Vehicle motion control method and device
By judging the activation conditions based on the signal and sensor data and controlling the vehicle forward movement in the ACC function when it is activated, the problem that the ACC function cannot effectively shorten the distance between the vehicle and the target vehicle is solved, and stable distance adjustment and plugging prevention are achieved in the case of traffic jams.
Patent Information
- Application Number
- CN202311551914.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-20
- Publication Date
- 2025-05-20
AI Technical Summary
In certain circumstances, such as in traffic jams, the ACC function cannot effectively shorten the remaining relative distance between the vehicle and the target vehicle, resulting in the vehicle being easily plugged into an adjacent vehicle.
By receiving signals and/or sensor signals related to the ACC function, it is determined whether the activation condition is met. When the condition is met, the vehicle is controlled to move forward one or more times, and each action is moved by a stable distance to avoid being plugged by other vehicles.
When the ACC function is activated, the vehicle is allowed to move forward by a small distance under each action. The small distance is relatively stable, which can facilitate the driver to accurately adjust the relative distance between the vehicle and the target vehicle, thereby preventing other vehicles from getting plugged in in traffic jams.
Smart Images
Figure CN120020027A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle motion control, and more particularly, to a vehicle motion control method and device, a computer-readable storage medium, a computer program product, and an electronic control unit ECU. Background Art
[0002] The vehicle motion control (VMC) software for autonomous driving can achieve vehicle longitudinal motion control when the ACC (Adaptive Cruise Control) function is activated. When the ACC function is working, the host vehicle will follow the target vehicle. When the target vehicle is about to stop, the host vehicle will also decelerate and stop, and stop at the minimum required following distance.
[0003] However, in certain situations (such as in traffic jams), when the host vehicle reaches the required following distance, this following distance is generally still farther than the distance desired by the driver, and it is easy for a vehicle in an adjacent lane to cut in between the host vehicle and the target vehicle.
[0004] In addition, since the ACC function sets a drive-off threshold (which is generally set to a value larger than the required following distance), the remaining relative distance between the host vehicle and the target vehicle cannot be flexibly shortened through the ACC function. Moreover, if the driver wants to shorten this relative distance, he can only take over by stepping on the accelerator pedal, but the ACC function will not work during this process. Additionally, when the driver steps on the accelerator pedal to move the vehicle forward, the distance moved each time is not very consistent or stable. Summary of the Invention
[0005] According to one aspect of the present application, there is provided a vehicle motion control method, the method including: receiving signals related to the ACC function and / or sensor signals; determining whether an activation condition is satisfied according to the signals related to the ACC function and / or sensor signals; and when the activation condition is satisfied, controlling the host vehicle to move forward one or more times, and each movement moves a stable distance to avoid being cut in by other vehicles.
[0006] As a supplement or replacement to the above solution, in the above method, the signals related to the ACC function are ACC function status information, and the sensor signals include an accelerator pedal signal and the remaining distance between the host vehicle and the target vehicle; and determining whether the activation condition is satisfied according to the signals related to the ACC function and / or sensor signals includes: when the ACC function status indicates that the ACC function is turned on and is in a paused state after following stop, the accelerator pedal signal indicates that the driver quickly steps on the accelerator pedal once, and the remaining distance is greater than a first threshold, it is determined that the activation condition is satisfied.
[0007] As a supplement or replacement to the above solution, in the above method, the signals related to the ACC function include a function activation signal input via a hard switch or a soft switch, and the function activation signal indicates to control the vehicle to move forward a stable distance when the ACC function is activated; and determining whether the activation condition is met based on the signals related to the ACC function and / or sensor signals includes: after receiving the function activation signal, determining that the activation condition is met.
[0008] As a supplement or replacement to the above solution, in the above method, the sensor signals include radar detection signals; and determining whether the activation condition is met based on the signals related to the ACC function and / or sensor signals includes: based on the radar detection signals, determining whether an adjacent vehicle has the intention to cut into the lane of the vehicle; and after determining that the adjacent vehicle has the intention to cut into the lane of the vehicle, determining that the activation condition is met.
[0009] As a supplement or replacement to the above solution, in the above method, controlling the vehicle to move forward once includes: sending a start request to release the braking force and constructing a propulsion torque to drive the vehicle; and when the vehicle reaches the calibrated speed or the calibrated distance, sending a deceleration stop request to construct the braking force so that the vehicle brakes to a stop.
[0010] According to another aspect of the present application, there is provided a vehicle motion control device, the device including: a receiving device for receiving signals related to the ACC function and / or sensor signals; a judging device for judging whether the activation condition is met according to the signals related to the ACC function and / or sensor signals; and a control device for controlling the vehicle to move forward once or multiple times when the activation condition is met, and each movement moves a stable distance to prevent being cut in by other vehicles.
[0011] As a supplement or replacement to the above solution, in the above device, the signals related to the ACC function are ACC function status information, the sensor signals include an accelerator pedal signal and the remaining distance between the vehicle and the target vehicle; and the judging device is configured to: when the ACC function status indicates that the ACC function has been activated and is in a pause state after following the vehicle to a stop, the accelerator pedal signal indicates that the driver quickly presses the accelerator pedal once and the remaining distance is greater than a first threshold, determine that the activation condition is met.
[0012] As a supplement or replacement to the above solution, in the above device, the signals related to the ACC function include a function activation signal input via a hard switch or a soft switch, and the function activation signal indicates to control the vehicle to move forward a stable distance when the ACC function is activated; and the judging device is configured to: after receiving the function activation signal, determine that the activation condition is met.
[0013] As a supplement or replacement to the above solution, in the above device, the sensor signal includes a radar detection signal; and the determination device is configured to: based on the radar detection signal, determine whether an adjacent vehicle has the intention to cut into the current lane; and after determining that the adjacent vehicle has the intention to cut into the current lane, determine that the activation condition is met.
[0014] As a supplement or replacement to the above solution, in the above device, the control device is configured to: send a start request to release the braking force and generate a propulsion torque to drive the vehicle; and when the vehicle reaches a calibrated speed or a calibrated distance, send a deceleration stop request to generate a braking force so that the vehicle brakes to a stop.
[0015] According to another aspect of the present application, there is provided a computer-readable storage medium, the medium including instructions that, when running, execute the method as described above.
[0016] According to another aspect of the present application, there is provided a computer program product, including a computer program that, when executed by a processor, implements the method as described above.
[0017] According to another aspect of the present application, there is provided an electronic control unit ECU, the electronic control unit ECU including the device as described above.
[0018] The vehicle motion control solution of the embodiments of the present application determines whether the activation condition is met based on signals related to the ACC function and / or sensor signals; and when the activation condition is met, controls the vehicle to move forward one or more times. Thus, after the ACC normally stops following, the vehicle motion control solution of the embodiments of the present application allows the vehicle to move forward a small distance (in each action) in the activated state of the ACC function, and this small distance is relatively stable, which can facilitate the driver to accurately adjust the relative distance between the vehicle and the target vehicle. This is very useful in certain situations, for example, in the case of traffic jams, the vehicle motion control solution prevents other vehicles from cutting in (into the current lane) by moving forward one or more times. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] From the following detailed description in conjunction with the drawings, the above and other objects and advantages of the present application will become more fully apparent, where the same or similar elements are denoted by the same reference numerals.
[0020] Figure 1 A flowchart showing the vehicle motion control method according to an embodiment of the present application is shown;
[0021] Figure 2 A structural diagram showing the vehicle motion control device according to an embodiment of the present application is shown; and
[0022] Figure 3A scenario schematic diagram of using a vehicle motion control method in a traffic jam scenario according to an embodiment of the present application is shown. Detailed implementation manners
[0023] Hereinafter, vehicle motion control solutions according to various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings.
[0024] Figure 1 A flowchart of a vehicle motion control method 1000 according to an embodiment of the present application is shown. As Figure 1 shown, the vehicle motion control method 1000 includes:
[0025] In step S110, signals related to the ACC function and / or sensor signals are received;
[0026] In step S120, it is determined whether an activation condition is satisfied according to the signals related to the ACC function and / or sensor signals; and
[0027] In step S130, when the activation condition is satisfied, the vehicle is controlled to move forward once or multiple times, and each movement moves a stable distance to avoid being cut in by other vehicles.
[0028] In the context of the present application, the term "ACC function" is also referred to as the adaptive cruise control function, which sends instructions to the actuator according to the driving states of the vehicle in front and the host vehicle (for example, distance and speed), so as to decide whether to accelerate or decelerate, or exit the cruise. In some embodiments, when there is a risk of collision, the adaptive cruise control system ACC will prompt the driver and take active braking intervention. Moreover, when the distance from the vehicle in front is too small, the adaptive cruise control system ACC can appropriately brake the wheels in cooperation with the anti-lock braking system and the like, so as to always maintain a safe distance from the vehicle in front. Generally speaking, the adaptive cruise control system ACC can relieve the driver's driving fatigue to a certain extent.
[0029] The term "vehicle motion control" is VMC (abbreviation for Vehicle Motion Control), and the industry also calls it "chassis domain control". In one embodiment, as the coordinator of the entire chassis system, VMC undertakes the interaction with ADAS on the one hand and establishes the connection between each actuator of the chassis on the other hand, enabling each subsystem to interact with each other.
[0030] Signals related to the ACC function and / or sensor signals are received in step S110, and it is determined whether the activation condition is satisfied according to the signals related to the ACC function and / or sensor signals in step S120.
[0031] It should be noted that the term "activation condition" refers to the activation condition of the new function of "slight forward movement" in the ACC (i.e., moving the vehicle forward by a stable distance while keeping the ACC function activated) in the context of this application. As described in step S130, when the activation condition is met, the vehicle can be controlled to move forward one or more times, and each movement is a stable distance to prevent being cut in by other vehicles.
[0032] In one embodiment, step S110 includes: receiving the ACC function status information, the throttle pedal signal, and the remaining distance between the vehicle and the target vehicle. That is, the signal related to the ACC function is the ACC function status information, and the sensor signals include the throttle pedal signal and the remaining distance between the vehicle and the target vehicle. Thus, step S120 may include: when the ACC function status indicates that the ACC function is turned on and in a standstill state after following the vehicle stops, the throttle pedal signal indicates that the driver quickly presses the throttle pedal (intending to activate the ACC function), and the remaining distance is greater than a first threshold (the first threshold can be preset as needed to ensure driving safety), determining that the activation condition is met.
[0033] In another embodiment, step S110 includes: receiving a function activation signal input via a hard switch or a soft switch, where the function activation signal indicates controlling the vehicle to move forward by a stable distance when the ACC function is turned on / activated. That is, the signal related to the ACC function includes the function activation signal input via a hard switch or a soft switch (e.g., a soft switch on the display screen or a switch button on the instrument panel for this new ACC function). In this embodiment, step S120 may include: after receiving the function activation signal, determining that the activation condition is met.
[0034] In yet another embodiment, step S110 includes: receiving a radar detection signal. That is, in this embodiment, the sensor signal includes the radar detection signal. Thus, in this embodiment, step S120 may include: based on the radar detection signal, determining whether an adjacent vehicle has an action or intention to cut into the lane; and after determining that the adjacent vehicle has an action or intention to cut into the lane, determining that the activation condition is met. It can be seen that the ACC function can automatically detect the cut-in (action or intention) of adjacent vehicles through the radar sensor (receiving the radar detection signal) and adaptively activate the new function of "slight forward movement" of the ACC.
[0035] In step S130, when the activation condition is met, the host vehicle can be controlled to move forward once or multiple times, and each movement is a stable distance to avoid being cut in by other vehicles. Here, the term "stable distance" or "stable moving distance" means that in the ACC function activation control state, each time entering this moving condition, ACC will stably move the vehicle by a distance, and this distance is relatively stable.
[0036] In one embodiment, controlling the host vehicle to move forward once in step S130 may include: sending a start request to release the braking force and constructing a propulsion torque to drive the host vehicle (e.g., by the vehicle motion control system); and when the host vehicle reaches the calibrated speed or calibrated distance, sending a deceleration stop request to construct the braking force so that the host vehicle brakes to a stop (e.g., by the vehicle motion control system). In this way, the process of controlling the host vehicle to move forward once can achieve the host vehicle moving forward a stable distance under specific circumstances.
[0037] See Figure 3 , which shows a schematic diagram of a scenario using the vehicle motion control method in a traffic jam scenario according to an embodiment of the present application. As shown in the left half of Figure 3 Figure 3100, after the host vehicle 310 activates the ACC function, it takes the vehicle 320 ahead as the target vehicle. Due to a traffic jam, when the target vehicle 320 starts to stop, the host vehicle 310 also starts to decelerate and stop following. Assuming the following distance 335 at this time is 3.2 meters, in the existing solution, the start threshold is generally set to a larger value (such as 5 meters). The original intention of such a setting is to avoid frequent spontaneous secondary starts after ACC stops following. However, such a setting will cause the ACC function to be unable to enter the activation control state (Active control) again and automatically complete a forward movement action when the driver wants to actively press the button or activate the ACC to move forward slightly after the host vehicle 310 stops following. As can be seen from Figure 3 , the vehicle 330 in the adjacent lane intends to cut in between the host vehicle 310 and the target vehicle 320. If the remaining relative distance 335 between the host vehicle 310 and the target vehicle 320 cannot be further shortened, it is inevitable to be cut in by the vehicle 330.
[0038] Figure 3 The right half of
[0039] Those skilled in the art can understand that after activating the vehicle motion control solution of the embodiments of the present application, the vehicle 310 can move forward one or more times (each time moving a stable distance). The specific number of movements can be set accordingly according to the driver's needs or the actual scenario, and the present application does not limit this.
[0040] In addition, those skilled in the art can easily understand that the vehicle motion control method 1000 provided by one or more of the above embodiments of the present application can be implemented by a computer program. For example, the computer program is included in a computer program product, and when the computer program is executed by a processor, it implements the vehicle motion control method 1000 of one or more embodiments of the present application. Another example is that when a computer-readable storage medium (such as a USB flash drive) storing the computer program is connected to a computer, running the computer program can execute the vehicle motion control method 1000 of one or more embodiments of the present application.
[0041] Reference Figure 2 , Figure 2 shows a schematic structural diagram of a vehicle motion control device 2000 according to an embodiment of the present application. As Figure 2 shown, the vehicle motion control device 2000 includes a receiving device 210, a judging device 220, and a control device 230. Among them, the receiving device 210 is used to receive signals related to the ACC function and / or sensor signals; the judging device 220 is used to judge whether the activation condition is satisfied according to the signals related to the ACC function and / or sensor signals; and the control device 230 is used to control the vehicle to move forward one or more times when the activation condition is satisfied, and each action moves a stable distance to prevent being cut in by other vehicles.
[0042] In one embodiment, the signal related to the ACC function is ACC function status information, and the sensor signals include the throttle pedal signal and the remaining distance between the vehicle and the target vehicle. In this embodiment, the judging device 220 is configured to: when the ACC function status indicates that the ACC function is turned on and is in a paused state after following the vehicle stops, the throttle pedal signal indicates that the driver quickly steps on the throttle pedal once, and the remaining distance is greater than the first threshold, it is determined that the activation condition is satisfied.
[0043] In another embodiment, the signal related to the ACC function includes a function activation signal input via a hard switch or a soft switch, and the function activation signal indicates controlling the vehicle to move forward a stable distance when the ACC function is turned on. In this embodiment, the judging device 220 is configured to: after receiving the function activation signal, it is determined that the activation condition is satisfied.
[0044] In yet another embodiment, the sensor signal includes a radar detection signal. In this embodiment, the determination device 220 may be configured to: determine whether an adjacent vehicle has an intention to cut into the current lane based on the radar detection signal; and determine that the activation condition is satisfied after determining that the adjacent vehicle has an intention to cut into the current lane.
[0045] In one or more embodiments, the control device 230 is configured to: send a start request to release the braking force and generate a propulsion torque to drive the vehicle; and send a deceleration stop request to generate a braking force when the vehicle reaches a calibrated speed or a calibrated distance, so as to brake and stop the vehicle.
[0046] The above vehicle motion control device 2000 may be integrated into various types of electronic control units (ECUs), including but not limited to, a radar ECU or an MPC3, etc.
[0047] In summary, the vehicle motion control solution according to the embodiments of the present application determines whether the activation condition is satisfied based on the signals related to the ACC function and / or the sensor signals; and when the activation condition is satisfied, controls the vehicle to move forward one or more times. Thus, after the ACC normally stops following, the vehicle motion control solution according to the embodiments of the present application allows the vehicle to move forward a small distance (in each action) in the state where the ACC function is activated. This small distance is relatively stable, which can facilitate the driver to accurately adjust the relative distance between the vehicle and the target vehicle. This is very useful in certain situations. For example, in the case of traffic jams, the vehicle motion control solution prevents other vehicles from cutting in (into the current lane) by moving forward one or more times.
[0048] The above examples mainly illustrate the vehicle motion control solution according to the embodiments of the present application. Although only some of the embodiments of the present application are described, those of ordinary skill in the art should understand that the present application can be implemented in many other forms without departing from its gist and scope. Therefore, the examples and embodiments shown are regarded as illustrative rather than restrictive, and the present application may cover various modifications and substitutions without departing from the spirit and scope of the present application as defined by the various claims.
Claims
1. A vehicle motion control method, characterized in that: The method comprises: Receiving ACC function related signals and / or sensor signals; determining whether an activation condition is met according to the ACC function-related signal and / or sensor signal; and When the activation condition is met, the vehicle is controlled to move forward one or more times, and each movement moves a stable distance to avoid being squeezed in by other vehicles.
2. The method of claim 1, wherein: The ACC function-related signal is ACC function status information, and the sensor signal includes an accelerator pedal signal and a remaining distance between the vehicle and the target vehicle; And judging whether the activation condition is met according to the ACC function-related signal and / or sensor signal includes: When the ACC function state indicates that the ACC function is turned on and is in a pause state after the following vehicle stops, the accelerator pedal signal indicates that the driver quickly steps on the accelerator pedal, and the remaining distance is greater than a first threshold, it is determined that the activation condition is met.
3. The method of claim 1, wherein: The ACC function-related signal includes a function-on signal input via a hard switch or a soft switch, wherein the function-on signal indicates that the vehicle is controlled to move forward a stable distance when the ACC function is turned on; And judging whether the activation condition is met according to the ACC function-related signal and / or sensor signal includes: After receiving the function start signal, it is determined that the activation condition is met.
4. The method of claim 1, wherein: The sensor signal includes a radar detection signal; and judging whether the activation condition is met according to the signal related to the ACC function and / or the sensor signal includes: Determining whether an adjacent vehicle intends to cut into the lane based on the radar detection signal; and After determining that the adjacent vehicle has the intention to cut into the lane, it is determined that the activation condition is satisfied.
5. The method according to any one of claims 1 to 4, wherein: Controlling the vehicle to move forward once includes: Sending a launch request to release the braking force and build propulsion torque to move the vehicle; and When the vehicle reaches a calibrated speed or a calibrated distance, a deceleration stop request is sent to build up braking force, thereby braking the vehicle to a stop.
6. A vehicle motion control device, characterized in that: The device comprises: A receiving device, used to receive signals related to the ACC function and / or sensor signals; a judging device, configured to judge whether an activation condition is satisfied according to a signal related to the ACC function and / or a sensor signal; and The control device is used to control the vehicle to move forward once or multiple times when the activation condition is met, and each action moves a stable distance to avoid being blocked by other vehicles.
7. The device of claim 6, wherein: The ACC function-related signal is ACC function status information, and the sensor signal includes an accelerator pedal signal and a remaining distance between the vehicle and the target vehicle; and The judgment device is configured to determine that the activation condition is met when the ACC function status indicates that the ACC function is turned on and is in a pause state after the following vehicle stops, the accelerator pedal signal indicates that the driver quickly steps on the accelerator pedal, and the remaining distance is greater than a first threshold.
8. The device of claim 6, wherein: The ACC function-related signal includes a function-on signal input via a hard switch or a soft switch, wherein the function-on signal indicates that the vehicle is controlled to move forward a stable distance when the ACC function is turned on; and The determining device is configured to: after receiving the function activation signal, determine whether the activation condition is satisfied.
9. The device of claim 6, wherein: The sensor signal comprises a radar detection signal; and The judging device is configured to: judge whether an adjacent vehicle has an intention to cut into the lane based on the radar detection signal; and determine whether the activation condition is satisfied after determining that the adjacent vehicle has an intention to cut into the lane.
10. The apparatus of any one of claims 6 to 9, wherein: The control device is configured as follows: Sending a launch request to release the braking force and build propulsion torque to move the vehicle; and When the vehicle reaches a calibrated speed or a calibrated distance, a deceleration stop request is sent to build up braking force, thereby braking the vehicle to a stop.
11. A computer-readable storage medium, characterized in that: The medium includes instructions which, when executed, perform the method of any one of claims 1 to 5.
12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.
13. An electronic control unit ECU, characterized in that: The electronic control unit ECU comprises the device according to any one of claims 6 to 10.