Vehicle following driving method, device and equipment and readable storage medium

Abstract

The invention discloses a car-following driving method, device and equipment and a readable storage medium, and the method comprises the steps: collecting image information in front of a car, and carrying out the target detection of a car-following driving detection region through the image information, so as to obtain a first front car and a second front car, and the second front car is located in front of the first front car; acquiring a first car following distance corresponding to the first front car and a second car following distance corresponding to the second front car; respectively determining a first acceleration corresponding to the first car following distance and a second acceleration corresponding to the second car following distance by using a PID controller; the first acceleration and the second acceleration are vectors; determining a minimum acceleration from the first acceleration and the second acceleration; and controlling the following speed of the own vehicle by using the minimum acceleration. According to the method, the front vehicle and the front vehicle of the front vehicle are comprehensively considered to adjust the vehicle following speed, the accident rate can be reduced, and the safety of self-adaptive cruise can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle following driving method, device, equipment and readable storage medium. Background Art

[0002] The target selection algorithm in ACC (Adaptive Cruise Control) often divides a certain area when the monocular camera collects image information. The vehicle passing through the area and meeting certain conditions is selected as the target to follow. Then, the vehicle's own speed is controlled according to the speed of the target to achieve the following vehicle. However, in actual applications, when some special circumstances occur, the target selection algorithm in ACC will cause a lag in speed control, leading to accidents.

[0003] In summary, how to improve the safety of following a vehicle and other issues are technical problems that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The purpose of the present application is to provide a following vehicle driving method, device, equipment and readable storage medium. When two targets are detected, the minimum acceleration will be comprehensively determined based on the specific conditions of the two targets, so as to control the following speed of the vehicle based on the minimum acceleration. In this way, the specific conditions of the leading vehicle and the preceding vehicle can be considered without switching the following target, thereby improving the safety of adaptive cruise control.

[0005] In order to solve the above technical problems, this application provides the following technical solutions:

[0006] A vehicle following driving method, comprising:

[0007] Collecting image information in front of the vehicle, and using the image information to perform target detection in the vehicle following driving detection area to obtain a first front vehicle and a second front vehicle; the second front vehicle is located in front of the first front vehicle;

[0008] Acquire a first following distance corresponding to the first front vehicle and a second following distance corresponding to the second front vehicle;

[0009] Determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance respectively by using a PID controller; the first acceleration and the second acceleration are both vectors;

[0010] determining a minimum acceleration from the first acceleration and the second acceleration;

[0011] The following speed of the own vehicle is controlled by utilizing the minimum acceleration.

[0012] Optionally, after obtaining a first following distance corresponding to the first leading vehicle and a second following distance corresponding to the second leading vehicle, the method further includes:

[0013] Determining whether the second following vehicle distance is greater than a preset following vehicle threshold;

[0014] Correspondingly, if the judgment result is no, a PID controller is used to respectively determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance;

[0015] If the judgment result is yes, a PID controller is used to determine a first acceleration corresponding to the first following distance, and the first acceleration is determined as a minimum acceleration, and the following speed of the vehicle is controlled using the minimum acceleration.

[0016] Optionally, using a PID controller to respectively determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance includes:

[0017] Determine a first vehicle speed difference using the first following vehicle distance;

[0018] Determine a second vehicle speed difference using the second following distance;

[0019] determining a first acceleration corresponding to the first vehicle speed difference using the PID controller;

[0020] A second acceleration corresponding to the second vehicle speed difference is determined using the PID controller.

[0021] Optionally, determining a first vehicle speed difference by using the first following vehicle distance includes:

[0022] Obtaining a safe distance between the vehicle and the first front vehicle;

[0023] Subtract the safety distance from the first following distance to obtain a first difference distance;

[0024] Determine a first speed error using the first difference distance;

[0025] Superimposing the first speed error with the speed of the first leading vehicle to obtain the speed of the first leading vehicle;

[0026] The first vehicle speed difference is determined using the first front vehicle speed and the own vehicle speed.

[0027] Optionally, using the PID controller to determine a first acceleration corresponding to the vehicle speed difference includes:

[0028] The vehicle speed difference is input into the PID controller, and processed by a proportional unit, an integral unit and a differential unit in the PID controller to obtain the first acceleration.

[0029] Optionally, performing target detection on the vehicle following driving detection area using the image information to obtain a first front vehicle and a second front vehicle includes:

[0030] Identify the vehicle following driving detection area in the image information;

[0031] Performing vehicle detection in the vehicle following driving detection area to obtain vehicle information;

[0032] The first preceding vehicle and the second preceding vehicle are determined using the vehicle information.

[0033] Optionally, using the minimum acceleration to control the following speed of the vehicle includes:

[0034] If the direction of the minimum acceleration is the same as the driving mode of the vehicle, the following vehicle speed is accelerated using the absolute value of the minimum acceleration;

[0035] If the direction of the minimum acceleration is opposite to the driving mode of the vehicle, the following vehicle speed is decelerated using the absolute value of the minimum acceleration.

[0036] A vehicle following device, comprising:

[0037] An image processing module, used for collecting image information in front of the vehicle, and using the image information to perform target detection in the vehicle following driving detection area to obtain a first front vehicle and a second front vehicle; the second front vehicle is located in front of the first front vehicle;

[0038] A following vehicle distance determination module, used to obtain a first following vehicle distance corresponding to the first preceding vehicle and a second following vehicle distance corresponding to the second preceding vehicle;

[0039] an acceleration determination module, configured to respectively determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance using a PID controller; the first acceleration and the second acceleration are both vectors;

[0040] The speed control module is used to determine a minimum acceleration from the first acceleration and the second acceleration; and use the minimum acceleration to control the following speed of the vehicle.

[0041] An electronic device, comprising:

[0042] Memory for storing computer programs;

[0043] A processor is used to implement the steps of the above-mentioned vehicle following driving method when executing the computer program.

[0044] A readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned vehicle following driving method are implemented.

[0045] By using the method provided in the embodiment of the present application, image information in front of the own vehicle is collected, and the image information is used to perform target detection on the following vehicle driving detection area to obtain a first front vehicle and a second front vehicle, wherein the second front vehicle is located in front of the first front vehicle; a first following distance corresponding to the first front vehicle and a second following distance corresponding to the second front vehicle are obtained; a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance are respectively determined by a PID controller; both the first acceleration and the second acceleration are vectors; a minimum acceleration is determined from the first acceleration and the second acceleration; and the following speed of the own vehicle is controlled by using the minimum acceleration.

[0046] The image information in front of the vehicle is collected, and then the image information can be used to perform target detection in the following driving detection area to obtain the first front vehicle and the second front vehicle. After obtaining the first front vehicle and the second front vehicle, the following distances corresponding to the two are obtained. Then, the first acceleration is determined based on the first following distance, and the second acceleration is determined based on the second following speed. The accelerations here are all vectors. Then, the smaller of the first acceleration and the second acceleration is determined as the minimum acceleration. When controlling the following speed of the vehicle, it is controlled based on the minimum acceleration. Comprehensively considering the front vehicle and the front vehicle of the front vehicle to adjust the following speed can reduce the accident rate and improve the safety of adaptive cruise.

[0047] Correspondingly, the embodiments of the present application also provide a vehicle-following driving device, equipment and readable storage medium corresponding to the above-mentioned vehicle-following driving method, which have the above-mentioned technical effects and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are 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.

[0049] Figure 1 This is a flowchart of a method for following a vehicle in an embodiment of the present application;

[0050] Figure 2 This is a schematic diagram of a vehicle following driving scenario in an embodiment of the present application;

[0051] Figure 3 This is a schematic diagram of vehicle speed calculation in an embodiment of the present application;

[0052] Figure 4 This is a schematic diagram of acceleration calculation in an embodiment of the present application;

[0053] Figure 5 This is a schematic diagram of another vehicle following driving scenario in an embodiment of the present application;

[0054] Figure 6 This is a schematic diagram of a vehicle following speed control effect in an embodiment of the present application;

[0055] Figure 7 This is a schematic structural diagram of a vehicle following driving device in an embodiment of the present application;

[0056] Figure 8 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application;

[0057] Fig. 9 This is a schematic diagram of the specific structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0059] Please refer to Figure 1 , Figure 1 This is a flow chart of a method for following a vehicle in an embodiment of the present application, the method comprising the following steps:

[0060] S101, collecting image information in front of the vehicle, and using the image information to perform target detection in a vehicle following driving detection area to obtain a first front vehicle and a second front vehicle.

[0061] Among them, the second front vehicle is located in front of the first front vehicle.

[0062] During the adaptive cruise control process, a monocular camera may be used to collect image information in front of the vehicle. The image information in front of the vehicle may be a video image.

[0063] After obtaining the image information, target detection can be performed on the following vehicle driving detection area based on the image information, thereby obtaining the first front vehicle and the second front vehicle. The first front vehicle is the first vehicle located in front of the vehicle, and the second front vehicle is the second vehicle located in front of the vehicle. The first front vehicle is relatively located behind the second front vehicle. Figure 2 As shown, SIPV is the second front vehicle, CIPV is the first front vehicle, and ego is the ego vehicle.

[0064] In a specific implementation of the present application, using image information to perform target detection in a vehicle following driving detection area to obtain a first front vehicle and a second front vehicle includes:

[0065] Identify the vehicle following driving detection area in the image information;

[0066] Perform vehicle detection in the vehicle following driving detection area to obtain vehicle information;

[0067] The first preceding vehicle and the second preceding vehicle are determined using the vehicle information.

[0068] For ease of description, the above steps are combined for explanation below.

[0069] After obtaining image information, such as a video, the image recognition processing technology can be used to identify the vehicle following driving detection area in the video. Then, vehicle detection is performed on the vehicle following driving detection area to obtain the detected vehicle information. In practical applications, the trained model can be used for vehicle detection.

[0070] After obtaining the vehicle information, the first and second front vehicles can be determined based on the vehicle information. The detected vehicle information refers to which vehicles are detected and the relevant information of the vehicles, such as the license plate number, the distance between the vehicle and the self-vehicle, etc. Based on this vehicle information, the first and second front vehicles can be determined.

[0071] S102: Obtain a first following distance corresponding to the first front vehicle and a second following distance corresponding to the second front vehicle.

[0072] In this embodiment, the first following distance corresponding to the first front vehicle and the second following distance corresponding to the second front vehicle can be determined directly based on image recognition technology. The first following distance is the distance between the first front vehicle and the vehicle; the second following distance is the distance between the second front vehicle and the vehicle. The distance can also be collected by vehicle-mounted radar or other ranging modules, which is not limited in this embodiment.

[0073] S103, using a PID controller to respectively determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance; the first acceleration and the second acceleration are both vectors.

[0074] Among them, PID (Proportional control, Integral control, Differential control) controller is a proportional integral differential controller.

[0075] In this embodiment, when calculating the acceleration, the first acceleration can be calculated based on the first following distance, and the second acceleration can be calculated based on the second following distance. It should be noted that the acceleration in the embodiment of the present application is a vector, that is, the acceleration can be positive or negative. When the acceleration is positive, it indicates that acceleration is required, and when the acceleration is negative, it indicates that deceleration is required. The larger the absolute value of the acceleration, the greater the degree of acceleration or deceleration required.

[0076] In a specific implementation of the present application, a PID controller is used to respectively determine a first acceleration corresponding to a first following distance and a second acceleration corresponding to a second following distance, including:

[0077] Determine a first vehicle speed difference using the first following vehicle distance;

[0078] Determine a second vehicle speed difference using the second following vehicle distance;

[0079] Determining a first acceleration corresponding to a first vehicle speed difference using a PID controller;

[0080] A second acceleration corresponding to the second vehicle speed difference is determined using a PID controller.

[0081] Wherein, using the first following vehicle distance to determine the first vehicle speed difference includes:

[0082] Obtain the safe distance between the vehicle and the first preceding vehicle;

[0083] Subtract the safety distance from the first following distance to obtain a first difference distance;

[0084] Determining a first velocity error using the first difference distance;

[0085] The first speed error is superimposed on the speed of the first preceding vehicle to obtain the speed of the first preceding vehicle;

[0086] A first vehicle speed difference is determined using the speed of the first preceding vehicle and the speed of the own vehicle.

[0087] Wherein, determining the first acceleration corresponding to the vehicle speed difference by using the PID controller includes:

[0088] The vehicle speed difference is input into the PID controller and processed by a proportional unit, an integral unit and a differential unit in the PID controller to obtain a first acceleration.

[0089] For ease of description, the following explanation is given in conjunction with specific circumstances.

[0090] PID: P (Proportional control), I (Integral control), D (Differential control). The output of PID is to input the speed error Error into the proportional controller, integral controller and differential controller respectively, add the calculation results of the three controllers, and finally output it.

[0091] Among them, the basic idea of ​​the proportional controller (P) is that the output value is proportional to the input deviation. If the error is large, the controller output will also increase accordingly. In the adaptive cruise control system, it is necessary to select a suitable proportional coefficient. If the proportional coefficient is too large, it will cause the system to overshoot. If the proportion is too small, the output response of the controller will be slower, so it needs to be adjusted according to the actual situation.

[0092] The function of integral control (I) is to eliminate the steady-state deviation of the control error, so that the system output is closer to the expected value. However, since the integral link has a very strong amplification effect, if the integral parameter is set too large, it will cause the system to over-respond, causing system oscillation and instability. Therefore, in practical applications, it is necessary to reasonably select the integral number according to the specific control object and control requirements.

[0093] Derivative control (D) is related to the rate of change. Derivative control focuses on the rate of change of the control error. When the error rate of change becomes too large, differential control can introduce an early correction signal to accelerate the adjustment rate. Compared with proportional control and integral control, differential control has stronger anti-interference performance and stability, can reduce overshoot and shorten adjustment time. In addition, differential control can also predict the dynamic system, that is, respond to the system before the error changes, to further improve the stability of the system.

[0094] In this embodiment, the selection of the proportional coefficient can be based on the needs of the OEM, and the maximum acceleration in the sports driving mode can be selected as a reference value, and fine-tuned according to the actual vehicle performance. For example, 0.3 to 0.4 is generally selected. The integral coefficient is generally 0.03 to 0.05, and the differential coefficient is about 0.1.

[0095] Please refer to Figure 3 and Figure 4First, the safety distance dRef is obtained by looking up the table according to AccTimeGap, AccTimeGap is the table input, dRef is the table output, and the following distance FollowRangeErr is the distance Range between CIPV and the vehicle - the safety distance dRef. Then, the speed gain coefficient is obtained by looking up the table according to FollowRangeErr (the speed gain coefficient here is the inverse of time), FollowRangeErr is the table input, the speed gain coefficient is the table output, and ControlTargetVTbl = FollowRangeErr*speed gain coefficient.

[0096] ControlTargetV = ControlTargetVTbl + CIPV speed, where ControlTargetV represents the target speed that the vehicle needs to reach;

[0097] Control vehicle speed Error = ControlTargetV - own vehicle speed VLgt; the acceleration AccFollowAccelReq required by the vehicle when CIPV is present is calculated through the PID controller.

[0098] Among them, Timegap: represents the time gap, that is, the headway time gap refers to the time interval between the front ends of two consecutive vehicles passing through a certain section in a queue of vehicles traveling on the same lane; it can be expressed as ht, unit s / Veh. The headway distance is described by the average headway time gap: average headway distance = average headway time gap * average vehicle speed. For safety, the shortest headway time gap is taken as a journey of about 2s. That is: the maximum headway distance = the shortest headway time gap * speed.

[0099] dRef: represents the safety distance. The safety distance is obtained by looking up the table based on the time gap. Safety distance def = time gap timegap * vehicle speed * coefficient table. The coefficient table is an empirical value calibrated based on the speed.

[0100] Following distance FollowRangeErr: indicates the following distance error, FollowRangeErr = Range - dRef;

[0101] ControlTargetVTbl: represents the speed error converted from the distance difference, ControlTargetVTbl = FollowRangeErr * speed gain coefficient (i.e. speed difference = following distance error * inverse of time).

[0102] ControlTargetV indicates the target speed that the vehicle needs to reach; CIPV: indicates the vehicle in front;

[0103] ControlTargetV = ControlTargetVTbl + CIPV vehicle speed, that is, the target vehicle speed required by the vehicle = the speed error converted from the distance difference + the speed of the vehicle in front.

[0104] It should be noted that in Figure 3 and Figure 4 In the calculation process shown, only the first acceleration is calculated for CIPV, and the calculation method of the second acceleration is exactly the same as the calculation method of the first acceleration, which will not be repeated here.

[0105] After the first acceleration and the second acceleration are calculated respectively, the operation of step S104 may be performed.

[0106] S104: Determine a minimum acceleration from the first acceleration and the second acceleration.

[0107] After obtaining the two accelerations, in order to avoid inadequate braking and excessive acceleration, the minimum value can be determined from the first acceleration and the second acceleration. The minimum acceleration can be used as the main basis for subsequent control of the following vehicle speed.

[0108] S105: Use the minimum acceleration to control the following speed of the own vehicle.

[0109] The direction of the minimum acceleration (i.e., positive or negative) determines whether the process is accelerated or decelerated. The magnitude of the minimum acceleration determines the degree of acceleration or deceleration.

[0110] In a specific implementation of the present application, the following speed of the vehicle is controlled by using the minimum acceleration, including:

[0111] If the direction of the minimum acceleration is the same as the driving mode of the self-vehicle, the absolute value of the minimum acceleration is used to accelerate the speed of the following vehicle;

[0112] If the direction of the minimum acceleration is opposite to the driving mode of the own vehicle, the absolute value of the minimum acceleration is used to decelerate the speed of the following vehicle.

[0113] For example, + corresponds to the same driving mode as the vehicle itself, and - corresponds to the opposite driving mode as the vehicle itself. If the minimum acceleration is +a, the following vehicle speed is accelerated by the magnitude of a. If the minimum acceleration is -a, the following vehicle speed is decelerated by the magnitude of a.

[0114] Please refer to Figure 5 , the viewing angle of the monocular camera on the vehicle is β angle, when CIPV cuts out of the current lane, the monocular camera can capture SIPV, that is, the first front vehicle and the second front vehicle can be detected at the same time. At this time, the first following distance and the second following distance corresponding to the first front vehicle and the second front vehicle are obtained respectively.

[0115] That is to say, for a system with only a single smart camera, target information can only be obtained through vision. Figure 5 As shown, assuming that the camera field of view is angle β, Figure 5 All targets can be recognized by the camera. When the front vehicle CIPV changes lanes, due to the CIPV's lateral offset, SIPV can recognize it. In this way, the target can be obtained early for control, that is, both the first front vehicle and the second front vehicle can be recognized.

[0116] Please refer to Figure 6 In the 13 results shown in the figure, CIPV is present in the first 12 results, and there is both CIPV and SIPV in the 8th result. In the 13th result, CIPV has been replaced, but in the 8th result, SIPV, which is about to be replaced by CIPV, has been found. In other words, when CIPV changes lanes and cuts out, the distance of CIPV is 65m (meters), and SIPV is 87m at this time. If SIPV is stationary, it can reach the target 22m in advance for braking, effectively reducing the risk of collision with the car 87m away.

[0117] For example: When CIPV keeps a constant speed of 40km / h along the left lane line, the self-driving car turns on the ACC function and sets the speed to 40km / h to follow CIPV at a constant speed. SIPV stops at a distance of 130m and is recognized by the self-driving car. When CIPV is only 10m away from SIPV, SIPV switches to the left lane.

[0118] Faced with this situation, in the conventional solution, even if the AccFollowAccelReq calculated by PID reaches the maximum deceleration of -5m / s2 in the ISO 15622 regulation of ACC, the system often fails to brake and collides with the vehicle in front because the distance is too close, or the distance is too close to create a strong sense of pressure on the driver, causing the driver to brake immediately and take over.

[0119] By using the technology in the embodiment of the present application, the vehicle recognizes that the SIPV is stationary at 130m. TimeGap has 4 levels, corresponding to the time-distance table [1.1, 1.35, 1.6, 2.0]. The speed gain table in FollowRangeErr is set to 0.15. According to the above acceleration calculation process: TimeGap is set to the second level, the time-distance table corresponds to 1.35s, and the safety distance dRef = 1.35s * 11.11m / s = 15m;

[0120] FollowRangeErr = Range-dRef=130 – 15 =115m;

[0121] According to the table lookup of FollowRangeErr, the speed gain is 0.15;

[0122] Then FollowRangeErr*0.15=115*0.15=17.25;

[0123] ControlTargetV = CIPV speed + 17.25 = 11.11 + 17.25 = 28.36 m / s = 102 km / h;

[0124] Since the calculated target speed of 102km / h is greater than the current speed of 40km / h of the ego vehicle, there is no need to decelerate at this time. The system continuously loops and calculates according to the above steps. When SIPV is 88m away from the ego vehicle, it calculates ControlTargetV=39km / h. At this time, the target speed of the ego vehicle is 39km / h, which is less than the set 40km / h. The ego vehicle starts to decelerate. After PID calculation, the P item is set to 0.4, the I item is set to 0.001, and the D item is set to 0.05. The AccFollowAccelReq calculated by CIPV is 0.01m / s2 to maintain a constant speed, while the AccFollowAccelReq calculated by SIPV is -0.12 m / s2. After the smaller logic, it finally sends -0.12 m / s2 to start deceleration. In this way, when the ego vehicle is 88m away, it starts to decelerate and brake until it stops, giving the driver a great sense of security.

[0125] By using the method provided in the embodiment of the present application, image information in front of the own vehicle is collected, and the image information is used to perform target detection on the following vehicle driving detection area to obtain a first front vehicle and a second front vehicle, wherein the second front vehicle is located in front of the first front vehicle; a first following distance corresponding to the first front vehicle and a second following distance corresponding to the second front vehicle are obtained; a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance are respectively determined by a PID controller; both the first acceleration and the second acceleration are vectors; a minimum acceleration is determined from the first acceleration and the second acceleration; and the following speed of the own vehicle is controlled by using the minimum acceleration.

[0126] The image information in front of the vehicle is collected, and then the image information can be used to perform target detection in the following driving detection area to obtain the first front vehicle and the second front vehicle. After obtaining the first front vehicle and the second front vehicle, the following distances corresponding to the two are obtained. Then, the first acceleration is determined based on the first following distance, and the second acceleration is determined based on the second following speed. The accelerations here are all vectors. Then, the smaller of the first acceleration and the second acceleration is determined as the minimum acceleration. When controlling the following speed of the vehicle, it is controlled based on the minimum acceleration. Comprehensively considering the front vehicle and the front vehicle of the front vehicle to adjust the following speed can reduce the accident rate and improve the safety of adaptive cruise.

[0127] It should be noted that, based on the above embodiments, the embodiments of the present application also provide corresponding improved solutions. In the preferred / improved embodiments, the same steps or corresponding steps as those in the above embodiments can be referenced to each other, and the corresponding beneficial effects can also be referenced to each other, which will not be described one by one in the preferred / improved embodiments of this article.

[0128] In a specific implementation of the present application, after obtaining a first following distance corresponding to the first front vehicle and a second following distance corresponding to the second front vehicle, the method further includes:

[0129] Determining whether the second following vehicle distance is greater than a preset following vehicle threshold;

[0130] Correspondingly, if the judgment result is no, a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance are determined by using a PID controller respectively;

[0131] If the judgment result is yes, the PID controller is used to determine the first acceleration corresponding to the first following distance, and the first acceleration is determined as the minimum acceleration, and the following speed of the vehicle is controlled using the minimum acceleration.

[0132] For ease of description, the above steps are combined for explanation below.

[0133] In actual driving, the vehicle in front is more important to your car's following speed control than the vehicle in front of you. The reason why you consider the situation of the vehicle in front is mainly because when the vehicle in front suddenly changes lanes, the vehicle in front may be in a low speed or stagnant state, and your car may not control its speed properly, resulting in a rear-end collision.

[0134] In an actual driving environment, the possibility that the vehicle in front is relatively stagnant or slow is not 100%. In order to reduce computing consumption, after obtaining the first following distance and the second following distance, it is possible to first determine whether the second following distance is greater than a preset following threshold.

[0135] If yes, it means that the distance between the second front vehicle and the own vehicle is far. Even if the second front vehicle is slow or stagnant, there will be no rear-end collision. Therefore, in this case, the first acceleration can be calculated only based on the first following distance. Since only one acceleration is calculated at this time, the first acceleration can be directly determined as the minimum acceleration, so that the following speed of the own vehicle can be controlled based on the minimum acceleration.

[0136] If not, it means that the distance between the second front vehicle and the vehicle is relatively close. When the second front vehicle is slow or stagnant, a rear-end collision may occur. Therefore, in this case, the first acceleration is calculated based not only on the first following distance, but also on the second following distance. Then, the minimum acceleration is selected from the first acceleration and the second acceleration. The following speed of the vehicle is controlled based on the minimum acceleration. In this way, the probability of rear-end collision with the front vehicle can be reduced.

[0137] Corresponding to the above method embodiment, the embodiment of the present application further provides a vehicle-following driving device, and the vehicle-following driving device described below and the vehicle-following driving method described above can be referenced to each other.

[0138] See also Figure 7 As shown, the device includes the following modules:

[0139] The image processing module 101 is used to collect image information in front of the vehicle, and use the image information to perform target detection in the vehicle following driving detection area to obtain a first front vehicle and a second front vehicle; the second front vehicle is located in front of the first front vehicle;

[0140] A following vehicle distance determination module 102, configured to obtain a first following vehicle distance corresponding to a first preceding vehicle and a second following vehicle distance corresponding to a second preceding vehicle;

[0141] An acceleration determination module 103 is used to respectively determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance using a PID controller; the first acceleration and the second acceleration are both vectors;

[0142] The speed control module 104 is used to determine a minimum acceleration from the first acceleration and the second acceleration; and use the minimum acceleration to control the following speed of the vehicle.

[0143] Using the device provided in the embodiment of the present application, image information in front of the own vehicle is collected, and the image information is used to perform target detection on the following vehicle driving detection area to obtain a first front vehicle and a second front vehicle, where the second front vehicle is located in front of the first front vehicle; a first following distance corresponding to the first front vehicle and a second following distance corresponding to the second front vehicle are obtained; a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance are respectively determined using a PID controller; the first acceleration and the second acceleration are both vectors; a minimum acceleration is determined from the first acceleration and the second acceleration; and the following speed of the own vehicle is controlled using the minimum acceleration.

[0144] The image information in front of the vehicle is collected, and then the image information can be used to perform target detection in the following driving detection area to obtain the first front vehicle and the second front vehicle. After obtaining the first front vehicle and the second front vehicle, the following distances corresponding to the two are obtained. Then, the first acceleration is determined based on the first following distance, and the second acceleration is determined based on the second following speed. The accelerations here are all vectors. Then, the smaller of the first acceleration and the second acceleration is determined as the minimum acceleration. When controlling the following speed of the vehicle, it is controlled based on the minimum acceleration. Comprehensively considering the front vehicle and the front vehicle of the front vehicle to adjust the following speed can reduce the accident rate and improve the safety of adaptive cruise.

[0145] In a specific implementation of the present application, it also includes:

[0146] A judgment module, configured to, after obtaining a first following distance corresponding to the first front vehicle and a second following distance corresponding to the second front vehicle, judge whether the second following distance is greater than a preset following threshold;

[0147] Correspondingly, if the judgment result is no, a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance are determined by using a PID controller respectively;

[0148] If the judgment result is yes, the PID controller is used to determine the first acceleration corresponding to the first following distance, and the first acceleration is determined as the minimum acceleration, and the following speed of the vehicle is controlled using the minimum acceleration.

[0149] In a specific implementation of the present application, the acceleration determination module is specifically configured to determine the first vehicle speed difference using the first following vehicle distance;

[0150] Determine a second vehicle speed difference using the second following vehicle distance;

[0151] Determining a first acceleration corresponding to a first vehicle speed difference using a PID controller;

[0152] A second acceleration corresponding to the second vehicle speed difference is determined using a PID controller.

[0153] In a specific implementation of the present application, the acceleration determination module is specifically used to obtain a safe distance between the ego vehicle and the first front vehicle;

[0154] Subtract the safety distance from the first following distance to obtain a first difference distance;

[0155] Determining a first velocity error using the first difference distance;

[0156] The first speed error is superimposed on the speed of the first preceding vehicle to obtain the speed of the first preceding vehicle;

[0157] A first vehicle speed difference is determined using the speed of the first preceding vehicle and the speed of the own vehicle.

[0158] In a specific implementation of the present application, the acceleration determination module is specifically used to input the vehicle speed difference into a PID controller, and use a proportional unit, an integral unit, and a differential unit in the PID controller to process and obtain a first acceleration.

[0159] In a specific implementation of the present application, the image processing module is specifically used to identify the vehicle following driving detection area in the image information;

[0160] Perform vehicle detection in the vehicle following driving detection area to obtain vehicle information;

[0161] The first preceding vehicle and the second preceding vehicle are determined using the vehicle information.

[0162] In a specific implementation of the present application, the speed control module is specifically used to accelerate the following vehicle speed using the absolute value of the minimum acceleration if the direction of the minimum acceleration is the same as the driving mode of the vehicle;

[0163] If the direction of the minimum acceleration is opposite to the driving mode of the own vehicle, the absolute value of the minimum acceleration is used to decelerate the speed of the following vehicle.

[0164] Corresponding to the above method embodiment, the embodiment of the present application further provides an electronic device, and the electronic device described below and the vehicle following driving method described above can refer to each other.

[0165] See also Figure 8 As shown, the electronic device includes:

[0166] A memory 332, for storing computer programs;

[0167] The processor 322 is used to implement the steps of the vehicle following driving method of the above method embodiment when executing the computer program.

[0168] For details, please refer to Fig. 9 , Fig. 9A schematic diagram of the specific structure of an electronic device provided for this embodiment, which may have relatively large differences due to different configurations or performances, may include one or more processors (central processing units, CPU) (for example, one or more processors) and a memory 332, and the memory 332 stores one or more computer programs 342 or data 344. Among them, the memory 332 can be a temporary storage or a permanent storage. The program stored in the memory 332 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the data processing device. Furthermore, the processor 322 can be configured to communicate with the memory 332 to execute a series of instruction operations in the memory 332 on the electronic device 301.

[0169] The electronic device 301 may further include one or more power supplies 326 , one or more wired or wireless network interfaces 350 , one or more input and output interfaces 358 , and / or one or more operating systems 341 .

[0170] The steps in the vehicle following driving method described above can be implemented by the structure of the electronic device.

[0171] Corresponding to the above method embodiment, the embodiment of the present application further provides a readable storage medium, and the readable storage medium described below and the vehicle-following driving method described above can refer to each other.

[0172] A readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the vehicle following driving method of the above method embodiment.

[0173] The readable storage medium may specifically be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or other readable storage medium that can store program codes.

[0174] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0175] Those skilled in the art may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0176] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0177] Finally, it should be noted that, in this article, relationships such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms include, include or any other variations are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0178] Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle following driving method, characterized in that: include: Collect image information in front of the vehicle, and use the image information to perform target detection in the following vehicle driving detection area to obtain a first front vehicle and a second front vehicle; The second leading vehicle is located before the first leading vehicle; Acquire a first following distance corresponding to the first front vehicle and a second following distance corresponding to the second front vehicle; Determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance respectively by using a PID controller; the first acceleration and the second acceleration are both vectors; determining a minimum acceleration from the first acceleration and the second acceleration; The following speed of the own vehicle is controlled by utilizing the minimum acceleration.

2. The method according to claim 1, characterized in that After obtaining a first following distance corresponding to the first front vehicle and a second following distance corresponding to the second front vehicle, the method further includes: Determining whether the second following vehicle distance is greater than a preset following vehicle threshold; Correspondingly, if the judgment result is no, a PID controller is used to respectively determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance; If the judgment result is yes, a PID controller is used to determine a first acceleration corresponding to the first following distance, and the first acceleration is determined as a minimum acceleration, and the following speed of the vehicle is controlled using the minimum acceleration.

3. The method according to claim 1, characterized in that Using a PID controller to respectively determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance, comprising: Determine a first vehicle speed difference using the first following vehicle distance; Determine a second vehicle speed difference using the second following distance; determining a first acceleration corresponding to the first vehicle speed difference using the PID controller; A second acceleration corresponding to the second vehicle speed difference is determined using the PID controller.

4. The method according to claim 3, characterized in that Determining a first vehicle speed difference using the first following vehicle distance includes: Obtaining a safe distance between the vehicle and the first front vehicle; Subtract the safety distance from the first following distance to obtain a first difference distance; Determine a first speed error using the first difference distance; Superimposing the first speed error with the speed of the first leading vehicle to obtain the speed of the first leading vehicle; The first vehicle speed difference is determined using the first front vehicle speed and the own vehicle speed.

5. The method according to claim 3, characterized in that: Determining a first acceleration corresponding to the vehicle speed difference using the PID controller includes: The vehicle speed difference is input into the PID controller, and processed by a proportional unit, an integral unit and a differential unit in the PID controller to obtain the first acceleration.

6. The method according to claim 1, characterized in that Using image information to perform target detection in the vehicle following driving detection area to obtain a first front vehicle and a second front vehicle, including: Identify the vehicle following driving detection area in the image information; Performing vehicle detection in the vehicle following driving detection area to obtain vehicle information; The first preceding vehicle and the second preceding vehicle are determined using the vehicle information.

7. The method according to any one of claims 1 to 6, characterized in that: Using the minimum acceleration, controlling the following speed of the vehicle includes: If the direction of the minimum acceleration is the same as the driving mode of the vehicle, the following vehicle speed is accelerated using the absolute value of the minimum acceleration; If the direction of the minimum acceleration is opposite to the driving mode of the vehicle, the following vehicle speed is decelerated using the absolute value of the minimum acceleration.

8. A vehicle following device, characterized in that: include: An image processing module is used to collect image information in front of the vehicle, and use the image information to perform target detection in the following vehicle driving detection area to obtain a first front vehicle and a second front vehicle; The second leading vehicle is located before the first leading vehicle; A following vehicle distance determination module, used to obtain a first following vehicle distance corresponding to the first preceding vehicle and a second following vehicle distance corresponding to the second preceding vehicle; an acceleration determination module, configured to respectively determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance using a PID controller; the first acceleration and the second acceleration are both vectors; The speed control module is used to determine a minimum acceleration from the first acceleration and the second acceleration; and use the minimum acceleration to control the following speed of the vehicle.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the vehicle following driving method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle following driving method as claimed in any one of claims 1 to 7 are implemented.

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