Self-adaptive cruise control method and device, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a self-adaptive cruise control method and device, a storage medium and electronic equipment, and the method comprises the steps: when a self-adaptive cruise control system of an autonomous vehicle is in a cruise mode and a front vehicle is detected through detection equipment of the autonomous vehicle, the cruise control system is in a cruise mode; the vehicle speed of the autonomous vehicle, the vehicle speed of the front vehicle and the vehicle distance between the autonomous vehicle and the front vehicle are obtained in real time; determining a first driving distance of the autonomous vehicle based on the vehicle speed of the autonomous vehicle and the vehicle speed of the preceding vehicle; determining a second driving distance of the autonomous vehicle based on a vehicle distance between the autonomous vehicle and the preceding vehicle; and under the condition that the first driving distance is larger than or equal to the second driving distance and the vehicle distance between the automatic driving vehicle and the front vehicle is smaller than or equal to a specified distance threshold value, the self-adaptive cruise control system is switched to a vehicle following mode, and the automatic driving vehicle is controlled to perform uniform acceleration driving.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of intelligent driving, and specifically, to an adaptive cruise control method and device, a storage medium, and an electronic device. Background Art

[0002] In the field of autonomous driving, the ACC (Adaptive Cruise Control) system has the following two modes: cruise mode and follow mode. The cruise mode is a mode in which the vehicle controls the vehicle to travel at a constant speed according to the set speed, and the follow mode is a mode in which the vehicle's speed is automatically adjusted according to information such as the speed and distance of the vehicle in front to maintain a safe distance from the vehicle in front.

[0003] In the following mode of the ACC system, the speed of the vehicle will change according to the speed of the vehicle in front. When switching to this mode, there will be problems such as excessive acceleration and too fast vehicle starting speed, which reduces the riding experience. It can be seen that the adaptive cruise control method in the related art has the problem of large vehicle acceleration and fast vehicle starting speed in the following mode. Summary of the invention

[0004] The embodiments of the present application provide an adaptive cruise control method and device, a storage medium and an electronic device to at least solve the technical problem that the adaptive cruise control method in the related art has large vehicle acceleration and fast vehicle starting speed in the following mode.

[0005] According to one aspect of an embodiment of the present application, an adaptive cruise control method is provided, comprising: when an adaptive cruise control system of an autonomous vehicle is in a cruise mode and a vehicle ahead is detected by a detection device of the autonomous vehicle, obtaining in real time the vehicle speed of the autonomous vehicle, the vehicle speed of the vehicle ahead, and the vehicle distance between the autonomous vehicle and the vehicle ahead; determining a first driving distance of the autonomous vehicle based on the vehicle speed of the autonomous vehicle and the vehicle speed of the vehicle ahead, wherein the first driving distance is the distance traveled by the autonomous vehicle when uniformly accelerated to the vehicle speed of the vehicle ahead; determining a second driving distance of the autonomous vehicle based on the vehicle distance between the autonomous vehicle and the vehicle ahead, wherein the second driving distance is the distance traveled by the autonomous vehicle when the autonomous vehicle travels to a specified following distance from the vehicle ahead; when the first driving distance is greater than or equal to the second driving distance and the vehicle distance between the autonomous vehicle and the vehicle ahead is less than or equal to a specified distance threshold, switching the adaptive cruise control system to a following mode, and controlling the autonomous vehicle to uniformly accelerate to follow the vehicle ahead.

[0006] According to another aspect of the embodiment of the present application, an adaptive cruise control device is also provided, comprising: an acquisition unit, for acquiring in real time the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle in front, and the vehicle distance between the autonomous driving vehicle and the vehicle in front when the adaptive cruise control system of the autonomous driving vehicle is in a cruise mode and a vehicle in front is detected by a detection device of the autonomous driving vehicle; a first determination unit, for determining a first driving distance of the autonomous driving vehicle based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front, wherein the first driving distance is the distance traveled by the autonomous driving vehicle when uniformly accelerated to the vehicle speed of the vehicle in front; a second determination unit, for determining a second driving distance of the autonomous driving vehicle based on the vehicle distance between the autonomous driving vehicle and the vehicle in front, wherein the second driving distance is the distance traveled by the autonomous driving vehicle when the autonomous driving vehicle travels to a specified following distance from the vehicle in front; a first execution unit, for switching the adaptive cruise control system to a following mode when the first driving distance is greater than or equal to the second driving distance and the vehicle distance between the autonomous driving vehicle and the vehicle in front is less than or equal to a specified distance threshold, and controlling the autonomous driving vehicle to uniformly accelerate to follow the vehicle in front.

[0007] In an exemplary embodiment, the first determination unit includes: a first determination module, used to determine the first driving distance by dividing the difference obtained by subtracting the square of the vehicle speed of the autonomous driving vehicle from the square of the vehicle speed of the vehicle in front by the product of 2 and a first acceleration, wherein the first acceleration is the average acceleration of the vehicle speed of the autonomous driving vehicle to accelerate to the vehicle speed of the vehicle in front within a specified time.

[0008] In an exemplary embodiment, the device also includes: a third determination unit, used to determine the specified time corresponding to the vehicle type of the autonomous driving vehicle based on following vehicle configuration information before determining the first driving distance of the autonomous driving vehicle based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front, wherein the following vehicle configuration information is used to indicate the longest time for vehicles of different vehicle types to achieve following stability when switching to the following mode.

[0009] In an exemplary embodiment, the second determination unit includes: a second determination module, used to determine the second driving distance as a distance value obtained by subtracting the specified following distance from the vehicle distance between the autonomous driving vehicle and the vehicle in front, wherein the specified following distance is the closest following distance allowed for the autonomous driving vehicle determined based on the vehicle type of the vehicle in front.

[0010] In an exemplary embodiment, the first execution unit includes: a switching module for switching the adaptive cruise control system to a following mode; a third determination module for determining a second acceleration based on the second driving distance, the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front, wherein the second acceleration is the acceleration of the autonomous driving vehicle when the distance traveled by the autonomous driving vehicle uniformly accelerates to the vehicle speed of the vehicle in front is the second driving distance; and a control module for controlling the autonomous driving vehicle to uniformly accelerate according to the second acceleration.

[0011] In an exemplary embodiment, the device also includes: a second execution unit, which is used to re-acquire the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle in front, and the vehicle distance between the autonomous driving vehicle and the vehicle in front, and redetermine the first driving distance and the second driving distance after switching the adaptive cruise control system to the following mode; a switching unit, which is used to switch the adaptive cruise control system back to the cruise mode when the re-determined first driving distance is less than the second driving distance, or the re-acquired vehicle distance between the autonomous driving vehicle and the vehicle in front is greater than the specified distance threshold.

[0012] In an exemplary embodiment, the device also includes: a control unit for controlling the adaptive cruise control system to maintain the cruise mode when the first driving distance is less than the second driving distance, or the vehicle distance between the autonomous driving vehicle and the vehicle in front is greater than the specified distance threshold.

[0013] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0014] According to another aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in any of the above method embodiments.

[0015] According to another aspect of an embodiment of the present invention, there is provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the steps in any one of the above method embodiments through the computer program.

[0016] In an embodiment of the present application, a method is adopted in which the distance required for the current vehicle to smoothly accelerate to the speed of the vehicle in front is calculated, and the maximum distance that the autonomous driving vehicle is allowed to move while maintaining a safe distance is compared. When the adaptive cruise control system of the autonomous driving vehicle is in cruise mode and the vehicle in front is detected by the detection equipment of the autonomous driving vehicle, the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle in front, and the vehicle distance between the autonomous driving vehicle and the vehicle in front are obtained in real time; based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front, a first driving distance of the autonomous driving vehicle is determined, wherein the first driving distance is the distance traveled by the autonomous driving vehicle when it uniformly accelerates to the vehicle speed of the vehicle in front; based on the vehicle distance between the autonomous driving vehicle and the vehicle in front, a second driving distance of the autonomous driving vehicle is determined, wherein the second driving distance is the distance traveled by the autonomous driving vehicle when it travels to a specified following distance from the vehicle in front; when the first driving distance is greater than or equal to the vehicle speed of the autonomous driving vehicle, the second driving distance is determined. When the second driving distance is reached and the vehicle distance between the autonomous driving vehicle and the vehicle in front is less than or equal to the specified distance threshold, the adaptive cruise control system is switched to the following mode, and the autonomous driving vehicle is controlled to drive with uniform acceleration to follow the vehicle in front. Since the distance required for the current vehicle to smoothly accelerate to the speed of the vehicle in front is greater than or equal to the maximum distance allowed for the autonomous driving vehicle to move while maintaining a safe distance, and the distance between the current vehicle and the vehicle in front is less than or equal to the critical distance, the current vehicle is switched to the following mode and smoothly accelerated to the speed of the vehicle in front to follow the vehicle. When the conditions are not met, the cruise mode is maintained, thereby avoiding the vehicle from accelerating too far due to the large acceleration when starting, thereby achieving the technical effect of reducing the acceleration and starting speed of the vehicle in the following mode and improving the riding experience, thereby solving the technical problem of large vehicle acceleration and fast vehicle starting speed in the following mode in the adaptive cruise control method in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of an application scenario of an optional adaptive cruise control method according to an embodiment of the present application;

[0018] Figure 2 is a flow chart of an optional adaptive cruise control method according to an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of another optional adaptive cruise control method according to an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of another optional adaptive cruise control method according to an embodiment of the present application;

[0021] Figure 5is a schematic diagram of another optional adaptive cruise control method according to an embodiment of the present application;

[0022] Figure 6 is a schematic diagram of another optional adaptive cruise control method according to an embodiment of the present application;

[0023] Figure 7 is a schematic diagram of another optional adaptive cruise control method according to an embodiment of the present application;

[0024] Figure 8 is a flowchart of another optional adaptive cruise control method according to an embodiment of the present application;

[0025] Fig. 9 is a structural block diagram of an optional adaptive cruise control device according to an embodiment of the present application;

[0026] Fig.10 It is a block diagram of a computer system structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] The embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0029] According to one aspect of an embodiment of the present application, an adaptive cruise control method is provided. Optionally, in this embodiment, the adaptive cruise control method can be applied to Figure 1 In the hardware environment shown, including the current vehicle 102 and the detection device 104, the current vehicle 102 may be a vehicle with an adaptive cruise control system, the number of the detection device 104 may be one or more, the detection device 104 may be set at any position of the current vehicle 102 where target detection can be performed, and different detection devices 104 may be set at the same or different positions of the current vehicle. The detection target may be a vehicle ahead of the current vehicle within the detection range of the detection device 104 and located on the driving path of the current vehicle. Figure 1As shown, when the current vehicle 102 fails to detect the vehicle ahead through the detection device, the adaptive cruise control system of the current vehicle 102 is in the cruise mode; when the current vehicle 102 detects the vehicle ahead 104 through the detection device, the current vehicle 102 can obtain the motion parameters ahead through the detection device 104, and determine whether to switch to the following mode based on the acquired motion parameters and the motion parameters of the current vehicle 102 itself, and switch to the following mode when the switching conditions are met, and control the current vehicle 102 to decelerate to the same speed as the vehicle ahead to follow the vehicle ahead.

[0030] In this embodiment, the above-mentioned detection equipment 104 may include but is not limited to at least one of the following: millimeter wave radar, laser radar, ultrasonic radar, camera, etc., and may also include other equipment with detection function.

[0031] Optionally, the adaptive cruise control method in this embodiment can be executed by a vehicle-mounted terminal set on the current vehicle, or by a server, or by both the vehicle-mounted terminal and the server. Taking the vehicle-mounted terminal as an example, Figure 2 is a flow chart of an optional adaptive cruise control method according to an embodiment of the present application, such as Figure 2 As shown, the above method includes steps S202 to S208.

[0032] Step S202, when the adaptive cruise control system of the autonomous driving vehicle is in cruise mode and a vehicle in front is detected by the detection equipment of the autonomous driving vehicle, the vehicle speed of the autonomous driving vehicle, and the vehicle distance between the autonomous driving vehicle and the vehicle in front are obtained in real time.

[0033] The adaptive cruise control method in this embodiment can be applied to the field of intelligent automobile driving, and to the scene where the vehicle uses an adaptive cruise control system to assist driving. The adaptive cruise control system is an advanced driving assistance system designed to improve driving comfort and safety. The adaptive cruise control system mainly relies on the vehicle's radar sensor to detect the speed and distance of the vehicle in front, and automatically adjusts the speed to maintain a safe distance from the vehicle in front. The adaptive cruise control system is a "follow" system, and the vehicle will change according to the speed of the vehicle in front. The adaptive cruise control system can maintain a preset speed in cruise mode to reduce the driver's fatigue during long-distance driving; the adaptive cruise control system can also monitor the road conditions ahead in real time through sensors such as radar and cameras, and switch to the following mode when the vehicle in front is detected. In the following mode, the vehicle speed can be automatically adjusted to maintain a safe distance from the vehicle in front, effectively reducing the incidence of traffic accidents. However, in the following mode, the adaptive cruise control system will have problems such as excessive acceleration and too fast vehicle starting speed, resulting in a poor riding experience.

[0034] In order to at least partially solve the above problem, in this embodiment, by calculating and comparing the distance required for the autonomous driving vehicle to smoothly accelerate to the speed of the vehicle in front and the maximum distance the autonomous driving vehicle is allowed to move while maintaining a safe distance, if the distance required for the autonomous driving vehicle to smoothly accelerate to the speed of the vehicle in front is greater than or equal to the maximum distance the autonomous driving vehicle is allowed to move while maintaining a safe distance, the adaptive cruise control system switches to the following mode, achieving a comfortable start and improving the comfort of following the vehicle. For example, Figure 3 As shown, there are a following mode and a cruising mode in the adaptive cruise control system. Through this embodiment, the usage scenarios of the following mode and the cruising mode can be clearly divided.

[0035] For an autonomous driving vehicle, a detection device may be provided thereon, and the detection device may be any one of the aforementioned detection devices, and its output information may include the vehicle speed of the vehicle ahead, the vehicle distance between the autonomous driving vehicle and the vehicle ahead, and may also include the speed of the detection device itself, that is, the vehicle speed of the autonomous driving vehicle itself.

[0036] When the adaptive cruise control system of an autonomous vehicle is turned on and is in cruise mode, the detection device can continuously detect whether there is a vehicle ahead. When the detection device detects a vehicle ahead, the vehicle speed of the autonomous vehicle, the vehicle speed of the vehicle ahead, and the vehicle distance between the autonomous vehicle and the vehicle ahead can be obtained and output for subsequent judgment on whether to switch to the following mode.

[0037] Step S204, based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front, determine a first driving distance of the autonomous driving vehicle, wherein the first driving distance is the distance traveled by the autonomous driving vehicle when uniformly accelerated to the vehicle speed of the vehicle in front.

[0038] In order to enable the autonomous driving vehicle to smoothly accelerate to the speed of the vehicle ahead and follow the vehicle, it is necessary to determine the first driving distance based on the information output by the aforementioned detection device, that is, the distance traveled by the autonomous driving vehicle when it uniformly accelerates to the speed of the vehicle ahead. The uniform acceleration here can be a positive value or a negative value, that is, the autonomous driving vehicle can uniformly accelerate or decelerate.

[0039] Step S206, based on the vehicle distance between the autonomous driving vehicle and the vehicle in front, determine a second driving distance of the autonomous driving vehicle, wherein the second driving distance is the distance traveled by the autonomous driving vehicle to a specified following distance from the vehicle in front.

[0040] In order to ensure the safety of vehicle driving, a safety distance is set in the adaptive cruise control system. In the following mode, the adaptive cruise control system can keep the distance between the autonomous driving vehicle and the vehicle in front not less than the safety distance. The safety distance here is the specified following distance. Here, the specified following distance can be set based on experience, and its value can be a fixed value, such as 10 meters, 8 meters or other values, or it can be a value changed according to a formula based on the vehicle speed of the autonomous driving vehicle. In this case, the specified following distance can be set based on the vehicle speed of the autonomous driving vehicle. The specified following distance is positively correlated with the vehicle speed of the autonomous driving vehicle, which is not limited in this embodiment.

[0041] In this embodiment, after the detection device obtains the distance between the autonomous driving vehicle and the vehicle in front, the second driving distance can be determined. The second driving distance is the distance between the autonomous driving vehicle and the vehicle in front minus the specified following distance, that is, the maximum distance the autonomous driving vehicle is allowed to move while maintaining a safe distance.

[0042] Step S208, when the first driving distance is greater than or equal to the second driving distance and the vehicle distance between the autonomous driving vehicle and the vehicle in front is less than or equal to the specified distance threshold, the adaptive cruise control system is switched to the following mode, and the autonomous driving vehicle is controlled to drive with uniform acceleration to follow the vehicle in front.

[0043] In order to maintain a safe distance from the vehicle ahead, when the first driving distance is greater than or equal to the second driving distance, and the vehicle distance between the autonomous driving vehicle and the vehicle ahead is less than or equal to the specified distance threshold, the adaptive cruise control system is switched to the following mode. The specified distance threshold is the critical point between the cruise mode and the following mode. In order to avoid the problem of poor riding experience caused by the vehicle accelerating and starting due to being too far away, the following mode will not be entered when the distance is greater than the specified distance threshold, and whether to enter the following mode will be determined when the distance is less than the specified distance threshold.

[0044] Here, the specified distance threshold can be set based on experience, and its value can be a fixed value, for example, 15 meters, 12 meters or other values. Its value can also be related to the acceleration performance of the autonomous driving vehicle, or to the vehicle speed of the autonomous driving vehicle, which is not limited in this embodiment.

[0045] Through the embodiments provided by the present application, when the adaptive cruise control system of the autonomous vehicle is in the cruise mode and the detection device of the autonomous vehicle detects the vehicle in front, the vehicle speed of the autonomous vehicle, the vehicle speed of the vehicle in front, and the vehicle distance between the autonomous vehicle and the vehicle in front are obtained in real time; based on the vehicle speed of the autonomous vehicle and the vehicle speed of the vehicle in front, the first driving distance of the autonomous vehicle is determined, wherein the first driving distance is the distance traveled by the autonomous vehicle when it is uniformly accelerated to the vehicle speed of the vehicle in front; based on the vehicle distance between the autonomous vehicle and the vehicle in front, the second driving distance of the autonomous vehicle is determined, wherein the second driving distance is the distance traveled by the autonomous vehicle when it is traveled to the specified following distance from the vehicle in front; when the first driving distance is greater than or equal to the second driving distance and the vehicle distance between the autonomous vehicle and the vehicle in front is less than or equal to the specified distance threshold, the adaptive cruise control system is switched to the following mode, and the autonomous vehicle is controlled to uniformly accelerate to follow the vehicle in front. The technical problem that the adaptive cruise control method in the related art has large vehicle acceleration and fast vehicle starting speed in the following mode is solved, the vehicle acceleration and vehicle starting speed in the following mode are reduced, and the riding experience is improved.

[0046] In an exemplary embodiment, a first driving distance of the autonomous driving vehicle is determined based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of a preceding vehicle, including: dividing the difference obtained by subtracting the square of the vehicle speed of the preceding vehicle from the square of the vehicle speed of the autonomous driving vehicle by 2 and multiplying the difference by a first acceleration to determine the first driving distance, wherein the first acceleration is the average acceleration of the vehicle speed of the autonomous driving vehicle to accelerate to the vehicle speed of the preceding vehicle within a specified time.

[0047] In this embodiment, the first driving distance refers to the distance that the autonomous driving vehicle needs to travel to reduce its own vehicle speed to the same speed as the vehicle in front through uniform acceleration, that is, the driving distance that the autonomous driving vehicle needs to travel to achieve stable following. In order to determine the first driving distance, in addition to the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front output by the detection device, the first acceleration is also required. Among them, the first acceleration can be confirmed based on the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle in front and the specified time, and its value is generally a negative number.

[0048] Here, the designated time refers to the time it takes for the autonomous driving vehicle to decelerate uniformly to the vehicle speed of the vehicle ahead. Optionally, the value of the designated time can be set based on experience, and its value can be a fixed value, such as 8 seconds, 7 seconds or other values, and its value can also be related to the speed difference between the autonomous driving vehicle and the vehicle ahead. For example, the designated time can be positively correlated with the speed difference between the autonomous driving vehicle and the vehicle ahead (that is, the greater the speed difference, the greater the value of the designated time), which is not limited in this embodiment.

[0049] Based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front output by the detection device, and the set designated time, the first driving distance can be determined. The above-mentioned method of determining the first driving distance can be: based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front, determine the speed difference between the vehicle speed of the vehicle in front and the vehicle speed of the autonomous driving vehicle (the speed difference between the vehicle speed of the vehicle in front and the vehicle speed of the autonomous driving vehicle can be the vehicle speed of the vehicle in front minus the vehicle speed of the autonomous driving vehicle), and then determine the first acceleration based on the speed difference between the vehicle speed of the vehicle in front and the vehicle speed of the autonomous driving vehicle and the designated time (the first acceleration can be the speed difference between the vehicle speed of the vehicle in front and the vehicle speed of the autonomous driving vehicle divided by the designated time), and finally determine the first driving distance based on the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle in front and the first acceleration (the first driving distance can be the product of the difference obtained by subtracting the square of the vehicle speed of the autonomous driving vehicle from the square of the vehicle speed of the vehicle in front divided by 2 and the first acceleration). Here, the speed difference between the vehicle speed of the vehicle in front and the vehicle speed of the autonomous driving vehicle and the first acceleration can be negative values.

[0050] For example, when the detection device detects a vehicle ahead, it outputs the vehicle speed V1 of the autonomous driving vehicle and the vehicle speed V2 of the vehicle ahead. The first acceleration a1 can be calculated from the vehicle speed V1 of the autonomous driving vehicle and the vehicle speed V2 of the vehicle ahead, as well as the preset specified time t, as shown in formula (1):

[0051] a1=(V2-V1) / t (1)

[0052] Based on the first acceleration a1, the vehicle speed V1 of the autonomous driving vehicle and the vehicle speed V2 of the vehicle ahead, the first driving distance S1 can be calculated, as shown in formula (2):

[0053] S1=(V2 2 -V1 2 ) / (2a1) (2)

[0054] Here, the above velocities and accelerations are all vectors with positive and negative directions.

[0055] Through this embodiment, the first driving distance is determined based on the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle in front and the specified time. The maximum distance that can be traveled within the specified time according to uniform deceleration can be calculated, thereby improving the riding experience.

[0056] In an exemplary embodiment, before determining a first driving distance of the autonomous driving vehicle based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle ahead, the method further includes: determining a specified time corresponding to the vehicle type of the autonomous driving vehicle based on following vehicle configuration information, wherein the following vehicle configuration information is used to indicate the longest time for vehicles of different vehicle types to reach following stability when switching to following mode.

[0057] In order to confirm the first driving distance, the specified time may be determined based on the following vehicle configuration information. The specified time may correspond to the vehicle type of the autonomous driving vehicle, or may be related to the following vehicle configuration information of the autonomous driving vehicle. The following vehicle configuration information may include: vehicle body structure, power system, suspension system, safety configuration and other information. The following vehicle configuration information may be configured by the autonomous driving vehicle at the time of leaving the factory, or may be configured after leaving the factory, which is not limited in this embodiment.

[0058] In this embodiment, the deceleration performance of the autonomous driving vehicle can be determined according to the following vehicle configuration information, and the designated time can be determined based on the deceleration performance. Here, the designated time can be the longest time for the autonomous driving vehicle to achieve stable following when switching to the following vehicle mode. The designated time can be negatively correlated with the deceleration performance of the autonomous driving vehicle (i.e., the better the deceleration performance of the autonomous driving vehicle, the shorter the designated time), or can be determined according to other information in the following vehicle configuration information, which is not limited in this embodiment.

[0059] Through this embodiment, based on the following vehicle configuration information of the autonomous driving vehicle, the specified time can be determined, which can be used to determine the driving distance required to achieve stable following conditions. Parameters can be flexibly configured based on the configuration of different types of vehicles, thereby improving the compatibility and applicability of the mode switching method.

[0060] In an exemplary embodiment, a second driving distance of the autonomous driving vehicle is determined based on the vehicle distance between the autonomous driving vehicle and a vehicle in front, including: subtracting a specified following distance from the vehicle distance between the autonomous driving vehicle and the vehicle in front to determine the second driving distance, wherein the specified following distance is the closest following distance allowed for the autonomous driving vehicle determined based on the vehicle type of the vehicle in front.

[0061] In order to ensure the safety of the following mode, a safety distance can be set. The safety distance is the specified following distance, which is the minimum distance allowed between the autonomous driving vehicle and the vehicle in front in the following mode.

[0062] Here, the designated following distance can be set based on experience, and its value can be related to the vehicle type of the vehicle in front. For example, when the front vehicle is a car, the designated following distance can be the default value of 10 meters. When the front vehicle is a large vehicle such as a truck or a bus, the designated following distance can be increased accordingly, and can be 30 meters, 50 meters or other values. In addition, the designated following distance can also be set according to the vehicle driving environment. For example, when driving in urban areas, in order to avoid congestion, the designated following distance can be reduced accordingly, and when driving on highways, in order to ensure safety, the designated following distance can be increased accordingly. The designated following distance can also be set based on the vehicle type, braking performance parameters and other information of the autonomous driving vehicle itself, which is not limited in this embodiment.

[0063] In this embodiment, the second driving distance is the difference between the distance between the autonomous driving vehicle and the vehicle in front minus the specified following distance, that is, the maximum distance currently allowed to move while ensuring a safe distance. Figure 4 As shown, when the detection device of the autonomous driving vehicle 402 detects the front vehicle 404, it outputs the distance S between the autonomous driving vehicle and the front vehicle. v The distance S between the autonomous vehicle and the vehicle ahead v , and the preset specified following distance S t , the second driving distance S0 can be calculated as shown in formula (3):

[0064] S0=S v -S t (3)

[0065] Through this embodiment, the second driving distance is determined based on the vehicle distance between the autonomous driving vehicle and the vehicle in front and the specified following distance, and the maximum distance allowed to move while ensuring a safe distance can be calculated, which can improve the safety of vehicle driving.

[0066] In an exemplary embodiment, an adaptive cruise control system is switched to a following mode, and the autonomous driving vehicle is controlled to travel with uniform acceleration, including: switching the adaptive cruise control system to a following mode; determining a second acceleration based on a second driving distance, the vehicle speed of the autonomous driving vehicle, and the vehicle speed of a vehicle in front, wherein the second acceleration is the acceleration of the autonomous driving vehicle when the distance traveled by the autonomous driving vehicle uniformly accelerates to the vehicle speed of the vehicle in front is the second driving distance; and controlling the autonomous driving vehicle to travel with uniform acceleration according to the second acceleration.

[0067] In order to allow the autonomous driving vehicle to uniformly accelerate to the vehicle speed of the vehicle ahead when switching to the following mode, and to maintain a safe second driving distance from the vehicle ahead at the end of the acceleration, the second acceleration can be determined based on the second driving distance, the vehicle speed of the autonomous driving vehicle, and the vehicle speed of the vehicle ahead. The second acceleration is the acceleration when the autonomous driving vehicle uniformly accelerates to the vehicle speed of the vehicle ahead. Here, the second acceleration is a vector with positive and negative directions.

[0068] In this embodiment, according to the conditions for switching to the following mode of the above-mentioned embodiment, when the distance between the autonomous driving vehicle and the vehicle in front is less than the specified distance threshold and the first driving distance is less than or equal to the second driving distance, the adaptive cruise control system is switched to the following mode and the vehicle is driven at a uniform acceleration according to the second acceleration. When the first driving distance is exactly equal to the second driving distance, the first acceleration is equal to the second acceleration. When the first driving distance is less than the second driving distance, the second acceleration a2 can be calculated from the second driving distance S0, the vehicle speed V1 of the autonomous driving vehicle and the vehicle speed V2 of the vehicle in front, as shown in formula (4):

[0069] a2=(V2 2 -V1 2 ) / (2S0) (4)

[0070] Here, the above velocities and accelerations are all vectors with positive and negative directions.

[0071] Through this embodiment, the second acceleration is determined based on the second driving distance, the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front. The acceleration required while maintaining the safety distance of the second driving distance can be calculated, thereby achieving the effect of improving the safety of vehicle driving.

[0072] In an exemplary embodiment, after the adaptive cruise control system is switched to the following mode, the method further includes: reacquiring the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle ahead, and the vehicle distance between the autonomous driving vehicle and the vehicle ahead, and re-determining the first driving distance and the second driving distance; when the re-determined first driving distance is less than the second driving distance, or when the re-acquired vehicle distance between the autonomous driving vehicle and the vehicle ahead is greater than a specified distance threshold, switching the adaptive cruise control system back to the cruising mode.

[0073] After the detection device detects the vehicle in front, the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle in front, and the vehicle distance between the autonomous driving vehicle and the vehicle in front can be periodically re-acquired with a unit time as a period, and the first driving distance and the second driving distance can be recalculated, and the switching condition is judged after each calculation is completed. When the autonomous driving vehicle is in the cruise mode and the switching condition for switching to the following mode is met, the adaptive cruise control system switches to the following mode and drives at a uniform acceleration according to the second acceleration, while maintaining periodic acquisition of information, calculation and judgment until it is determined that the condition for switching to the cruise mode is met; when the autonomous driving vehicle is in the following mode and the switching condition for switching to the cruise mode is met, the adaptive cruise control system switches to the cruise mode and drives at a preset cruise speed, while maintaining periodic acquisition of information, calculation and judgment until it is determined that the condition for switching to the following mode is met or the vehicle in front leaves the detection range of the detection device.

[0074] Here, the unit time can be set based on experience, and one unit time can be 300 milliseconds, 250 milliseconds, or 200 milliseconds, or can be designed to other values ​​based on the performance of the detection device, which is not limited in this embodiment.

[0075] For example, Figures 5 to 7 As shown, Figures 5 to 7 The specified distance threshold in the scenario shown is 15 meters, the specified following distance is 5 meters, the driving speed of the vehicle in front is less than the driving speed of the autonomous driving vehicle and remains unchanged, and the first driving distance at the current speed is 7 meters.

[0076] exist Figure 5 In the scenario shown, the distance between the autonomous driving vehicle 502 and the vehicle in front 504 is exactly the specified distance threshold of 15 meters. At this time, the second driving distance is 10 meters, and the switching condition of the following mode is not met. The autonomous driving vehicle maintains the cruise mode and continues to drive.

[0077] exist Figure 6In the scenario shown, the second driving distance is 6 meters, which is less than the first driving distance. At this time, the autonomous driving vehicle 602 switches to the following mode and starts to drive at the second acceleration. In particular, since the detection device obtains information in a unit time period, and the second driving distance continues to decrease as the two vehicles continue to approach each other, the first driving distance may be exactly equal to the second driving distance during the detection; or the first driving distance may be less than the second driving distance during the detection of the previous cycle, and the first driving distance may be greater than the second driving distance during the detection of the next cycle, resulting in the following Figure 6 The scene shown.

[0078] exist Figure 7 In the illustrated scenario, the autonomous driving vehicle 702 is in the following mode, driving at a uniform acceleration of the second acceleration, and the second driving distance is 3 meters. At this time, the front vehicle 704 suddenly accelerates to a speed equal to the speed of the autonomous driving vehicle 702 at this time, and the detection device obtains the information at the current moment, and calculates that the first driving distance is 0 meters, which is less than the second driving distance. The autonomous driving vehicle 702 switches to the cruise mode and starts to maintain a uniform speed.

[0079] Optionally, when the vehicle ahead is within a specified distance threshold and accelerates to a speed greater than the driving speed of the autonomous driving vehicle, the cruise mode can be maintained to continue driving at the current speed without switching to the follow mode to forcibly accelerate and follow the vehicle, until the vehicle ahead moves away from the autonomous driving vehicle to a distance threshold away from the specified distance threshold.

[0080] Through this embodiment, the detection device periodically reacquires information and performs calculations and judgments, so that the driving mode of the automatic cruise control system can be switched in time to improve the safety of vehicle driving.

[0081] In an exemplary embodiment, the method further includes controlling the adaptive cruise control system to maintain a cruise mode when the first driving distance is less than the second driving distance or the vehicle distance between the autonomous driving vehicle and the vehicle ahead is greater than a specified distance threshold.

[0082] In order to avoid the problem of poor riding experience caused by the vehicle accelerating and starting due to being too far away, when the speed difference between the autonomous driving vehicle and the vehicle in front is small, and the distance between the autonomous driving vehicle and the vehicle in front is within the specified distance threshold, but the second driving distance is greater than the first driving distance, the autonomous driving vehicle can maintain the cruise mode for a period of time until the two vehicles are getting closer and the second driving distance is continuously reduced to less than or equal to the first driving distance, and then switch to the following mode. Or when the distance between the two vehicles is far away and the distance between the autonomous driving vehicle and the vehicle in front is greater than the specified distance threshold, the autonomous driving vehicle maintains the cruise mode.

[0083] According to this embodiment, by maintaining the cruise mode when the switching conditions of the following mode are not met, the acceleration and deceleration behaviors of the vehicle during driving can be reduced, thereby improving the riding comfort.

[0084] The following is an explanation of the adaptive cruise control method in the embodiment of the present application in conjunction with an optional example. In this optional example, the first driving distance is S1, the second driving distance is S0, and the distance between the autonomous driving vehicle and the vehicle in front is S v , specify the distance threshold as 15 meters. Figure 8 is a flow chart of another optional adaptive cruise control method according to an embodiment of the present application, such as Figure 8 As shown, the process of the method includes steps S802 to S812.

[0085] Step S802: The detection device obtains relevant information and mode determination begins.

[0086] Step S804, calculating the first driving distance S1.

[0087] Step S806, calculating the second driving distance S0.

[0088] Step S808, determine if S1≥S0, and S v <15 meters, if yes, go to step S810, if not, go to step S812.

[0089] Step S810: the autonomous driving vehicle switches to the following vehicle mode.

[0090] Step S812: the autonomous driving vehicle switches to cruise mode.

[0091] Through this optional example, by further optimizing the critical points of following and cruising, and using an algorithm to isolate the data for the following mode and the cruising mode, it is possible to avoid the problem of the vehicle accelerating and starting too far away, resulting in a poor riding experience, and achieve the effect of comfortable starting and following the vehicle with comfort.

[0092] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a terminal device to execute the method described in each embodiment of the present application, and the above storage medium can be ROM (Read-Only Memory, read-only memory) / RAM (Random Access Memory, random access memory), a disk or an optical disk, etc., and the above terminal device can be a mobile phone, a computer, a server or a network device, etc.

[0093] According to another aspect of the embodiments of the present application, an adaptive cruise control device is also provided, which is used to implement the adaptive cruise control method provided in the above embodiments, and will not be repeated hereafter. As used below, the term "module" may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0094] Fig. 9 is a structural block diagram of an optional adaptive cruise control device according to an embodiment of the present application, such as Fig. 9 As shown in , the device includes: an acquisition unit 902 , a first determination unit 904 , a second determination unit 906 and a first execution unit 908 .

[0095] The acquisition unit 902 is used to acquire the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle in front, and the vehicle distance between the autonomous driving vehicle and the vehicle in front in real time when the adaptive cruise control system of the autonomous driving vehicle is in the cruise mode and the vehicle in front is detected by the detection device of the autonomous driving vehicle. The acquisition unit 902 can be used to execute step S202.

[0096] The first determining unit 904 is used to determine a first driving distance of the autonomous driving vehicle based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle ahead, wherein the first driving distance is the distance traveled by the autonomous driving vehicle when uniformly accelerating to the vehicle speed of the vehicle ahead. The first determining unit 904 can be used to execute step S204.

[0097] The second determining unit 906 is used to determine a second driving distance of the autonomous driving vehicle based on the vehicle distance between the autonomous driving vehicle and the vehicle in front, wherein the second driving distance is the distance traveled by the autonomous driving vehicle until it reaches a specified following distance from the vehicle in front. The second determining unit 906 can be used to execute step S206.

[0098] The first execution unit 908 is configured to switch the adaptive cruise control system to a following mode and control the autonomous driving vehicle to perform uniform acceleration to follow the vehicle in front when the first driving distance is greater than or equal to the second driving distance and the vehicle distance between the autonomous driving vehicle and the vehicle in front is less than or equal to a specified distance threshold. The first execution unit 908 may be configured to execute step S208.

[0099] Through the embodiments provided by the present application, when the adaptive cruise control system of the autonomous vehicle is in the cruise mode and the detection device of the autonomous vehicle detects the vehicle in front, the vehicle speed of the autonomous vehicle, the vehicle speed of the vehicle in front, and the vehicle distance between the autonomous vehicle and the vehicle in front are obtained in real time; based on the vehicle speed of the autonomous vehicle and the vehicle speed of the vehicle in front, the first driving distance of the autonomous vehicle is determined, wherein the first driving distance is the distance traveled by the autonomous vehicle when it is uniformly accelerated to the vehicle speed of the vehicle in front; based on the vehicle distance between the autonomous vehicle and the vehicle in front, the second driving distance of the autonomous vehicle is determined, wherein the second driving distance is the distance traveled by the autonomous vehicle when it is traveled to the specified following distance from the vehicle in front; when the first driving distance is greater than or equal to the second driving distance and the vehicle distance between the autonomous vehicle and the vehicle in front is less than or equal to the specified distance threshold, the adaptive cruise control system is switched to the following mode, and the autonomous vehicle is controlled to uniformly accelerate to follow the vehicle in front. The technical problem that the adaptive cruise control method in the related art has large vehicle acceleration and fast vehicle starting speed in the following mode is solved, the vehicle acceleration and vehicle starting speed in the following mode are reduced, and the riding experience is improved.

[0100] In an exemplary embodiment, the first determination unit includes: a first determination module, which is used to determine the first driving distance by dividing the difference obtained by subtracting the square of the vehicle speed of the autonomous driving vehicle from the square of the vehicle speed of the front vehicle by the product of 2 and a first acceleration, wherein the first acceleration is the average acceleration of the vehicle speed of the autonomous driving vehicle to accelerate to the vehicle speed of the front vehicle within a specified time.

[0101] In an exemplary embodiment, the above-mentioned device also includes: a third determination unit, which is used to determine a specified time corresponding to the vehicle type of the autonomous driving vehicle based on the following configuration information before determining the first driving distance of the autonomous driving vehicle based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle ahead, wherein the following configuration information is used to indicate the longest time for vehicles of different vehicle types to reach following stability when switching to following mode.

[0102] In an exemplary embodiment, the second determination unit includes: a second determination module, used to determine the distance value obtained by subtracting the specified following distance from the vehicle distance between the autonomous driving vehicle and the vehicle in front as the second driving distance, wherein the specified following distance is the closest following distance allowed for the autonomous driving vehicle determined based on the vehicle type of the vehicle in front.

[0103] In an exemplary embodiment, the first execution unit includes: a switching module for switching the adaptive cruise control system to a following mode; a third determination module for determining a second acceleration based on a second driving distance, the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle in front, wherein the second acceleration is the acceleration of the autonomous driving vehicle when the distance traveled by the autonomous driving vehicle uniformly accelerates to the vehicle speed of the vehicle in front is the second driving distance; and a control module for controlling the autonomous driving vehicle to uniformly accelerate according to the second acceleration.

[0104] In an exemplary embodiment, the above-mentioned device also includes: a second execution unit, which is used to re-acquire the vehicle speed of the autonomous driving vehicle, the vehicle speed of the vehicle in front, and the vehicle distance between the autonomous driving vehicle and the vehicle in front after switching the adaptive cruise control system to the following mode, and redetermine the first driving distance and the second driving distance; a switching unit, which is used to switch the adaptive cruise control system back to the cruise mode when the re-determined first driving distance is less than the second driving distance, or the re-acquired vehicle distance between the autonomous driving vehicle and the vehicle in front is greater than a specified distance threshold.

[0105] In an exemplary embodiment, the above-mentioned device also includes: a control unit, which is used to control the adaptive cruise control system to maintain the cruise mode when the first driving distance is less than the second driving distance, or the vehicle distance between the autonomous driving vehicle and the vehicle in front is greater than a specified distance threshold.

[0106] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0107] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps of any of the above method embodiments when it is run.

[0108] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0109] According to another aspect of the embodiments of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the steps in any of the above method embodiments through the computer program. In an exemplary embodiment, the electronic device may further comprise a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0110] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0111] According to another aspect of the embodiment of the present application, a computer program product is also provided, and the computer program product includes a computer program / instruction, and the computer program / instruction contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit 1001, the various functions provided by the embodiment of the present application are executed. The above-mentioned serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0112] Fig.10 The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. Fig.10 As shown, the computer system 1000 includes a CPU (Central Processing Unit) 1001, which can perform various appropriate actions and processes according to the program stored in the ROM 1002 or the program loaded from the storage part 1008 to the RAM 1003. Various programs and data required for system operation are also stored in the random access memory 1003. The central processing unit 1001, the read-only memory 1002 and the random access memory 1003 are connected to each other through a bus 1004. An I / O (Input / Output) interface 1005 is also connected to the bus 1004.

[0113] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a CRT (Cathode Ray Tube), an LCD (Liquid Crystal Display), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the input / output interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0114] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processor 1001, various functions defined in the system of the present application are executed.

[0115] It should be noted that Fig.10 The computer system 1000 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0116] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0117] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. An adaptive cruise control method, characterized in that: include: When the adaptive cruise control system of the autonomous driving vehicle is in a cruise mode and a front vehicle is detected by a detection device of the autonomous driving vehicle, obtaining in real time the vehicle speed of the autonomous driving vehicle, the vehicle speed of the front vehicle, and the vehicle distance between the autonomous driving vehicle and the front vehicle; Determining a first driving distance of the autonomous driving vehicle based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the vehicle ahead, wherein the first driving distance is a distance traveled by the autonomous driving vehicle when uniformly accelerated to the vehicle speed of the vehicle ahead; Determining a second driving distance of the autonomous driving vehicle based on a vehicle distance between the autonomous driving vehicle and the vehicle ahead, wherein the second driving distance is a distance traveled by the autonomous driving vehicle until it reaches a specified following distance from the vehicle ahead; When the first driving distance is greater than or equal to the second driving distance and the vehicle distance between the autonomous driving vehicle and the vehicle in front is less than or equal to a specified distance threshold, the adaptive cruise control system is switched to a following mode, and the autonomous driving vehicle is controlled to drive with uniform acceleration to follow the vehicle in front.

2. The method according to claim 1, characterized in that The determining, based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the preceding vehicle, a first driving distance of the autonomous driving vehicle comprises: The first driving distance is determined by subtracting the square of the vehicle speed of the autonomous driving vehicle from the square of the vehicle speed of the vehicle in front and dividing the difference by 2 and multiplying it by a first acceleration, wherein the first acceleration is the average acceleration of the vehicle speed of the autonomous driving vehicle to accelerate to the vehicle speed of the vehicle in front within a specified time.

3. The method according to claim 2, characterized in that Before determining a first driving distance of the autonomous driving vehicle based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the leading vehicle, the method further includes: Based on the following vehicle configuration information, the specified time corresponding to the vehicle type of the autonomous driving vehicle is determined, wherein the following vehicle configuration information is used to indicate the longest time for vehicles of different vehicle types to achieve following stability when switching to the following vehicle mode.

4. The method according to claim 1, characterized in that The determining a second driving distance of the autonomous driving vehicle based on the vehicle distance between the autonomous driving vehicle and the vehicle ahead includes: The distance value obtained by subtracting the specified following distance from the vehicle distance between the autonomous driving vehicle and the vehicle in front is determined as the second driving distance, wherein the specified following distance is the shortest following distance allowed for the autonomous driving vehicle determined based on the vehicle type of the vehicle in front.

5. The method according to claim 1, characterized in that The step of switching the adaptive cruise control system to a following mode and controlling the autonomous driving vehicle to drive at a uniform acceleration includes: Switching the adaptive cruise control system to a following mode; determining a second acceleration according to the second driving distance, the vehicle speed of the autonomous driving vehicle, and the vehicle speed of the vehicle in front, wherein the second acceleration is the acceleration of the autonomous driving vehicle when the distance traveled by the autonomous driving vehicle uniformly accelerates to the vehicle speed of the vehicle in front is the second driving distance; The automatic driving vehicle is controlled to travel at a uniform acceleration according to the second acceleration.

6. The method according to claim 1, characterized in that After switching the adaptive cruise control system to the following mode, the method further includes: reacquire the vehicle speed of the autonomous driving vehicle, the vehicle speed of the leading vehicle, and the vehicle distance between the autonomous driving vehicle and the leading vehicle, and re-determine the first driving distance and the second driving distance; When the re-determined first driving distance is less than the second driving distance, or the re-acquired vehicle distance between the autonomous driving vehicle and the vehicle ahead is greater than the specified distance threshold, the adaptive cruise control system is switched back to the cruise mode.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: When the first driving distance is less than the second driving distance, or the vehicle distance between the autonomous driving vehicle and the vehicle ahead is greater than the specified distance threshold, the adaptive cruise control system is controlled to maintain the cruise mode.

8. An adaptive cruise control device, characterized in that: include: an acquisition unit, configured to acquire, in real time, a vehicle speed of the autonomous driving vehicle, a vehicle speed of the vehicle in front, and a vehicle distance between the autonomous driving vehicle and the vehicle in front when the adaptive cruise control system of the autonomous driving vehicle is in a cruise mode and a vehicle in front is detected by a detection device of the autonomous driving vehicle; a first determining unit, configured to determine a first driving distance of the autonomous driving vehicle based on a vehicle speed of the autonomous driving vehicle and a vehicle speed of the vehicle ahead, wherein the first driving distance is a distance traveled by the autonomous driving vehicle when uniformly accelerated to a vehicle speed of the vehicle ahead; a second determining unit, configured to determine a second driving distance of the autonomous driving vehicle based on a vehicle distance between the autonomous driving vehicle and the vehicle in front, wherein the second driving distance is a distance traveled by the autonomous driving vehicle until it reaches a specified following distance from the vehicle in front; The first execution unit is used to switch the adaptive cruise control system to a following mode and control the autonomous driving vehicle to perform uniform acceleration to follow the vehicle in front when the first driving distance is greater than or equal to the second driving distance and the vehicle distance between the autonomous driving vehicle and the vehicle in front is less than or equal to a specified distance threshold.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of any one of the methods of claims 1 to 7 when executed by a processor.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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