Self-adaptive cruise vehicle following target selection method, computer program product and electronic equipment

Abstract

The invention provides a self-adaptive cruise vehicle-following target selection method, a computer program product and electronic equipment, according to the self-adaptive cruise vehicle-following target selection method provided by the invention, after a self-adaptive cruise function of a vehicle is activated, target point cloud data, obtained through radar target detection, of a vehicle in front of the vehicle can be obtained; according to the target point cloud data of the front vehicle, determining a passable width evaluation value of a lane where the vehicle is located under the influence of the front vehicle; if it is predicted that the collision risk exists between the vehicle and the front vehicle based on the passable width evaluation value, the front vehicle can be selected as a vehicle following target of the self-adaptive cruise function of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an adaptive cruise following vehicle target selection method, a computer program product and an electronic device. Background Art

[0002] The adaptive cruise control function is a function that aims to automatically adjust the speed of the vehicle driven by the user so that the vehicle can maintain a safe distance from the following vehicle on the road ahead. Since the accuracy of the following vehicle selected by the adaptive cruise control function directly affects the driving safety of the vehicle, an important task of the adaptive cruise control function during operation is to change the following vehicle target in time according to the lane change of the vehicle ahead. Summary of the invention

[0003] Based on this, the present invention provides an adaptive cruise following target selection method, a computer program product and an electronic device. By adopting the adaptive cruise following target selection method, the following target of the adaptive cruise function of the vehicle can be selected timely and accurately to improve the safety of the vehicle operation process.

[0004] In one aspect, the present invention provides a method for selecting a target for an adaptive cruise following vehicle, comprising:

[0005] After the adaptive cruise function of the vehicle is activated, the target point cloud data of the vehicle in front of the vehicle obtained through radar target detection is obtained;

[0006] Determine, based on the target point cloud data of the front vehicle, an estimated passable width of the lane where the vehicle is located under the influence of the front vehicle;

[0007] If it is predicted that there is a risk of collision between the host vehicle and the front vehicle based on the passable width evaluation value, the front vehicle is selected as a following target of the adaptive cruise function of the host vehicle.

[0008] Furthermore, in some embodiments, determining the estimated passable width of the lane where the vehicle is located under the influence of the front vehicle according to the target point cloud data of the front vehicle includes:

[0009] Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain an estimated value of the passable width of the lane where the vehicle is located under the influence of the front vehicle;

[0010] The target lane line is the lane line on the side of the lane where the vehicle is located away from the vehicle in front.

[0011] Furthermore, in some embodiments, determining the estimated passable width of the lane where the vehicle is located under the influence of the front vehicle according to the target point cloud data of the front vehicle includes:

[0012] Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain the initial value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; wherein the target lane line is the lane line of the lane where the vehicle is located away from the side of the front vehicle;

[0013] Determining a passable width correction coefficient corresponding to the vehicle ahead according to the degree of change in the passable width corresponding to the vehicle ahead; wherein the passable width correction coefficient is negatively correlated with the degree of change in the passable width;

[0014] The product of the difference between the initial value of the passable width and the historical passable width assessment value corresponding to the front vehicle and the passable width correction coefficient is calculated, and the sum of the historical passable width assessment values ​​is calculated to obtain the passable width assessment value of the lane where the vehicle is located under the influence of the front vehicle.

[0015] Furthermore, in some embodiments, determining the estimated passable width of the lane where the vehicle is located under the influence of the front vehicle according to the target point cloud data of the front vehicle includes:

[0016] Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain the initial value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; wherein the target lane line is the lane line of the lane where the vehicle is located away from the side of the front vehicle;

[0017] Calculate the square value of the difference between the initial value of the passable width and the historical passable width evaluation value corresponding to the front vehicle, and the sum of the historical passable width change degree value corresponding to the front vehicle, to obtain the passable width change degree value corresponding to the front vehicle;

[0018] Calculate the product of the square root of the traversable width change value and the traversable width adjustment coefficient to obtain the traversable width adjustment amount;

[0019] The sum of the initial passable width value and the passable width adjustment amount is calculated to obtain an estimated passable width value at the lane where the vehicle is located under the influence of the front vehicle; wherein the estimated passable width value is greater than the initial passable width value.

[0020] Furthermore, in some embodiments, determining the estimated passable width of the lane where the vehicle is located under the influence of the front vehicle according to the target point cloud data of the front vehicle includes:

[0021] Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain the initial value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; wherein the target lane line is the lane line of the lane where the vehicle is located away from the side of the front vehicle;

[0022] Calculate the square value of the difference between the initial value of the passable width and the historical passable width evaluation value corresponding to the front vehicle, and the sum of the historical passable width change degree value corresponding to the front vehicle, to obtain the passable width change degree value corresponding to the front vehicle;

[0023] Determining a passable width correction coefficient corresponding to the vehicle ahead according to the passable width change degree value corresponding to the vehicle ahead; wherein the passable width correction coefficient is negatively correlated with the passable width change degree value;

[0024] Calculate the product of the difference between the initial value of the passable width and the historical passable width evaluation value corresponding to the front vehicle and the passable width correction coefficient, and the sum of the historical passable width evaluation value to obtain the passable width correction value corresponding to the front vehicle;

[0025] Calculate the product of the square root of the traversable width change value and the traversable width adjustment coefficient to obtain the traversable width adjustment amount;

[0026] The sum of the passable width correction value and the passable width adjustment amount is calculated to obtain a passable width evaluation value of the lane where the vehicle is located under the influence of the front vehicle; wherein the passable width evaluation value is greater than the passable width correction value.

[0027] Furthermore, in some embodiments, determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front, further includes:

[0028] Calculate the product of the difference between the passable width change degree value and the historical passable width change degree value and the change degree correction coefficient, and the sum of the historical passable width change degree values ​​to obtain the passable width change degree correction value corresponding to the front vehicle;

[0029] The calculating the product of the square root of the passable width change value and the passable width adjustment coefficient to obtain the passable width adjustment amount specifically includes:

[0030] The product of the square root of the passable width change degree correction value and the passable width adjustment coefficient is calculated to obtain the passable width adjustment amount.

[0031] Furthermore, in some embodiments, the above method further comprises:

[0032] Determine whether the front vehicle is a historical vehicle-following target of the vehicle, and obtain a first determination result;

[0033] If the first judgment result indicates that the front vehicle is a historical following target of the vehicle, the traversable width adjustment coefficient is set to a first value;

[0034] If the first judgment result indicates that the front vehicle is not a historical vehicle-following target of the vehicle, the traversable width adjustment coefficient is set to a second value;

[0035] The passable width adjustment amount calculated based on the second value is greater than the passable width adjustment amount calculated based on the first value.

[0036] Furthermore, in some embodiments, if it is predicted based on the passable width evaluation value that there is a risk of collision between the vehicle and the front vehicle, the front vehicle is selected as a following target of the adaptive cruise function of the vehicle, including:

[0037] Determine whether the passable width evaluation value corresponding to the front vehicle is less than the preset passable width of the vehicle, and obtain a second determination result;

[0038] If the second judgment result indicates that the passable width evaluation value corresponding to the front vehicle is smaller than the preset passable width of the vehicle, the front vehicle is selected as the following target of the adaptive cruise function of the vehicle.

[0039] Furthermore, in some embodiments, the above method further comprises:

[0040] Determine whether the front vehicle is a vehicle whose passable width evaluation value is smaller than the preset passable width in front of the vehicle, and obtain a third determination result;

[0041] The selecting the front vehicle as a following target of the adaptive cruise function of the vehicle includes:

[0042] If the third judgment result indicates that the front vehicle is the vehicle whose passable width evaluation value is smaller than the preset passable width in front of the vehicle, the front vehicle is selected as the following target of the adaptive cruise function of the vehicle.

[0043] Further, in some embodiments, after the adaptive cruise function of the vehicle is activated, obtaining the target point cloud data of the vehicle ahead of the vehicle obtained by radar target detection includes:

[0044] Obtain a point cloud data set collected by the radar device for the area in front of the vehicle;

[0045] Perform radar target detection processing based on the point cloud data set to obtain a target object located in front of the vehicle;

[0046] For any of the target objects, determining whether the probability that the target object is a vehicle object reaches a first threshold, and the distance between the target object and the vehicle is less than a second threshold, and obtaining a fourth determination result;

[0047] If the fourth judgment result indicates that the probability that the target object is a vehicle object reaches a first threshold, and the distance between the target object and the vehicle is less than a second threshold, then the point cloud data belonging to the target object is obtained to obtain the target point cloud data of any vehicle in front of the vehicle.

[0048] Further, in some embodiments, after the adaptive cruise function of the vehicle is activated, acquiring the target point cloud data of the vehicle ahead of the vehicle obtained by radar target detection also includes:

[0049] For any of the target objects, judging whether the target object is a high-quality target according to preset parameter information of the target object, and obtaining a fifth judgment result; wherein the preset parameter information includes: at least one of a first parameter reflecting the survival time of the target, a second parameter reflecting the variance of the lateral distance between the target and the radar device, and a third parameter reflecting the variance of the longitudinal distance between the target and the radar device;

[0050] The step of acquiring the point cloud data belonging to the target object and obtaining the target point cloud data of any vehicle ahead of the vehicle specifically includes:

[0051] If the fourth judgment result indicates that the probability that the target object is a vehicle object reaches a first threshold, and the distance between the target object and the vehicle is less than a second threshold, and the fifth judgment result indicates that the target object is a high-quality target, then the point cloud data belonging to the target object is obtained to obtain the target point cloud data of any vehicle in front of the vehicle.

[0052] On the other hand, the present invention further provides a computer program product, which includes a computer program, and when the computer program is executed by a controller, the steps of the above method are implemented.

[0053] On the other hand, the present invention further provides an electronic device, comprising: a processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the above method.

[0054] Furthermore, in some embodiments, the electronic device includes: at least one of a radar device and a domain controller.

[0055] According to the adaptive cruise following target selection method provided by the present invention, after the adaptive cruise function of the vehicle is activated, the target point cloud data of the vehicle in front of the vehicle obtained by radar target detection can be obtained; based on the target point cloud data of the vehicle in front, the passable width evaluation value of the lane where the vehicle is located under the influence of the vehicle in front is determined; if it is predicted that there is a risk of collision between the vehicle and the vehicle in front based on the passable width evaluation value, the vehicle in front can be selected as the following target of the adaptive cruise function of the vehicle, which is beneficial to improving the accuracy and timeliness of the selection of the following target for the adaptive cruise function of the vehicle, so as to ensure the safety of the vehicle operation process.

[0056] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A schematic diagram of a vehicle driving scenario provided by an embodiment of the present invention;

[0058] Figure 2 A schematic flow chart of an adaptive cruise following target selection method provided by an embodiment of the present invention;

[0059] Figure 3 A schematic diagram of another vehicle driving scenario provided by an embodiment of the present invention;

[0060] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0062] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0063] After the adaptive cruise control function of the vehicle is activated, it is necessary to detect the behavior of the vehicle in front changing lanes from the adjacent lane to the lane where the vehicle is located, so as to switch the vehicle's following target in time, thereby ensuring that the vehicle can maintain a safe distance from the vehicle in front. At present, radar detection technology, image processing technology and related target fusion technology are usually used to perceive the position information of the vehicle in front of the vehicle, and combined with the yaw angle information of the vehicle in front, the final decision is whether to select the vehicle in front as the vehicle to follow.

[0064] However, when the vehicle ahead that is closer to this vehicle changes lanes from the adjacent lane to this vehicle's lane, the camera installed on this vehicle may not be able to capture the side view of the vehicle ahead in time, and thus cannot calculate the yaw angle of the vehicle ahead in time and accurately. At this time, the position information of the vehicle ahead obtained through radar target detection may not be accurate. Figure 1 A schematic diagram of a vehicle driving scenario provided by an embodiment of the present invention, such as Figure 1 As shown, when the vehicle 102 in front of the vehicle 101 changes lanes and enters the lane where the vehicle 101 is located, the vehicle 102 in front has brought a collision risk to the vehicle 101, so the vehicle 102 in front needs to be selected as the target of the vehicle 101. However, since it is currently impossible to obtain accurate yaw angle information of the vehicle 102 in front, the vehicle 102 in front detected by the radar target will be located in the dotted area 103, which will result in the vehicle 102 in front not being selected as the target of the vehicle 101. This will not only affect the driving safety of the vehicle, but also make the driver and passengers feel that there is a lag in the switching of the target of the vehicle following the adaptive cruise function, affecting the user experience.

[0065] Based on this, the present invention proposes an adaptive cruise following target selection method, which can obtain the target point cloud data of the vehicle in front of the vehicle obtained by radar target detection after the adaptive cruise function of the vehicle is activated; according to the target point cloud data of the vehicle in front, determine the passable width evaluation value of the lane where the vehicle is located under the influence of the vehicle in front; if it is predicted that there is a collision risk between the vehicle and the vehicle in front based on the passable width evaluation value, the vehicle in front can be selected as the following target of the adaptive cruise function of the vehicle, which is conducive to improving the accuracy and timeliness of the selection of the following target for the adaptive cruise function of the vehicle, so as to ensure the safety of the vehicle operation process and the user experience.

[0066] See also Figure 2 , which is a flow chart of an adaptive cruise following target selection method provided by an embodiment of the present invention. From a program perspective, the execution subject of the process may be a program for managing the following target of the adaptive cruise function installed in a radar device or a vehicle controller. Alternatively, the execution subject of the process may also be a radar device or a vehicle controller, or other devices that can communicate with the radar device or the vehicle controller, without specific limitation.

[0067] The following is for Figure 2 The process shown in FIG. 1 is described in detail, and the adaptive cruise following target selection method may specifically include the following steps:

[0068] Step S202, after the adaptive cruise function at the vehicle is activated, the target point cloud data of the vehicle ahead of the vehicle obtained by radar target detection is obtained.

[0069] In the embodiment of the present invention, the vehicle may be a vehicle equipped with a radar device and an adaptive cruise function. After the adaptive cruise function of the vehicle is activated, radar sensing data obtained by the radar device for data collection of the surrounding environment of the vehicle may be obtained, so as to perform radar target detection on the collected radar sensing data, thereby obtaining target point cloud data related to the front vehicle currently existing in the front area of ​​the vehicle.

[0070] Specifically, after the radar device detects the surrounding environment of the vehicle and obtains the point cloud data of the surrounding environment point cloud, it can identify the various surrounding environment point clouds belonging to the same front vehicle based on the location information, movement speed difference, and movement direction difference of each surrounding environment point cloud, thereby obtaining the target point cloud data of the front vehicle. Alternatively, if the radar device detects a certain front vehicle of the vehicle in the previous target detection cycle, it can determine the area where the front vehicle may be located in the current target detection cycle, and determine the point cloud data of the surrounding environment point cloud in the area as the target point cloud data of the front vehicle. Of course, other methods can also be used to determine the target point cloud data of the front vehicle of the vehicle, and there is no specific limitation on this.

[0071] In practical applications, the above-mentioned radar device may be a millimeter wave radar device, or may be other radar devices capable of collecting and generating point cloud data, etc., without specific limitation.

[0072] Step S204: determining an estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front.

[0073] In an embodiment of the present invention, the radar signal emitted by the radar device may be reflected at different positions of the same front vehicle, so that the radar device can generate multiple target point clouds with different positions for the same front vehicle. Based on this, the target point cloud data of any of the front vehicles can include the location information of one or more target point clouds associated with the front vehicle.

[0074] In an embodiment of the present invention, when at least part of the body of the front vehicle enters the lane where the vehicle is located, the maximum lane width value occupied by the front vehicle in the lane where the vehicle is located can be determined based on the position information of each target point cloud associated with the front vehicle and the lane line position information of the lane where the vehicle is located. Based on this, the difference between the preset width value of the lane where the vehicle is located and the maximum lane width value occupied by the front vehicle can be used as the passable width evaluation value of the lane where the vehicle is located under the influence of the front vehicle.

[0075] Among them, the larger the passable width evaluation value corresponding to the front vehicle, the smaller the lane width occupied by the front vehicle in the lane where the vehicle is located, and at this time, the greater the possibility that the vehicle can continue to drive in the lane without colliding with the front vehicle. Similarly, the smaller the passable width evaluation value corresponding to the front vehicle, the larger the lane width occupied by the front vehicle in the lane where the vehicle is located, and at this time, the smaller the possibility that the vehicle can continue to drive in the lane without colliding with the front vehicle.

[0076] For ease of understanding, Figure 3 Provide explanation. Figure 3 A schematic diagram of another vehicle driving scenario provided by an embodiment of the present invention, such as Figure 3 As shown, it is assumed that the lane lines on the left and right sides of the vehicle 301 are straight line 303 and straight line 306 respectively; if the front vehicle 302 in the adjacent lane on the right side of the vehicle 301 is cutting into the lane where the vehicle 301 is located, at this time, the length of the dotted line 304 can be the estimated value of the passable width of the lane where the vehicle is located under the influence of the front vehicle 302.

[0077] Alternatively, assuming that the front vehicle 305 in the adjacent lane on the left side of the vehicle 301 is cutting into the lane where the vehicle 301 is located, at this time, the length of the dotted line 307 can be an estimated value of the passable width of the lane where the vehicle is located under the influence of the front vehicle 305.

[0078] Step S206: If it is predicted based on the passable width evaluation value that there is a risk of collision between the vehicle and the vehicle in front, the vehicle in front is selected as a following target for the adaptive cruise function of the vehicle.

[0079] In the embodiment of the present invention, since the passable width evaluation value corresponding to the front vehicle is small, the adaptive cruise function of the vehicle may collide with the front vehicle in the process of controlling the vehicle to maintain the lane, so that there is a risk of collision between the vehicle and the front vehicle. Based on this, the front vehicle can be selected as the following target of the adaptive cruise function of the vehicle to effectively reduce the collision risk between the two, which is conducive to ensuring the driving safety of the vehicle.

[0080] Figure 2 The solution in the embodiment of the present invention determines the passable width evaluation value of the lane where the vehicle is located under the influence of the front vehicle according to the target point cloud data of the vehicle in front of the vehicle; and when it is predicted that there is a risk of collision between the vehicle and the front vehicle based on the passable width evaluation value, the front vehicle is selected as the following target of the adaptive cruise function of the vehicle, which is conducive to improving the accuracy and timeliness of selecting the following target for the adaptive cruise function of the vehicle, so as to ensure the safety of the vehicle operation process and user experience.

[0081] In a feasible implementation, step S204: determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front, may include:

[0082] The minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line is determined to obtain an estimated value of the passable width of the lane where the vehicle is located under the influence of the front vehicle. The target lane line is the lane line of the lane where the vehicle is located away from the front vehicle.

[0083] In an embodiment of the present invention, if the lane line on the side away from the front vehicle in the lane where the vehicle is located is taken as the target lane line, the smaller the distance between the target point cloud associated with the front vehicle and the target lane line, the smaller the lane width value not occupied by the front vehicle in the lane where the vehicle is located is; based on this, the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line can be used as the passable width evaluation value of the lane where the vehicle is located under the influence of the front vehicle, which is convenient and quick.

[0084] For ease of understanding, Figure 3 Explain. Figure 3 As shown, assuming that the front vehicle 302 in the right adjacent lane of the vehicle 301 is cutting into the lane where the vehicle 301 is located, at this time, the left lane line 303 of the lane where the vehicle 301 is located can be the target lane line corresponding to the front vehicle 302, and the length of the dotted line 304 can be the passable width evaluation value of the lane where the vehicle is located under the influence of the front vehicle 302. Or, assuming that the front vehicle 305 in the left adjacent lane of the vehicle 301 is cutting into the lane where the vehicle 301 is located, at this time, the right lane line 306 of the lane where the vehicle 301 is located can be the target lane line corresponding to the front vehicle 305, and the length of the dotted line 307 can be the passable width evaluation value of the lane where the vehicle is located under the influence of the front vehicle 305. This will not be elaborated.

[0085] In a feasible implementation, step S204: determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front, may include:

[0086] Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain the initial value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; wherein the target lane line is the lane line of the lane where the vehicle is located away from the side of the front vehicle.

[0087] According to the degree of change in the passable width corresponding to the vehicle in front, a passable width correction coefficient corresponding to the vehicle in front is determined; wherein the passable width correction coefficient is negatively correlated with the degree of change in the passable width.

[0088] The product of the difference between the initial value of the passable width and the historical passable width assessment value corresponding to the front vehicle and the passable width correction coefficient is calculated, and the sum of the historical passable width assessment values ​​is calculated to obtain the passable width assessment value of the lane where the vehicle is located under the influence of the front vehicle.

[0089] In the embodiment of the present invention, when the propagation and reflection of radar waves are disturbed, the accuracy of the target point cloud data of the vehicle ahead acquired by the radar device is often affected. Therefore, the minimum value of the distance between each target point cloud associated with the vehicle ahead and the target lane line can be used as the initial value of the passable width corresponding to the vehicle ahead. The initial value of the passable width can be subsequently corrected to improve the accuracy and effectiveness of the final calculated passable width evaluation value corresponding to the vehicle ahead, thereby ensuring Figure 2 The accuracy and rationality of the following target of the adaptive cruise function selected at the vehicle.

[0090] Specifically, radar equipment can usually periodically sense and identify targets around the vehicle, so as to obtain relevant point cloud data detected for the same front vehicle in different target detection cycles, and then determine the historical passable width assessment value corresponding to the same front vehicle in the historical target detection cycle. At the same time, since the driving speed of the front vehicle is limited, the change in the position of the front vehicle is limited. Therefore, when the passable width assessment value corresponding to the front vehicle changes greatly compared to the historical passable width assessment value, it is often inconsistent with the actual situation. Based on this, the passable width correction coefficient corresponding to the front vehicle can be determined according to the degree of change in the passable width corresponding to the front vehicle.

[0091] In an embodiment of the present invention, the historical passable width evaluation value corresponding to the vehicle in front may be an accurate and better passable width evaluation value of the vehicle in front calculated in the previous target detection cycle. The accurate passable width change amount generated by the vehicle in front traveling in the most recent target detection cycle and the historical passable width evaluation value are superimposed and can be used as the passable width evaluation value corresponding to the vehicle in front in the current target detection cycle. Based on this, the difference between the initial passable width value corresponding to the vehicle in front and the historical passable width evaluation value corresponding to the vehicle in front can be calculated first to obtain the passable width change amount; by calculating the product of the passable width change amount and the above-mentioned passable width correction coefficient, the accurate corrected passable width change amount corresponding to the vehicle in front can be obtained; and then the sum of the corrected passable width change amount and the historical passable width evaluation value can be calculated as the passable width evaluation value corresponding to the vehicle in front.

[0092] In practical applications, the passable width assessment value corresponding to the vehicle in front can be calculated according to the following formula, that is, the passable width assessment value corresponding to the vehicle in front = the historical passable width assessment value + (the initial passable width value - the historical passable width assessment value) * passable width correction coefficient. Of course, other strategies can also be used to calculate the passable width assessment value corresponding to the vehicle in front based on the initial passable width value of the vehicle in front and the passable width correction coefficient, and there is no specific limitation on this.

[0093] In a feasible implementation, step S204: determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front, may include:

[0094] Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain the initial value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; wherein the target lane line is the lane line of the lane where the vehicle is located away from the side of the front vehicle.

[0095] The square value of the difference between the initial value of the passable width and the historical passable width evaluation value corresponding to the front vehicle is calculated, and the sum of the historical passable width change degree values ​​corresponding to the front vehicle is calculated to obtain the passable width change degree value corresponding to the front vehicle.

[0096] The product of the square root of the traversable width change value and the traversable width adjustment coefficient is calculated to obtain the traversable width adjustment amount.

[0097] The sum of the initial passable width value and the passable width adjustment amount is calculated to obtain an estimated passable width value at the lane where the vehicle is located under the influence of the front vehicle; wherein the estimated passable width value is greater than the initial passable width value.

[0098] In the embodiment of the present invention, the passable width change value corresponding to the front vehicle can be calculated according to the following formula, that is, the passable width change value = historical passable width change value + (passable width initial value - historical passable width evaluation value) 2 The historical passable width evaluation value may be a passable width evaluation value calculated for the vehicle ahead in the last target detection cycle. The historical passable width change degree value may be a passable width change degree value calculated for the vehicle ahead in the last target detection cycle according to the above formula.

[0099] Of course, if the vehicle in front is not detected in the previous target detection cycle, that is, the vehicle in front is a new target object detected for the first time in the current target detection cycle, then the historical passable width evaluation value and the historical passable width change degree value are often unable to be obtained. At this time, the passable width change degree value of the vehicle in front can be directly set to a default value (for example, it can be a value of 0), and no specific limitation is made to this.

[0100] In the embodiment of the present invention, the passable width evaluation value corresponding to the vehicle in front can be calculated according to the following formula, that is, the passable width evaluation value = the passable width initial value + the passable width adjustment amount, wherein the passable width adjustment amount = the square root of the passable width change degree value * the passable width adjustment coefficient; it is convenient and fast. Of course, the passable width adjustment amount and the passable width evaluation value corresponding to the vehicle in front can also be calculated according to other strategies, and there is no specific limitation on this.

[0101] In a feasible implementation, step S204: determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front, may include:

[0102] Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain the initial value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; wherein the target lane line is the lane line of the lane where the vehicle is located away from the side of the front vehicle.

[0103] The square value of the difference between the initial value of the passable width and the historical passable width evaluation value corresponding to the front vehicle is calculated, and the sum of the historical passable width change degree values ​​corresponding to the front vehicle is calculated to obtain the passable width change degree value corresponding to the front vehicle.

[0104] According to the passable width variation degree value corresponding to the front vehicle, the passable width correction coefficient corresponding to the front vehicle is determined; wherein the passable width correction coefficient is negatively correlated with the passable width variation degree value.

[0105] The product of the difference between the initial value of the passable width and the historical passable width evaluation value corresponding to the front vehicle and the passable width correction coefficient is calculated, and the sum of the historical passable width evaluation value is calculated to obtain the passable width correction value corresponding to the front vehicle.

[0106] The product of the square root of the traversable width change value and the traversable width adjustment coefficient is calculated to obtain the traversable width adjustment amount.

[0107] The sum of the passable width correction value and the passable width adjustment amount is calculated to obtain a passable width evaluation value of the lane where the vehicle is located under the influence of the front vehicle; wherein the passable width evaluation value is greater than the passable width correction value.

[0108] In the embodiment of the present invention, since the aforementioned embodiment has explained the calculation principle of the passable width change degree value corresponding to the vehicle in front, it will not be repeated here. In addition, the corresponding relationship between the passable width change degree value of the vehicle in front and the preset coefficient value can be determined in advance according to actual needs. Thereby, the preset coefficient value having a corresponding relationship with the passable width change degree value of the vehicle in front can be conveniently and quickly used as the passable width correction coefficient of the vehicle in front. In practical applications, the corresponding relationship between the passable width change degree value and the preset coefficient value can be a linear negative correlation. For example, when the passable width change degree value increases within the range of [0, N], the preset coefficient value can decrease within the range of [0, 1]; or, the two can also be irregularly negatively correlated in stages, and there is no specific limitation on this.

[0109] In practical applications, the passable width assessment value corresponding to the vehicle ahead can be calculated according to the following formula; that is, the passable width assessment value = the passable width correction value and the passable width adjustment amount, wherein the passable width correction value = the historical passable width assessment value + (the passable width initial value - the historical passable width assessment value) * passable width correction coefficient; and the passable width adjustment amount = the square root of the passable width change degree value * passable width adjustment coefficient. Of course, the passable width assessment value corresponding to the vehicle ahead can also be calculated according to other strategies, which are not specifically limited.

[0110] In a feasible implementation manner, determining the passable width evaluation value of the lane where the vehicle is located under the influence of the front vehicle according to the target point cloud data of the front vehicle may also include:

[0111] The product of the difference between the passable width change degree value and the historical passable width change degree value and the change degree correction coefficient and the sum of the historical passable width change degree values ​​are calculated to obtain the passable width change degree correction value corresponding to the front vehicle.

[0112] Correspondingly, the calculating the product of the square root of the passable width change degree value and the passable width adjustment coefficient to obtain the passable width adjustment amount may specifically include:

[0113] The product of the square root of the passable width change degree correction value and the passable width adjustment coefficient is calculated to obtain the passable width adjustment amount.

[0114] In an embodiment of the present invention, since the large value of the change degree of the passable width corresponding to the front vehicle may be caused by inaccurate point cloud data obtained by radar target detection, it may also be caused by the acceleration of the front vehicle. Therefore, the value of the change degree of the passable width corresponding to the front vehicle can be corrected to determine the passable width adjustment amount corresponding to the front vehicle in combination with the correction value of the change degree of the passable width of the front vehicle, which is conducive to further improving the accuracy and rationality of the passable width evaluation value corresponding to the front vehicle.

[0115] In actual applications, the passable width change degree correction value corresponding to the vehicle in front can be calculated according to the following formula; that is, the passable width change degree correction value = (the passable width change degree value - the historical passable width change degree value) * change degree correction coefficient + the historical passable width change degree value; wherein, the change degree correction coefficient can be set according to actual needs, for example, it can be 0.5, 0.6, 0.8, etc., and there is no specific limitation on this.

[0116] In a feasible implementation, Figure 2 The method may also include:

[0117] It is determined whether the front vehicle is a historical vehicle-following target of the vehicle, and a first determination result is obtained.

[0118] If the first judgment result indicates that the front vehicle is a historical following target of the own vehicle, the passable width adjustment coefficient is set to a first value.

[0119] If the first judgment result indicates that the front vehicle is not a historical following target of the vehicle, the passable width adjustment coefficient is set to a second value.

[0120] The passable width adjustment amount calculated based on the second value is greater than the passable width adjustment amount calculated based on the first value.

[0121] In an embodiment of the present invention, the passable width adjustment coefficient may be related to whether the vehicle ahead is a following target of the vehicle in the previous target detection cycle; by selecting the appropriate passable width adjustment coefficient, the following target of the vehicle selected in the previous target detection cycle can be prompted to continue to be selected as the following target of the vehicle in the current target detection cycle, so as to avoid frequent changes of the following target of the vehicle and affect the driving stability of the vehicle. In practical applications, the first value and the second value of the passable width adjustment coefficient can be set according to actual needs. For example, the first value can be 0.01, 0.02, 0.1, etc., and the second value can be 0.2, 0.24, 0.3, etc.; there is no specific limitation on this.

[0122] In a feasible implementation, step S206: if it is predicted based on the passable width evaluation value that there is a collision risk between the vehicle and the front vehicle, selecting the front vehicle as a following target of the adaptive cruise function of the vehicle may include:

[0123] It is determined whether the passable width evaluation value corresponding to the front vehicle is smaller than the preset passable width of the vehicle to obtain a second determination result.

[0124] If the second judgment result indicates that the passable width evaluation value corresponding to the front vehicle is smaller than the preset passable width of the vehicle, the front vehicle is selected as the following target of the adaptive cruise function of the vehicle.

[0125] In the embodiment of the present invention, the preset passage width of the vehicle may refer to the minimum width of the road in the lane where the vehicle is located that is not occupied by other target objects in order to ensure that the vehicle can safely and smoothly maintain the lane. Generally, the larger the value of the preset passage width, the more likely it is that the front vehicle that cuts into the lane where the vehicle is located can be selected as the target to follow in a timely manner; and the smaller the value of the preset passage width, the more body parts of the front vehicle need to enter the lane where the vehicle is located in order to be selected as the target to follow.

[0126] In practical applications, the product of the vehicle body width value and the preset coefficient can be directly used as the preset passage width of the vehicle, which is convenient and quick. Alternatively, the preset passage width of the vehicle can be set in combination with the vehicle body width value according to other strategies, and no specific limitation is made to this. Among them, the vehicle body width value of the vehicle can refer to the horizontal distance between the fixed protruding parts at the outermost edges of both sides of the vehicle, and the preset coefficient can be set according to actual needs, for example, it can be 0.8, 1, 1.2, etc., and no specific limitation is made to this.

[0127] In the embodiment of the present invention, if the second judgment result indicates that the passable width evaluation value corresponding to the front vehicle is less than the preset passable width of the vehicle, it can generally mean that the front vehicle will bring collision risk to the vehicle in the process of maintaining the lane. Therefore, the front vehicle can be determined as the following target of the adaptive cruise function of the vehicle, so that the adaptive cruise function of the vehicle can control the driving speed of the vehicle and keep a safe distance between the two vehicles according to the running conditions of the front vehicle, which is conducive to ensuring the safety of the driving process of the vehicle. Otherwise, it can be prohibited to use the front vehicle as the following target of the adaptive cruise function of the vehicle, which will not be elaborated.

[0128] In a feasible implementation, Figure 2 The method may further include:

[0129] It is determined whether the front vehicle is a vehicle whose passable width evaluation value is smaller than the preset passable width in front of the vehicle, and a third determination result is obtained.

[0130] Correspondingly, step S206: selecting the front vehicle as a following target of the adaptive cruise function of the vehicle may include:

[0131] If the third judgment result indicates that the front vehicle is the vehicle whose passable width evaluation value is smaller than the preset passable width in front of the vehicle, the front vehicle is selected as the following target of the adaptive cruise function of the vehicle.

[0132] In the embodiment of the present invention, since there may be multiple vehicles in front of the vehicle whose corresponding passable width evaluation value is less than the preset passable width, however, the vehicle usually needs to take the vehicle in front whose passable width evaluation value is less than the preset passable width as the following target in order to effectively reduce the risk of vehicle collision. Based on this, the target distance between each vehicle in front that meets the condition of "the passable width evaluation value is less than the preset passable width" and the vehicle in front can be determined, and the vehicle in front corresponding to the minimum value of the target distance is determined as the following target of the adaptive cruise function of the vehicle, which is conducive to ensuring the reliability of the following target of the adaptive cruise function.

[0133] In a feasible implementation, step S202: after the adaptive cruise function of the vehicle is activated, obtaining the target point cloud data of the vehicle ahead of the vehicle obtained by radar target detection may include:

[0134] Get the point cloud data set collected by the radar device for the area in front of the vehicle.

[0135] Radar target detection processing is performed based on the point cloud data set to obtain a target object located in front of the vehicle.

[0136] For any of the target objects, it is determined whether the probability that the target object is a vehicle object reaches a first threshold, and the distance between the target object and the vehicle is less than a second threshold, to obtain a fourth determination result.

[0137] If the fourth judgment result indicates that the probability that the target object is a vehicle object reaches a first threshold, and the distance between the target object and the vehicle is less than a second threshold, then the point cloud data belonging to the target object is obtained to obtain the target point cloud data of any vehicle in front of the vehicle.

[0138] In an embodiment of the present invention, since there may be multiple radar targets in the area in front of the vehicle, radar targets such as road fences, buildings, gantries, etc. are usually not selected as the following targets of the vehicle, and vehicles that are too far away from the vehicle are usually not selected as the following targets of the vehicle. Therefore, after radar target detection processing is performed on the area in front of the vehicle to obtain various target objects, the target objects whose probability of belonging to the vehicle object does not reach the first threshold or whose distance from the vehicle is greater than the second threshold can be filtered out first. In order to make the remaining target objects whose probability of belonging to the vehicle object reaches the first threshold and whose distance from the vehicle is less than the second threshold as the front vehicle of the vehicle mentioned in step S202. This is conducive to improving the accuracy of the vehicle following targets subsequently screened out, and can also reduce the amount of calculation when subsequently screening the vehicle following targets.

[0139] In actual applications, since the driving speed of the vehicle object in the area in front of the vehicle is much higher than the driving speed of the vehicle, the driving risk brought to the vehicle by the vehicle object is usually low. Therefore, the vehicle object can be regarded as the vehicle in front of the vehicle mentioned in step S202 only when the driving speed of the vehicle object is lower than the driving speed of the vehicle, or when the difference between the driving speed of the vehicle object and the driving speed of the vehicle is within a preset range, without specific limitation.

[0140] In a feasible implementation, step S202: after the adaptive cruise function of the vehicle is activated, obtaining the target point cloud data of the vehicle ahead of the vehicle obtained by radar target detection may also include:

[0141] For any of the target objects, determine whether the target object is a high-quality target based on preset parameter information of the target object to obtain a fifth judgment result; wherein the preset parameter information includes: at least one of a first parameter reflecting the target survival time, a second parameter reflecting the lateral distance variance between the target and the radar device, and a third parameter reflecting the longitudinal distance variance between the target and the radar device.

[0142] Correspondingly, the step of acquiring the point cloud data belonging to the target object and obtaining the target point cloud data of any vehicle ahead of the vehicle may specifically include:

[0143] If the fourth judgment result indicates that the probability that the target object is a vehicle object reaches a first threshold, and the distance between the target object and the vehicle is less than a second threshold, and the fifth judgment result indicates that the target object is a high-quality target, then the point cloud data belonging to the target object is obtained to obtain the target point cloud data of any vehicle in front of the vehicle.

[0144] In an embodiment of the present invention, when radar target detection and tracking processing is continuously performed on the surrounding environment of the vehicle using a radar device, the obtained radar target detection and tracking results usually include preset parameter information of each target object. Since the larger the value of the first parameter reflecting the target survival time, it can usually indicate that the duration of successfully detecting and tracking the target object is longer. At this time, the possibility that the target object belongs to the misdetected target is often smaller; and the larger the value of the second parameter reflecting the lateral distance variance between the target and the radar device and the third parameter reflecting the longitudinal distance variance between the target and the radar device, it can usually indicate that the target object has frequent or large left and right movements. At this time, the possibility that the target object belongs to the misdetected target is often greater. Therefore, based on at least one of the above-mentioned first to third parameters of each of the target objects, it can be judged whether the target object belongs to a high-quality target. If so, the target object can be allowed to be the front vehicle of the vehicle mentioned in step S202. If not, the target object can be prohibited from being the front vehicle of the vehicle mentioned in step S202, which is not only conducive to improving the accuracy of the vehicle-following target of the vehicle subsequently screened out, but also can reduce the amount of calculation when the vehicle-following target is subsequently screened out.

[0145] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a controller, it implements the steps of the adaptive cruise following target selection method as described in the above embodiments. The specific execution process can be found in the specific descriptions in the above embodiments, which will not be repeated here.

[0146] In one embodiment, the present invention also provides Figure 4 The structural diagram of the electronic device shown in FIG. Figure 4 At the hardware level, the electronic device may include a processor 41 and a memory 45, and may also include an internal bus 42, a network interface 43, a memory 44, and other hardware required for other services. The processor 41 may read the corresponding computer-readable instructions from the memory 45 into the memory and then run them to implement the above-mentioned adaptive cruise following target selection method. The specific execution process can refer to the specific descriptions in the above-mentioned embodiments, which will not be repeated here.

[0147] In some feasible implementations, the electronic device may include: at least one of a domain controller and a radar device.

[0148] Finally, each embodiment of the present invention is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for embodiments such as computer program products and electronic devices, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0149] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. An adaptive cruise following target selection method, comprising: After the adaptive cruise function of the vehicle is activated, the target point cloud data of the vehicle in front of the vehicle obtained through radar target detection is obtained; Determine, based on the target point cloud data of the front vehicle, an estimated passable width of the lane where the vehicle is located under the influence of the front vehicle; If it is predicted that there is a risk of collision between the host vehicle and the front vehicle based on the passable width evaluation value, the front vehicle is selected as a following target of the adaptive cruise function of the host vehicle.

2. The method according to claim 1, wherein determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front comprises: Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain an estimated value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; The target lane line is the lane line on the side of the lane where the vehicle is located away from the vehicle in front.

3. The method according to claim 1, wherein determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front comprises: Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain the initial value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; wherein the target lane line is the lane line of the lane where the vehicle is located away from the side of the front vehicle; Determining a passable width correction coefficient corresponding to the vehicle ahead according to the degree of change in the passable width corresponding to the vehicle ahead; wherein the passable width correction coefficient is negatively correlated with the degree of change in the passable width; The product of the difference between the initial value of the passable width and the historical passable width assessment value corresponding to the front vehicle and the passable width correction coefficient is calculated, and the sum of the historical passable width assessment values ​​is calculated to obtain the passable width assessment value of the lane where the vehicle is located under the influence of the front vehicle.

4. The method according to claim 1, wherein determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front comprises: Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain the initial value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; wherein the target lane line is the lane line of the lane where the vehicle is located away from the side of the front vehicle; Calculate the square value of the difference between the initial value of the passable width and the historical passable width evaluation value corresponding to the front vehicle, and the sum of the historical passable width change degree value corresponding to the front vehicle, to obtain the passable width change degree value corresponding to the front vehicle; Calculate the product of the square root of the traversable width change value and the traversable width adjustment coefficient to obtain the traversable width adjustment amount; The sum of the initial passable width value and the passable width adjustment amount is calculated to obtain an estimated passable width value at the lane where the vehicle is located under the influence of the front vehicle; wherein the estimated passable width value is greater than the initial passable width value.

5. The method according to claim 1, wherein determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front comprises: Determine the minimum value of the distance between each target point cloud associated with the front vehicle and the target lane line, and obtain the initial value of the passable width of the lane where the vehicle is located under the influence of the front vehicle; wherein the target lane line is the lane line of the lane where the vehicle is located away from the side of the front vehicle; Calculate the square value of the difference between the initial value of the passable width and the historical passable width evaluation value corresponding to the front vehicle, and the sum of the historical passable width change degree value corresponding to the front vehicle, to obtain the passable width change degree value corresponding to the front vehicle; Determining a passable width correction coefficient corresponding to the vehicle ahead according to the passable width change degree value corresponding to the vehicle ahead; wherein the passable width correction coefficient is negatively correlated with the passable width change degree value; Calculate the product of the difference between the initial value of the passable width and the historical passable width evaluation value corresponding to the front vehicle and the passable width correction coefficient, and the sum of the historical passable width evaluation value to obtain the passable width correction value corresponding to the front vehicle; Calculate the product of the square root of the traversable width change value and the traversable width adjustment coefficient to obtain the traversable width adjustment amount; The sum of the passable width correction value and the passable width adjustment amount is calculated to obtain a passable width evaluation value of the lane where the vehicle is located under the influence of the front vehicle; wherein the passable width evaluation value is greater than the passable width correction value.

6. The method according to claim 4 or 5, wherein determining the estimated passable width of the lane where the vehicle is located under the influence of the vehicle in front according to the target point cloud data of the vehicle in front, further comprises: Calculate the product of the difference between the passable width change degree value and the historical passable width change degree value and the change degree correction coefficient, and the sum of the historical passable width change degree values ​​to obtain the passable width change degree correction value corresponding to the front vehicle; The calculating the product of the square root of the passable width change value and the passable width adjustment coefficient to obtain the passable width adjustment amount specifically includes: The product of the square root of the passable width change degree correction value and the passable width adjustment coefficient is calculated to obtain the passable width adjustment amount.

7. The method according to claim 4 or 5, further comprising: Determine whether the front vehicle is a historical vehicle-following target of the vehicle, and obtain a first determination result; If the first judgment result indicates that the front vehicle is a historical following target of the vehicle, the traversable width adjustment coefficient is set to a first value; If the first judgment result indicates that the front vehicle is not a historical vehicle-following target of the vehicle, the traversable width adjustment coefficient is set to a second value; The passable width adjustment amount calculated based on the second value is greater than the passable width adjustment amount calculated based on the first value.

8. The method according to claim 1, wherein if it is predicted based on the passable width evaluation value that there is a collision risk between the vehicle and the front vehicle, the front vehicle is selected as a following target of the adaptive cruise function of the vehicle, comprising: Determine whether the passable width evaluation value corresponding to the front vehicle is less than the preset passable width of the vehicle, and obtain a second determination result; If the second judgment result indicates that the passable width evaluation value corresponding to the front vehicle is smaller than the preset passable width of the vehicle, the front vehicle is selected as the following target of the adaptive cruise function of the vehicle.

9. The method according to claim 8, further comprising: Determine whether the front vehicle is a vehicle whose passable width evaluation value is smaller than the preset passable width in front of the vehicle, and obtain a third determination result; The selecting the front vehicle as a following target of the adaptive cruise function of the vehicle includes: If the third judgment result indicates that the front vehicle is the vehicle whose passable width evaluation value is smaller than the preset passable width in front of the vehicle, the front vehicle is selected as the following target of the adaptive cruise function of the vehicle.

10. The method according to claim 1, wherein after the adaptive cruise function of the vehicle is activated, obtaining the target point cloud data of the vehicle ahead of the vehicle obtained by radar target detection comprises: Obtain a point cloud data set collected by the radar device for the area in front of the vehicle; Perform radar target detection processing based on the point cloud data set to obtain a target object located in front of the vehicle; For any of the target objects, determining whether the probability that the target object is a vehicle object reaches a first threshold, and the distance between the target object and the vehicle is less than a second threshold, and obtaining a fourth determination result; If the fourth judgment result indicates that the probability that the target object is a vehicle object reaches a first threshold, and the distance between the target object and the vehicle is less than a second threshold, then the point cloud data belonging to the target object is obtained to obtain the target point cloud data of any vehicle in front of the vehicle.

11. The method according to claim 10, wherein after the adaptive cruise function of the vehicle is activated, the target point cloud data of the vehicle ahead of the vehicle obtained by radar target detection is obtained, further comprising: For any of the target objects, judging whether the target object is a high-quality target according to preset parameter information of the target object, and obtaining a fifth judgment result; wherein the preset parameter information includes: at least one of a first parameter reflecting the survival time of the target, a second parameter reflecting the variance of the lateral distance between the target and the radar device, and a third parameter reflecting the variance of the longitudinal distance between the target and the radar device; The step of acquiring the point cloud data belonging to the target object and obtaining the target point cloud data of any vehicle ahead of the vehicle specifically includes: If the fourth judgment result indicates that the probability that the target object is a vehicle object reaches a first threshold, and the distance between the target object and the vehicle is less than a second threshold, and the fifth judgment result indicates that the target object is a high-quality target, then the point cloud data belonging to the target object is obtained to obtain the target point cloud data of any vehicle in front of the vehicle.

12. A computer program product, comprising a computer program, wherein when the computer program is executed by a controller, the steps of the method according to any one of claims 1 to 11 are implemented.

13. An electronic device comprising: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 11.

14. The electronic device according to claim 13, comprising: At least one of a radar device and a domain controller.

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