Adaptive cruise control method and device, storage medium and electronic device

Abstract

Embodiments of the present application provide a kind of adaptive cruise control method and device, storage medium and electronic equipment, the method comprises: in the case where the adaptive cruise control system of automatic driving vehicle is in cruise mode, and through the detection equipment of automatic driving vehicle detects front vehicle, the vehicle speed of automatic driving vehicle, the vehicle speed of front vehicle and the vehicle distance of automatic driving vehicle and front vehicle are acquired in real time;Based on the vehicle speed of automatic driving vehicle and the vehicle speed of front vehicle, determine the first travel distance of automatic driving vehicle;Based on the vehicle distance of automatic driving vehicle and front vehicle, determine the second travel distance of automatic driving vehicle;In the case where the first travel distance is greater than or equal to the second travel distance, and the vehicle distance of automatic driving vehicle and front vehicle is less than or equal to specified distance threshold, adaptive cruise control system is switched to follow car mode, and the uniform acceleration travel of automatic driving vehicle is controlled.

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 two modes: cruise mode and follow mode. Cruise mode controls the vehicle to maintain a constant speed according to a set speed, while follow mode automatically adjusts the vehicle's speed based on information such as the speed and distance of the vehicle ahead to maintain a safe distance from the vehicle ahead.

[0003] In the ACC system's follow mode, the vehicle's speed changes based on the speed of the vehicle ahead. Switching to this mode can lead to excessive acceleration and a rapid start, which degrades the ride experience. Therefore, the adaptive cruise control methods used in related technologies suffer from high acceleration and rapid start in follow mode. Summary of the Invention

[0004] The embodiments of the present application provide an adaptive cruise control method and apparatus, a storage medium, and an electronic device to at least solve the technical problems of the adaptive cruise control method in the related art, such as large vehicle acceleration and fast vehicle starting speed in 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 after uniform acceleration 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 after traveling to a specified following distance from the vehicle ahead; and if 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 an embodiment of the present application, an adaptive cruise control device is provided, comprising: an acquisition unit for acquiring, in real time, a vehicle speed of the autonomous vehicle, a vehicle speed of the vehicle ahead, and a vehicle distance between the autonomous vehicle and the vehicle ahead, when an adaptive cruise control system of the autonomous vehicle is in a cruise mode and a detection device of the autonomous vehicle detects a vehicle ahead; a first determination unit for determining, based on the vehicle speeds of the autonomous vehicle and the vehicle speeds of the vehicle ahead, a first driving distance of the autonomous vehicle, wherein the first driving distance is a distance traveled by the autonomous vehicle after uniform acceleration to the vehicle speed of the vehicle ahead; a second determination unit for determining, based on the vehicle distances between the autonomous vehicle and the vehicle ahead, a second driving distance of the autonomous vehicle, wherein the second driving distance is a distance traveled by the autonomous vehicle after traveling to a specified following distance from the vehicle ahead; and a first execution unit for, 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.

[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 leading 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 the vehicle speed of the leading vehicle within a specified time.

[0008] In an exemplary embodiment, the device also includes: a third determination unit, which is used to determine the 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 in front, wherein the following configuration information is used to indicate the maximum time for vehicles of different vehicle types to reach following stability when switching to the following mode.

[0009] In an exemplary embodiment, the second determination unit includes: a second determination module, configured to determine a 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 minimum 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 is uniformly accelerated 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 travel with uniform acceleration according to the second acceleration.

[0011] In an exemplary embodiment, the device also includes: a second execution unit for reacquiring 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 re-determining the first driving distance and the second driving distance after switching the adaptive cruise control system to the following mode; a switching unit for switching the adaptive cruise control system back to the cruise mode if 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 further 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. The computer program is configured to execute the steps of any of the above method embodiments when run.

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

[0015] According to another aspect of an embodiment of the present invention, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the steps of any 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 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 vehicle speed of the vehicle in front is detected. At the second driving distance, and when the distance between the autonomous 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, and the autonomous vehicle is controlled to perform uniform acceleration to follow the vehicle ahead. Since the distance required for the current vehicle to smoothly accelerate to the speed of the vehicle ahead is greater than or equal to the maximum distance the autonomous vehicle is allowed to move while maintaining a safe distance, and the distance between the current vehicle and the vehicle ahead 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 ahead to follow. When the conditions are not met, the cruise mode is maintained. This can avoid the vehicle from accelerating too far due to the vehicle being too far away, thereby achieving the technical effect of reducing the vehicle's acceleration and starting speed in the following mode and improving the riding experience, thereby solving the technical problems of the adaptive cruise control method in the related art in the following mode, such as the large vehicle acceleration and fast vehicle starting speed. 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] Figure 9 is a structural block diagram of an optional adaptive cruise control device according to an embodiment of the present application;

[0026] Figure 10 This 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 description 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 the embodiment of the present application, an adaptive cruise control method is provided. Optionally, in this embodiment, the above-mentioned 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, and the detection device 104 may be set at any position of the current vehicle 102 where target detection can be performed. 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 current vehicle's driving path. Figure 1As shown, when the current vehicle 102 fails to detect the vehicle in front through the detection device, the adaptive cruise control system of the current vehicle 102 is in cruise mode; when the current vehicle 102 detects the vehicle in front 104 through the detection device, the current vehicle 102 can obtain the motion parameters of the front 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 in front to follow the vehicle in front.

[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 functions.

[0031] Optionally, the adaptive cruise control method in this embodiment can be executed by the vehicle-mounted terminal set on the current vehicle, or by the server side, or by the vehicle-mounted terminal and the server side together. Taking the vehicle-mounted terminal as an example, Figure 2 FIG. 1 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, 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.

[0033] The adaptive cruise control method of this embodiment can be applied to the field of intelligent automotive driving, specifically in scenarios where vehicles utilize adaptive cruise control systems for assisted driving. An adaptive cruise control system is an advanced driver assistance system designed to improve driving comfort and safety. It primarily relies on the vehicle's radar sensor to detect the speed and distance of the vehicle ahead and automatically adjusts the vehicle's speed to maintain a safe distance from the vehicle ahead. An adaptive cruise control system is a "following" system, where the vehicle's speed changes based on the speed of the vehicle ahead. In cruise mode, the adaptive cruise control system maintains a preset speed, reducing driver fatigue on long drives. It also uses sensors such as radar and cameras to monitor road conditions in real time. Upon detecting a vehicle ahead, it switches to follow mode, automatically adjusting the vehicle's speed to maintain a safe distance from the vehicle ahead, effectively reducing the incidence of traffic accidents. However, in follow mode, the adaptive cruise control system can experience excessive acceleration and excessive vehicle acceleration, 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 ahead 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 ahead 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, thereby achieving a comfortable start and improving the comfort of following the vehicle. For example, Figure 3 As shown, the adaptive cruise control system includes a following mode and a cruising mode. 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, which may be any one of the aforementioned detection devices. Its output information may include the vehicle speed of the vehicle in front, the vehicle distance between the autonomous driving vehicle and the vehicle in front, and 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 in front. When the detection device detects a vehicle in front, it can obtain and output 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 for subsequent judgment on whether to switch to the following mode.

[0037] Step S204: 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 accelerated to the vehicle speed of the vehicle ahead.

[0038] In order for the autonomous vehicle to smoothly accelerate to the speed of the vehicle ahead and follow it, it is necessary to determine a first travel distance based on the information output by the aforementioned detection equipment. This distance is the distance the autonomous vehicle would travel if it were to uniformly accelerate to the speed of the vehicle ahead. The uniform acceleration can be either positive or negative, meaning the autonomous 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] To ensure vehicle safety, a safety distance is set in the adaptive cruise control system. In following mode, the adaptive cruise control system can maintain the distance between the autonomous vehicle and the vehicle ahead at or above the safety distance. The safety distance here is the designated following distance. Here, the designated following distance can be set based on experience. Its value can be a fixed value, such as 10 meters, 8 meters, or other values, or it can be a value that changes according to a formula based on the speed of the autonomous vehicle. In this case, the designated following distance can be set based on the speed of the autonomous vehicle. The designated following distance is positively correlated with the speed of the autonomous 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 perform uniform acceleration to follow the vehicle in front.

[0043] To maintain a safe distance from the vehicle ahead, the adaptive cruise control system switches to follow mode when the first driving distance is greater than or equal to the second driving distance and the distance between the autonomous vehicle and the vehicle ahead is less than or equal to a specified distance threshold. The specified distance threshold is the critical point between cruise mode and follow mode. To avoid the problem of a poor riding experience caused by accelerating from too far a distance, the system will not enter follow mode when the distance is greater than the specified threshold, and will only determine whether to enter follow mode when the distance is less than the specified 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 related to the vehicle speed of the autonomous driving vehicle. This is not limited in this embodiment.

[0045] According to the embodiments provided by the present application, when the adaptive cruise control system of an autonomous vehicle is in cruise mode and a vehicle ahead is detected by the detection equipment of the autonomous vehicle, 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 are obtained in real time; based on the vehicle speed of the autonomous vehicle and the vehicle speed of the vehicle ahead, a first driving distance of the autonomous vehicle is determined, wherein the first driving distance is the distance the autonomous vehicle travels after uniformly accelerating to the vehicle speed of the vehicle ahead; based on the vehicle distance between the autonomous vehicle and the vehicle ahead, a second driving distance of the autonomous vehicle is determined, wherein the second driving distance is the distance the autonomous vehicle travels after reaching a specified following distance from the vehicle ahead; and 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, the adaptive cruise control system is switched to following mode and the autonomous vehicle is controlled to uniformly accelerate to follow the vehicle ahead. This solves the technical problem of large vehicle acceleration and fast vehicle starting speed in following mode in the adaptive cruise control method of the related art, reduces vehicle acceleration and vehicle starting speed in following mode, and improves the riding experience.

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

[0047] In this embodiment, the first driving distance refers to the distance the autonomous vehicle must travel to reduce its speed to the same speed as the vehicle ahead through uniform acceleration. In other words, the distance the autonomous vehicle must travel to achieve stable following. To determine the first driving distance, in addition to the autonomous vehicle's speed and the speed of the vehicle ahead, as output by the detection device, a first acceleration is also required. The first acceleration can be determined based on the autonomous vehicle's speed, the speed of the vehicle ahead, and a specified time, and its value is generally a negative number.

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

[0049] A first driving distance can be determined based on the vehicle speed of the autonomous vehicle and the vehicle speed of the preceding vehicle output by the detection device, as well as a set designated time. The first driving distance can be determined by determining a speed difference between the vehicle speeds of the preceding vehicle and the vehicle speed of the autonomous vehicle based on the vehicle speeds of the autonomous vehicle and the vehicle speeds of the preceding vehicle (the speed difference between the vehicle speeds of the preceding vehicle and the vehicle speeds of the autonomous vehicle can be the vehicle speed of the preceding vehicle minus the vehicle speed of the autonomous vehicle), then determining a first acceleration based on the speed difference between the vehicle speeds of the preceding vehicle and the vehicle speeds of the autonomous vehicle and the designated time (the first acceleration can be the speed difference between the vehicle speeds of the preceding vehicle and the vehicle speeds of the autonomous vehicle divided by the designated time), and finally determining the first driving distance based on the vehicle speed of the autonomous vehicle, the vehicle speed of the preceding vehicle, and the first acceleration (the first driving distance can be the product of the difference between the square of the vehicle speed of the preceding vehicle minus the square of the vehicle speed of the autonomous vehicle divided by 2 and the first acceleration). Here, the speed difference between the vehicle speeds of the preceding vehicle and the vehicle speeds of the autonomous 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. Based on 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, the first acceleration a1 can be calculated, 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 travel 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 according to uniform deceleration within the specified time can be calculated, thereby improving the riding experience.

[0056] In an exemplary embodiment, 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, the above method also includes: determining a specified time corresponding to the vehicle type of the autonomous driving vehicle based on following configuration information, wherein the following configuration information is used to indicate the maximum time for vehicles of different vehicle types to reach following stability when switching to following mode.

[0057] To confirm the first driving distance, a designated time may be determined based on the following vehicle configuration information. The designated time may correspond to the type of the autonomous vehicle or may be related to the following vehicle configuration information of the autonomous vehicle. The following vehicle configuration information may include information such as the vehicle body structure, powertrain, suspension system, and safety features. The following vehicle configuration information may be factory-configured or configured after the autonomous vehicle leaves the factory, and this is not limited in this embodiment.

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

[0059] Through this embodiment, the specified time is determined based on the following configuration information of the autonomous driving vehicle, which can be used to determine the driving distance required to achieve stable following. It can flexibly configure parameters 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 preceding vehicle, including: subtracting a specified following distance from the vehicle distance between the autonomous driving vehicle and the preceding vehicle 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 preceding vehicle.

[0061] To ensure safety during driving in Follow Mode, you can set a safe distance. This distance is the minimum distance allowed between the autonomous vehicle and the vehicle ahead in Follow 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 vehicle in front is a car, the designated following distance can be a default value of 10 meters. When the vehicle in front 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. 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 information such as the vehicle type, braking performance parameters, etc. 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 vehicle in front 404, it outputs the distance S between the autonomous driving vehicle and the vehicle in front. 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. 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 follow mode, and the autonomous driving vehicle is controlled to travel with uniform acceleration, including: switching the adaptive cruise control system to a follow 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 preceding vehicle, wherein the second acceleration is the acceleration of the autonomous driving vehicle when the distance traveled by the autonomous driving vehicle is uniformly accelerated to the vehicle speed of the preceding vehicle is the second driving distance; and controlling the autonomous driving vehicle to travel with uniform acceleration according to the second acceleration.

[0067] To ensure that the autonomous vehicle uniformly accelerates to the speed of the vehicle ahead when switching to follow mode and maintains a safe second driving distance from the vehicle ahead at the end of acceleration, a second acceleration can be determined based on the second driving distance, the autonomous vehicle's speed, and the speed of the vehicle ahead. The second acceleration is the acceleration of the autonomous vehicle when uniformly accelerating to the speed of the vehicle ahead. The second acceleration is a vector with positive and negative directions.

[0068] In this embodiment, based on the conditions for switching to the following mode in the aforementioned embodiment, when the distance between the autonomous vehicle and the vehicle ahead is less than a specified distance threshold and the first driving distance is less than or equal to the second driving distance, the adaptive cruise control system switches to the following mode and drives 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 vehicle, and the vehicle speed V2 of the vehicle ahead, 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 switching the adaptive cruise control system to the following mode, the above method also 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; if 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 a specified distance threshold, switching the adaptive cruise control system back to the cruise mode.

[0073] After the detection device detects the vehicle ahead, it can periodically reacquire 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, with a unit time as a period, and recalculate the first driving distance and the second driving distance. After each calculation is completed, the switching condition is judged. If the autonomous driving vehicle is in cruise mode and the switching condition for switching to follow mode is met, the adaptive cruise control system switches to follow mode and drives at a uniform acceleration according to the second acceleration, while continuing to periodically acquire information, calculate, and judge until it is determined that the condition for switching to cruise mode is met. If the autonomous driving vehicle is in follow mode and the switching condition for switching to cruise mode is met, the adaptive cruise control system switches to cruise mode and maintains a preset cruising speed, while continuing to periodically acquire information, calculate, and judge until it is determined that the condition for switching to follow mode is met or the vehicle ahead leaves the detection range of the detection device.

[0074] Here, the unit time can be set based on experience. One unit time can be 300 milliseconds, 250 milliseconds, or 200 milliseconds. It can also be designed to other values ​​based on the performance of the detection equipment. This 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 speed of the vehicle ahead is slower than the speed of the autonomous vehicle and remains constant, 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, which does not meet the switching conditions of the following mode. The autonomous driving vehicle maintains the cruise mode and continues to drive.

[0077] exist Figure 6In the illustrated scenario, 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 begins to drive at the second uniform acceleration. In particular, since the detection equipment acquires 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 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, autonomous vehicle 702 is in following mode, accelerating at a second constant acceleration rate, and has a second travel distance of 3 meters. At this moment, vehicle 704 ahead suddenly accelerates to a speed equal to the current speed of autonomous vehicle 702. The detection device captures this information and calculates the first travel distance to be 0 meters, which is less than the second travel distance. Autonomous vehicle 702 then switches to cruise mode and begins traveling at a constant 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.

[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, thereby improving 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] To avoid the problem of a poor riding experience caused by vehicles accelerating from too far a distance, if the speed difference between the autonomous vehicle and the vehicle ahead is small and the distance between them is within a specified distance threshold, but the second driving distance is greater than the first driving distance, the autonomous vehicle may maintain cruise mode for a period of time until the two vehicles gradually approach and the second driving distance continuously decreases to less than or equal to the first driving distance, at which point it will switch to follow mode. Alternatively, if the distance between the two vehicles is relatively large and the distance between the autonomous vehicle and the vehicle ahead is greater than the specified distance threshold, the autonomous vehicle may maintain cruise mode.

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

[0084] The adaptive cruise control method in the embodiment of the present application is explained below with reference to 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 FIG. 1 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: Calculate the first driving distance S1.

[0087] Step S806: Calculate 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 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 algorithms to isolate data for following mode and cruising mode, it is possible to avoid the problem of a poor riding experience caused by the vehicle accelerating and starting too far away, and achieve the effect of comfortable starting and comfortable following and riding.

[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 the 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 this 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. The computer software product is stored in a storage medium and includes several instructions for enabling a terminal device to execute the method described in each embodiment of the present application. The above storage medium can be ROM (Read-Only Memory) / RAM (Random Access Memory), a disk or an optical disk, etc. 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. Details that have already been described will not be repeated here. As used below, the term "module" may refer to 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, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

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

[0095] Acquisition unit 902 is configured to acquire, in real time, the speed of the autonomous vehicle, the speed of the preceding vehicle, and the distance between the autonomous vehicle and the preceding vehicle when the adaptive cruise control system of the autonomous vehicle is in cruise mode and a preceding vehicle is detected by the autonomous vehicle's detection equipment. Acquisition unit 902 may be configured to execute step S202.

[0096] The first determining unit 904 is configured to determine a first travel distance of the autonomous vehicle based on the vehicle speed of the autonomous vehicle and the vehicle speed of the preceding vehicle, where the first travel distance is the distance the autonomous vehicle would travel if it were to uniformly accelerate to the vehicle speed of the preceding vehicle. The first determining unit 904 may be configured to execute step S204.

[0097] A second determining unit 906 is configured to determine a second driving distance of the autonomous vehicle based on the distance between the autonomous vehicle and the preceding vehicle, where the second driving distance is the distance the autonomous vehicle travels until it reaches a specified following distance from the preceding vehicle. The second determining unit 906 may be configured to execute step S206.

[0098] The first execution unit 908 is configured to switch the adaptive cruise control system to a follow mode and control the autonomous vehicle to uniformly accelerate to follow the vehicle ahead, if the first driving distance is greater than or equal to the second driving distance and the distance between the autonomous vehicle and the vehicle ahead is less than or equal to a specified distance threshold. The first execution unit 908 may be configured to execute step S208.

[0099] According to the embodiments provided by the present application, when the adaptive cruise control system of an autonomous vehicle is in cruise mode and a vehicle ahead is detected by the detection equipment of the autonomous vehicle, 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 are obtained in real time; based on the vehicle speed of the autonomous vehicle and the vehicle speed of the vehicle ahead, a first driving distance of the autonomous vehicle is determined, wherein the first driving distance is the distance the autonomous vehicle travels after uniformly accelerating to the vehicle speed of the vehicle ahead; based on the vehicle distance between the autonomous vehicle and the vehicle ahead, a second driving distance of the autonomous vehicle is determined, wherein the second driving distance is the distance the autonomous vehicle travels after reaching a specified following distance from the vehicle ahead; and 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, the adaptive cruise control system is switched to following mode and the autonomous vehicle is controlled to uniformly accelerate to follow the vehicle ahead. This solves the technical problem of large vehicle acceleration and fast vehicle starting speed in following mode in the adaptive cruise control method of the related art, reduces vehicle acceleration and vehicle starting speed in following mode, and improves the riding experience.

[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 leading vehicle by the product of 2 and the first acceleration, wherein the first acceleration is the average acceleration of the vehicle speed of the autonomous driving vehicle to the vehicle speed of the leading 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 maximum 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 is uniformly accelerated 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 travel with uniform acceleration 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 re-determine 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 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 a specified distance threshold.

[0106] It should be noted that the above modules can be implemented through 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 includes 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 of any of the above-described 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 here.

[0111] According to another aspect of an embodiment of the present application, a computer program product is also provided, comprising a computer program / instruction containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication portion 1009, and / or installed from a removable medium 1011. When the computer program is executed by the central processing unit 1001, the various functions provided by the embodiments of the present application are performed. The serial numbers of the embodiments of the present application are for descriptive purposes only and do not represent the merits of the embodiments.

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

[0113] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including devices such as a CRT (Cathode Ray Tube), an LCD (Liquid Crystal Display), and a speaker; a storage section 1008 including a hard disk; and a communication section 1009 including a network interface card such as a local area network card or a modem. 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. Removable media 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 1010 as needed, so that computer programs read therefrom can be installed into the storage section 1008 as needed.

[0114] In particular, according to an embodiment of the present application, the processes described in the various method flow charts can be implemented as computer software programs. For example, an embodiment of the present application includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the methods shown in the flow charts. In such an embodiment, the computer program can be downloaded and installed from a network via the communication portion 1009 and / or installed from a removable medium 1011. When the computer program is executed by the central processing unit 1001, the various functions defined in the system of the present application are performed.

[0115] It should be noted that Figure 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 modules or steps of the present application described above can be implemented using a general-purpose computing device, they can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices, they can be implemented using program code executable by the computing device, and thus, 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 performed in a different order than herein, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated 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, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An adaptive cruise control method, characterized in that: include: When the adaptive cruise control system of the 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 travel distance of the autonomous vehicle based on a vehicle speed of the autonomous vehicle and a vehicle speed of the preceding vehicle, wherein the first travel distance is a distance traveled by the autonomous vehicle when uniformly accelerated to 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 vehicle ahead, wherein the second driving distance is a distance traveled by the autonomous 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 travel distance of the autonomous driving vehicle includes: 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, 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 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 travel distance of the autonomous driving vehicle based on the vehicle speed of the autonomous driving vehicle and the vehicle speed of the preceding 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 maximum time for vehicles of different vehicle types to achieve following stability when switching to the following mode.

4. The method according to claim 1, wherein The determining a second driving distance of the autonomous driving vehicle based on the vehicle distance between the autonomous driving vehicle and the preceding vehicle 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 minimum 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, wherein Switching the adaptive cruise control system to a following mode and controlling the autonomous driving vehicle to travel with uniform acceleration includes: Switching the adaptive cruise control system to a follow mode; determining a second acceleration based on the second driving distance, the vehicle speed of the autonomous driving vehicle, and the vehicle speed of the leading vehicle, wherein the second acceleration is the acceleration of the autonomous driving vehicle when the distance traveled by the autonomous driving vehicle after uniform acceleration to the vehicle speed of the leading vehicle 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 vehicle-following mode, the method further includes: reacquiring a vehicle speed of the autonomous driving vehicle, a vehicle speed of the leading vehicle, and a vehicle distance between the autonomous driving vehicle and the leading vehicle, 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 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 vehicle, a vehicle speed of the vehicle ahead, and a vehicle distance between the autonomous vehicle and the vehicle ahead, when the adaptive cruise control system of the autonomous vehicle is in a cruise mode and a vehicle ahead is detected by a detection device of the autonomous vehicle; a first determining unit configured to determine a first travel distance of the autonomous driving vehicle based on a vehicle speed of the autonomous driving vehicle and a vehicle speed of the preceding vehicle, wherein the first travel distance is a distance traveled by the autonomous driving vehicle after uniform acceleration to a vehicle speed equal to that of the preceding vehicle; 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 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; The first execution unit 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.

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 the method according to any one 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, wherein: 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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