A method, device, equipment and readable storage medium for following a vehicle

Abstract

The application discloses a following vehicle driving method, device, equipment and readable storage medium, the method comprises the following steps: collecting image information from the front of the vehicle, and using the image information to detect the target of the following vehicle driving detection area to obtain a first preceding vehicle and a second preceding vehicle, the second preceding vehicle is located in front of the first preceding vehicle; obtaining a first following distance corresponding to the first preceding vehicle and a second following distance corresponding to the second preceding vehicle; using a PID controller to 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; determining the minimum acceleration from the first acceleration and the second acceleration; using the minimum acceleration to control the following speed of the vehicle. The application comprehensively considers the preceding vehicle and the preceding vehicle of the preceding vehicle to adjust the following speed, which can reduce the accident rate and improve the safety of adaptive cruise.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a method, apparatus, device, and readable storage medium for following other vehicles. Background Technology

[0002] In Adaptive Cruise Control (ACC), the target selection algorithm typically divides a region when a monocular camera acquires image information. If the vehicle passes through this region and certain conditions are met, it selects that vehicle as the target to follow. Then, the vehicle's speed is controlled based on the target's speed to maintain a following distance. However, in practical applications, under certain circumstances, the target selection algorithm in ACC can cause a lag in speed control, potentially leading to accidents.

[0003] In conclusion, improving the safety of following other vehicles is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a following method, device, equipment, and readable storage medium that, when two targets are detected, comprehensively determines the minimum acceleration based on the specific circumstances of the two targets, and then controls the following speed of the vehicle based on the minimum acceleration. In this way, the specific circumstances of the vehicle in front and the vehicle before that can be considered without switching the following targets, thereby improving the safety of adaptive cruise control.

[0005] To solve the above-mentioned technical problems, this application provides the following technical solution:

[0006] A method of following another vehicle includes:

[0007] Image information is collected from the front of the vehicle, and the image information is used to perform target detection in the following vehicle detection area to obtain the first and second vehicles in front; the second vehicle in front is located in front of the first vehicle in front.

[0008] Obtain the first following distance corresponding to the first preceding vehicle and the second following distance corresponding to the second preceding vehicle;

[0009] A PID controller is used to determine the first acceleration corresponding to the first following distance and the second acceleration corresponding to the second following distance; both the first acceleration and the second acceleration are vectors.

[0010] The minimum acceleration is determined from the first acceleration and the second acceleration;

[0011] The following speed of the vehicle is controlled using the minimum acceleration.

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

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

[0014] Correspondingly, if the judgment result is negative, the PID controller is used to determine the first acceleration corresponding to the first following distance and the second acceleration corresponding to the second following distance.

[0015] If the judgment result is yes, then 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. The following speed of the vehicle is then controlled using the minimum acceleration.

[0016] Optionally, a PID controller is used to determine the first acceleration corresponding to the first following distance and the second acceleration corresponding to the second following distance, including:

[0017] The first speed difference is determined using the first following distance;

[0018] The second following distance is used to determine the second speed difference;

[0019] The first acceleration corresponding to the first vehicle speed difference is determined using the PID controller;

[0020] The PID controller is used to determine the second acceleration corresponding to the second vehicle speed difference.

[0021] Optionally, the first speed difference is determined using the first following distance, including:

[0022] Obtain the safe distance between the vehicle and the first preceding vehicle;

[0023] The first difference distance is obtained by subtracting the safe distance from the first following distance;

[0024] The first velocity error is determined using the first difference distance;

[0025] The speed of the first vehicle is obtained by adding the first speed error to the speed of the first vehicle in front.

[0026] The first speed difference is determined by using the speed of the first preceding vehicle and the speed of the vehicle itself.

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

[0028] The vehicle speed difference is input into the PID controller, and processed using the proportional unit, integral unit, and derivative unit of the PID controller to obtain the first acceleration.

[0029] Optionally, target detection is performed on the following vehicle detection area using image information to obtain the first and second preceding vehicles, including:

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

[0031] Vehicle detection is performed in the vehicle following detection area to obtain vehicle information;

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

[0033] Optionally, the following speed of the vehicle can be controlled using the minimum acceleration, including:

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

[0035] If the direction of the minimum acceleration is opposite to the vehicle's driving mode, the absolute value of the minimum acceleration is used to decelerate the following speed.

[0036] A vehicle-following device, comprising:

[0037] The image processing module is used to acquire image information from the front of the vehicle and use the image information to perform target detection in the following vehicle detection area to obtain the first and second vehicles in front; the second vehicle in front is located in front of the first vehicle in front.

[0038] The following distance determination module is used to obtain the first following distance corresponding to the first preceding vehicle and the second following distance corresponding to the second preceding vehicle;

[0039] An acceleration determination module is used to determine, using a PID controller, a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance; both the first acceleration and the second acceleration are vectors.

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

[0041] An electronic device, comprising:

[0042] Memory, used to store computer programs;

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

[0044] A readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described vehicle-following method.

[0045] The method provided in this application embodiment acquires image information from the front of the vehicle and uses the image information to perform target detection in the following driving detection area to obtain a first preceding vehicle and a second preceding vehicle, with the second preceding vehicle located in front of the first preceding vehicle; obtains a first following distance corresponding to the first preceding vehicle and a second following distance corresponding to the second preceding vehicle; uses a PID controller to determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance; both the first acceleration and the second acceleration are vectors; determines the minimum acceleration from the first acceleration and the second acceleration; and uses the minimum acceleration to control the following speed of the vehicle.

[0046] Image information is collected from the front of the vehicle. This image information is then used to detect targets in the following driving detection area to identify the first and second vehicles ahead. After acquiring the first and second vehicles ahead, their corresponding following distances are obtained. Then, a first acceleration is determined based on the first following distance, and a second acceleration is determined based on the second following speed. All accelerations are vectors. The smaller of the first and second accelerations is then determined as the minimum acceleration. The following speed of the vehicle is controlled based on this minimum acceleration. By comprehensively considering the following vehicles ahead and adjusting the following speed accordingly, the incidence of accidents can be reduced, thus improving the safety of adaptive cruise control.

[0047] Accordingly, embodiments of this application also provide a vehicle-following device, equipment, and readable storage medium corresponding to the above-described vehicle-following method, which have the aforementioned technical effects, and will not be repeated here. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying 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.

[0049] Figure 1 This is a flowchart illustrating an implementation method for following another vehicle in this application.

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

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

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

[0053] Figure 5 This is a schematic diagram of another vehicle-following scenario in the embodiments of this application;

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

[0055] Figure 7 This is a schematic diagram of the structure of a vehicle-following device according to an embodiment of this application;

[0056] Figure 8 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application;

[0057] Figure 9 This is a schematic diagram of the specific structure of an electronic device in an embodiment of this application. Detailed Implementation

[0058] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0059] Please refer to Figure 1 , Figure 1 This is a flowchart of a following vehicle driving method according to an embodiment of this application. The method includes the following steps:

[0060] S101. Collect image information from the front of the vehicle and use the image information to perform target detection in the following vehicle detection area to obtain the first and second vehicles in front.

[0061] The second vehicle is positioned in front of the first vehicle.

[0062] During adaptive cruise control, a monocular camera can be used to capture image information from the front of the vehicle. The image information from the front of the vehicle can be video footage.

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

[0064] In one specific embodiment of this application, target detection is performed on a following vehicle detection area using image information to obtain a first preceding vehicle and a second preceding vehicle, including:

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

[0066] Vehicles are inspected in the following driver detection area to obtain vehicle information;

[0067] Use vehicle information to identify the first and second leading vehicles.

[0068] For ease of description, the above steps will be combined below.

[0069] Once image information, such as video, is obtained, image recognition processing technology can be used to identify the following vehicle detection area in the video. Then, vehicle detection is performed within this detection area to obtain the detected vehicle information. In practical applications, a pre-trained model can be used for vehicle detection.

[0070] Once the vehicle information is obtained, the first and second leading vehicles can be determined based on it. The detected vehicle information includes which vehicles were detected and their relevant details, such as license plate numbers and distances from the vehicle. Based on this vehicle information, the first and second leading vehicles can be identified.

[0071] S102. Obtain the first following distance corresponding to the first preceding vehicle and the second following distance corresponding to the second preceding vehicle.

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

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

[0074] Among them, the PID (Proportional control, Integral control, Differential control) controller is the proportional-integral-derivative controller.

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

[0076] In one specific embodiment of this application, a PID controller is used to determine a first acceleration corresponding to a first following distance and a second acceleration corresponding to a second following distance, including:

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

[0078] Use the second following distance to determine the second speed difference;

[0079] The first acceleration corresponding to the first vehicle speed difference is determined using a PID controller;

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

[0081] Among them, determining the first speed difference using the first following distance includes:

[0082] Obtain the safe distance between your vehicle and the first vehicle in front;

[0083] The first difference distance is obtained by subtracting the safe distance from the first following distance.

[0084] The first velocity error is determined using the first difference distance;

[0085] The speed of the first vehicle is obtained by adding the first speed error to the speed of the first vehicle in front.

[0086] The first speed difference is determined by using the speed of the first vehicle in front and the speed of the vehicle itself.

[0087] The determination of the first acceleration corresponding to the vehicle speed difference using a PID controller includes:

[0088] The vehicle speed difference is input into the PID controller, and the proportional, integral, and derivative units in the PID controller are used for processing to obtain the first acceleration.

[0089] For ease of description, the following explanation will be provided in conjunction with specific circumstances.

[0090] PID stands for Proportional Control (P), Integral Control (I), and Differential Control (D). The output of a PID controller is the sum of the calculated results from the proportional, integral, and differential controllers, based on the speed error (Error) being input into each of these controllers.

[0091] The basic idea of ​​a 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 adaptive cruise control systems, it is important to select an appropriate proportional coefficient. An excessively large proportional coefficient will cause system overshoot, while an excessively small proportional coefficient will result in a slower controller output response. Therefore, adjustments need to be made based on the actual situation.

[0092] Integral (I) control aims to eliminate steady-state deviations in control error, thereby bringing the system output closer to the desired value. However, due to the strong amplification effect of the integral term, setting the integral parameter too high can lead to over-response, causing system oscillations and instability. Therefore, in practical applications, the integral term must be selected appropriately based on the specific controlled object and control requirements.

[0093] Derivative (D) control is related to the rate of change, primarily focusing on the rate of change of the control error. When the rate of change of the error becomes too large, derivative control can introduce an early correction signal to accelerate the settling rate. Compared to proportional and integral control, derivative control has stronger anti-interference performance and stability, reducing overshoot and shortening settling time. Furthermore, derivative control can predict dynamic systems, reacting to changes in the error before they occur, further improving system stability.

[0094] In this embodiment, the proportional coefficient can be selected based on the OEM's requirements, choosing the maximum acceleration in the sport driving mode as a reference value, and then fine-tuning it according to the actual vehicle performance. For example, it is generally selected to be around 0.3 to 0.4. The integral coefficient is generally 0.03 to 0.05, and the derivative coefficient is around 0.1.

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

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

[0097] The vehicle speed error is calculated as ControlTargetV - vehicle speed VLgt; the required acceleration AccFollowAccelReq for the vehicle when CIPV is present is calculated using the PID controller.

[0098] Wherein, Timegap represents the time distance, specifically the headway, which is the time interval between the front ends of two consecutive vehicles passing a certain cross section in a convoy traveling in the same lane; it can be represented by ht, with units of s / Veh. Headway spacing is described using average headway: Average headway = Average headway * Average speed. For safety, the shortest headway is approximately 2 seconds. That is: Limit headway = Shortest headway * Speed.

[0099] dRef: Represents the safe distance. The safe distance is obtained by looking up the table based on the time gap. The safe distance def = time gap * vehicle speed * coefficient table. The coefficient table consists of empirical values ​​calibrated based on speed.

[0100] FollowRangeErr: Represents 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 * reciprocal of time).

[0102] ControlTargetV represents the target speed that the vehicle needs to achieve; CIPV represents the speed of the vehicle in front.

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

[0104] It is important to note that, in Figure 3 and Figure 4 In the calculation process shown, only the first acceleration was calculated for CIPV. The calculation method for the second acceleration is exactly the same as that for the first acceleration, and will not be described in detail here.

[0105] After calculating the first acceleration and the second acceleration respectively, the operation of step S104 can be performed.

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

[0107] After obtaining the two accelerations, to avoid insufficient braking or excessive acceleration, the minimum value between the first and second accelerations can be determined. This minimum acceleration can then serve as the primary basis for subsequent control of the following speed.

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

[0109] The direction (positive or negative) of the minimum acceleration determines whether acceleration or deceleration is required. The magnitude of the minimum acceleration determines the degree of acceleration or deceleration.

[0110] In one specific embodiment of this application, the following speed of the vehicle is controlled using minimum acceleration, including:

[0111] If the direction of the minimum acceleration is the same as the vehicle's driving mode, then the absolute value of the minimum acceleration is used to accelerate the following speed.

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

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

[0114] Please refer to Figure 5 Since the monocular camera on the vehicle has a viewing angle of β, the CIPV can capture images of the SIPV while it is changing lanes, meaning it can simultaneously detect the first and second preceding vehicles. At this point, the first and second following distances corresponding to the first and second preceding vehicles are obtained, respectively.

[0115] In other words, a smart camera equipped with only a single sensor can only acquire target information through vision. Under such a configuration, such as... Figure 5 As shown, assuming the camera's field of view is angle β, Figure 5 The target can be identified by the camera. When the CIPV of the preceding vehicle changes lanes, the SIPV can identify it because the CIPV is offset by a certain position in the lateral direction. This allows the target to be obtained and controlled earlier, that is, it can identify both the first and second preceding vehicles.

[0116] Please refer to Figure 6 Of the 13 results shown in the diagram, the first 12 all included a CIPV (Centralized Intermediate Vehicle). The 8th result included both a CIPV and an SIPV (Side-in-the-Lane Vehicle). By the 13th result, the CIPV had been replaced, but the 8th result revealed an SIPV that was about to be replaced by a CIPV. This means that when the CIPV changes lanes, its distance is 65 meters, while the SIPV's distance is 87 meters. If the SIPV is stationary, it can reach the target 22 meters in advance to brake, effectively reducing the risk of a collision with a vehicle 87 meters away.

[0117] For example: When the CIPV maintains a constant speed of 40 km / h in the left lane, the automatic vehicle activates its ACC function and sets its speed to 40 km / h to follow the CIPV at the same constant speed. The SIPV is stationary 130 meters away and is detected by the automatic vehicle. When the CIPV is only 10 meters away from the SIPV, the SIPV switches to the left lane.

[0118] In this situation, even if the AccFollowAccelReq calculated by PID reaches the maximum deceleration of -5m / s2 in the ISO 15622 regulation of ACC, in the conventional solution, the system often cannot stop and crashes into the vehicle in front because the distance is too close, or the distance is too close and creates a strong sense of pressure on the driver, causing the driver to brake immediately and take over.

[0119] Using the technology in this embodiment, the vehicle detects that the SIPV is stationary at 130m. TimeGap has four levels, corresponding to time distance tables [1.1, 1.35, 1.6, 2.0]. The speed gain table in FollowRangeErr is set to 0.15. According to the acceleration calculation process described above: with TimeGap set to level two, the time distance table corresponds to 1.35s, resulting in a safe distance dRef = 1.35s * 11.11m / s = 15m;

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

[0121] According to the FollowRangeErr table, the velocity 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 102 km / h is greater than the vehicle's current speed of 40 km / h, no deceleration is required at this point. The system continuously loops through the above steps. When the SIPV is 88m away from the vehicle, it calculates ControlTargetV = 39 km / h. At this point, the vehicle's target speed of 39 km / h is less than the set 40 km / h, so the vehicle begins to decelerate. After PID calculations, where P is set to 0.4, I to 0.001, and D to 0.05, the CIPV calculates AccFollowAccelReq = 0.01 m / s² to maintain a constant speed, while the SIPV calculates AccFollowAccelReq = -0.12 m / s². After rounding down to the smaller value, a deceleration of -0.12 m / s² is issued to initiate deceleration. Thus, when the vehicle is 88m away, it begins to decelerate and brake until it comes to a complete stop, giving the driver a great sense of security.

[0125] The method provided in this application embodiment acquires image information from the front of the vehicle and uses the image information to perform target detection in the following driving detection area to obtain a first preceding vehicle and a second preceding vehicle, with the second preceding vehicle located in front of the first preceding vehicle; obtains a first following distance corresponding to the first preceding vehicle and a second following distance corresponding to the second preceding vehicle; uses a PID controller to determine a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance; both the first acceleration and the second acceleration are vectors; determines the minimum acceleration from the first acceleration and the second acceleration; and uses the minimum acceleration to control the following speed of the vehicle.

[0126] Image information is collected from the front of the vehicle. This image information is then used to detect targets in the following driving detection area to identify the first and second vehicles ahead. After acquiring the first and second vehicles ahead, their corresponding following distances are obtained. Then, a first acceleration is determined based on the first following distance, and a second acceleration is determined based on the second following speed. All accelerations are vectors. The smaller of the first and second accelerations is then determined as the minimum acceleration. The following speed of the vehicle is controlled based on this minimum acceleration. By comprehensively considering the following vehicles ahead and adjusting the following speed accordingly, the incidence of accidents can be reduced, thus improving the safety of adaptive cruise control.

[0127] It should be noted that, based on the above embodiments, the embodiments of this application also provide corresponding improvement schemes. In the preferred / improved embodiments, the same or corresponding steps as in the above embodiments can be referred to each other, and the corresponding beneficial effects can also be referred to each other; however, these will not be elaborated upon in the preferred / improved embodiments herein.

[0128] In one specific embodiment of this application, after obtaining the first following distance corresponding to the first preceding vehicle and the second following distance corresponding to the second preceding vehicle, the method further includes:

[0129] Determine whether the second following distance is greater than the preset following threshold;

[0130] Correspondingly, if the judgment result is negative, the PID controller is used to determine the first acceleration corresponding to the first following distance and the second acceleration corresponding to the second following distance.

[0131] If the judgment result is yes, then 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. The following speed of the vehicle is then controlled using the minimum acceleration.

[0132] For ease of description, the above steps will be combined below.

[0133] In actual driving, the following speed control of the vehicle in front is more important than that of the vehicle in front of you. The reason for considering the situation of the vehicle in front of you is mainly because if the vehicle in front of you suddenly changes lanes, it may be at a low speed or stationary. If the vehicle in front of you does not control its speed properly, it may lead to a rear-end collision.

[0134] In real-world driving conditions, the probability of the vehicle in front being relatively stationary or slow is not 100%. To reduce computational overhead, after obtaining the first and second following distances, it can be determined whether the second following distance is greater than a preset following threshold.

[0135] If so, it indicates that the distance between the second vehicle and the vehicle in front is relatively far. Even if the second vehicle in front is slow or stops, a rear-end collision will not occur. Therefore, in this case, the first acceleration can be calculated based solely 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, and the following speed of the vehicle can be controlled based on the minimum acceleration.

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

[0137] Corresponding to the above method embodiments, this application also provides a vehicle-following device, and the vehicle-following device described below can be referred to in correspondence with the vehicle-following method described above.

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

[0139] The image processing module 101 is used to acquire image information from the front of the vehicle and use the image information to perform target detection in the following vehicle detection area to obtain the first and second vehicles in front; the second vehicle in front is located in front of the first vehicle in front.

[0140] The following distance determination module 102 is used to obtain the first following distance corresponding to the first preceding vehicle and the second following distance corresponding to the second preceding vehicle;

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

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

[0143] Using the apparatus provided in this application embodiment, image information from the front of the vehicle is acquired, and target detection is performed on the following driving detection area using the image information to obtain a first preceding vehicle and a second preceding vehicle, with the second preceding vehicle located in front of the first preceding vehicle; a first following distance corresponding to the first preceding vehicle and a second following distance corresponding to the second preceding vehicle are obtained; a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance are determined using 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 vehicle is controlled using the minimum acceleration.

[0144] Image information is collected from the front of the vehicle. This image information is then used to detect targets in the following driving detection area to identify the first and second vehicles ahead. After acquiring the first and second vehicles ahead, their corresponding following distances are obtained. Then, a first acceleration is determined based on the first following distance, and a second acceleration is determined based on the second following speed. All accelerations are vectors. The smaller of the first and second accelerations is then determined as the minimum acceleration. The following speed of the vehicle is controlled based on this minimum acceleration. By comprehensively considering the following vehicles ahead and adjusting the following speed accordingly, the incidence of accidents can be reduced, thus improving the safety of adaptive cruise control.

[0145] In one specific embodiment of this application, it further includes:

[0146] The judgment module is used to determine whether the second following distance is greater than a preset following threshold after obtaining the first following distance corresponding to the first preceding vehicle and the second following distance corresponding to the second preceding vehicle.

[0147] Correspondingly, if the judgment result is negative, the PID controller is used to determine the first acceleration corresponding to the first following distance and the second acceleration corresponding to the second following distance.

[0148] If the judgment result is yes, then 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. The following speed of the vehicle is then controlled using the minimum acceleration.

[0149] In one specific embodiment of this application, the acceleration determination module is specifically used to determine the first vehicle speed difference using the first following distance;

[0150] Use the second following distance to determine the second speed difference;

[0151] The first acceleration corresponding to the first vehicle speed difference is determined using a PID controller;

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

[0153] In one specific embodiment of this application, the acceleration determination module is specifically used to obtain the safe distance between the vehicle and the first preceding vehicle;

[0154] The first difference distance is obtained by subtracting the safe distance from the first following distance.

[0155] The first velocity error is determined using the first difference distance;

[0156] The speed of the first vehicle is obtained by adding the first speed error to the speed of the first vehicle in front.

[0157] The first speed difference is determined by using the speed of the first vehicle in front and the speed of the vehicle itself.

[0158] In one specific embodiment of this application, the acceleration determination module is specifically used to input the vehicle speed difference into a PID controller and process it using the proportional unit, integral unit and derivative unit in the PID controller to obtain a first acceleration.

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

[0160] Vehicles are inspected in the following driver detection area to obtain vehicle information;

[0161] Use vehicle information to identify the first and second leading vehicles.

[0162] In one specific embodiment of this application, the speed control module is specifically used to accelerate the following speed by 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 vehicle's driving mode, then the absolute value of the minimum acceleration is used to decelerate the following vehicle's speed.

[0164] Corresponding to the above method embodiments, this application also provides an electronic device. The electronic device described below can be referred to in conjunction with the vehicle following method described above.

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

[0166] Memory 332 is used to store computer programs;

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

[0168] For details, please refer to Figure 9 , Figure 9This is a schematic diagram of the specific structure of an electronic device provided in this embodiment. The electronic device can vary significantly due to differences in configuration or performance. It may include one or more central processing units (CPUs) (e.g., one or more processors) and a memory 332. The memory 332 stores one or more computer programs 342 or data 344. The memory 332 can be temporary or permanent storage. The program stored in the memory 332 may include one or more modules (not shown in the diagram), each module may include a series of instruction operations on the data processing device. Furthermore, the processor 322 may be configured to communicate with the memory 332 and execute the series of instruction operations stored in the memory 332 on the electronic device 301.

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

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

[0171] Corresponding to the above method embodiments, this application also provides a readable storage medium. The readable storage medium described below can be referred to in conjunction with the vehicle following method described above.

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

[0173] The readable storage medium can specifically be a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or any other readable storage medium capable of storing program code.

[0174] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0175] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0176] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

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

[0178] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for following another vehicle, characterized in that, include: Image information collected from the front of the vehicle is used to perform target detection in the following vehicle detection area to obtain the first and second vehicles in front. The second vehicle is positioned in front of the first vehicle; Obtain the first following distance corresponding to the first preceding vehicle and the second following distance corresponding to the second preceding vehicle; A PID controller is used to determine the first acceleration corresponding to the first following distance and the second acceleration corresponding to the second following distance; both the first acceleration and the second acceleration are vectors. The minimum acceleration is determined from the first acceleration and the second acceleration; The following speed of the vehicle is controlled using the aforementioned minimum acceleration; Specifically, the method of using a PID controller to determine the first acceleration corresponding to the first following distance and the second acceleration corresponding to the second following distance includes: The first speed difference is determined using the first following distance; The second following distance is used to determine the second speed difference; The first acceleration corresponding to the first vehicle speed difference is determined using the PID controller; The PID controller is used to determine the second acceleration corresponding to the second vehicle speed difference; The determination of the first vehicle speed difference using the first following distance includes: Obtain the safe distance between the vehicle and the first preceding vehicle; The first difference distance is obtained by subtracting the safe distance from the first following distance; The first velocity error is determined using the first difference distance; The speed of the first vehicle is obtained by adding the first speed error to the speed of the first vehicle in front. The first speed difference is determined by using the speed of the first preceding vehicle and the speed of the vehicle itself.

2. The method according to claim 1, characterized in that, After obtaining the first following distance corresponding to the first preceding vehicle and the second following distance corresponding to the second preceding vehicle, the process further includes: Determine whether the second following distance is greater than a preset following threshold; Correspondingly, if the judgment result is negative, the PID controller is used to determine the first acceleration corresponding to the first following distance and the second acceleration corresponding to the second following distance. If the judgment result is yes, then 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. The following speed of the vehicle is then controlled using the minimum acceleration.

3. The method according to claim 1, characterized in that, Determining the 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 using the proportional unit, integral unit, and derivative unit of the PID controller to obtain the first acceleration.

4. The method according to claim 1, characterized in that, Target detection is performed on the following vehicle detection area using image information to obtain the first and second preceding vehicles, including: Identify the following vehicle detection area in image information; Vehicle detection is performed in the vehicle following detection area to obtain vehicle information; The first leading vehicle and the second leading vehicle are determined using the vehicle information.

5. The method according to any one of claims 1 to 4, characterized in that, Using the aforementioned minimum acceleration, the following speed of the vehicle is controlled, including: If the direction of the minimum acceleration is the same as the vehicle's driving mode, then the following speed is accelerated using the absolute value of the minimum acceleration. If the direction of the minimum acceleration is opposite to the vehicle's driving mode, the absolute value of the minimum acceleration is used to decelerate the following speed.

6. A vehicle-following device, characterized in that, include: The image processing module is used to acquire image information from the front of the vehicle and use the image information to perform target detection in the following vehicle detection area to obtain the first and second vehicles in front. The second vehicle is positioned in front of the first vehicle; The following distance determination module is used to obtain the first following distance corresponding to the first preceding vehicle and the second following distance corresponding to the second preceding vehicle; An acceleration determination module is used to determine, using a PID controller, a first acceleration corresponding to the first following distance and a second acceleration corresponding to the second following distance; both the first acceleration and the second acceleration are vectors. A speed control module is used to determine a minimum acceleration from the first acceleration and the second acceleration; and to control the following speed of the vehicle using the minimum acceleration. Specifically, the acceleration determination module is used to determine a first speed difference using the first following distance; determine a second speed difference using the second following distance; determine a first acceleration corresponding to the first speed difference using the PID controller; and determine a second acceleration corresponding to the second speed difference using the PID controller. Determining the first speed difference using the first following distance includes: obtaining a safe distance between the vehicle and the first preceding vehicle; subtracting the safe distance from the first following distance to obtain a first difference distance; determining a first speed error using the first difference distance; superimposing the first speed error with the speed of the first preceding vehicle to obtain a first preceding vehicle speed; and determining the first speed difference using the speed of the first preceding vehicle and the vehicle's own speed.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the following vehicle driving method as described in any one of claims 1 to 5 when executing the computer program.

8. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the steps of the following vehicle driving method as described in any one of claims 1 to 5.

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