Control method, storage medium and control system for adaptive cruise of vehicle

Abstract

The invention relates to a control method for adaptive cruise of a vehicle, and the control method at least comprises the following steps: in an adaptive cruise mode of the vehicle, detecting whether a preceding vehicle exists in a current lane; if the judgment result is yes, automatically following the preceding vehicle to run and detecting the preceding vehicle running speed of the preceding vehicle; when the running speed of the front vehicle is lower than a preset running speed threshold value, the gradient of a road section where the front vehicle is located is obtained; and when the gradient is larger than a preset gradient threshold value, driving parameters of the vehicle are adjusted according to the gradient. The invention also relates to a corresponding computer readable storage medium and an adaptive cruise control system. The vehicle can stably enter the slope, so that the vehicle stably follows the front vehicle to run at a low speed on the slope, and the unexpected vehicle sliding phenomenon of the vehicle is effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and more particularly to a control method for adaptive cruise of a vehicle. The present invention also relates to a corresponding computer-readable storage medium and an adaptive cruise control system for a vehicle. Background Art

[0002] In recent years, with the improvement of vehicle intelligence, the application of Advanced Driving Assistance System (ADAS) has become more and more common, such as Adaptive Cruise Control (ACC), Automatic Emergency Braking (AEB), Lane Keeping Assist (LKA), etc. Among them, the adaptive cruise system can make the vehicle automatically drive at a set cruise speed or stably follow the vehicle in front without the driver's active intervention, which greatly reduces the driver's driving burden and improves the driving experience.

[0003] However, when the vehicle is following the vehicle in front, when the vehicle in front enters a ramp and its driving speed on the ramp significantly decreases, especially when it stops, the vehicle cannot timely recognize the slope change of the front road section and cannot effectively change the driving control logic, resulting in an undesired longitudinal acceleration of the vehicle under the action of gravity. This causes the vehicle to be unable to stably maintain the following distance and may cause the vehicle to roll backward or lurch forward, and even result in a rear-end collision, which adversely affects the driving experience and driving safety. Summary of the Invention

[0004] Therefore, the object of the present invention is to provide an improved control method for adaptive cruise of a vehicle. Through the control method, when the vehicle in front enters a ramp, the vehicle can timely recognize the upcoming slope change and correspondingly change the driving parameters of the vehicle, so as to stably follow the vehicle in front at a low speed on the ramp and effectively avoid phenomena such as undesired vehicle rollback or lurch forward, thereby realizing the smooth entry of the vehicle into the ramp, improving the driver's driving experience and enhancing driving safety. The present invention also relates to a corresponding adaptive cruise control system for a vehicle.

[0005] According to a first aspect of the present invention, there is provided a control method for adaptive cruise of a vehicle, wherein the control method at least includes the following steps:

[0006] S1: In the adaptive cruise mode of the vehicle, detect whether there is a vehicle in front in the current lane;

[0007] S2: If the judgment result of step S1 is yes, then automatically follow the preceding vehicle and detect the preceding vehicle's preceding vehicle speed;

[0008] S3: when the driving speed of the preceding vehicle is lower than a preset driving speed threshold, obtaining the slope of the road section where the preceding vehicle is located;

[0009] S4: When the slope is greater than a preset slope threshold, adjusting the driving parameters of the vehicle according to the slope.

[0010] Compared with the prior art, in the control method for adaptive cruise control of a vehicle according to the present invention, when a vehicle follows a leading vehicle, if it is detected that the leading vehicle is traveling at a low speed lower than a driving speed threshold on a slope section with a slope greater than a slope threshold, the driving parameters of the vehicle are pre-adjusted in a targeted manner according to the detected slope, so that when the vehicle enters the slope section, the influence of the vehicle's own gravity can be compensated and the vehicle can be effectively prevented from unexpectedly rolling or rushing forward, so as to enhance the driver's driving experience and improve driving safety.

[0011] Exemplarily, the driving parameter includes at least one item from the following group: a following distance of the vehicle relative to a preceding vehicle; a self-driving speed of the vehicle; and a driving torque of the vehicle.

[0012] Exemplarily, when the road section on which the leading vehicle is located is uphill and the slope is greater than the slope threshold, the vehicle's driving speed is increased and / or the following distance is reduced and / or the driving torque is increased; and / or, when the road section on which the leading vehicle is located is downhill and the slope is greater than the slope threshold, the vehicle's driving speed is reduced and / or the following distance is increased and / or the driving torque is reduced.

[0013] Exemplarily, the adjustment of the driving parameter is proportional to the slope; and / or the driving speed threshold and the slope threshold are calculated from experimental data and / or empirical data and stored in a control unit.

[0014] Exemplarily, the slope of the road section where the leading vehicle is located is acquired by detecting the height displacement of the leading vehicle and / or identifying the captured lane image and / or vehicle-mounted map information.

[0015] By way of example, in step S3 , environmental information is additionally detected, based on which a correction factor for the gradient is generated.

[0016] Exemplarily, the environmental information includes at least one item from the following group: weather information, lighting information, and lane congestion.

[0017] Exemplarily, the control method additionally includes the following steps: S2' implemented after step S1: If the determination result of step S1 is negative, the vehicle performs a constant-speed cruise at a preset driving speed; and / or, step S3' implemented after step S2: If the driving speed of the vehicle ahead is higher than the driving speed threshold, the vehicle travels at the same speed as the vehicle ahead.

[0018] According to a second aspect of the present invention, there is provided a computer-readable storage medium including a computer program, wherein when the computer program is executed by one or more processors, the processors are capable of executing the control method according to the present invention.

[0019] An adaptive cruise control system for a vehicle, wherein the adaptive cruise control system at least includes:

[0020] - A vehicle-ahead information detection unit configured to be adapted to detect whether there is a vehicle ahead in the current lane and the driving state information of the vehicle ahead;

[0021] - A self-vehicle information detection unit configured to be adapted to detect the driving state information of the vehicle;

[0022] - A slope detection unit configured to be adapted to detect the slope of the section where the vehicle ahead is located;

[0023] - A control unit communicatively connected to the vehicle-ahead information detection unit, the self-vehicle information detection unit, and the slope detection unit respectively and configured to be adapted to implement the control method according to the present invention by using the computer-readable storage medium according to the present invention.

[0024] Exemplarily, the adaptive cruise control system further includes an environmental information detection unit to detect the environmental information of the vehicle; and / or, the slope detection unit includes a lidar and / or a front-view camera and / or a high-precision vehicle-mounted map. Description of the Drawings

[0025] Hereinafter, the present invention will be described in more detail by referring to the drawings, and the principles, features, and advantages of the present invention can be better understood. The drawings include:

[0026] Figure 1 A flowchart showing a control method for adaptive cruise for a vehicle according to an exemplary embodiment of the present invention;

[0027] Figure 2 A schematic block diagram showing an adaptive cruise control system for a vehicle according to an exemplary embodiment of the present invention. Detailed Description of the Embodiments

[0028] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments.

[0029] When describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not depend on a particular order of the steps described herein, the method or process should not be limited to the specific order of steps described. As will be understood by those of ordinary skill in the art, other step orders are possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation on the claims. In addition, the claims directed to the method and / or process should not be limited to performing their steps in the order written, and those skilled in the art can readily understand that these orders can vary and still remain within the spirit and scope of the embodiments of the present application.

[0030] Figure 1 The flowchart of a control method for adaptive cruise for a vehicle according to the present invention is shown according to an exemplary embodiment of the present invention.

[0031] As Figure 1 shown, the control method according to the present invention at least includes the following steps:

[0032] S1: When the vehicle is in the adaptive cruise mode, detect at a certain frequency whether there is a vehicle in front within a preset range in the current lane;

[0033] S2: If the judgment result of step S1 is yes, that is, there is a vehicle in front in the current lane, then the vehicle automatically follows the vehicle in front, the driving speed of the vehicle is the same as that of the vehicle in front and the relative distance between the vehicle and the vehicle in front is a preset following distance, and at the same time, detect the driving speed of the vehicle in front of the vehicle in front at a certain frequency;

[0034] S3: When the driving speed of the vehicle in front detected in step S2 is lower than a preset driving speed threshold, obtain the slope of the section where the vehicle in front is located, the driving speed threshold is, for example, 5 km / h, and of course, other speed values considered meaningful by those skilled in the art can also be considered. Among them, the driving speed threshold can be calculated from experimental data and / or empirical data and stored in the control unit of the adaptive cruise control system;

[0035] S4: When the slope of the section where the leading vehicle is located is greater than a preset slope threshold, adjust the driving parameters of the host vehicle according to the slope. The slope threshold is, for example, 3%, and of course, other slope values considered meaningful by those skilled in the art can also be considered. Among them, the slope threshold can also be calculated from experimental data and / or empirical data and stored in the control unit of the adaptive cruise control system.

[0036] Thus, the vehicle can automatically follow the leading vehicle in the current lane in the adaptive cruise mode. When the leading vehicle is traveling at a low speed lower than the driving speed threshold, especially when the driving speed of the leading vehicle drops to zero, the slope of the section where the leading vehicle is located is obtained. When the obtained slope is greater than the preset slope threshold, it can be determined that the section in front of the vehicle is a slope and the vehicle's own gravity will have a non-negligible impact on the vehicle's longitudinal acceleration. The driving parameters of the host vehicle are adjusted in advance according to the obtained slope, so that when the host vehicle enters this slope section, the impact generated by the vehicle's own gravity can be compensated in time and phenomena such as the vehicle slipping backward or surging forward can be prevented, which can achieve the vehicle's smooth entry into the slope and improve the safety of vehicle autonomous driving.

[0037] Exemplarily, the vehicle driving parameters adjusted according to the slope in step S4 can include at least one of the following groups: the following distance of the vehicle relative to the leading vehicle; the driving speed of the host vehicle; the driving torque of the vehicle. Specifically, when it is detected that the section where the leading vehicle is located is an uphill slope and the obtained slope is greater than the preset slope threshold, the driving speed of the host vehicle can be increased and the following distance of the vehicle relative to the leading vehicle can be reduced, which can prevent the vehicle from slipping backward under its own weight and colliding with the vehicle behind. In addition, it is also possible to increase the driving torque of the vehicle to compensate for the component of the vehicle gravity along the slope. In contrast, when it is detected that the section where the leading vehicle is located is a downhill slope and the obtained slope is greater than the preset slope threshold, the driving speed of the host vehicle can be reduced and the following distance relative to the leading vehicle can be increased, which can prevent the vehicle from slipping forward under its own weight and colliding with the leading vehicle. In addition, it can also be considered to reduce the driving torque of the vehicle to compensate for the component of the vehicle gravity along the slope.

[0038] Exemplarily, in step S4, the adjustment of the vehicle driving parameters is proportional to the obtained slope. This means that the greater the slope of the section where the leading vehicle is located, the greater the slope of the section that the host vehicle is about to enter, and then the greater the degree of adjustment of the vehicle driving parameters. For example, when the slope of the uphill is greater, on the premise of meeting the safety distance, the following distance of the vehicle relative to the leading vehicle is adjusted smaller, the driving speed of the host vehicle is greater, and the driving torque of the vehicle is greater, and vice versa.

[0039] Exemplarily, in step S3, the slope of the section where the leading vehicle is located can be obtained by detecting the height displacement of the leading vehicle. The height displacement of the leading vehicle can be detected by the lidar of the vehicle, and the slope of the section where the leading vehicle is located is calculated by the ratio of the height displacement of the leading vehicle to the driving speed of the leading vehicle. In addition, it can also be considered that the slope of the section where the leading vehicle is located is recognized by combining the lane image captured by the front-view camera of the vehicle with a neural network model. It is also possible to directly obtain the slope of the section where the leading vehicle is located by combining the road information recorded in the in-vehicle map information with the geographical location of the leading vehicle. Here, various slope acquisition methods can be comprehensively considered to obtain an accurate slope result.

[0040] Exemplarily, in step S3, environmental information is additionally detected, and a correction factor for the slope of the section where the leading vehicle is located is generated according to the environmental information. A more accurate slope result of the section where the leading vehicle is located can be obtained through the correction factor. Here, the environmental information may include weather information. When the weather information is rainy or snowy weather, the adhesion coefficient on the road surface decreases accordingly, resulting in poor braking performance of the vehicle on the road surface. In this case, the correction factor should be greater than 1, so that the slope value corrected by combining the correction factor should be greater than the actual slope of the lane. In addition, it can be considered that the environmental information includes light information. When the vehicle is driving in a dark environment and the light intensity is weak, the generated correction factor should also increase accordingly. It is also possible that the environmental information further includes the lane congestion situation. The more congested the section where the leading vehicle is located, the greater the generated correction factor. Of course, other environmental information considered meaningful by those skilled in the art can also be considered.

[0041] Exemplarily, as Figure 1 shown, the control method additionally includes S2' implemented after step S1: If the judgment result of step S1 is negative, that is, there is no leading vehicle within a preset range in front in the current lane, then the vehicle performs constant-speed cruising at a preset driving speed, such as 100 km / h.

[0042] Exemplarily, as Figure 1 shown, the control method additionally includes step S3' implemented after step S2: When the driving speed of the leading vehicle is higher than the driving speed threshold, the vehicle drives at the same speed as the driving speed of the leading vehicle.

[0043] Figure 2 shows a schematic block diagram of an adaptive cruise control system 100 for a vehicle according to an exemplary embodiment of the present invention.

[0044] As Figure 2As shown, the adaptive cruise control system 100 includes a leading vehicle information detection unit 10, which is configured to detect whether there is a leading vehicle in the current lane and, when there is a leading vehicle, detect the driving state information of the leading vehicle. The driving state information of the leading vehicle at least includes the driving speed of the leading vehicle and the distance from the host vehicle to the leading vehicle. Here, the leading vehicle information detection unit 10 may include a forward-looking camera and / or lidar.

[0045] As Figure 2 shown, the adaptive cruise control system 100 includes a host vehicle information detection unit 20, which is configured to detect the driving state information of the vehicle. The driving state information of the vehicle at least includes the driving speed of the vehicle. Here, the host vehicle information detection unit 20 may include a vehicle speed sensor. In addition, the host vehicle information detection unit 20 may further include an acceleration sensor to detect the longitudinal acceleration of the vehicle.

[0046] As Figure 2 shown, the adaptive cruise control system 100 includes a slope detection unit 30, which is configured to detect the slope of the section where the leading vehicle is located. Here, the slope detection unit 30 exemplarily includes lidar and / or a forward-looking camera and / or a high-precision in-vehicle map. In particular, the leading vehicle information detection unit 10 and the slope detection unit 30 may be integrally configured.

[0047] As Figure 2 shown, the adaptive cruise control system 100 includes a control unit 40, which is communicatively connected to the leading vehicle information detection unit 10, the host vehicle information detection unit 20, and the slope detection unit 30 respectively and is configured to implement a control method for adaptive cruise of a vehicle according to the computer-readable storage medium of the present invention, so as to adjust the driving parameters of the vehicle in a targeted manner according to the slope when the leading vehicle is driving on a slope with a slope greater than the slope threshold at a speed lower than the driving speed threshold. The computer-readable storage medium includes a computer program, and when the computer program is executed by one or more processors, the processor can execute the control method of the present invention.

[0048] Exemplarily, as Figure 2 shown, the adaptive cruise control system 100 further includes an environmental information detection unit 50, which is configured to detect the environmental information of the vehicle, and the control unit 40 generates a correction factor for the acquired slope according to the environmental information. Here, the environmental information detection unit 50 exemplarily includes a weather sensor and / or a light intensity sensor.

[0049] The foregoing description of the embodiments has described the present invention only within the framework of the examples. Of course, as long as it is technically meaningful, the various features of the embodiments can be freely combined with each other without departing from the framework of the present invention.

[0050] For those skilled in the art, other advantages and alternative embodiments of the present invention will be apparent. Therefore, the present invention in its broader sense is not limited to the specific details, representative structures, and exemplary embodiments shown and described. On the contrary, those skilled in the art can make various modifications and substitutions without departing from the basic spirit and scope of the present invention.

Claims

1. A control method for adaptive cruise control of a vehicle, characterized in that, the control method at least includes the following steps: S1: In the adaptive cruise mode of the vehicle, detect whether there is a vehicle in front in the current lane; S2: If the judgment result of step S1 is yes, then automatically follow the vehicle in front and detect the driving speed of the vehicle in front of the vehicle in front; S3: When the driving speed of the vehicle in front is lower than a preset driving speed threshold, obtain the slope of the section where the vehicle in front is located; S4: When the slope is greater than a preset slope threshold, adjust the driving parameters of the vehicle according to the slope.

2. The control method according to claim 1, characterized in that, the driving parameters include at least one of the following groups: the following-distance of the vehicle relative to the vehicle in front; the self-driving speed of the vehicle; the driving torque of the vehicle.

3. The control method according to claim 2, characterized in that, when the section where the vehicle in front is located is an uphill and the slope is greater than the slope threshold, increase the self-driving speed and / or decrease the following-distance and / or increase the driving torque; and / or when the section where the vehicle in front is located is a downhill and the slope is greater than the slope threshold, decrease the self-driving speed and / or increase the following-distance and / or decrease the driving torque.

4. The control method according to any one of claims 1 to 3, characterized in that, the adjustment of the driving parameters is proportional to the slope; and / or the driving speed threshold and the slope threshold are calculated from experimental data and / or empirical data and stored in the control unit; and / or the slope of the section where the vehicle in front is located is obtained by detecting the height displacement of the vehicle in front and / or identifying the captured lane image and / or in-vehicle map information.

5. The control method according to any one of the foregoing claims, characterized in that, additionally detect environmental information in step S3, and generate a correction factor for the slope according to the environmental information.

6. The control method according to claim 5, characterized in that, the environmental information includes at least one of the following groups: weather information, light information, lane congestion condition.

7. The control method according to any one of the foregoing claims, characterized in that, the control method additionally includes the following steps: S2': implemented after step S1: If the judgment result of step S1 is no, the vehicle cruises at a preset driving speed; and / or step S3': implemented after step S2: If the driving speed of the vehicle in front is higher than the driving speed threshold, the vehicle travels at the same speed as the driving speed of the vehicle in front.

8. A computer-readable storage medium, which includes a computer program, wherein, when the computer program is executed by one or more than one processor, the processor can execute the control method according to any one of claims 1-7.

9. An adaptive cruise control system (100) for a vehicle, characterized in that, the adaptive cruise control system (100) at least includes: - A leading vehicle information detection unit (10), which is configured to detect whether there is a leading vehicle in the current lane and the driving state information of the leading vehicle; - A host vehicle information detection unit (20), which is configured to detect the driving state information of the host vehicle; - A slope detection unit (30), which is configured to detect the slope of the section where the leading vehicle is located; - A control unit (40), which is communicatively connected to the leading vehicle information detection unit (10), the host vehicle information detection unit (20), and the slope detection unit (30) respectively and is configured to implement the control method according to any one of claims 1 to 7 by using the computer-readable storage medium according to claim 8.

10. The adaptive cruise control system (100) according to claim 9, wherein, the adaptive cruise control system (100) further includes an environmental information detection unit (50) to detect the environmental information of the vehicle; and / or the slope detection unit (30) includes a lidar and / or a front view camera and / or a high-precision in-vehicle map.

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