Method, device and equipment for adaptive cruise, vehicle and medium

Abstract

The invention relates to a method, device and equipment for adaptive cruise, a vehicle and a medium. The method comprises the step of determining the acceleration of the own vehicle based on the distance and / or speed difference between the own vehicle and the front vehicle. The method further comprises the step of obtaining scene information of a driving scene of the vehicle, wherein the scene information at least comprises position information when the front vehicle is parked. In addition, the method also includes adjusting the acceleration of the own vehicle based on the scene information. Through the mode, scene information such as position information of the front vehicle during parking in the driving environment is combined in the self-adaptive cruise control process, so that the situation that the front vehicle directly follows the front vehicle to park when the front vehicle is parked is avoided; various driving requirements in driving scenes, especially complex traffic scenes, can be met when the self-vehicle carries out vehicle following control on the front vehicle in the parking process, and the safety in the driving process and the adaptability to various scenes are improved.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to the field of intelligent driving, and more particularly to methods, devices, equipment, vehicles, and media for adaptive cruise control. Background Art

[0002] With the improvement of driving requirements for automobiles, the comfort, safety, and intelligence of the driving process have received increasing attention from users. Among them, the cruise control system (CCS) can control the vehicle speed according to the speed set by the user. The user can drive the vehicle without using the accelerator pedal, which greatly improves the comfort of driving in scenarios such as highways.

[0003] However, due to the complexity of the actual road and the simplicity of the functions of the cruise control system, users often need to frequently start and stop the cruise control system. Based on this, the adaptive cruise control (ACC) system has gradually replaced the cruise control system and is widely used. Compared with the cruise control system, the adaptive cruise system can automatically adjust the vehicle distance according to the vehicle in front, so that the host vehicle always maintains a certain distance from the vehicle in front, improving the safety and comfort during the driving process. Therefore, the adaptive cruise system has important research value. Summary of the Invention

[0004] Embodiments of the present disclosure provide a method, device, equipment, vehicle, and medium for adaptive cruise control. In the embodiments of the present disclosure, the initial acceleration of the host vehicle during adaptive cruise is determined based on the distance and / or speed difference between the host vehicle and the vehicle in front. Then, scene information in the driving scene where the host vehicle is located is obtained through various sensors and other devices, where the scene information at least includes the position information when the vehicle in front stops. Further, the initial acceleration of the host vehicle is adjusted in combination with the scene information, so that the host vehicle stops at a suitable position in the driving scene based on the adjusted acceleration. In this way, scene information such as the position information when the vehicle in front stops in the driving environment is combined during the adaptive cruise control process, avoiding directly following the vehicle in front to stop when the vehicle in front stops, enabling the host vehicle to meet the driving requirements in the driving scene, especially in complex traffic scenarios, when performing following vehicle control during the stopping process, and improving the safety of the driving process and the adaptability to various scenarios.

[0005] In a first aspect of the present disclosure, a method for adaptive cruise control is provided. The method includes determining the acceleration of the host vehicle based on the distance and / or speed difference between the host vehicle and the vehicle in front. The method further includes obtaining scene information of the driving scene of the host vehicle, where the scene information at least includes the position information when the vehicle in front stops. In addition, the method further includes adjusting the acceleration of the host vehicle based on the scene information.

[0006] In a second aspect of the present disclosure, a device for adaptive cruise is provided. The device includes an acceleration determination module configured to determine the acceleration of the host vehicle based on the distance between the host vehicle and the preceding vehicle and / or the speed difference. The device further includes a scene information acquisition module configured to acquire the scene information of the driving scene of the host vehicle, where the scene information at least includes the position information when the preceding vehicle stops. In addition, the device further includes an acceleration adjustment module configured to adjust the acceleration of the host vehicle based on the scene information.

[0007] In a third aspect of the present disclosure, an electronic device is provided. The electronic device includes one or more processors; and a storage device for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the method provided according to the first aspect of the present disclosure.

[0008] In a fourth aspect of the present disclosure, a vehicle is provided. The vehicle includes a radar, a vision sensor, a power system, an electronic stability program for vehicle body, and the electronic device provided according to the third aspect of the present disclosure.

[0009] In a fifth aspect of the present disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores computer-executable instructions, where the computer-executable instructions are executed by a processor to implement the method provided according to the first aspect of the present disclosure.

[0010] It should be understood that the content described in the summary of the invention section is not intended to limit the key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In combination with the drawings and with reference to the following detailed description, the above and other features, advantages and aspects of the embodiments of the present disclosure will become more obvious. In the drawings, the same or similar reference numerals denote the same or similar elements, where:

[0012] Figure 1 A schematic diagram of an example environment in which certain embodiments of the present disclosure can be implemented is shown;

[0013] Figure 2 A flowchart of a method for adaptive cruise according to certain embodiments of the present disclosure is shown;

[0014] Figure 3 A flowchart of another method for adaptive cruise according to certain embodiments of the present disclosure is shown;

[0015] Figure 4A A schematic diagram of a driving scene for parking according to certain embodiments of the present disclosure is shown;

[0016] Figure 4B A schematic diagram showing another driving scenario for parking in some embodiments of the present disclosure;

[0017] Figure 5A A schematic diagram showing a process of updating driving logic in some embodiments of the present disclosure;

[0018] Figure 5B A schematic diagram showing another process of updating driving logic in some embodiments of the present disclosure;

[0019] Figure 6 A schematic diagram showing another process of updating driving logic in some embodiments of the present disclosure;

[0020] Figure 7 A block diagram showing a device for adaptive cruise control in some embodiments of the present disclosure; and

[0021] Figure 8 A block diagram showing an electronic device in some embodiments of the present disclosure.

[0022] In all the drawings, the same or similar reference numerals denote the same or similar elements. Detailed Description of the Embodiments

[0023] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0024] In the description of the embodiments of the present disclosure, the term "including" and its like shall be understood as an open inclusion, that is, "including but not limited to". The term "based on" shall be understood as "at least partially based on". The term "one embodiment" or "the embodiment" shall be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0025] In the adaptive cruise control system of a vehicle, the driving logic of the host vehicle is generally controlled based on the detection information of the preceding vehicle. Specifically, by controlling the host vehicle to maintain a certain following distance from the preceding vehicle, the host vehicle can follow the preceding vehicle. In this way, whether the preceding vehicle is in a driving state or a parking state, the host vehicle can always follow the preceding vehicle and maintain a certain distance. However, due to the limitations of the driving scenario, the host vehicle does not need to always follow the preceding vehicle in all driving scenarios. Therefore, this method cannot meet the driving requirements in the driving scenario and there are certain safety hazards.

[0026] For this reason, in the embodiments of the present disclosure, a method for adaptive cruise is provided. The initial acceleration of the host vehicle during the adaptive cruise process is determined based on the distance and / or speed difference between the host vehicle and the preceding vehicle. Then, scene information in the driving scenario where the host vehicle is located is obtained through various sensors and other devices, where the scene information at least includes the position information when the preceding vehicle stops. Further, the initial acceleration of the host vehicle is adjusted in combination with the scene information, so that the host vehicle stops at a suitable position in the driving scenario based on the adjusted acceleration. In this way, during the adaptive cruise control process, scene information such as the position information when the preceding vehicle stops in the driving environment is combined, avoiding directly following the preceding vehicle to stop when the preceding vehicle stops, enabling the host vehicle to meet the driving requirements in the driving scenario, especially in complex traffic scenarios, when performing following control on the preceding vehicle during the parking process, and improving the safety of the driving process and the adaptability to various scenarios.

[0027] Figure 1 A schematic diagram of an example environment 100 in which certain embodiments of the present disclosure can be implemented is shown. Refer to Figure 1 , in the example environment 100 (which can be referred to as a driving scenario), there are a left lane 102, a right lane 104, and an intersection lane 106. In addition, there is a road fence 108 for separating the left lane 102 and the right lane 104. Among them, a separation section is provided in the road fence 108, and the separation section corresponds to the intersection lane 106. The host vehicle 112 can turn and make a U-turn through the separation section to drive into the left lane 102, and the intersecting vehicle 116 can turn through the separation section to drive into the left lane 102. A traffic sign 110 (here it is a U-turn sign) is also provided at the separation section. The host vehicle 112 and the preceding vehicle 114 are driving in the right lane 104, and the intersecting vehicle 116 is driving in the intersection road 106.

[0028] Continue to refer to Figure 1, an electronic device 118 is provided in the host vehicle 112. During the driving of the host vehicle 112, the electronic device 118 performs acceleration determination 120 to obtain the distance and speed difference between the host vehicle 112 and the preceding vehicle 114, and then determines the acceleration of the host vehicle 112 based on the distance and speed difference. In some embodiments, the speed of the preceding vehicle 114 can be determined first by a sensor, then the speed of the host vehicle 112 is read, and the speed difference is determined based on the speed of the preceding vehicle 114 and the speed of the host vehicle 112.

[0029] In some embodiments, a following distance (which can be referred to as a preset distance) can be set based on the host vehicle 112 and the preceding vehicle 114, and the distance between the host vehicle 112 and the preceding vehicle 114 is always maintained as this following distance during driving. For example, the distance difference between the distance between the host vehicle 112 and the preceding vehicle 114 and the set following distance is determined, and the acceleration of the host vehicle 112 is determined based on this distance difference and the speed difference, and then the distance between the host vehicle 112 and the preceding vehicle 114 is adjusted through this acceleration so that the distance approaches the following distance.

[0030] In some embodiments, the following distance between the host vehicle 112 and the preceding vehicle 114 can also be dynamically adjusted. For example, when the driving speeds of the host vehicle 112 and the preceding vehicle 114 are relatively high, a larger following distance can be set, and the acceleration of the host vehicle 112 is determined based on the distance difference between the distance between the host vehicle 112 and the preceding vehicle 114 and this following distance. It can be understood that the greater the distance difference, the greater the acceleration of the host vehicle 112.

[0031] Continue to refer to Figure 1 , after determining the acceleration of the host vehicle, the electronic device 118 performs scene information acquisition 122 to obtain scene information in the current driving scene through devices such as multiple sensors of the host vehicle 112. In some embodiments, the scene information includes but is not limited to information of the preceding vehicle 114 (such as the position information when the preceding vehicle 114 stops), information of the road fence 108, information of the traffic sign 110, information of the intersection road 106, information of the intersecting vehicle 116, and information of the traffic signal (not shown), etc.

[0032] Continue to refer to Figure 1 , after obtaining the scene information, the electronic device 118 performs acceleration adjustment 124 to adjust the current acceleration of the host vehicle 112 according to the scene information, so that the driving logic of the host vehicle 112, that is, the acceleration strategy, can meet the requirements of the current driving scene. In some embodiments, if the acceleration of the host vehicle 112 is not adjusted according to the scene information, the host vehicle 112 will finally stop in the area 126 according to the existing acceleration strategy.

[0033] In some embodiments, when the electronic device 118 detects, based on the position information of the vehicle 114 ahead, that the position where the vehicle 114 ahead is located is not suitable for following (i.e., the area 126 is not suitable for the vehicle 112 to stop), for example, when the electronic device 118 detects at least one of the following: determining, through the information of the road fence 108, that there is a fence section at the area 126, determining, through the information of the traffic sign 110, that the area 126 is a turning area, and determining, according to the information of the intersecting vehicle 116, that the intersecting vehicle 116 may cross the right lane 104, the original acceleration strategy can be adjusted so that the vehicle 112 does not stay in the area 126, thereby avoiding blocking the area 126 and affecting traffic safety. In some embodiments, during the deceleration and stopping process of the vehicle 112, the absolute value of the acceleration during the deceleration of the vehicle 112 can be increased so that the vehicle 112 can stop earlier and avoid entering the area 126.

[0034] In the embodiments of the present disclosure, the initial acceleration of the vehicle 112 during the adaptive cruise is determined by the distance and / or speed difference between the vehicle 112 and the vehicle 114 ahead. Then, scene information in the exemplary environment 100 where the vehicle 112 is located is obtained through various sensors and other devices, and the scene information at least includes the position information when the vehicle 114 ahead stops. Further, the initial acceleration of the vehicle 112 is adjusted in combination with the scene information, so that the vehicle 112 stops at a suitable position in the driving scene based on the adjusted acceleration. In this way, during the adaptive cruise control process, scene information such as the position information when the vehicle 114 ahead stops in the exemplary environment 100 is combined, avoiding directly following and stopping behind the vehicle 114 when the vehicle 114 ahead stops, enabling the vehicle 112 to meet the driving requirements in the exemplary environment 100 when performing following control on the vehicle 114 during the stopping process, and improving the safety of the driving process and the adaptability to various scenarios.

[0035] It should be understood that the architecture and functions in the exemplary environment 100 are described only for exemplary purposes and do not imply any limitation on the scope of the present disclosure. The embodiments of the present disclosure can also be applied to other environments with different structures and / or functions.

[0036] The following will be combined with Figures 2 to 8 The process according to the embodiments of the present disclosure will be described in detail. For ease of understanding, the specific data mentioned in the following description are all exemplary and are not used to limit the protection scope of the present disclosure. It can be understood that the embodiments described below may also include additional actions not shown and / or actions shown may be omitted, and the scope of the present disclosure is not limited in this regard.

[0037] Figure 2 The flowchart of the method 200 for adaptive cruise according to some embodiments of the present disclosure is shown. In some embodiments, the method 200 may be performed by Figure 1is executed by the electronic device 118 shown in. At block 202, based on the distance and / or speed difference between the host vehicle and the leading vehicle, the acceleration of the host vehicle is determined. In some embodiments, in Figure 1 In the example environment 100 shown in, during the driving of the host vehicle 112, the electronic device 118 obtains the distance and speed difference between the host vehicle 112 and the leading vehicle 114, and then determines the acceleration of the host vehicle 112 according to the distance and speed difference. In some embodiments, a following distance can be set in either the host vehicle 112 or the leading vehicle 114, and the distance between the host vehicle 112 and the leading vehicle 114 is always maintained at the following distance during driving: the distance difference between the distance between the host vehicle 112 and the leading vehicle 114 and the preset distance is determined, and the acceleration of the host vehicle 112 is determined according to the distance difference and the speed difference, and then the distance between the host vehicle 112 and the leading vehicle 114 is adjusted by the acceleration so that the distance approaches the following distance.

[0038] At block 204, scene information of the driving scene of the host vehicle is obtained, where the scene information includes at least the position information when the leading vehicle stops. In some embodiments, in Figure 1 In the example environment 100 shown in, the electronic device 118 obtains the scene information in the current driving scene through multiple sensors of the host vehicle 112. In some embodiments, the scene information includes but is not limited to information of the leading vehicle 114 (such as the position information when the leading vehicle 114 stops), information of the road fence 108, information of the traffic sign 110, information of the intersection road 106, information of the intersecting vehicle 116, and information of the traffic signal, etc.

[0039] At block 206, the acceleration of the host vehicle is adjusted based on the scene information. In some embodiments, in Figure 1 In the example environment 100 shown in, the electronic device 118 adjusts the current acceleration of the host vehicle 112 according to the scene information, so that the driving logic of the host vehicle 112 can meet the scene requirements of the current driving scene, that is, the example environment 100. In some embodiments, if the acceleration of the host vehicle 112 is not adjusted according to the scene information in the example environment 100, the host vehicle 112 will finally stop in the area 126 according to the existing acceleration strategy.

[0040] In some embodiments, when the electronic device 118 detects, based on the position information of the vehicle ahead 114, that the position where the vehicle ahead 114 is located is not suitable for following (i.e., the area 126 is not suitable for the host vehicle 112 to stop), for example, when the electronic device 118 detects at least one of the following: determining that there is a fence section at the area 126 through the information of the road fence 108, determining that the area 126 is a turning area through the information of the traffic sign 110, and determining that the intersecting vehicle 116 may cross the right lane 104 according to the information of the intersecting vehicle 116, the original acceleration strategy can be adjusted so that the host vehicle 112 does not stay in the area 126, thereby avoiding blocking the area 126 and affecting traffic safety.

[0041] In the embodiments of the present disclosure, the initial acceleration of the host vehicle during adaptive cruise is determined by the distance and / or speed difference between the host vehicle and the vehicle ahead. Then, scene information in the driving scene where the host vehicle is located is obtained through various sensors and other devices, where the scene information at least includes the position information when the vehicle ahead stops. Further, the initial acceleration of the host vehicle is adjusted in combination with the scene information. In this way, scene information such as the position information when the vehicle ahead stops in the driving environment is combined during the adaptive cruise control process, avoiding directly following the vehicle ahead to stop when the vehicle ahead stops, enabling the host vehicle to meet the driving requirements in the driving scene, especially in complex traffic scenes, when performing following control on the vehicle ahead during the parking process, and improving the safety of the driving process and the adaptability to various scenes.

[0042] In some embodiments, the scene information may be the position information after the vehicle ahead stops. After detecting that the vehicle ahead stops, the position information where the vehicle ahead stops is determined, and then it is determined whether the vehicle ahead meets the following condition according to the position information. For example, if there is a turning intersection behind the position of the vehicle ahead (i.e., the area behind the position of the vehicle ahead is a turning area), in order to avoid blocking the turning intersection, it can be determined at this time that the vehicle ahead does not meet the following condition. When there is a turning intersection in front of the position of the vehicle ahead, since the area behind the position of the vehicle ahead will not block the turning intersection, it can be determined at this time that the vehicle ahead meets the following condition.

[0043] In the current embodiment, if the vehicle ahead meets the following condition, at this time, the stopping distance between the vehicle ahead and the host vehicle (which can be referred to as the first stopping distance) is small, and the acceleration of the host vehicle can be adjusted according to the stopping distance so that the distance between the stopping position of the host vehicle and the stopping position of the vehicle ahead is the stopping distance. If the vehicle ahead does not meet the following condition, at this time, the stopping distance between the vehicle ahead and the host vehicle (which can be referred to as the second stopping distance, and the second stopping distance is greater than the first stopping distance, for example, the second stopping distance can be the sum of the first stopping distance and the width of the turning intersection) is large, and the acceleration of the host vehicle can be adjusted according to the stopping distance so that the distance between the stopping position of the host vehicle and the stopping position of the vehicle ahead is the stopping distance.

[0044] Figure 3A flowchart of another method 300 for adaptive cruise according to certain embodiments of the present disclosure is shown. At block 302, the host vehicle is controlled to stably follow the leading vehicle. The acceleration of the host vehicle is determined based on the distance and speed difference between the host vehicle and the leading vehicle, and then the host vehicle is controlled to stably follow the leading vehicle based on this acceleration. In some embodiments, the distance, speed difference between the host vehicle and the leading vehicle, and the acceleration information of the leading vehicle are determined, and then the acceleration and distance required to control the host vehicle to stably follow the leading vehicle are determined, and the host vehicle is controlled to stably follow the leading vehicle according to this acceleration and distance.

[0045] Figure 4A A schematic diagram of a driving scenario 400A for parking according to certain embodiments of the present disclosure is shown. Refer to Figure 3 and Figure 4A , at block 304, the host vehicle is controlled to follow and stop the leading vehicle through the turning area. It can be understood that in the driving scenario 400A, for the turning area with a traffic sign 408 (turning sign), after the leading vehicle 402 passes through the turning area and stops in the area 410A, if the leading vehicle 402 meets the following conditions, the host vehicle 404 can be controlled to pass through the turning area and stop in the area 412A.

[0046] In some embodiments, refer to Figure 4A , the scenario information further includes the cross-road information of the cross road (such as the position information of the traffic sign 408). After the leading vehicle 402 passes through the cross road, the distance between the leading vehicle 402 and the cross road is determined. If the distance between the leading vehicle 402 and the cross road is higher than the followable distance threshold (which can be called the first distance threshold), it can be determined that the leading vehicle 402 meets the following conditions. At this time, the host vehicle 404 can be controlled to pass through the turning area and stop in the area 412A. In some embodiments, the distance D1 between the traffic sign 408 (or the end of the road fence) and the leading vehicle 402 can be used as the distance between the leading vehicle and the cross road. In some embodiments, the followable distance threshold is 5 meters.

[0047] In some embodiments, refer to Figure 4A , the scenario information further includes the cross-vehicle information of the cross road (such as the information of the cross vehicle 406). According to the information of the cross vehicle 406, the probability that the cross vehicle 406 passes through the right lane (i.e., the road where the host vehicle 404 is located) is determined (which can be called the first probability). If the probability that the cross vehicle 406 passes through the right lane is lower than the followable probability threshold (which can be called the first probability threshold), it can be determined that the leading vehicle 402 meets the following conditions. At this time, the host vehicle 404 can be controlled to pass through the turning area and stop in the area 412A. In some embodiments, the followable probability threshold is 0.3.

[0048] In some embodiments, the distance between the leading vehicle 402 and the intersecting road and the probability of the intersecting vehicle 406 passing through the right lane can be combined to determine whether the leading vehicle 402 meets the following - vehicle condition. That is, when the distance between the leading vehicle 402 and the intersecting road is higher than the following - vehicle distance threshold, and the probability of the intersecting vehicle 406 passing through the right lane is lower than the following - vehicle probability threshold, it can be determined that the leading vehicle 402 meets the following - vehicle condition. At this time, the host vehicle 404 can be controlled to pass through the turning area and stop at area 412A. By combining multiple scenario information, the accuracy of scenario analysis can be improved, thereby improving the driving safety of the host vehicle 404.

[0049] Return reference Figure 3 , at block 306, if the leading vehicle enters the driving state, the host vehicle is controlled to start. In some embodiments, the host vehicle 404 can be controlled to start and stably follow the leading vehicle 402 according to the driving signal of the leading vehicle 402 and the signal to resume the set speed. In some embodiments, since the host vehicle 404 is following the leading vehicle while stationary, that is, the distance between the area 410A where the leading vehicle 402 stops and the area 412A where the host vehicle 404 stops is relatively close. Therefore, when the leading vehicle 402 enters the driving state, the host vehicle 404 can be controlled to enter the driving state with a relatively small acceleration.

[0050] Figure 4B Shows a schematic diagram of another driving scenario 400B for parking according to certain embodiments of the present disclosure. Refer to Figure 3 and Figure 4B , at block 308, the host vehicle is controlled to stop before the turning area. It can be understood that in driving scenario 400B, for the turning area with a traffic sign 408 (turning sign), when the leading vehicle 402 passes through the turning area and stops in area 410B, if the leading vehicle 402 does not meet the following - vehicle condition, the host vehicle 404 can be controlled to stop in area 412B before the turning area.

[0051] In some embodiments, the scenario information further includes the intersecting - road information of the intersecting road (such as the position information of the traffic sign 408). After the leading vehicle 402 passes through the turning area, the distance between the leading vehicle 402 and the intersecting road is determined. If the distance between the leading vehicle 402 and the intersecting road is lower than the non - following - vehicle distance threshold (which can be referred to as the second distance threshold), it can be determined that the leading vehicle 402 does not meet the following - vehicle condition. At this time, the host vehicle 404 can be controlled to stop in area 412B before the turning area. In some embodiments, the distance D2 between the traffic sign 408 (or the end of the road fence) and the leading vehicle 402 can be used as the distance between the leading vehicle and the intersecting road. In some embodiments, the non - following - vehicle distance threshold is 4.5 meters.

[0052] In some embodiments, the scenario information further includes the information of the intersecting vehicle at the intersection road (e.g., the information of the intersecting vehicle 406). The probability that the intersecting vehicle 406 passes through the right lane (which can be referred to as the first probability) is determined according to the information of the intersecting vehicle 406. If the probability that the intersecting vehicle 406 passes through the right lane is higher than the non-following vehicle probability threshold (which can be referred to as the second probability threshold), it can be determined that the leading vehicle 402 does not meet the following vehicle condition. At this time, the host vehicle 404 can be controlled to stop in the area 412B in front of the turning area. In some embodiments, the non-following vehicle probability threshold is 0.25.

[0053] In some embodiments, the distance between the leading vehicle 402 and the intersecting road and the probability that the intersecting vehicle 406 passes through the right lane can be combined to determine whether the leading vehicle 402 meets the following vehicle condition, that is, when the distance between the leading vehicle 402 and the intersecting road is lower than the non-following vehicle distance threshold, and / or the probability that the intersecting vehicle 406 passes through the right lane is higher than the non-following vehicle probability threshold, it can be determined that the leading vehicle 402 does not meet the following vehicle condition. At this time, the host vehicle 404 can be controlled to stop in the area 412B. By combining multiple pieces of scenario information, the accuracy of scenario analysis can be improved, and further the driving safety of the host vehicle 404 can be improved.

[0054] Return reference Figure 3 , at block 310, if the leading vehicle enters the driving state, the host vehicle is controlled to start and pass through the turning area. In some embodiments, after the leading vehicle 402 enters the driving state, if there is an intersecting vehicle 406 in the intersecting road, the probability that the intersecting vehicle 406 passes through Figure 4B the right lane therein (which can be referred to as the second probability) can be determined. If the probability that the intersecting vehicle 406 passes through the right lane is lower than the passable probability threshold, the acceleration of the host vehicle 404 is adjusted so that the host vehicle 404 passes through the turning area and stably follows the leading vehicle 402. In some embodiments, according to the driving signal of the leading vehicle 402 and the resume set speed signal, the host vehicle 404 can be started with a higher acceleration, so as to quickly pass through the turning area, and when the distance between the leading vehicle 402 and the host vehicle 404 is shortened to a certain range, the acceleration of the leading vehicle 402 is smoothly adjusted to the acceleration of normal following.

[0055] In this way, during the process of stably following the leading vehicle, it is possible to avoid the host vehicle from stopping in the turning area or colliding with the intersecting vehicle, so that the driving logic of the host vehicle can fully consider the turning area and the intersecting vehicle, thereby improving the safety during the driving process of the host vehicle.

[0056] Figure 5AFIG. 500A is a schematic diagram of a process for updating driving logic according to some embodiments of the present disclosure. In some embodiments, a camera 514 (which may be referred to as a vision sensor) acquires traffic sign information 502 and traffic signal information 504, and then sends the sensing signals 516 of the traffic signs / traffic signals to a millimeter-wave radar 518. In some embodiments, the traffic sign information 502 includes the content indicated by the traffic signs and the positions of the traffic signs, etc., and the traffic signal information 504 includes the states of the traffic signals and the positions of the traffic signals, etc.

[0057] Continuing to refer to Figure 5A , the millimeter-wave radar 518 acquires an initial driving logic 506 and road fence information 508. In some embodiments, the initial driving logic includes the initial acceleration of the host vehicle, and the road fence information 508 includes information such as the positions, lengths, spaces between the host vehicle and the road fences, and dividing sections of the road fences. In addition, a vehicle body radar 520 acquires cross-vehicle information 510 and road fence information 512, and then sends the sensing signals 522 of the cross-vehicles / road fences to the millimeter-wave radar 518. In some embodiments, the cross-vehicle information 510 includes information such as the driving speeds, driving directions, and distances between the host vehicle and the cross-vehicles. In some embodiments, the vehicle body radar 520 includes four lateral millimeter-wave radars distributed on the left and right sides of the vehicle body. In some embodiments, the millimeter-wave radar 518 includes a forward millimeter-wave radar disposed on the front side of the vehicle body.

[0058] Continuing to refer to Figure 5A , the millimeter-wave radar 518 performs scene information acquisition 524 to acquire the above-mentioned traffic sign information 502, traffic signal information 504, and free path length (not shown), etc. Then, the millimeter-wave radar 518 performs driving logic update 526 to update the driving logic 506 based on the above scene information, so as to adjust the acceleration of the host vehicle in real time. In some embodiments, the acceleration in the driving logic is adjusted according to the position information when the vehicle in front stops. Then, the body electronic stability system 528 is controlled according to the adjusted driving logic, and further the driving speed of the host vehicle is controlled through the body electronic stability system 528. In some embodiments, the body electronic stability system 528 adjusts the driving speed of the host vehicle by controlling the braking system of the host vehicle.

[0059] Figure 5BFIG. 500B is a schematic diagram of a process for updating driving logic according to some embodiments of the present disclosure. In some embodiments, the camera 514 acquires traffic sign information 502 and traffic signal information 504, and then sends the sensing signals 516 of the traffic signs / traffic signals to the controller 523. In some embodiments, the traffic sign information 502 includes the content indicated by the traffic sign and the position of the traffic sign, etc., and the traffic signal information 504 includes the status of the traffic signal and the position of the traffic signal, etc.

[0060] Continuing to refer to Figure 5B , the millimeter-wave radar 518 acquires road fence information 508, and then sends the sensing signals 519 of the road fence to the controller 523. In addition, the vehicle body radar 520 acquires cross-vehicle information 510 and road fence information 512, and then sends the sensing signals 522 of the cross-vehicle / road fence to the controller 523. In some embodiments, the road fence information 508 and the road fence information 512 include information such as the position, length, space between the vehicle itself and the road fence, and separation segments of the road fence. In some embodiments, the cross-vehicle information 510 includes information such as the driving speed, driving direction, and distance between the vehicle itself and the cross-vehicle. In some embodiments, the vehicle body radar 520 includes four side-mounted millimeter-wave radars distributed on the left and right sides of the vehicle body. In some embodiments, the millimeter-wave radar 518 includes a forward millimeter-wave radar disposed on the front side of the vehicle body.

[0061] Continuing to refer to Figure 5B , the controller 523 acquires the initial driving logic 506. In some embodiments, the initial driving logic 506 includes the initial acceleration of the vehicle itself. And, the controller 523 performs scene information acquisition 524 to acquire the above-mentioned traffic sign information 502, traffic signal information 504, road fence information 508, cross-vehicle information 510, road fence information 512, and free path length (not shown), etc. Then, the controller 523 performs driving logic update 526 to update the initial driving logic 506 through the above scene information, so as to adjust the acceleration of the vehicle itself in real time. In some embodiments, the controller 523 includes, but is not limited to, the controller of the camera 514 (the camera 514 can be an intelligent camera), the controller of the millimeter-wave radar 518, the controller of the vehicle body radar 520, and the Advanced Driving Assistance System (ADAS) domain controller.

[0062] Continuing to refer to Figure 5B, in some embodiments, the controller 523 adjusts the acceleration in the initial driving logic 506 according to the position information when the vehicle ahead stops. Then, the body electronic stability system 528 is controlled according to the adjusted driving logic, and further, the driving speed of the host vehicle is controlled through the body electronic stability system 528. In some embodiments, the body electronic stability system 528 adjusts the driving speed of the host vehicle by controlling the braking system of the host vehicle.

[0063] Figure 6 FIG. shows a schematic diagram of another process 600 for updating the driving logic according to certain embodiments of the present disclosure. In some embodiments, the camera 602 sends a sensing signal 604 to the interface chip 608 of the millimeter-wave radar 606. The interface chip 608 also stores the host vehicle state information 610 and the host vehicle trajectory information 612 related to the host vehicle. In addition, the cross-vehicle information 614 is also stored, such as information about the distance and speed of the cross vehicle. Then, the interface chip 616 obtains the vehicle-ahead information 618 and the road fence information 620.

[0064] Continue to refer to Figure 6 , after the interface chip 608 and the interface chip 616 obtain the above information, the above information is sent to the longitudinal control module 624 in the longitudinal and lateral control module 622 of the host vehicle. The longitudinal control module 624 generates an acceleration control signal based on the above information and sends it to the deceleration control system 628 in the body electronic stability system 626, so that the host vehicle travels based on the adjusted acceleration. In some embodiments, the longitudinal control module 624 can also send the acceleration control signal to the power system of the host vehicle, so as to adjust the speed of the host vehicle through the power system.

[0065] Figure 7 FIG. shows a block diagram of a device 700 for adaptive cruise according to certain embodiments of the present disclosure. Refer to Figure 7 , the device 700 includes an acceleration determination module 702 configured to determine the acceleration of the host vehicle based on the distance and / or speed difference between the host vehicle and the vehicle ahead. The device 700 further includes a scenario information acquisition module 704 configured to acquire scenario information of the driving scenario of the host vehicle, where the scenario information at least includes the position information when the vehicle ahead stops. In addition, the device 700 further includes an acceleration adjustment module 706 configured to adjust the acceleration of the host vehicle based on the scenario information.

[0066] In some embodiments, the acceleration determination module 702 is further configured to: obtain a preset distance between the host vehicle and the vehicle ahead; determine a distance difference based on the current distance and the preset distance; and determine the acceleration of the host vehicle based on the distance difference and the speed difference between the host vehicle and the vehicle ahead.

[0067] In some embodiments, the acceleration adjustment module 706 is further configured to: in response to the vehicle ahead entering a stopped state, determine whether the vehicle ahead meets the following - vehicle condition based on the position information; and based on the result of whether the vehicle ahead meets the following - vehicle condition, perform the following steps: in response to the vehicle ahead meeting the following - vehicle condition, adjust the acceleration of the host vehicle based on a first stopping distance; or in response to the vehicle ahead not meeting the following - vehicle condition, adjust the acceleration of the host vehicle based on a second stopping distance, where the second stopping distance is greater than the first stopping distance.

[0068] In some embodiments, the scenario information further includes cross - road information of a cross - road intersecting with the road where the host vehicle is located, and the acceleration adjustment module 706 is further configured to: based on the position information of the vehicle ahead and the cross - road information, determine the distance between the vehicle ahead and the cross - road; determine whether the distance between the vehicle ahead and the cross - road meets a distance threshold condition; and based on the result of whether the distance between the vehicle ahead and the cross - road meets the distance threshold condition, perform the following steps: in response to the distance between the vehicle ahead and the cross - road being higher than a first distance threshold, determine that the vehicle ahead meets the following - vehicle condition; or in response to the distance between the vehicle ahead and the cross - road being lower than a second distance threshold, determine that the vehicle ahead does not meet the following - vehicle condition.

[0069] In some embodiments, the first distance threshold is 5 meters and the second distance threshold is 4.5 meters.

[0070] In some embodiments, the cross - road information includes at least one of traffic sign information, road fence information, and traffic signal information.

[0071] In some embodiments, the scenario information further includes cross - vehicle information of cross - vehicles traveling on the cross - road, and the acceleration adjustment module 706 is further configured to: based on the cross - vehicle information, determine a first probability that the cross - vehicle passes through the road where the host vehicle is located; determine whether the first probability that the cross - vehicle passes through the road where the host vehicle is located meets a probability threshold condition; and based on the result of whether the first probability that the cross - vehicle passes through the road where the host vehicle is located meets the probability threshold condition, perform the following steps: in response to the first probability that the cross - vehicle passes through the road where the host vehicle is located being lower than a first probability threshold, determine that the vehicle ahead meets the following - vehicle condition; or in response to the first probability that the cross - vehicle passes through the road where the host vehicle is located being higher than a second probability threshold, determine that the vehicle ahead does not meet the following - vehicle condition.

[0072] In some embodiments, the first probability threshold is 0.3 and the second probability threshold is 0.25.

[0073] In some embodiments, the acceleration adjustment module 706 is further configured to: in the case that the leading vehicle does not meet the following - vehicle condition, in response to the leading vehicle entering the driving state, determine a second probability that the crossing vehicle passes through the road where the host vehicle is located based on the crossing - vehicle information; determine whether the second probability that the crossing vehicle passes through the road where the host vehicle is located is lower than a first probability threshold; and in response to the second probability that the crossing vehicle passes through the road where the host vehicle is located being lower than the first probability threshold, adjust the acceleration of the host vehicle.

[0074] In some embodiments, the acceleration adjustment module 706 is further configured to: obtain host - vehicle information of the host vehicle, where the host - vehicle information includes at least one of state information and trajectory information; and adjust the acceleration of the host vehicle based on the host - vehicle information and the scene information.

[0075] In some embodiments, the apparatus 700 further includes: a host - vehicle speed control signal generation module, configured to generate a host - vehicle speed control signal based on the adjusted acceleration; and a host - vehicle control module, configured to send the host - vehicle speed control signal to the body electronic stability system and / or the power system of the host vehicle, so that the body electronic stability system and / or the power system control the host vehicle based on the adjusted acceleration.

[0076] Figure 8 The block diagram of an electronic device 800 showing certain embodiments of the present disclosure is as follows. As Figure 8 shown, the electronic device 800 includes a computing unit 801, which can execute various appropriate actions and processes according to computer - program instructions stored in a read - only memory (ROM) 802 or computer - program instructions loaded from a storage unit 808 into a random - access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the electronic device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0077] A plurality of components in the electronic device 800 are connected to the I / O interface 805. For example, it may include: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disc, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the electronic device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0078] The computing unit 801 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 executes the various methods and processes described above, such as method 200. For example, in some embodiments, method 200 can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the method 200 described above can be executed. Alternatively, in other embodiments, the computing unit 801 can be configured to execute method 200 in any other suitable manner (e.g., by means of firmware).

[0079] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, without limitation, the exemplary types of hardware logic components that can be used include: field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), system on a chip systems (SOC), complex programmable logic devices (CPLD), and so on.

[0080] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program code is executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0081] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable 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. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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. Additionally, although the operations are depicted in a particular order, this should be understood to require that the operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed to achieve the desired result. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the foregoing discussion, these should not be construed as limitations on the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented separately or in any suitable subcombination in multiple implementations.

[0082] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, segment, or portion of instructions, which includes one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two consecutive blocks can in fact be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

[0083] Although the subject matter has been described in language specific to structural features and / or methodological acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A method for adaptive cruise control, comprising: determining an acceleration of the host vehicle based on a distance and / or a speed difference between the host vehicle and a leading vehicle; obtaining scene information of a driving scene of the host vehicle, where the scene information at least includes position information when the leading vehicle stops; and adjusting the acceleration of the host vehicle based on the scene information.

2. The method according to claim 1, wherein determining the acceleration of the host vehicle comprises: obtaining a preset distance between the host vehicle and the leading vehicle; determining a distance difference based on the distance between the host vehicle and the leading vehicle and the preset distance; and determining the acceleration of the host vehicle based on the distance difference and the speed difference between the host vehicle and the leading vehicle.

3. The method according to claim 1, wherein adjusting the acceleration of the host vehicle comprises: in response to the leading vehicle entering a stopped state, determining whether the leading vehicle meets a following condition based on the position information; and based on a result of whether the leading vehicle meets the following condition, performing the following steps: in response to the leading vehicle meeting the following condition, adjusting the acceleration of the host vehicle based on a first stopping distance; or in response to the leading vehicle not meeting the following condition, adjusting the acceleration of the host vehicle based on a second stopping distance, where the second stopping distance is greater than the first stopping distance.

4. The method according to claim 3, wherein the scene information further includes intersection road information of an intersection road intersecting with the road where the host vehicle is located, and determining whether the leading vehicle meets the following condition based on the position information comprises: determining a distance between the leading vehicle and the intersection road based on the position information of the leading vehicle and the intersection road information; determining whether the distance between the leading vehicle and the intersection road meets a distance threshold condition; and based on a result of whether the distance between the leading vehicle and the intersection road meets the distance threshold condition, performing the following steps: in response to the distance between the leading vehicle and the intersection road being higher than a first distance threshold, determining that the leading vehicle meets the following condition; or in response to the distance between the leading vehicle and the intersection road being lower than a second distance threshold, determining that the leading vehicle does not meet the following condition.

5. The method according to claim 4, wherein the first distance threshold is 5 meters and the second distance threshold is 4.5 meters.

6. The method according to claim 4, wherein the intersection road information includes at least one of traffic sign information, road fence information, and traffic signal information.

7. The method according to claim 3, wherein the scene information further includes intersection vehicle information of an intersection vehicle traveling on the intersection road, and determining whether the leading vehicle meets the following condition based on the position information comprises: determining a first probability that the intersection vehicle passes through the road where the host vehicle is located based on the intersection vehicle information; determining whether the first probability that the intersection vehicle passes through the road where the host vehicle is located meets a probability threshold condition; and Based on the result of whether the first probability that the cross vehicle passes through the road where the host vehicle is located satisfies the probability threshold condition, perform the following steps: In response to the first probability that the cross vehicle passes through the road where the host vehicle is located being lower than the first probability threshold, determine that the leading vehicle satisfies the following - vehicle - following condition; or In response to the first probability that the cross vehicle passes through the road where the host vehicle is located being higher than the second probability threshold, determine that the leading vehicle does not satisfy the following - vehicle - following condition.

8. The method according to claim 7, wherein the first probability threshold is 0.3 and the second probability threshold is 0.

25.

9. The method according to claim 7, wherein adjusting the acceleration of the host vehicle further includes: In the case where the leading vehicle does not satisfy the following - vehicle - following condition, in response to the leading vehicle entering the driving state, determine a second probability that the cross vehicle passes through the road where the host vehicle is located based on the cross - vehicle information; Determine whether the second probability that the cross vehicle passes through the road where the host vehicle is located is lower than the first probability threshold; and In response to the second probability that the cross vehicle passes through the road where the host vehicle is located being lower than the first probability threshold, adjust the acceleration of the host vehicle.

10. The method according to claim 1, wherein adjusting the acceleration of the host vehicle includes: Obtain the host - vehicle information of the host vehicle, where the host - vehicle information includes at least one of state information and trajectory information; and Based on the host - vehicle information and the scenario information, adjust the acceleration of the host vehicle.

11. The method according to claim 1, further includes: Generate a host - vehicle speed control signal based on the adjusted acceleration; and Send the host - vehicle speed control signal to the vehicle body electronic stability system and / or the power system of the host vehicle, so that the vehicle body electronic stability system and / or the power system control the host vehicle based on the adjusted acceleration.

12. An apparatus for adaptive cruise control, comprising: An acceleration determination module, configured to determine the acceleration of the host vehicle based on the distance and / or speed difference between the host vehicle and the leading vehicle; A scenario information acquisition module, configured to acquire the scenario information of the driving scenario of the host vehicle, where the scenario information at least includes the position information when the leading vehicle stops; and An acceleration adjustment module, configured to adjust the acceleration of the host vehicle based on the scenario information.

13. An electronic device, comprising: At least one processor; and A memory, coupled to the at least one processor and having instructions stored thereon, the instructions, when executed by the at least one processor, cause the device to execute the method according to any one of claims 1 - 11.

14. A vehicle, comprising: A radar; A vision sensor; A power system; A vehicle body electronic stability system; and The electronic device according to claim 13.

15. A computer - readable storage medium, having computer - executable instructions stored thereon, wherein the computer - executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 11.

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