Vehicle deceleration control method and device, electronic equipment, storage medium and product

Abstract

The invention discloses a vehicle deceleration control method and device, electronic equipment, a storage medium and a product. The method comprises the steps that under the condition that a first vehicle starts an adaptive cruise control system to advance, control information of the first vehicle is detected, and the control information of the first vehicle is used for indicating whether the first vehicle needs to be decelerated or not when tending to advance towards a target area; under the condition that the control information of the first vehicle indicates that the first vehicle decelerates, the vehicle running state of the first vehicle is determined, and the vehicle running state is used for indicating that a self-adaptive cruise control system started by the vehicle is in a vehicle following state or a cruise state; the self-adaptive cruise control system started by the first vehicle is adjusted according to the vehicle running state of the first vehicle so that deceleration control can be conducted on the first vehicle, and the modes of adopting the self-adaptive cruise control system to conduct deceleration adjustment in different vehicle running states are different. When the vehicle passes through the zebra crossing, the adaptive cruise control system is involved to perform deceleration control on the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle deceleration control method, device, electronic equipment, storage medium and product. Background Art

[0002] With the continuous advancement of automobile intelligent technology, adaptive cruise control system (ACC) has been widely used in various vehicles as a key auxiliary driving function. The current adaptive cruise control system mainly responds to pedestrians, vehicles and obstacles on the driving route during the vehicle's driving process. However, when the vehicle passes through a section of road with dense pedestrian traffic such as a zebra crossing, the speed adjustment of the adaptive cruise control system is insufficient, causing the vehicle to maintain a high cruising speed when passing through a section of road with dense pedestrian traffic such as a zebra crossing, posing a potential threat to pedestrian safety; or the driver has to intervene manually, cancel the adaptive cruise control system function and reduce the speed by himself, which undoubtedly increases the driver's operating burden. Summary of the invention

[0003] The embodiments of the present invention provide a vehicle deceleration control method, device, electronic device, storage medium and product to intervene in an adaptive cruise control system to decelerate the vehicle when the vehicle passes through a road section with dense pedestrian traffic such as a zebra crossing, thereby solving the problem of being unable to decelerate or having to brake suddenly when using an adaptive cruise control system.

[0004] According to one aspect of the present invention, a vehicle deceleration control method is provided, the method comprising:

[0005] When a first vehicle is traveling with an adaptive cruise control system enabled, detecting control information of the first vehicle, the control information of the first vehicle being used to indicate whether the first vehicle needs to decelerate when traveling toward a target area;

[0006] In a case where the control information of the first vehicle indicates that the first vehicle is to decelerate, determining a vehicle operating state of the first vehicle, the vehicle operating state being used to indicate that an adaptive cruise control system enabled by the vehicle is in a following state or a cruising state;

[0007] According to the vehicle operating state of the first vehicle, an adaptive cruise control system enabled by the first vehicle is adjusted to perform deceleration control on the first vehicle, and the manner of deceleration adjustment using the adaptive cruise control system is different under different vehicle operating states.

[0008] According to another aspect of the present invention, there is provided a vehicle deceleration control device, characterized in that the device comprises:

[0009] A detection module, configured to detect control information of a first vehicle when the first vehicle enables an adaptive cruise control system to travel, where the control information of the first vehicle is used to indicate whether the first vehicle needs to decelerate when traveling towards a target area;

[0010] A determination module, configured to determine a vehicle operation state of the first vehicle when the control information of the first vehicle indicates that the first vehicle decelerates, where the vehicle operation state is used to indicate whether the enabled adaptive cruise control system of the vehicle is in a following state or a cruise state;

[0011] An adjustment module, configured to adjust the enabled adaptive cruise control system of the first vehicle according to the vehicle operation state of the first vehicle, so as to perform deceleration control on the first vehicle, and the deceleration adjustment methods using the adaptive cruise control system are different under different vehicle operation states.

[0012] According to another aspect of the present invention, there is provided an electronic device, including:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the vehicle deceleration control method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle deceleration control method according to any embodiment of the present invention when executed.

[0017] According to another aspect of the present invention, there is provided a computer program product including a computer program which, when executed by a processor, implements the vehicle deceleration control method according to any embodiment of the present invention.

[0018] In the technical solution of the embodiment of the present invention, when the first vehicle enables the adaptive cruise control system to travel, by detecting in real time whether the first vehicle needs to decelerate when approaching the target area, the potential risks when the first vehicle approaches the target area can be sensed in advance, and it can be judged in time whether deceleration measures need to be taken. And when deceleration is required, it will be determined in time whether the adaptive cruise control system enabled by the first vehicle is in the following vehicle state or the cruise state, and different deceleration adjustment methods of the adaptive cruise control system are adopted according to different vehicle operating states, making the deceleration process more in line with the actual driving scenario and requirements. Thus, by intervening in the adaptive cruise control system, it is ensured that the deceleration of the first vehicle can better adapt to different driving conditions. Especially under different vehicle operating states, the driving characteristics and safety requirements of the vehicle are different. Adopting a differentiated deceleration adjustment method can give full play to the performance of the adaptive cruise control system, improve the reliability and stability of the adaptive cruise control system, and ensure that the adaptive cruise control system can effectively control the deceleration of the vehicle in various situations.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used 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

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a flowchart of a vehicle deceleration control method provided according to an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of a vehicle deceleration control scenario applicable to an embodiment of the present invention;

[0023] Figure 3 is a flowchart of another vehicle deceleration control method provided according to an embodiment of the present invention;

[0024] Figure 4 is a flowchart of yet another vehicle deceleration control method provided according to an embodiment of the present invention;

[0025] Figure 5 is a schematic structural diagram of a vehicle deceleration control device provided according to an embodiment of the present invention;

[0026] Figure 6It is a schematic structural diagram of an electronic device for implementing the vehicle deceleration control method according to an embodiment of the present invention. Detailed implementation manners

[0027] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily need to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] Figure 1 It is a schematic flowchart of a vehicle deceleration control method provided by an embodiment of the present invention. This embodiment is applicable to the situation where the vehicle can implement vehicle deceleration control in a timely manner according to the operating conditions of the vehicle when the vehicle enables the adaptive cruise control system for control and travel. The vehicle deceleration control method can be executed by a vehicle deceleration control device, which can be implemented in the form of hardware and / or software, and the vehicle deceleration control device can be configured in any electronic device with network communication functions.

[0030] As Figure 1 shown, the vehicle deceleration control method of this embodiment includes the following processes:

[0031] S110. When a first vehicle enables the adaptive cruise control system to travel, detect the control information of the first vehicle, where the control information of the first vehicle is used to indicate whether the first vehicle needs to decelerate when traveling towards a target area.

[0032] The Adaptive Cruise Control System, also known as ACC (Adaptive Cruise Control), belongs to a Level 2 intelligent driving system for vehicles. By detecting information such as the relative speed, distance, azimuth, and angle between vehicles through radar or cameras, it adaptively controls and adjusts the driving speed of the vehicle to maintain a safe driving distance between the two vehicles. Adaptive cruise control can make the driving process easier, and while improving driving safety, it also enhances driving efficiency and comfort.

[0033] During the driving process of the first vehicle, the pre-configured Adaptive Cruise Control System on the first vehicle can be enabled, and under the control of the Adaptive Cruise Control System, the driving speed of the first vehicle during the driving process can be continuously adjusted. The target area can be a preset type of road traffic facility area that the first vehicle needs to pass through during the driving process. For example, the target area can be a zebra crossing at a road intersection (especially a pedestrian zebra crossing at an intersection with / without traffic lights), a school area, a construction section area, a safety island area, a bus lane, etc.

[0034] At least one sensor can be pre-mounted on the first vehicle. For example, the sensor can include but is not limited to: millimeter-wave radar, lidar, camera, etc. The first vehicle can use the sensors mounted on itself to continuously sense the environmental information around the first vehicle, including the distance from the vehicle in front, the relative speed, and the road conditions, etc. The sensors on the first vehicle will determine whether the first vehicle tends to move towards the target area along the driving direction and judge whether the first vehicle needs to decelerate when moving towards the target area.

[0035] As an optional but non-limiting implementation solution, detecting the control information of the first vehicle includes but is not limited to the following steps:

[0036] In the case where a target area is identified in front of the first vehicle during driving, detect the first attribute information of the first vehicle. The first attribute information is used to indicate the number of target objects in the target area, the relative distance between the first vehicle and the target area, and the relative distance between the first vehicle and the target objects in the target area; determine the control information of the first vehicle according to the first attribute information.

[0037] Optionally, the first vehicle can be equipped with the ability to identify a target area, which is achieved by relying on sensors (such as cameras, radars, etc.) installed on the first vehicle and related target detection algorithms. Identifying whether there is a target area in front of the first vehicle during travel includes at least one of the following: obtaining an image in front of the first vehicle during travel collected by the camera on the first vehicle, and detecting whether there are specific signs, markings, or scene features related to the target area (such as warning signs in a school area, traffic lights at an intersection, etc.) in front of the lane of the first vehicle through image recognition technology, so as to determine whether there is a target area in front of the first vehicle during travel; detecting the reflection signal of the object in front of the first vehicle through the radar carried on the first vehicle to determine whether there is a target area in front of the first vehicle during travel.

[0038] The target objects in the target area can be pedestrians, non-motor vehicles, etc. that are traveling in the target area when the first vehicle tends to travel towards the target area. Through the image analysis technology of the camera, the number of target objects in the target area can be identified and counted. For example, in the pedestrian crosswalk area with / without traffic lights, the camera can identify the number of target objects such as pedestrians and non-motor vehicles. For some complex scenarios, it may be necessary to combine the data of other sensors such as radars to more accurately count the number of target objects.

[0039] The relative distance between the first vehicle and the target area can be described by the distance between the first vehicle and the boundary of the target area measured by at least one sensor (such as millimeter-wave radar, lidar) carried on the first vehicle. For example, when the first vehicle approaches the target area of an intersection, the radar on the first vehicle can real-time feedback the distance between the first vehicle and the target area of the intersection in the direction of the driving lane where the first vehicle is located. The relative distance between the first vehicle and the target objects in the target area can be the relative distance between the first vehicle and each target object in the target area measured by at least one sensor carried on the first vehicle in addition to the distance from the overall target area.

[0040] Optionally, the more the number of target objects in the target area, the greater the possibility that the control information of the first vehicle is used to indicate that the first vehicle needs to decelerate when tending to travel towards the target area; the fewer the number of target objects in the target area, the smaller the possibility that the control information of the first vehicle is used to indicate that the first vehicle needs to decelerate when tending to travel towards the target area.

[0041] Optionally, the greater the relative distance between the first vehicle and the target area, the smaller the possibility that the control information of the first vehicle is used to indicate that the first vehicle needs to decelerate when tending to travel towards the target area; the smaller the relative distance between the first vehicle and the target area, the greater the possibility that the control information of the first vehicle is used to indicate that the first vehicle needs to decelerate when tending to travel towards the target area.

[0042] Optionally, the greater the relative distance between the first vehicle and the target object within the target area, the less likely it is that the control information of the first vehicle indicates that the first vehicle needs to slow down when moving toward the target area; the smaller the relative distance between the first vehicle and the target object within the target area, the more likely it is that the control information of the first vehicle indicates that the first vehicle needs to slow down when moving toward the target area.

[0043] If there are a large number of target objects in the target area, and the relative distance between the first vehicle and the target area is relatively close, and the relative distance between the first vehicle and the target objects in the target area is also relatively small, the control information of the first vehicle will be determined to require the first vehicle to significantly slow down or even stop to ensure that the first vehicle can safely pass through the target area. On the contrary, if there are a small number of target objects in the target area, and the relative distance between the first vehicle and the target area and the target objects is relatively large, it will be determined that the first vehicle can maintain the current speed or continue to travel after appropriately slowing down. The control information of the first vehicle may include speed control instructions for the first vehicle (such as acceleration, deceleration, and maintaining speed), brake instructions, lighting instructions, etc., so that the adaptive cruise control system can be intervened according to the control information of the first vehicle to achieve deceleration adjustment of the first vehicle.

[0044] Alternatively, see Figure 2 The first attribute information of the first vehicle includes at least one of the following information: the number of target objects, the first distance, the second distance and the third distance. The number of target objects is the number of target objects in the target area when the first vehicle is moving toward the target area. The first distance is the distance between the first vehicle and the target area in the first direction. The second distance is the distance between the first vehicle and the target objects in the target area in the first direction. The third distance is the distance between the first vehicle and the target objects in the target area in the second direction. The first direction is the moving direction of the first vehicle, and the second direction is perpendicular to the moving direction of the first vehicle.

[0045] As an optional but non-limiting implementation scheme, determining the control information of the first vehicle according to the first attribute information includes but is not limited to the following steps:

[0046] When the first vehicle attribute information satisfies the preset travel conditions, it is determined that the first vehicle needs to slow down when traveling toward the target area, and the preset travel conditions include at least one of the following: the number of target objects is not zero, the first distance and the second distance are less than the first preset value, and the third distance is less than the second preset value.

[0047] See also Figure 2, the camera mounted on the first vehicle can identify whether there is a target area in front of the first vehicle's travel direction. At the same time, the first vehicle can also detect the first distance Lz between the first vehicle and the target area in the first vehicle's travel direction, the number of target objects in the target area when the first vehicle is moving towards the target area, the second distance Lpn between each target object and the first vehicle in the first vehicle's travel direction, and the third distance Rpn between each target object and the first vehicle in the direction perpendicular to the first vehicle's travel direction. Judgments are made on the number of target objects, the first distance, the second distance, and the third distance. If at least one of the following conditions is met, it is considered that the first vehicle needs to decelerate when moving towards the target area: the number of target objects in the target area is n and n>0, the difference |Lzp| = Lz - Lp between the first distance Lz and the second distance Lp is less than the first preset value a, and the third distance Rpn is less than the second preset value b.

[0048] S120. When the control information of the first vehicle indicates that the first vehicle needs to decelerate, determine the vehicle running state of the first vehicle, where the vehicle running state is used to indicate whether the enabled adaptive cruise control system of the vehicle is in a following state or a cruising state.

[0049] The vehicle running state of the first vehicle can be the working state of the enabled adaptive cruise control system of the first vehicle, including the cruising state and the following state. That is to say, the enabled adaptive cruise control system of the first vehicle can automatically adjust the vehicle speed according to the traffic conditions in front of the vehicle in these working states to maintain a safe vehicle distance or drive at a set speed.

[0050] The cruising state of the enabled adaptive cruise control system of the first vehicle can refer to the state where the first vehicle maintains a constant speed according to the set target vehicle speed under the control of the adaptive cruise control system. The following state of the enabled adaptive cruise control system of the first vehicle can refer to the state where when the adaptive cruise control system detects a second vehicle in the same lane in front of the first vehicle's travel direction, it automatically controls the first vehicle to decelerate, maintains a set safe distance from the vehicle in front, and accelerates or decelerates accordingly with the speed change of the second vehicle in front.

[0051] When the enabled adaptive cruise control system of the first vehicle is in the following state, the first vehicle will continuously detect the driving situation of the second vehicle in front. Through the sensors on the first vehicle, it continuously detects the distance and relative speed between the first vehicle and the second vehicle in front. The enabled adaptive cruise control system of the first vehicle will automatically adjust the speed of the first vehicle according to the distance and relative speed between the first vehicle and the second vehicle in front, so that the first vehicle maintains a set safe following distance from the second vehicle in front.

[0052] When the adaptive cruise control system enabled in the first vehicle is in the cruise state, the adaptive cruise control system will control the first vehicle to maintain a driving speed as close as possible to the set target speed. At this time, if there are no other vehicles in front of the first vehicle or the distance from the vehicle in front of the first vehicle is relatively far, the first vehicle will move forward at a constant speed at the set target speed.

[0053] S130. Adjust the adaptive cruise control system enabled in the first vehicle according to the vehicle running state of the first vehicle to perform deceleration control on the first vehicle. The deceleration adjustment methods using the adaptive cruise control system in different vehicle running states are different.

[0054] The running state of the first vehicle can be the state of the adaptive cruise control system enabled in the first vehicle, that is, the following state or the cruise state. In an optional example, if there is a second vehicle in front of the first vehicle and the adaptive cruise control system is adjusting the vehicle speed according to the distance from the second vehicle in front of the first vehicle, then the first vehicle is in the following state; if there is no vehicle in front of the first vehicle and the first vehicle is driving at the set cruise speed, then the first vehicle is in the cruise state. At the same time, the vehicle speed sensor and the steering sensor on the first vehicle can also assist in determining the vehicle running state of the first vehicle, such as whether the vehicle is turning, accelerating or decelerating, etc.

[0055] When the adaptive cruise control system is in the following state, it mainly adjusts around the target following time interval between the first vehicle and the second vehicle in front of it, with the core goal of maintaining a safe time interval. Therefore, when the adaptive cruise control system enabled in the first vehicle is in the following state, the deceleration control of the first vehicle can be achieved by intervening to adjust the target following time interval in the adaptive cruise control system enabled in the first vehicle, without the need to change the working state of the adaptive cruise control system enabled in the first vehicle.

[0056] When the adaptive cruise control system is in the cruise state, it mainly adjusts around the target speed of the first vehicle during driving, with the core goal of maintaining a constant speed at the set target speed. Therefore, when the adaptive cruise control system enabled in the first vehicle is in the cruise state, the deceleration control of the first vehicle can be achieved by intervening to adjust the target speed in the adaptive cruise control system enabled in the first vehicle, without the need to change the working state of the adaptive cruise control system enabled in the first vehicle.

[0057] In various complex road scenarios, by precisely adjusting the deceleration strategy for the adaptive cruise control system according to different operating states, the collision risk is significantly reduced. The differential deceleration adjustments in different vehicle operating states effectively avoid the jerks and discomfort caused by sudden braking. By quickly intervening in the adaptive cruise control system, smooth speed following during vehicle following and reasonable deceleration transitions during cruising are achieved to realize the deceleration control of the vehicle.

[0058] In the technical solution of the embodiment of the present invention, when the first vehicle enables the adaptive cruise control system to travel, by detecting in real time whether the first vehicle needs to decelerate when approaching the target area, the potential risk when the first vehicle approaches the target area can be sensed in advance, and it can be timely determined whether deceleration measures need to be taken. And when deceleration is required, it will be timely determined whether the adaptive cruise control system enabled by the first vehicle is in the vehicle following state or the cruising state, and different deceleration adjustment methods of the adaptive cruise control system are adopted according to different vehicle operating states, making the deceleration process more in line with the actual driving scenarios and requirements. Thus, by intervening in the adaptive cruise control system, it is ensured that the deceleration of the first vehicle can better adapt to different driving conditions. Especially in different vehicle operating states, the driving characteristics and safety requirements of the vehicle are different. Adopting differential deceleration adjustment methods can give full play to the performance of the adaptive cruise control system, improve the reliability and stability of the adaptive cruise control system, and ensure that the adaptive cruise control system can effectively control the deceleration of the vehicle in various situations.

[0059] Figure 3 It is a flowchart of another vehicle deceleration control method provided by the embodiment of the present invention. This embodiment is further optimized on the basis of the above embodiment, including but not limited to further optimizing the process of determining the vehicle operating state of the first vehicle. This embodiment can be combined with each optional solution in one or more of the above embodiments.

[0060] As Figure 3 shown, the vehicle deceleration control method of the embodiment of the present invention may include the following process:

[0061] S310. When the first vehicle enables the adaptive cruise control system to travel, detect the control information of the first vehicle, where the control information of the first vehicle is used to indicate whether the first vehicle needs to decelerate when approaching the target area.

[0062] S320. When the control information of the first vehicle indicates that the first vehicle decelerates, detect second attribute information of the first vehicle. The second attribute information is used to indicate whether there is a second vehicle in the lane where the first vehicle is located, a first distance, and a fourth distance. The second vehicle is the following target of the first vehicle recognized by the adaptive cruise control system adopted by the first vehicle. The first distance is the distance between the first vehicle and the target area in the first direction. The fourth distance is the distance between the first vehicle and the second vehicle in the first direction. The first direction is the traveling direction of the first vehicle.

[0063] The second vehicle may be a specific vehicle located in front of the first vehicle in the lane where the first vehicle is located and used as the following reference of the first vehicle by the adaptive cruise control system adopted by the first vehicle. Optionally, analyze the image in front of the first vehicle in the lane where the first vehicle is located through a camera on the first vehicle, identify features such as the outline and shape of the vehicle, and combine the distance information provided by the millimeter-wave radar to determine whether there is a second vehicle in front of the first vehicle and in the same lane.

[0064] The first distance may be the distance between the first vehicle and the target area in the first direction (i.e., the traveling direction of the first vehicle). The navigation system of the first vehicle can determine the geographical location of the target area, and the sensors on the first vehicle (such as millimeter-wave radar or lidar) can measure the distance between the first vehicle and the objects in the surrounding environment in the traveling direction (including the markers related to the target area, such as intersection signs, landmarks at specific locations, etc.). Through calculation and analysis, the accurate distance between the first vehicle and the target area in the traveling direction of the first vehicle is obtained. The fourth distance may be the distance between the first vehicle and the second vehicle in the first direction. The first vehicle emits millimeter-wave signals through the millimeter-wave radar and receives the reflected signals, and accurately calculates the distance between the first vehicle and the second vehicle through the time difference of the signal round-trip.

[0065] S330. Determine the vehicle operation state of the first vehicle according to the second attribute information. The vehicle operation state is used to indicate whether the adaptive cruise control system enabled by the vehicle is in the following state or the cruise state.

[0066] Optionally, if it is detected according to the second attribute information that there is no second vehicle in the lane where the first vehicle is located, it means that there is no following target directly affecting the driving speed in front of the first vehicle. At this time, it is determined that the adaptive cruise control system enabled by the first vehicle is in the cruise state. If there is a second vehicle, but the fourth distance is greater than the first distance, it means that the second vehicle in front is far away, and the influence on the current driving speed of the first vehicle can be ignored. The vehicle can still travel at the set speed, so it is also determined to be in the cruise state. When it is detected that there is a second vehicle in the lane where the first vehicle is located and the fourth distance is not greater than the first distance, it indicates that the second vehicle has entered the range affecting the driving speed of the first vehicle. The vehicle needs to adjust its own speed according to the speed and distance changes of the vehicle in front to maintain a safe distance. Therefore, it is determined that the adaptive cruise control system enabled by the first vehicle is in the following state.

[0067] As an optional but non-limiting implementation solution, refer to Figure 2 , to determine the vehicle operation state of the first vehicle according to the second attribute information, including but not limited to the following steps:

[0068] When it is detected that there is no second vehicle in the lane where the first vehicle is located, it is determined that the adaptive cruise control system adopted by the first vehicle is in the cruise state; when it is detected that there is a second vehicle in the lane where the first vehicle is located, the fourth distance between the first vehicle and the second vehicle is detected; when the fourth distance is greater than the first distance, it is determined that the adaptive cruise control system adopted by the first vehicle is in the cruise state; when the fourth distance is not greater than the first distance, it is determined that the adaptive cruise control system adopted by the first vehicle is in the following state.

[0069] , when it is detected that there is no second vehicle in the lane where the first vehicle is located, it means that there is no second vehicle identified as a following target in front of the first vehicle. In this case, it is determined that the adaptive cruise control system adopted by the first vehicle is in the cruise state. Since there is no vehicle in front to follow, the first vehicle can travel at the speed set by the driver, which conforms to the characteristic that the vehicle travels steadily at the set speed in the cruise state and is not affected by the vehicle in front at a short distance.

[0070] If a second vehicle is detected in the lane where the first vehicle is located, more information needs to be further obtained to accurately determine the vehicle running state. Specifically, the fourth distance between the first vehicle and the second vehicle is detected. By measuring the fourth distance, the proximity of the second vehicle to the first vehicle in terms of distance can be understood. After obtaining the fourth distance, the fourth distance is compared with the first distance. When the fourth distance is greater than the first distance, it indicates that although there is a second vehicle ahead, the second vehicle is far from the first vehicle and does not directly affect the current driving speed and driving mode of the first vehicle. Therefore, it is determined that the adaptive cruise control system adopted by the first vehicle is in the cruise state. When the fourth distance is not greater than the first distance, it means that the second vehicle is close to the first vehicle and has entered the range that may affect the driving of the first vehicle. In this case, the first vehicle needs to adjust its own speed according to the speed and distance changes of the vehicle ahead to maintain a safe distance. Therefore, it is determined that the adaptive cruise control system adopted by the first vehicle is in the following vehicle state.

[0071] S340. Adjust the adaptive cruise control system enabled by the first vehicle according to the vehicle running state of the first vehicle to perform deceleration control on the first vehicle. The deceleration adjustment methods using the adaptive cruise control system are different under different vehicle running states.

[0072] The technical solution of the embodiment of the present invention, when the first vehicle enables the adaptive cruise control system to move forward, by detecting in real time whether the first vehicle needs to decelerate when moving towards the target area, can perceive in advance the potential risks when the first vehicle approaches the target area, timely judge whether deceleration measures need to be taken, and when deceleration is required, will timely determine whether the adaptive cruise control system enabled by the first vehicle is in the following vehicle state or the cruise state, and adopt different deceleration adjustment methods of the adaptive cruise control system according to different vehicle running states, making the deceleration process more in line with the actual driving scenarios and requirements, so as to ensure that the deceleration of the first vehicle can better adapt to different driving conditions by intervening in the adaptive cruise control system. Especially under different vehicle running states, the driving characteristics and safety requirements of the vehicle are different. Adopting different deceleration adjustment methods can give full play to the performance of the adaptive cruise control system, improve the reliability and stability of the adaptive cruise control system, and ensure that the adaptive cruise control system can effectively perform deceleration control on the vehicle in various situations.

[0073] Figure 4 It is a flowchart of another vehicle deceleration control method provided by the embodiment of the present invention. This embodiment is further optimized on the basis of the above embodiment, including but not limited to further optimizing the process of adjusting the adaptive cruise control system enabled by the first vehicle according to the vehicle running state of the first vehicle. This embodiment can be combined with each optional solution in one or more of the above embodiments.

[0074] As Figure 4 shown, the vehicle deceleration control method according to the embodiment of the present invention may include the following processes:

[0075] S410. When the first vehicle enables the adaptive cruise control system to travel, detect the control information of the first vehicle, where the control information of the first vehicle is used to indicate whether the first vehicle needs to decelerate when approaching the target area.

[0076] S420. When the control information of the first vehicle indicates that the first vehicle decelerates, determine the vehicle running state of the first vehicle, where the vehicle running state is used to indicate whether the enabled adaptive cruise control system of the vehicle is in a following state or a cruising state.

[0077] S430. According to the vehicle running state of the first vehicle, determine a plurality of reference deceleration factors. The deceleration factors relied on when adjusting deceleration using the adaptive cruise control system are different under different vehicle running states. The deceleration factor is a parameter type in the adaptive cruise control system enabled by the first vehicle for controlling the degree of vehicle deceleration.

[0078] In the adaptive cruise control system, the deceleration factor is a parameter or factor for controlling the degree of vehicle deceleration. When it is necessary to perform deceleration control on the first vehicle through the adaptive cruise control system, the deceleration factor is used to determine how much deceleration should be taken to control the deceleration of the first vehicle. The deceleration factor can be a proportionality coefficient or an adjustment parameter for precisely controlling the intensity and rate of the vehicle deceleration process. In the adaptive cruise control system, according to the information such as the distance between the vehicle and the vehicle in front and the relative speed monitored in real time, it is determined how much deceleration the vehicle should take for braking, so that the vehicle decelerates safely and smoothly, avoiding discomfort caused by sudden braking or the risk of rear-end collision.

[0079] Determine a plurality of reference deceleration factors according to the vehicle running state of the first vehicle (which may be that the enabled adaptive cruise control system of the first vehicle is in a following state or a cruising state, etc.). Different vehicle running states correspond to different deceleration logics and requirements, so the relied-on deceleration factors are also different. The deceleration factor is a parameter type in the adaptive cruise control system for controlling the degree of vehicle deceleration. For example, in the following state, the reference deceleration factors may include the distance difference from the vehicle in front, the relative speed change rate, etc.; in the cruising state, the reference deceleration factors may include the distance from the target area, the preset safe speed threshold, etc.

[0080] By reasonably setting the deceleration factor, the adaptive cruise control system can achieve smooth and safe deceleration control of the first vehicle, enabling the first vehicle to travel at an appropriate speed or maintain an appropriate safe distance from the vehicle ahead, avoiding discomfort caused by sudden braking or rear-end collisions by following vehicles, etc. At the same time, it can also improve road traffic efficiency. Different adaptive cruise control systems can have different deceleration factor calculation methods and value ranges.

[0081] S440. Adjust the adaptive cruise control system enabled by the first vehicle according to the values of several reference deceleration factors to perform deceleration control on the first vehicle. The deceleration adjustment methods using the adaptive cruise control system are different under different vehicle operating states.

[0082] After determining several reference deceleration factors to be used, the specific values of the several reference deceleration factors will be obtained. The values of the several reference deceleration factors reflect the specific information of the driving environment and state of the first vehicle from the dimensions of the several reference deceleration factors. Furthermore, the adaptive cruise control system enabled by the first vehicle is adjusted according to the values of the several reference deceleration factors. Since the deceleration adjustment methods using the adaptive cruise control system are different under different vehicle operating states, the vehicle will be precisely decelerated according to the deceleration method corresponding to the current vehicle operating state, combined with the values of the reference deceleration factors.

[0083] By determining different reference deceleration factors according to different vehicle operating states and making precise adjustments based on their values, precise control of the vehicle deceleration degree can be achieved. Whether avoiding rear-end collisions when following a vehicle or safely approaching the target area during cruising, the vehicle speed can be reasonably adjusted according to the actual situation, improving the control accuracy and effect of the adaptive cruise control system and enabling it to adapt to the deceleration requirements of the vehicle under different operating states. Whether in a following-vehicle scenario with heavy traffic or a relatively free cruising scenario, appropriate deceleration factors and deceleration methods can be selected according to the corresponding state, making the adaptive cruise control system more versatile and adaptable.

[0084] As an optional but non-limiting implementation solution, several reference deceleration factors are determined according to the vehicle operating state of the first vehicle, including but not limited to the following steps:

[0085] When the vehicle operating state of the first vehicle is in the cruising state, the deceleration factors related to the target speed in the adaptive cruise control system are determined as several reference deceleration factors, and the target speed is the vehicle driving speed set by the adaptive cruise control system.

[0086] Correspondingly, adjusting the adaptive cruise control system enabled by the first vehicle according to the values of several reference deceleration factors includes the following steps:

[0087] Adjust the target speed in the adaptive cruise control system enabled for the first vehicle according to the values of several reference deceleration factors.

[0088] In the adaptive cruise control system, the target speed can refer to the desired driving speed of the vehicle set for the first vehicle. Ideally, the first vehicle will travel at a constant speed at the target speed. When there is a vehicle or other obstacle ahead, the vehicle speed will be automatically adjusted to be lower than the cruise speed; when the road conditions permit, the vehicle will gradually resume traveling at the cruise speed. The operation methods for setting the target speed for the first vehicle of different models vary slightly, but generally can be set through specific buttons on the steering wheel or the cruise control lever.

[0089] When the vehicle running state of the first vehicle is in the cruise state, the deceleration factors used to determine the target speed in the adaptive cruise control system can include at least one of the following: the deceleration factor α1 determined based on the number of target objects in the target area (α1 = k1 * n), the deceleration factor α2 determined according to the distance L between the first vehicle and the target area in the traveling direction of the first vehicle (α2 = k2 * L), the deceleration factor α3 determined according to the maximum lateral movement speed vr of all target objects in the target area (α3 = k3 * vr), and the deceleration factor α4 determined according to the average displacement lm of all target objects in the target area along the direction perpendicular to the traveling direction of the first vehicle (α4 = k4 * lm), where k1, k2, k3, and k4 are the adjustment coefficients of the deceleration factors.

[0090] If it is necessary to enable the adaptive cruise control system of the first vehicle to control the first vehicle to decelerate and the adaptive cruise control system of the first vehicle is in the cruise state, then it is necessary to adjust the target speed vtar in the adaptive cruise control system enabled for the first vehicle. The calculation method of the target speed vtar can be implemented by the following formula: vtar = max(vset * α, vtarmin), where α is the deceleration factor, α = α1 * α2 * α3 * α4, and α1, α2, α3, and α4 are all ∈(0, 1), vset is the target vehicle speed originally set in the adaptive cruise control system enabled for the first vehicle, and vtarmin is the minimum cruise target speed of the adaptive cruise control system enabled for the first vehicle. Among them, α1 is the deceleration factor determined based on the number of target objects in the target area, α1 = k1 * n; α2 is the deceleration factor determined according to the distance L between the first vehicle and the target area in the traveling direction of the first vehicle, α2 = k2 * l; α3 is the deceleration factor determined according to the maximum lateral movement speed vr of all target objects in the target area, α3 = k3 * vr, and α4 is the deceleration factor determined according to the average displacement lm of all target objects in the target area along the direction perpendicular to the traveling direction of the first vehicle, α4 = k4 * lm.

[0091] As another alternative but non-limiting implementation, according to the vehicle operating state of the first vehicle, a number of reference deceleration factors are determined, including but not limited to the following steps:

[0092] When the vehicle operating state of the first vehicle is in a following state, the deceleration factor related to determining the target following time interval in the adaptive cruise control system is determined as a number of reference deceleration factors, and the target following time interval is the safe time interval that the adaptive cruise control system sets to maintain between the first vehicle and the second vehicle.

[0093] Accordingly, according to the values of the number of reference deceleration factors, the adaptive cruise control system enabled by the first vehicle is adjusted, including the following steps:

[0094] According to the values of the number of reference deceleration factors, the target following time interval in the adaptive cruise control system enabled by the first vehicle is adjusted.

[0095] In the adaptive cruise control system, the target following time interval may refer to the time interval between the first vehicle and the second vehicle in front of the first vehicle's traveling direction, which is used to ensure that the first vehicle maintains a safe distance from the vehicle in front during driving. The target following time interval refers to the safe time interval that the adaptive cruise control system automatically regulates to maintain between the first vehicle and the second vehicle in front of the first vehicle's traveling direction. This parameter ensures that under various road conditions, the first vehicle and the second vehicle in front of the first vehicle always maintain a safe distance and avoid collision accidents such as rear-end collisions. The target following time interval is affected by factors such as vehicle speed, road conditions, and weather. The higher the vehicle speed, the longer the following time interval required to ensure safety; in bad weather conditions such as rainy days and foggy days, the following time interval should also be appropriately increased.

[0096] When the vehicle operating state of the first vehicle is in a following state, the deceleration factors related to determining the target following time interval in the adaptive cruise control system include at least one of the following: the deceleration factor β1 determined based on the number of target objects in the target area (β1 = k5 * n), the deceleration factor β2 determined according to the distance L between the first vehicle and the target area in the traveling direction of the first vehicle (β2 = k6 * L), the deceleration factor β3 determined according to the maximum lateral movement speed vr of all target objects in the target area (β3 = k7 * vr), the deceleration factor β4 determined based on the average displacement lm of all target objects in the target area along the direction perpendicular to the traveling direction of the first vehicle (β4 = k8 * lm), and the deceleration factor β5 determined according to the vehicle speed vego of the first vehicle (β5 = k9 * vego), where k5, k6, k7, k8, and k9 are adjustment coefficients of the deceleration factors.

[0097] If it is necessary for the first vehicle to enable the adaptive cruise control system to control the first vehicle to decelerate, and the speed of the first vehicle is greater than the target speed vtar and the first vehicle enables the adaptive cruise control system and is in a following state, then it is necessary to adjust the target following time ttar. The calculation method of the target following time ttar is as follows: ttar = min(tgap * β, ttarmxax), where β is the deceleration factor, β = β1 * β2 * β3 * β4 * β5, where β1, β2, β3, β4, and β5 are all ∈ (1, 3), tgap is the target following time set by the adaptive cruise control system, and ttarmxax is the maximum following time of the adaptive cruise control system. β1 is the deceleration factor determined based on the number of target objects in the target area, β1 = k5 * n, β2 is the deceleration factor determined according to the distance L between the first vehicle and the target area in the traveling direction of the first vehicle, β2 = k6 * l, β3 is the deceleration factor determined according to the maximum lateral movement speed vr of all target objects in the target area, β3 = k7 * vr, β4 is the deceleration factor determined according to the average displacement lm of all target objects in the target area along the direction perpendicular to the traveling direction of the first vehicle, β4 = k8 * lm, and β5 is determined by the vehicle speed veg of the first vehicle, β5 = k9 * veg.

[0098] As an optional but non-limiting implementation solution, after adjusting the adaptive cruise control system enabled by the first vehicle according to the vehicle operating state of the first vehicle, the following steps are further included:

[0099] In the case where the control information of the first vehicle indicates that the first vehicle does not need to decelerate, the target speed or the target following time in the adaptive cruise control system enabled by the first vehicle is restored, so that the first vehicle resumes speed and continues to travel.

[0100] In the technical solution of the embodiment of the present invention, when the first vehicle enables the adaptive cruise control system to travel, by detecting in real time whether the first vehicle needs to decelerate when approaching the target area, the potential risk when the first vehicle approaches the target area can be sensed in advance, and it can be timely determined whether deceleration measures need to be taken. And when deceleration is required, it will be timely determined whether the adaptive cruise control system enabled by the first vehicle is in a following state or a cruising state, and different deceleration adjustment methods of the adaptive cruise control system are adopted according to different vehicle operating states, making the deceleration process more in line with the actual driving scenario and requirements. Thus, by intervening in the adaptive cruise control system, it is ensured that the deceleration of the first vehicle can better adapt to different driving conditions. Especially under different vehicle operating states, the driving characteristics and safety requirements of the vehicle are different. Adopting a differentiated deceleration adjustment method can give full play to the performance of the adaptive cruise control system, improve the reliability and stability of the adaptive cruise control system, and ensure that the adaptive cruise control system can effectively control the deceleration of the vehicle in various situations, realizing speed deceleration control by adjusting the target vehicle speed in the cruising state or the target following distance in the following state of the adaptive cruise control system, and passing through the target area such as the zebra crossing at a safer vehicle speed.

[0101] Figure 5 FIG. is a schematic structural diagram of a vehicle deceleration control device provided by an embodiment of the present invention. This embodiment is applicable to the situation where the vehicle can realize vehicle deceleration control by the adaptive cruise control system in a timely manner according to the vehicle operating conditions when the vehicle enables the adaptive cruise control system to control the travel. The vehicle deceleration control device can be implemented in the form of hardware and / or software, and the vehicle deceleration control device can be configured in any electronic device with network communication function.

[0102] As Figure 5 shown, the vehicle deceleration control device of this embodiment includes the following:

[0103] A detection module 510, configured to detect the control information of the first vehicle when the first vehicle enables the adaptive cruise control system to travel, where the control information of the first vehicle is used to indicate whether the first vehicle needs to decelerate when approaching the target area;

[0104] A determination module 520, configured to determine the vehicle operating state of the first vehicle when the control information of the first vehicle indicates that the first vehicle decelerates, where the vehicle operating state is used to indicate whether the adaptive cruise control system enabled by the vehicle is in a following state or a cruising state;

[0105] An adjustment module 530 is configured to adjust the adaptive cruise control system enabled by the first vehicle according to the vehicle operating state of the first vehicle, so as to perform deceleration control on the first vehicle, and the deceleration adjustment methods using the adaptive cruise control system are different under different vehicle operating states.

[0106] Based on the above embodiments, optionally, detecting the control information of the first vehicle includes:

[0107] When it is recognized that there is a target area in front of the traveling direction of the first vehicle, detecting the first attribute information of the first vehicle, where the first attribute information is used to indicate the number of target objects in the target area, the relative distance between the first vehicle and the target area, and the relative distance between the first vehicle and the target objects in the target area;

[0108] Determine the control information of the first vehicle according to the first attribute information.

[0109] Based on the above embodiments, optionally, the first attribute information of the first vehicle includes at least one of the following information: the number of target objects, the first distance, the second distance, and the third distance. The number of target objects is the number of target objects in the target area when the first vehicle is approaching the target area. The first distance is the distance between the first vehicle and the target area in the first direction. The second distance is the distance between the first vehicle and the target objects in the target area in the first direction. The third distance is the distance between the first vehicle and the target objects in the target area in the second direction. The first direction is the traveling direction of the first vehicle, and the second direction is perpendicular to the traveling direction of the first vehicle.

[0110] Based on the above embodiments, optionally, determining the control information of the first vehicle according to the first attribute information includes:

[0111] When the first vehicle attribute information meets the preset traveling conditions, it is determined that the first vehicle needs to decelerate when approaching the target area. The preset traveling conditions include at least one of the following: the number of target objects is not zero, the sum of the first distance and the second distance is less than a first preset value, and the third distance is less than a second preset value.

[0112] Based on the above embodiments, optionally, determining the vehicle operating state of the first vehicle includes:

[0113] Detect second attribute information of the first vehicle, where the second attribute information is used to indicate whether there is a second vehicle in the lane where the first vehicle is located, a first distance, and a fourth distance. The second vehicle is a following target of the first vehicle recognized by the adaptive cruise control system adopted by the first vehicle. The first distance is the distance between the first vehicle and the target area in a first direction, and the fourth distance is the distance between the first vehicle and the second vehicle in the first direction. The first direction is the traveling direction of the first vehicle;

[0114] Determine the vehicle running state of the first vehicle according to the second attribute information.

[0115] Based on the above embodiments, optionally, determining the vehicle running state of the first vehicle according to the second attribute information includes:

[0116] When it is detected that there is no second vehicle in the lane where the first vehicle is located, determine that the adaptive cruise control system adopted by the first vehicle is in a cruise state;

[0117] When it is detected that there is a second vehicle in the lane where the first vehicle is located, detect the fourth distance between the first vehicle and the second vehicle;

[0118] When the fourth distance is greater than the first distance, determine that the adaptive cruise control system adopted by the first vehicle is in a cruise state;

[0119] When the fourth distance is not greater than the first distance, determine that the adaptive cruise control system adopted by the first vehicle is in a following state.

[0120] Based on the above embodiments, optionally, adjusting the adaptive cruise control system enabled by the first vehicle according to the vehicle running state of the first vehicle includes:

[0121] According to the vehicle running state of the first vehicle, determine a plurality of reference deceleration factors. The deceleration factors relied on for deceleration adjustment by the adaptive cruise control system in different vehicle running states are different. The deceleration factor is a parameter type in the adaptive cruise control system enabled by the first vehicle for controlling the degree of vehicle deceleration;

[0122] Adjust the adaptive cruise control system enabled by the first vehicle according to the values of the plurality of reference deceleration factors.

[0123] Based on the above embodiments, optionally, determining a plurality of reference deceleration factors according to the vehicle running state of the first vehicle includes:

[0124] When the vehicle running state of the first vehicle is in the cruise state, determine the deceleration factor related to the target speed in the adaptive cruise control system as the several reference deceleration factors, where the target speed is the vehicle driving speed set by the adaptive cruise control system;

[0125] Adjust the adaptive cruise control system enabled by the first vehicle according to the values of the several reference deceleration factors, including:

[0126] Adjust the target speed in the adaptive cruise control system enabled by the first vehicle according to the values of the several reference deceleration factors.

[0127] On the basis of the above embodiments, optionally, determine several reference deceleration factors according to the vehicle running state of the first vehicle, including:

[0128] When the vehicle running state of the first vehicle is in the following state, determine the deceleration factor related to the target following time interval in the adaptive cruise control system as the several reference deceleration factors, where the target following time interval is the safe time interval that should be maintained between the first vehicle and the second vehicle set by the adaptive cruise control system;

[0129] Adjust the adaptive cruise control system enabled by the first vehicle according to the values of the several reference deceleration factors, including:

[0130] Adjust the target following time interval in the adaptive cruise control system enabled by the first vehicle according to the values of the several reference deceleration factors.

[0131] On the basis of the above embodiments, optionally, after adjusting the adaptive cruise control system enabled by the first vehicle according to the vehicle running state of the first vehicle, the method further includes:

[0132] When the control information of the first vehicle indicates that the first vehicle does not need to decelerate, restore the target speed or target following time interval in the adaptive cruise control system enabled by the first vehicle, so that the first vehicle resumes speed and continues to move forward.

[0133] In the technical solution of the embodiment of the present invention, when the first vehicle enables the adaptive cruise control system to travel, by detecting in real time whether the first vehicle needs to decelerate when approaching the target area, the potential risks when the first vehicle approaches the target area can be sensed in advance, and it can be determined in time whether deceleration measures need to be taken. And when deceleration is required, it will be determined in time whether the adaptive cruise control system enabled by the first vehicle is in the following-vehicle state or the cruise state, and different deceleration adjustment methods of the adaptive cruise control system are adopted according to different vehicle operating states, making the deceleration process more in line with the actual driving scenarios and requirements. Thus, by intervening in the adaptive cruise control system, it is ensured that the deceleration of the first vehicle can better adapt to different driving conditions. Especially in different vehicle operating states, the driving characteristics and safety requirements of the vehicle are different. Adopting different deceleration adjustment methods can give full play to the performance of the adaptive cruise control system, improve the reliability and stability of the adaptive cruise control system, and ensure that the adaptive cruise control system can effectively control the deceleration of the vehicle in various situations.

[0134] The vehicle deceleration control device provided in the embodiment of the present invention can execute the vehicle deceleration control method provided in any embodiment of the present invention, and has the corresponding functions and beneficial effects for executing the vehicle deceleration control method. For the detailed process, refer to the related operations of the vehicle deceleration control method in the foregoing embodiments.

[0135] Figure 6 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0136] As Figure 6As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0137] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0138] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vehicle deceleration control method.

[0139] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program codes for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network via the communication unit 19, or installed from the storage unit 18, or installed from the ROM 12. When the computer program is executed by the processor 11, the above functions defined in the method of the embodiment of the present invention are executed.

[0140] In some embodiments, the vehicle deceleration control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle deceleration control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle deceleration control method by any other suitable means (e.g., by means of firmware).

[0141] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0142] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0143] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0144] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0145] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of the communication network include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0146] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0147] It should be understood that various forms of processes shown above can be used, with steps reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0148] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle deceleration control method, characterized in that: The method comprises: When a first vehicle is traveling with an adaptive cruise control system enabled, detecting control information of the first vehicle, the control information of the first vehicle being used to indicate whether the first vehicle needs to decelerate when traveling toward a target area; In a case where the control information of the first vehicle indicates that the first vehicle is to decelerate, determining a vehicle operating state of the first vehicle, the vehicle operating state being used to indicate that an adaptive cruise control system enabled by the vehicle is in a following state or a cruising state; According to the vehicle operating state of the first vehicle, an adaptive cruise control system enabled by the first vehicle is adjusted to perform deceleration control on the first vehicle, and the manner of deceleration adjustment using the adaptive cruise control system is different under different vehicle operating states.

2. The method according to claim 1, characterized in that Detecting control information of the first vehicle, including: In the case of identifying that there is a target area ahead of the first vehicle, detecting first attribute information of the first vehicle, the first attribute information being used to indicate the number of target objects in the target area, the relative distance between the first vehicle and the target area, and the relative distance between the first vehicle and the target objects in the target area; Control information of the first vehicle is determined based on the first attribute information.

3. The method according to claim 1, characterized in that: Determining a vehicle operating state of the first vehicle includes: Detecting second attribute information of the first vehicle, where the second attribute information is used to indicate whether there is a second vehicle in a lane where the first vehicle is located, a first distance, and a fourth distance, where the second vehicle is a following target of the first vehicle identified by an adaptive cruise control system used by the first vehicle, the first distance is a distance between the first vehicle and the target area in a first direction, the fourth distance is a distance between the first vehicle and the second vehicle in the first direction, and the first direction is a traveling direction of the first vehicle; The vehicle operating status of the first vehicle is determined based on the second attribute information.

4. The method according to claim 3, characterized in that Determining the vehicle running state of the first vehicle according to the second attribute information includes: In a case where it is detected that there is no second vehicle in the lane where the first vehicle is located, determining that the adaptive cruise control system used by the first vehicle is in a cruising state; In a case where a second vehicle is detected in a lane where the first vehicle is located, detecting a fourth distance between the first vehicle and the second vehicle; When the fourth distance is greater than the first distance, determining that the adaptive cruise control system adopted by the first vehicle is in a cruising state; When the fourth distance is not greater than the first distance, it is determined that the adaptive cruise control system adopted by the first vehicle is in a following state.

5. The method according to claim 1, characterized in that Adjusting an adaptive cruise control system enabled by the first vehicle according to a vehicle operating state of the first vehicle includes: Determining a plurality of reference deceleration factors according to the vehicle operation state of the first vehicle, wherein the deceleration factors relied on when the adaptive cruise control system is used to perform deceleration adjustment under different vehicle operation states are different, and the deceleration factors are parameter types used to control the degree of vehicle deceleration in the adaptive cruise control system enabled by the first vehicle; An adaptive cruise control system enabled by the first vehicle is adjusted according to the values ​​of the plurality of reference deceleration factors.

6. The method according to claim 5, characterized in that According to the vehicle running state of the first vehicle, a plurality of reference deceleration factors are determined, including: When the vehicle running state of the first vehicle is in a cruising state, the deceleration factors related to the target speed in the adaptive cruise control system are determined as the reference deceleration factors, and the target speed is the vehicle running speed set by the adaptive cruise control system; According to the values ​​of the plurality of reference deceleration factors, adjusting the adaptive cruise control system enabled by the first vehicle includes: According to the values ​​of the plurality of reference deceleration factors, a target speed in an adaptive cruise control system enabled for the first vehicle is adjusted.

7. The method according to claim 5, characterized in that According to the vehicle running state of the first vehicle, a plurality of reference deceleration factors are determined, including: When the vehicle running state of the first vehicle is in a following state, a deceleration factor related to a target following time distance in an adaptive cruise control system is determined as the plurality of reference deceleration factors, wherein the target following time distance is a safety time interval set by the adaptive cruise control system to be maintained between the first vehicle and the second vehicle; According to the values ​​of the plurality of reference deceleration factors, adjusting the adaptive cruise control system enabled by the first vehicle includes: According to the values ​​of the plurality of reference deceleration factors, a target following distance in an adaptive cruise control system enabled by the first vehicle is adjusted.

8. A vehicle deceleration control device, characterized in that: The device comprises: a detection module, configured to detect control information of the first vehicle when the first vehicle is traveling with an adaptive cruise control system enabled, the control information of the first vehicle being used to indicate whether the first vehicle needs to decelerate when traveling toward a target area; a determination module, configured to determine a vehicle operation state of the first vehicle when the control information of the first vehicle indicates that the first vehicle is to decelerate, wherein the vehicle operation state is used to indicate that an adaptive cruise control system enabled by the vehicle is in a following state or a cruising state; The adjustment module is used to adjust the adaptive cruise control system enabled by the first vehicle according to the vehicle operating state of the first vehicle to perform deceleration control on the first vehicle. The deceleration adjustment method of the adaptive cruise control system is different under different vehicle operating states.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle deceleration control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle deceleration control method according to any one of claims 1 to 7 when executed.

11. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the vehicle deceleration control method according to any one of claims 1 to 7.

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