Vehicle desired acceleration calculation method, device and equipment

Abstract

The application relates to the technical field of intelligent auxiliary driving, in particular to a vehicle expected acceleration calculation method, device and equipment. The vehicle expected acceleration calculation method comprises the following steps: when it is determined that the vehicle state is a following state under adaptive cruise control ACC, the delay period of an actuator is determined; the relative speed and the relative distance between the ego vehicle and a target vehicle are predicted according to the delay period; and the expected acceleration of the ego vehicle is determined through the relative speed and the relative distance. According to the application, the delay period of the actuator is determined in real time, the relative speed and the relative distance between the ego vehicle and the target vehicle are compensated through the delay period, and the compensated relative speed and relative distance are applied to the calculation of the expected acceleration of the ego vehicle, so that the error caused by the delayed response of the actuator is reduced, the vehicle is smoother in the process of frequent driving and braking switching, the scene of jerk or untimely braking is reduced, and rear-end collision with the preceding vehicle is avoided.

Description

Technical Field

[0001] This application relates to the field of intelligent assisted driving technology, specifically to a method, apparatus, and device for calculating the desired acceleration of a vehicle. Background Technology

[0002] With the widespread adoption of intelligent driving assistance systems in the automotive industry, especially the increasing use of technologies such as Adaptive Cruise Control (ACC) and Advanced Driver Assistance Systems (ADAS) in mid-to-low-end models, human-machine co-driving will undoubtedly become the mainstay of future travel. Therefore, stable and reliable driver assistance technologies are crucial for ensuring safety.

[0003] The main factors contributing to the unsafety of intelligent driving assistance systems include algorithmic defects and hardware failures. While the algorithmic models are generally mature, the main challenges lie in the potential hazards caused by hardware wear and tear or the lag in traditional fault detection methods. For example, during ACC (Adaptive Cruise Control) following another vehicle, a rear-end collision can occur if the vehicle in front brakes to a stop but the vehicle itself does not brake in time.

[0004] Besides errors in algorithm calibration, the main problem in these scenarios lies in the response lag caused by actuator wear or other malfunctions. Therefore, how to avoid or mitigate the consequences of actuator response lag in these or other scenarios has become an urgent problem to solve. Summary of the Invention

[0005] This invention provides a method, apparatus, and device for calculating the desired acceleration of a vehicle, which addresses the problem of actuator lag affecting the safety of intelligent assisted driving in the prior art.

[0006] In a first aspect, embodiments of the present invention provide a method for calculating the desired acceleration of a vehicle, characterized in that the method includes:

[0007] When the vehicle status is determined to be the following state under adaptive cruise control (ACC), the delay period of the actuator is determined.

[0008] Predict the relative speed and relative distance between the vehicle and the target vehicle based on the delay period;

[0009] The desired acceleration of the vehicle is determined by the relative speed and the relative distance.

[0010] Optionally, the delay period of the actuator includes a drive delay period and a braking delay period, and determining the delay period of the actuator includes:

[0011] The first efficiency characterization of the actuator is determined based on the vehicle speed. The first efficiency characterization is the efficiency characterization of the actuator in the current calculation cycle.

[0012] Based on the first efficiency characterization and the first compensation acceleration obtained in the previous calculation cycle, the first compensation acceleration of the vehicle in the current calculation cycle is determined.

[0013] The first compensation acceleration is used to determine the delay period of the actuator.

[0014] Optionally, the method for determining the first compensated acceleration of the vehicle in the current calculation period further includes:

[0015] Determine the driving status of the vehicle, which includes the vehicle speed and the driver's control status;

[0016] Determine whether acceleration compensation is needed based on the driving status;

[0017] Specifically, when the vehicle speed is less than a preset value, and / or when the driver's control state is in an over-control state, it is determined that no acceleration compensation is required, and the first compensation acceleration is set to 0.

[0018] Optionally, predicting the relative speed and relative distance between the vehicle and the target vehicle based on the delay period includes:

[0019] The vehicle's own speed is compensated by the delay period to determine the vehicle's predicted own speed.

[0020] The target vehicle's speed is compensated by the delay period to determine the target vehicle's predicted speed.

[0021] The relative speed and relative distance between the vehicle and the target vehicle are determined based on the predicted speed of the vehicle and the predicted speed of the target vehicle, respectively.

[0022] Optionally, the step of compensating for the vehicle's own speed through the delay period to determine the vehicle's predicted speed includes:

[0023] The first quantity of the calculation cycle for which compensation needs to be performed is determined based on the standard quantity;

[0024] Based on the first compensation acceleration in the first number of calculation cycles in the past, the velocity compensation value in each calculation cycle is determined respectively;

[0025] The vehicle speed is compensated based on each speed compensation value to determine the vehicle's predicted speed.

[0026] The step of compensating for the target vehicle's speed using the delay period to determine the predicted speed of the target vehicle includes:

[0027] Obtain the speed of the target vehicle and determine the first number of calculation cycles for which compensation needs to be performed based on the calibrated quantity;

[0028] By using the second compensation acceleration within the first number of calculation cycles in the past, the velocity compensation value within each calculation cycle is determined respectively;

[0029] The target vehicle's speed is compensated based on various speed compensation values ​​to determine the predicted speed of the target vehicle.

[0030] Optionally, determining the relative distance between the self-vehicle and the target vehicle based on the predicted speed of the self-vehicle and the predicted speed of the target vehicle includes:

[0031] Obtain the initial distance between the vehicle and the target vehicle;

[0032] By using the difference between the predicted speed of the self-vehicle and the predicted speed of the target vehicle in the first number of calculation cycles in the past, the distance compensation value in each calculation cycle is determined.

[0033] The first distance is compensated according to each of the distance compensation values ​​to determine the relative distance between the vehicle and the target vehicle.

[0034] Optionally, 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:

[0035] The compensated relative distance is compared with the first distance;

[0036] The shorter of the compensated relative distance and the first distance is determined as the relative distance between the vehicle and the target vehicle.

[0037] In a second aspect, embodiments of the present invention provide a vehicle desired acceleration calculation device, the device comprising:

[0038] The first determining module determines the delay period of the actuator when it determines that the vehicle status is the following state under adaptive cruise control (ACC).

[0039] The prediction module predicts the relative speed and relative distance between the vehicle and the target vehicle based on the delay period;

[0040] The second determining module determines the vehicle's desired acceleration based on the relative speed and the relative distance.

[0041] Thirdly, embodiments of the present invention provide an electronic device, including:

[0042] At least one processor; and

[0043] At least one memory communicatively connected to the processor, wherein:

[0044] The memory stores program instructions that can be executed by the processor, which can invoke the program instructions to perform the method as described in any of the first aspects above.

[0045] Fourthly, embodiments of the present invention provide a storage medium including a stored program, wherein, when the program is executed, it controls the device where the storage medium is located to perform the method described in any of the first aspects.

[0046] This invention determines the delay period of the actuator in real time and compensates for the relative speed and relative distance between the vehicle and the target vehicle by using the delay period. This compensation is then applied to the calculation of the desired acceleration of the vehicle. This reduces the error caused by the delay response of the actuator, ensuring a smoother driving and braking process during frequent driving and braking, reducing jerking or untimely braking, and avoiding rear-end collisions with the vehicle in front. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 The diagram shown is a flowchart of a method for calculating the desired acceleration of a vehicle according to an embodiment of this application;

[0049] Figure 2 The diagram shown is a structural schematic of a vehicle desired acceleration calculation device provided in an embodiment of this application;

[0050] Figure 3 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application. Detailed Implementation

[0051] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0052] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0053] With the widespread adoption of intelligent driving assistance systems in the automotive industry, especially the increasing use of technologies such as ACC and ADAS in mid-to-low-end models, human-machine co-driving will undoubtedly become the mainstay of future travel. Therefore, stable and reliable driver assistance technologies are crucial for ensuring safety.

[0054] The main factors contributing to the unsafety of intelligent driving assistance systems include algorithmic defects and hardware failures. While the algorithmic models are generally mature, the main challenges lie in the potential hazards caused by hardware wear and tear or the lag in traditional fault detection methods. For example, during ACC (Adaptive Cruise Control) following another vehicle, a rear-end collision can occur if the vehicle in front brakes to a stop but the vehicle itself does not brake in time.

[0055] Besides errors in algorithm calibration, the main problem in these scenarios lies in the response lag caused by actuator wear or other malfunctions. Therefore, how to avoid or mitigate the consequences of actuator response lag in these or other scenarios has become an urgent problem to solve.

[0056] Figure 1 The diagram shown is a flowchart of a method for calculating the desired acceleration of a vehicle according to an embodiment of the present invention. See also... Figure 1 The specific steps of this method include:

[0057] S101, when the vehicle status is determined to be the following state under adaptive cruise control (ACC), the delay period of the actuator is determined.

[0058] Specifically, when the vehicle's ACC function is activated and it is following the target vehicle in front, it is determined that the vehicle's acceleration needs to be compensated by performing the vehicle's expected acceleration calculation method in order to avoid a rear-end collision.

[0059] The vehicle's speed is acquired using sensors mounted on the vehicle. Based on a pre-defined speed-actuator efficiency relationship, a lookup table is used to determine the actuator's first efficiency characteristic under ideal conditions. This first efficiency characteristic represents the actuator's efficiency within the current computation cycle.

[0060] Based on the determined first efficiency characteristic 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。

[0061] Generally, the first compensation acceleration in the current calculation cycle is determined by multiplying the first efficiency characterization with the first compensation acceleration of the previous calculation cycle.

[0062] In determining the actuator's delay period, acceleration compensation needs to be performed over multiple calculation cycles; that is, the first compensated acceleration needs to be calculated over multiple calculation cycles. The calculated first compensated acceleration for each cycle is used to collectively characterize the actuator's delay period.

[0063] The actuators include a drive actuator and a braking actuator. When calculating the first compensated acceleration, it is necessary to calculate the delay period of the drive actuator and the delay period of the braking actuator separately. That is, the first efficiency characteristic e of the drive actuator needs to be determined using the vehicle speed-actuator efficiency correspondence during driving and braking, respectively. brk The first efficiency characterization of the brake actuator e acceltn The delay period of the drive actuator and the delay period of the brake actuator were calculated respectively.

[0064] 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 on the acceleration in the calculation cycle based on the driving state.

[0065] Specifically, the vehicle's driving status includes the vehicle's speed and the driver's control status. When the vehicle's speed is less than a preset value, and / or the driver's control status is in an override state, it is determined that no acceleration compensation needs to be performed in this calculation cycle, and the first compensation acceleration for this cycle is set to 0.

[0066] S102 predicts the relative speed and relative distance between the vehicle and the target vehicle based on the delay period.

[0067] Specifically, the vehicle's predicted speed is determined by compensating for the vehicle's speed using a delay period; similarly, the target vehicle's predicted speed is determined by compensating for the target vehicle's speed using a delay period. Based on these two predicted speeds, the relative speed and relative distance between the two vehicles are then determined.

[0068] When calculating the predicted speed of the vehicle, the first number of calculation cycles for which compensation needs to be performed is determined based on the calibrated quantity. The speed compensation value for each calculation cycle is determined by the first compensation acceleration within the first number of calculation cycles. The vehicle speed is then compensated by the calculated speed compensation values, thereby determining the predicted speed of the vehicle.

[0069] In one specific embodiment, the predicted vehicle speed is calculated using the following formula:

[0070]

[0071] in,V h_prdt (k) represents the predicted speed of the vehicle. V h (k) represents the uncompensated vehicle speed collected by the sensor, a hfe The first compensation acceleration in each calculation cycle, N For standardization, T The time for each calculation cycle.

[0072] In this embodiment, to avoid errors caused by compensation, the predicted vehicle speed should be ensured to be positive. When an anomaly occurs in the compensation calculation, i.e., the calculated predicted vehicle speed is negative, the predicted vehicle speed is set to 0.

[0073] When calculating the predicted speed of the target vehicle, the vehicle speed is sensed and acquired by the sensors on the vehicle. Based on the calibrated quantity, the first number of calculation cycles for which compensation needs to be performed is determined. Based on the second compensation acceleration within the first number of calculation cycles, the speed compensation value within each calculation cycle is determined. The speed of the target vehicle is compensated according to each speed compensation value to determine the predicted speed of the target vehicle.

[0074] In one specific embodiment, the predicted speed of the target vehicle is calculated using the following formula:

[0075]

[0076] in, V TgtVehprdt (k) is the predicted speed of the target vehicle. V TgtVeh (k) represents the uncompensated vehicle speed of the target vehicle collected by the sensor, a t_prft The second compensation acceleration of the target vehicle within each calculation cycle. N For standardization, T The time for each calculation cycle.

[0077] Similarly, in this embodiment, to avoid errors caused by compensation, the predicted speed of the target vehicle should be ensured to be positive. When an anomaly occurs in the compensation calculation, i.e., the calculated predicted speed of the target vehicle is negative, the predicted speed of the target vehicle is set to 0.

[0078] When calculating the relative distance between the vehicle and the target vehicle, the first distance between the vehicle and the target vehicle is sensed and obtained by the sensors on the vehicle. Based on the difference between the predicted speed of the vehicle and the predicted speed of the target vehicle in the past first number of calculation cycles, the distance compensation value for each calculation cycle is determined. The first distance is compensated according to the distance compensation value to determine the relative distance between the vehicle and the target vehicle.

[0079] In one specific embodiment, the relative distance between the vehicle and the target vehicle is calculated using the following formula:

[0080]

[0081] in, L IVPosPrdt (k) represents the relative distance between the vehicle and the target vehicle. L IVPos (k) represents the first distance collected by the sensor. T The time for each calculation cycle.

[0082] Optionally, in some embodiments, after determining the relative distance between the vehicle and the target vehicle, in order to ensure that the vehicle will not collide with the target vehicle, it is necessary to make a conservative estimate of the relative distance between the vehicle and the target vehicle. The compensated relative distance is compared with a first distance, and the shorter distance is determined as the relative distance between the vehicle and the target vehicle.

[0083] S103 determines the desired acceleration of the vehicle by using relative speed and relative distance.

[0084] This invention determines the delay period of the actuator in real time and compensates for the relative speed and relative distance between the vehicle and the target vehicle by using the delay period. This compensation is then applied to the calculation of the desired acceleration of the vehicle. This reduces the error caused by the delay response of the actuator, ensuring a smoother driving and braking process during frequent driving and braking, reducing jerking or untimely braking, and avoiding rear-end collisions with the vehicle in front.

[0085] Corresponding to the above-described method for calculating the desired vehicle acceleration, this application also provides a device for calculating the desired vehicle acceleration, which is applied to vehicles with ACC (Adaptive Cruise Control) functionality. See also... Figure 2 This is a schematic diagram of the structure of a vehicle expected acceleration calculation device provided in an embodiment of this application. The vehicle expected acceleration calculation device may include: a first determining module 201, a prediction module 202, and a second determining module 203.

[0086] The first determining module 201 determines the delay period of the actuator when it determines that the vehicle status is the following state under adaptive cruise control (ACC).

[0087] The prediction module 202 predicts the relative speed and relative distance between the vehicle and the target vehicle based on the delay period.

[0088] The second determining module 203 determines the desired acceleration of the vehicle by using the relative speed and the relative distance.

[0089] Figure 3This is a schematic diagram illustrating the structure of one embodiment of the electronic device described in this specification. The electronic device may be a vehicle with ACC (Adaptive Cruise Control) functionality. 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 executable by the processing unit, and the processor can execute the vehicle desired acceleration calculation method provided in this embodiment by calling the program instructions.

[0090] The aforementioned electronic device can be a device capable of intelligent dialogue with the user, such as a cloud server. This specification does not limit the specific form of the electronic device in the embodiments. It is understood that the electronic device here refers to the machine mentioned in the method embodiments.

[0091] Figure 3 A block diagram of an exemplary electronic device suitable for implementing embodiments of this specification is shown. Figure 3 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments described in this specification.

[0092] like Figure 3 As shown, the electronic device is represented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: one or more processors 310, communication interface 320, memory 330, and communication bus 340 connecting different system components (including memory 330, communication interface 320 and processor 310).

[0093] Communication bus 340 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) buses, Micro Channel Architecture (MAC) buses, Enhanced ISA buses, Video Electronics Standards Association (VESA) local buses, and Peripheral Component Interconnect (PCI) buses.

[0094] Electronic devices typically include a variety of computer-readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, and removable and non-removable media.

[0095] Memory 330 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Memory 330 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments described herein.

[0096] A program / utility having a set (at least one) of program modules may be stored in memory 330. Such program modules include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules typically perform the functions and / or methods described in the embodiments of this specification.

[0097] The processor 310 executes various functional applications and data processing by running programs stored in the memory 330, such as implementing the vehicle desired acceleration calculation method provided in the embodiments shown in this specification.

[0098] This specification provides a non-transitory computer-readable storage medium storing computer instructions that cause the computer to execute the vehicle desired acceleration calculation method provided in the embodiments shown in this specification.

[0099] The aforementioned non-transitory computer-readable storage medium may be any combination of one or more computer-readable media. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in connection with an instruction execution system, apparatus, or device.

[0100] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0101] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0102] Computer program code for performing the operations described herein can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0103] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0104] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0105] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this specification includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which the embodiments of this specification pertain.

[0106] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0107] It should be noted that the terminals involved in the embodiments of this specification may include, but are not limited to, personal computers (PCs), personal digital assistants (PDAs), wireless handheld devices, tablet computers, mobile phones, MP3 players, MP4 players, etc.

[0108] In the embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0109] Furthermore, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0110] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this specification.

[0111] The above description is merely 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 within the scope of protection of this specification.

Claims

1. A method for calculating the desired acceleration of a vehicle, characterized in that, The method includes: When the vehicle status is determined to be the following state under adaptive cruise control (ACC), the delay period of the actuator is determined. Predict the relative speed and relative distance between the vehicle and the target vehicle based on the delay period; The desired acceleration of the vehicle is determined by the relative velocity and the relative distance; The delay period of the actuator includes a drive delay period and a braking delay period, and determining the delay period of the actuator includes: The first efficiency characterization of the actuator is determined based on the vehicle speed. The first efficiency characterization is the efficiency characterization of the actuator in the current calculation cycle. Based on the first efficiency characterization and the first compensation acceleration obtained in the previous calculation cycle, the first compensation acceleration of the vehicle in the current calculation cycle is determined. The first compensation acceleration is used to determine the delay period of the actuator.

2. The method according to claim 1, characterized in that, The method for determining the first compensated acceleration of the vehicle in the current calculation cycle further includes: Determine the driving status of the vehicle, which includes the vehicle speed and the driver's control status; Determine whether acceleration compensation is needed based on the driving status; Specifically, when the vehicle speed is less than a preset value, and / or when the driver's control state is in an over-control state, it is determined that no acceleration compensation is required, and the first compensation acceleration is set to 0.

3. The method according to claim 1, characterized in that, The step of predicting the relative speed and relative distance between the vehicle and the target vehicle based on the delay period includes: The vehicle's own speed is compensated by the delay period to determine the vehicle's predicted own speed. The target vehicle's speed is compensated by the delay period to determine the target vehicle's predicted speed. The relative speed and relative distance between the vehicle and the target vehicle are determined based on the predicted speed of the vehicle and the predicted speed of the target vehicle, respectively.

4. The method according to claim 3, characterized in that, The step of compensating for the vehicle's own speed through the delay period to determine the vehicle's predicted own speed includes: The first quantity of the calculation cycle for which compensation needs to be performed is determined based on the standard quantity; Based on the first compensation acceleration in the first number of calculation cycles in the past, the velocity compensation value in each calculation cycle is determined respectively; The vehicle speed is compensated based on each speed compensation value to determine the vehicle's predicted speed. The step of compensating for the target vehicle's speed using the delay period to determine the predicted speed of the target vehicle includes: Obtain the speed of the target vehicle and determine the first number of calculation cycles for which compensation needs to be performed based on the calibrated quantity; By using the second compensation acceleration within the first number of calculation cycles in the past, the velocity compensation value within each calculation cycle is determined respectively; The target vehicle's speed is compensated based on various speed compensation values ​​to determine the predicted speed of the target vehicle.

5. The method according to claim 3, characterized in that, Determining the relative distance between the vehicle and the target vehicle based on the predicted speed of the vehicle and the predicted speed of the target vehicle includes: Obtain the initial distance between the vehicle and the target vehicle; By using the difference between the predicted speed of the self-vehicle and the predicted speed of the target vehicle in the first number of calculation cycles in the past, the distance compensation value in each calculation cycle is determined. The first distance is compensated according to each of the distance compensation values ​​to determine the relative distance between the vehicle and the target vehicle.

6. The method according to claim 5, 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: The compensated relative distance is compared with the first distance; The shorter of the compensated relative distance and the first distance is determined as the relative distance between the vehicle and the target vehicle.

7. A vehicle desired acceleration calculation device, characterized in that, The device includes: The first determining module determines the delay period of the actuator when it determines that the vehicle status is the following state under adaptive cruise control (ACC). The prediction module predicts the relative speed and relative distance between the vehicle and the target vehicle based on the delay period; The second determining module determines the vehicle's desired acceleration based on the relative speed and the relative distance; The delay period of the actuator includes a drive delay period and a braking delay period, and determining the delay period of the actuator includes: The first efficiency characterization of the actuator is determined based on the vehicle speed. The first efficiency characterization is the efficiency characterization of the actuator in the current calculation cycle. Based on the first efficiency characterization and the first compensation acceleration obtained in the previous calculation cycle, the first compensation acceleration of the vehicle in the current calculation cycle is determined. The first compensation acceleration is used to determine the delay period of the actuator.

8. An electronic device, characterized in that, include: At least one processor; as well as At least one memory communicatively connected to the processor, wherein: The memory stores program instructions that can be executed by the processor, and the processor can execute the method as described in any one of claims 1 to 6 by calling the program instructions.

9. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the storage medium is located to perform the method according to any one of claims 1 to 6.

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