Vehicle expected acceleration calculation method, device and equipment

Abstract

The invention relates to the technical field of intelligent auxiliary driving, in particular to a vehicle expected acceleration calculation method, device and equipment. A vehicle expected acceleration calculation method comprises the steps that when it is determined that a vehicle state is a vehicle following state under adaptive cruise control (ACC), the delay period of an actuator is determined; predicting the relative speed and the relative distance between the vehicle and the target vehicle according to the delay period; and determining the expected acceleration of the own vehicle through the relative speed and the relative distance. According to the embodiment of the invention, the delay period of the actuator is determined in real time, the relative speed and the relative distance between the vehicle and the target vehicle are compensated through the delay period, and the compensation is applied to the calculation of the expected acceleration of the vehicle, so that errors caused by delay response of the actuator are reduced; and it is ensured that the vehicle is smoother in the frequent driving and braking switching process, the situations of jerking or untimely braking are reduced, and rear-end collision with a front vehicle is avoided.

Description

Technical Field

[0001] The present application relates to the field of intelligent assisted driving technology, and specifically to a method, device and equipment for calculating expected acceleration of a vehicle. Background Art

[0002] With the widespread popularity of intelligent driving assistance systems in the automotive field, especially the increasing application of technologies such as Adaptive Cruise Control (ACC) and Advanced Driver Assistance System (ADAS) in mid- and low-end models, human-machine co-driving will undoubtedly become the main force in future travel. Therefore, stable performance of assisted driving technology is the key to ensuring safety.

[0003] The main factors that lead to the insecurity of intelligent driving assistance systems include algorithm defects and hardware failures. Among them, the algorithm model is basically mature, and the difficulty is mainly the hidden dangers caused by hardware loss or the hysteresis of traditional fault detection methods. For example, when ACC is following a car, after the current car stops, a rear-end collision may occur due to the failure of the self-vehicle to brake in time.

[0004] In addition to the error in algorithm calibration, the main problem in this type of scenario is the response delay caused by actuator wear or other failures. Therefore, how to avoid or mitigate the consequences of actuator response delay in this type of scenario or other scenarios has become an urgent problem to be solved. Summary of the invention

[0005] Embodiments of the present invention provide a method, device and apparatus for calculating expected acceleration of a vehicle, which are used to solve the problem in the prior art that actuator reaction hysteresis affects the safety of intelligent assisted driving.

[0006] In a first aspect, an embodiment of the present invention provides a method for calculating expected acceleration of a vehicle, characterized in that the method comprises: When it is determined that the vehicle state is a following state under the adaptive cruise control ACC, determining a delay period of the actuator; Predicting the relative speed and relative distance between the ego vehicle and the target vehicle according to the delay period; The expected acceleration of the vehicle is determined by the relative speed and the relative distance.

[0007] Optionally, the delay period of the actuator includes a driving delay period and a braking delay period, and determining the delay period of the actuator includes: Determining a first efficiency characterization of the actuator according to the vehicle speed, wherein the first efficiency characterization is an efficiency characterization of the actuator in a current calculation cycle; Determining a first compensated acceleration of the vehicle in a current calculation cycle according to the first efficiency characterization and a first compensated acceleration obtained in a previous calculation cycle; The first compensated acceleration is used to determine a delay period of the actuator.

[0008] Optionally, the determining of the first compensated acceleration of the vehicle in the current calculation cycle, the method further includes: Determining the driving state of the vehicle, wherein the driving state includes the vehicle speed and the driver's control state; determining whether acceleration compensation needs to be performed according to the driving state; When the vehicle speed is less than a preset value, and / or the driver's control state is in an over-control state, it is determined that there is no need to perform acceleration compensation, and the first compensation acceleration is set to 0.

[0009] Optionally, predicting the relative speed and relative distance between the vehicle and the target vehicle according to the delay period includes: Compensating the ego-vehicle speed of the vehicle through the delay period to determine the ego-vehicle predicted speed of the vehicle; Compensating the speed of the target vehicle through the delay period to determine a target vehicle predicted speed of the target vehicle; The relative speed and relative distance between the own vehicle and the target vehicle are determined respectively according to the predicted speed of the own vehicle and the predicted speed of the target vehicle.

[0010] Optionally, compensating the vehicle's own speed by the delay period to determine the vehicle's own predicted speed includes: Determining a first number of calculation cycles required to perform compensation according to the calibration amount; Determining the speed compensation value in each calculation cycle respectively according to the first compensation acceleration in the past first number of calculation cycles; Compensating the vehicle speed according to each speed compensation value to determine the predicted vehicle speed of the vehicle; The compensating the speed of the target vehicle by the delay period to determine the target vehicle predicted speed of the target vehicle includes: Acquire the speed of the target vehicle, and determine a first number of calculation cycles that need to perform compensation according to the calibration amount; Determining the speed compensation value in each calculation cycle respectively by using the second compensation acceleration in the past first number of calculation cycles; The speed of the target vehicle is compensated according to each speed compensation value to determine a target vehicle predicted speed of the target vehicle.

[0011] Optionally, determining the relative distance between the ego vehicle and the target vehicle according to the predicted vehicle speed of the ego vehicle and the predicted vehicle speed of the target vehicle includes: Obtain the first distance between the ego vehicle and the target vehicle; Determine the distance compensation value in each calculation cycle respectively according to the difference between the predicted speed of the own vehicle and the predicted speed of the target vehicle in the past first number of calculation cycles; The first distance is compensated according to each of the distance compensation values ​​to determine the relative distance between the ego vehicle and the target vehicle.

[0012] Optionally, after compensating the first distance according to each of the distance compensation values ​​to determine the relative distance between the ego vehicle and the target vehicle, the method further includes: comparing the compensated relative distance with the first distance; The shorter distance between the compensated relative distance and the first distance is determined as the relative distance between the ego vehicle and the target vehicle.

[0013] In a second aspect, an embodiment of the present invention provides a vehicle expected acceleration calculation device, the device comprising: A first determination module, when determining that the vehicle state is a following state under the adaptive cruise control ACC, determines a delay period of the actuator; A prediction module, predicting a relative speed and a relative distance between the ego vehicle and the target vehicle according to the delay period; The second determination module determines the expected acceleration of the vehicle according to the relative speed and the relative distance.

[0014] In a third aspect, an embodiment of the present invention provides an electronic device, including: at least one processor; and at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 7 by calling the program instructions.

[0015] In a fourth aspect, an embodiment of the present invention provides a storage medium, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute any method described in the first aspect.

[0016] The embodiment of the present invention determines the delay period of the actuator in real time, compensates the relative speed and relative distance between the ego vehicle and the target vehicle through the delay period, and applies it to the calculation of the expected acceleration of the ego vehicle, so as to reduce the error caused by the delayed response of the actuator, ensure that the vehicle is smoother during frequent drive-brake switching, reduce the scenarios of setbacks or untimely braking, and avoid rear-end collisions with the vehicle in front. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 Shown is a flow chart of a method for calculating expected acceleration of a vehicle provided in an embodiment of the present application; Figure 2 FIG. 1 is a schematic diagram of the structure of a vehicle expected acceleration calculation device provided by an embodiment of the present application; Figure 3 Shown is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0020] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0021] With the widespread popularity of intelligent driving assistance systems in the automotive field, especially the increasing application of technologies such as ACC and ADAS in mid- and low-end models, human-machine co-driving will undoubtedly become the main force in future travel. Therefore, stable performance of assisted driving technology is the key to ensuring safety.

[0022] The main factors that lead to the insecurity of intelligent driving assistance systems include algorithm defects and hardware failures. Among them, the algorithm model is basically mature, and the difficulty is mainly the hidden dangers caused by hardware loss or the hysteresis of traditional fault detection methods. For example, when ACC is following a car, after the current car stops, a rear-end collision may occur due to the failure of the self-vehicle to brake in time.

[0023] In addition to the error in algorithm calibration, the main problem in this type of scenario is the response delay caused by actuator wear or other failures. Therefore, how to avoid or mitigate the consequences of actuator response delay in this type of scenario or other scenarios has become an urgent problem to be solved.

[0024] Figure 1 FIG. 1 is a flow chart of a method for calculating vehicle expected acceleration provided by an embodiment of the present invention. Figure 1 The specific steps of the method include: S101, when it is determined that the vehicle state is a following vehicle state under the adaptive cruise control ACC, determining a delay period of an actuator.

[0025] Specifically, when the ACC function of the vehicle is turned on and the vehicle is in a following state of a target vehicle in front, it is determined that the acceleration of the vehicle needs to be compensated by executing the vehicle expected acceleration calculation method to avoid a rear-end collision.

[0026] The vehicle speed is obtained through the sensors carried by the vehicle. Based on the preset vehicle speed-actuator efficiency correspondence, the first efficiency representation of the actuator under the ideal state is determined by looking up the table through the vehicle speed. The first efficiency representation is the efficiency representation of the actuator in the current calculation cycle.

[0027] According to the determined first efficiency characterization and the first compensation acceleration obtained in the previous calculation cycle, the first compensation acceleration a of the vehicle in the current calculation cycle is determined. hfe .

[0028] Generally, the first compensation acceleration in the current calculation cycle is determined by calculating the product of the first efficiency representation and the first compensation acceleration in the previous calculation cycle.

[0029] When determining the delay period of the actuator, it is necessary to compensate the acceleration in multiple calculation periods, that is, it is necessary to calculate the first compensated acceleration in multiple calculation periods. The first compensated acceleration in each period obtained by calculation is used to jointly characterize the delay period of the actuator.

[0030] The actuator includes a driving actuator and a braking actuator. When calculating the first compensation acceleration, it is necessary to calculate the delay period of the driving actuator and the delay period of the braking actuator respectively, that is, it is necessary to determine the first efficiency representation e of the driving actuator through the corresponding relationship between the driving vehicle speed and the actuator efficiency and the corresponding relationship between the braking vehicle speed and the actuator efficiency respectively. brk and the first efficiency characterization of the brake actuator acceltn , and calculate the delay period of the driving actuator and the delay period of the braking actuator respectively.

[0031] Optionally, in some embodiments, when determining the first compensated acceleration of the vehicle in the current calculation cycle, it is also necessary to determine the driving state of the vehicle and determine whether to perform compensation for the acceleration in the calculation cycle based on the driving state.

[0032] Specifically, the driving state of the vehicle includes the vehicle speed and the driver control state. When the vehicle speed is less than a preset value, and / or the driver control state is an override state, it is determined that there is no need to perform acceleration compensation within the calculation cycle, and the first compensation acceleration of the cycle is set to 0.

[0033] S102, predicting the relative speed and relative distance between the vehicle and the target vehicle according to the delay period.

[0034] Specifically, the speed of the ego vehicle is compensated by the delay period to determine the ego vehicle predicted speed of the vehicle; the speed of the target vehicle is compensated by the delay period to determine the target vehicle predicted speed of the target vehicle. Thus, the relative speed and relative distance between the ego vehicle and the target vehicle are determined according to the ego vehicle predicted speed and the target vehicle predicted speed.

[0035] When calculating the predicted speed of the vehicle, the first number of calculation cycles that need to be compensated is determined according to the calibration quantity, and the speed compensation value in each calculation cycle is determined respectively through the first compensation acceleration in the past first number of calculation cycles, and the speed of the vehicle is compensated by the calculated speed compensation values, so as to determine the predicted speed of the vehicle.

[0036] In a specific embodiment, the predicted vehicle speed is calculated using the following formula: in, V h_prdt (k) is the predicted speed of the vehicle, V h (k) is the uncompensated vehicle speed collected by the sensor, a hfe is the first compensation acceleration in each calculation cycle, N For calibration, T The time for each calculation cycle.

[0037] In this embodiment, in order to avoid errors caused by compensation, the predicted vehicle speed should be positive. When an abnormality occurs in the compensation calculation, that is, when the calculated predicted vehicle speed is negative, the predicted vehicle speed is set to 0.

[0038] When calculating the predicted speed of the target vehicle, the speed of the target vehicle is sensed and acquired through the sensor carried by the vehicle, and a first number of calculation cycles that need to be compensated is determined based on the calibration quantity. The speed compensation value in each calculation cycle is determined based on the second compensation acceleration in the past first number of calculation cycles. The speed of the target vehicle is compensated according to each speed compensation value to determine the predicted speed of the target vehicle.

[0039] In a specific embodiment, the predicted speed of the target vehicle is calculated by the following formula: in, V TgtVehprdt (k) is the predicted speed of the target vehicle, V TgtVeh (k) is the speed of the target vehicle collected by the sensor without compensation, a t_prft is the second compensation acceleration of the target vehicle in each calculation cycle, N For calibration, T The time for each calculation cycle.

[0040] Similarly, in this embodiment, in order to avoid errors caused by compensation, it should be ensured that the target vehicle predicted speed is positive. When an abnormality occurs in the compensation calculation, that is, when the calculated target vehicle predicted speed is negative, the target vehicle predicted speed is set to 0.

[0041] When calculating the relative distance between the own vehicle and the target vehicle, the first distance between the own vehicle and the target vehicle is sensed and obtained through the sensor carried by the vehicle, and the distance compensation value in each calculation cycle is determined by the difference between the predicted speed of the own vehicle and the predicted speed of the target vehicle in the past first number of calculation cycles. The first distance is compensated according to each distance compensation value to determine the relative distance between the own vehicle and the target vehicle.

[0042] In a specific embodiment, the relative distance between the ego vehicle and the target vehicle is calculated by the following formula: in, L IVPosPrdt (k) is the relative distance between the ego vehicle and the target vehicle, L IVPos (k) is the first distance collected by the sensor, T The time for each calculation cycle.

[0043] Optionally, in some embodiments, after determining the relative distance between the self-vehicle and the target vehicle, in order to ensure that the self-vehicle does not collide with the target vehicle, a conservative estimate of the relative distance between the self-vehicle and the target vehicle is required. The compensated relative distance is compared with the first distance, and the shorter distance is determined as the relative distance between the self-vehicle and the target vehicle.

[0044] S103, determining the expected acceleration of the vehicle according to the relative speed and the relative distance.

[0045] The embodiment of the present invention determines the delay period of the actuator in real time, compensates the relative speed and relative distance between the ego vehicle and the target vehicle through the delay period, and applies it to the calculation of the expected acceleration of the ego vehicle, so as to reduce the error caused by the delayed response of the actuator, ensure that the vehicle is smoother during frequent drive-brake switching, reduce the scenarios of setbacks or untimely braking, and avoid rear-end collisions with the vehicle in front.

[0046] Corresponding to the above-mentioned method for calculating the expected acceleration of a vehicle, the embodiment of the present application further provides a device for calculating the expected acceleration of a vehicle, which is applied to a vehicle with an ACC function. Figure 2 , is a structural schematic diagram of a vehicle expected acceleration calculation device provided in an embodiment of the present application. The vehicle expected acceleration calculation device may include: a first determination module 201, a prediction module 202 and a second determination module 203.

[0047] The first determining module 201 determines a delay period of an actuator when it is determined that the vehicle state is a following vehicle state under the adaptive cruise control ACC.

[0048] The prediction module 202 predicts the relative speed and relative distance between the ego vehicle and the target vehicle according to the delay period.

[0049] The second determination module 203 determines the expected acceleration of the vehicle according to the relative speed and the relative distance.

[0050] Figure 3 FIG. 1 is a schematic diagram of the structure of an embodiment of an electronic device of this specification. The electronic device may be a vehicle with an ACC function. Figure 3 As shown, the electronic device may include at least one processor; and at least one memory communicatively connected to the processing unit, wherein: the memory stores program instructions that can be executed by the processing unit, and the processor calls the program instructions to execute the vehicle expected acceleration calculation method provided in this embodiment.

[0051] The electronic device can be a device capable of intelligently communicating with a user, such as a cloud server, and the specific form of the electronic device is not limited in the embodiments of this specification. It can be understood that the electronic device here is the machine mentioned in the method embodiment.

[0052] Figure 3 A block diagram of an exemplary electronic device suitable for implementing the embodiments of the present description is shown. Figure 3 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 this specification.

[0053] like Figure 3 As shown, the electronic device is in the form of a general computing device. The components of the electronic device may include but are not limited to: one or more processors 310, a communication interface 320, a memory 330, and a communication bus 340 connecting different system components (including the memory 330, the communication interface 320 and the processor 310).

[0054] The communication bus 340 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnection (PCI) bus.

[0055] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0056] The memory 330 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 330 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of each embodiment of the present specification.

[0057] A program / utility having a set (at least one) of program modules may be stored in memory 330, such program modules including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in this specification.

[0058] The processor 310 executes various functional applications and data processing by running the programs stored in the memory 330, such as implementing the vehicle expected acceleration calculation method provided in the embodiment shown in this specification.

[0059] An embodiment of the present specification provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the vehicle expected acceleration calculation method provided by the embodiment shown in the present specification.

[0060] The above-mentioned non-transitory computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ReadOnly Memory; hereinafter referred to as: ROM), an erasable programmable read-only memory (Erasable Programmable ReadOnly Memory; hereinafter referred to as: EPROM) or flash memory, optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0061] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0062] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0063] Computer program code for performing the operations of this specification may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0064] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0065] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this specification, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0066] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of this specification includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of this specification belong.

[0067] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0068] It should be noted that the terminals involved in the embodiments of this specification may include but are not limited to personal computers (Personal Computer; hereinafter referred to as: PC), personal digital assistants (Personal Digital Assistant; hereinafter referred to as: PDA), wireless handheld devices, tablet computers (Tablet Computer), mobile phones, MP3 players, MP4 players, etc.

[0069] In the embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0070] In addition, each functional unit in each embodiment of this specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0071] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the method described in each embodiment of this specification.

[0072] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A method for calculating expected acceleration of a vehicle, characterized in that: The method comprises: When it is determined that the vehicle state is a following state under the adaptive cruise control ACC, determining a delay period of the actuator; predicting the relative speed and relative distance between the ego vehicle and the target vehicle according to the delay period; The expected acceleration of the vehicle is determined by the relative speed and the relative distance.

2. The method according to claim 1, characterized in that The delay period of the actuator includes a driving delay period and a braking delay period, and determining the delay period of the actuator includes: Determining a first efficiency characterization of the actuator according to the vehicle speed, wherein the first efficiency characterization is an efficiency characterization of the actuator in a current calculation cycle; Determining a first compensated acceleration of the vehicle in a current calculation cycle according to the first efficiency characterization and a first compensated acceleration obtained in a previous calculation cycle; The first compensated acceleration is used to determine a delay period of the actuator.

3. The method according to claim 2, characterized in that The determining of the first compensated acceleration of the vehicle in the current calculation cycle, the method further comprises: Determining the driving state of the vehicle, wherein the driving state includes the vehicle speed and the driver's control state; determining whether acceleration compensation needs to be performed according to the driving state; When the vehicle speed is less than a preset value, and / or the driver's control state is in an over-control state, it is determined that there is no need to perform acceleration compensation, and the first compensation acceleration is set to 0.

4. The method according to claim 1, characterized in that The predicting the relative speed and relative distance between the vehicle and the target vehicle according to the delay period includes: Compensating the ego-vehicle speed of the vehicle through the delay period to determine the ego-vehicle predicted speed of the vehicle; Compensating the speed of the target vehicle through the delay period to determine a target vehicle predicted speed of the target vehicle; The relative speed and relative distance between the own vehicle and the target vehicle are determined respectively according to the predicted speed of the own vehicle and the predicted speed of the target vehicle.

5. The method according to claim 4, characterized in that The compensating the vehicle's own vehicle speed by the delay period to determine the vehicle's own vehicle predicted speed includes: Determining a first number of calculation cycles required to perform compensation according to the calibration amount; Determining the speed compensation value in each calculation cycle respectively according to the first compensation acceleration in the past first number of calculation cycles; Compensating the vehicle speed according to each speed compensation value to determine the predicted vehicle speed of the vehicle; The compensating the speed of the target vehicle by the delay period to determine the target vehicle predicted speed of the target vehicle includes: Acquire the speed of the target vehicle, and determine a first number of calculation cycles that need to perform compensation according to the calibration amount; Determining the speed compensation value in each calculation cycle respectively by using the second compensation acceleration in the past first number of calculation cycles; The speed of the target vehicle is compensated according to each speed compensation value to determine a target vehicle predicted speed of the target vehicle.

6. The method according to claim 4, characterized in that Determining the relative distance between the ego vehicle and the target vehicle according to the ego vehicle predicted speed and the target vehicle predicted speed includes: Obtain the first distance between the ego vehicle and the target vehicle; Determine the distance compensation value in each calculation cycle respectively according to the difference between the predicted speed of the own vehicle and the predicted speed of the target vehicle in the past first number of calculation cycles; The first distance is compensated according to each of the distance compensation values ​​to determine the relative distance between the ego vehicle and the target vehicle.

7. The method according to claim 6, characterized in that After compensating the first distance according to each of the distance compensation values ​​to determine the relative distance between the vehicle and the target vehicle, the method further includes: comparing the compensated relative distance with the first distance; The shorter distance between the compensated relative distance and the first distance is determined as the relative distance between the ego vehicle and the target vehicle.

8. A vehicle expected acceleration calculation device, characterized in that: The device comprises: A first determination module, when determining that the vehicle state is a following state under the adaptive cruise control ACC, determines a delay period of the actuator; A prediction module, predicting a relative speed and a relative distance between the ego vehicle and the target vehicle according to the delay period; The second determination module determines the expected acceleration of the vehicle according to the relative speed and the relative distance.

9. An electronic device, characterized in that: include: at least one processor; as well as at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 7 by calling the program instructions.

10. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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