined that the overtaking assistance function meets the fade-out condition.

3. The adaptive cruise control method according to claim 1, wherein: Determining the target acceleration includes: Determine the speed of the vehicle and the speed of the preceding vehicle; Determine the desired following distance based on the vehicle speed; Determining a minimum intrusion distance based on the speed of the preceding vehicle; and Based on the speed of the vehicle and the speed of the preceding vehicle, the target acceleration at the desired following distance and the target acceleration at the minimum intrusion distance are calculated.

4. The adaptive cruise control method according to claim 3, wherein: The acceleration control mode includes the following control mode and the steady-state control mode.

5. The adaptive cruise control method according to claim 4, wherein: Adjusting the target acceleration includes: Compare the target acceleration at the desired following distance with the target acceleration at the minimum intrusion distance; When the absolute value of the target acceleration at the expected following distance is less than or equal to the absolute value of the target acceleration at the minimum intrusion distance, the steady-state control mode is used as the acceleration control mode; and When the absolute value of the target acceleration at the desired following distance is greater than the absolute value of the target acceleration at the minimum intrusion distance, the following control mode is used as the acceleration control mode.

6. The adaptive cruise control method according to claim 5, wherein: Adjusting the target acceleration includes: In the following control mode, transitioning the expected following distance from a current value to a predetermined value; and In the steady-state control mode, the minimum intrusion distance is transitioned from the current value to the predetermined value.

7. A driving assistance method, characterized in that: The driving assistance method comprises: Real-time detection of lane lines, traffic signs, the distance between the vehicle and the vehicle ahead, and the relative speed of the vehicle ahead; The driving state of the vehicle is adjusted by using the adaptive cruise control method according to any one of claims 1 to 6.

8. A driving assistance system, characterized in that: include: a central processing unit configured to execute the driving assistance method according to claim 7; a sensor network connected to the central processing unit, which includes one or more of a radar sensor, a camera, an ultrasonic sensor, and a vehicle speed sensor; An execution component connected to the central processing unit, which includes one or more of a braking system, a steering system, and a power system; A human-machine interaction interface connected to the central processing unit, which includes one or more of an instrument panel, a central control screen, and an audible and visual warning device; A communication device connected to the central processing unit includes a vehicle-to-vehicle communication device for communicating with other vehicles and a vehicle-to-infrastructure communication device for communicating with traffic signals and road signs.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When executing the computer program, the processor performs the driving assistance method according to claim 7.

10. The electronic device according to claim 9, wherein: The electronic device is a domain controller or a front-view camera.

11. A computer program product comprising instructions, characterized in that When the computer program product is executed, the instructions execute the adaptive cruise control method according to any one of claims 1 to 6 or the driving assistance method according to claim 7.

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