Vehicle following method and device

Abstract

The invention discloses a vehicle following method and device, and relates to the technical field of driving. The vehicle following method comprises the following steps: when a vehicle is in a specific driving scene, responding to a vehicle and a front vehicle to form a following relationship, and acquiring a target motion parameter of the front vehicle in real time; and in response to the parameter change related to the speed in the target motion parameters, adjusting the motion parameters of the vehicle according to the target motion parameters so as to follow the front vehicle. According to the embodiment, the problem that the distance between the vehicle and the front vehicle is increased due to the fact that a driver or an intelligent driving system needs certain response time when the vehicle is started can be solved, real-time adjustment of the motion parameters of the vehicle based on the target motion parameters of the front vehicle is achieved, and the traffic passing efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of driving technology, and in particular, to a vehicle following method and device. Background Art

[0002] In the case of relatively congested traffic or when the vehicle is at a traffic light intersection, once the vehicle in front starts to move, the driver of the following vehicle or the intelligent driving system needs a certain reaction time, and then starts the vehicle to accelerate, resulting in a large distance between the vehicle in front and the following vehicle, blocking the driving of the vehicles behind, and making the already congested traffic state even more congested, or the number of vehicles passing through the intersection within a green light cycle is limited, reducing the traffic passing efficiency. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a vehicle following method and device, which can solve the problem that when the vehicle starts, the driver or the intelligent driving system needs a certain reaction time, resulting in an increase in the distance between the vehicle and the vehicle in front.

[0004] To achieve the above object, according to one aspect of the embodiments of the present invention, a vehicle following method is provided, including:

[0005] When the vehicle is in a specific driving scenario, in response to the formation of a following relationship between the vehicle and the vehicle in front, the target motion parameters of the vehicle in front are obtained in real time;

[0006] In response to the change in the parameter related to speed in the above target motion parameters, the motion parameters of the vehicle are adjusted according to the above target motion parameters to follow the vehicle in front.

[0007] Optionally, the above method further includes:

[0008] Identifying the number of vehicles within a first preset range around the vehicle and the average speed of the vehicles;

[0009] In the case where the number of vehicles is greater than a preset vehicle number threshold and the average speed is less than a preset average speed threshold, a following relationship is established between the vehicle and the vehicle in front within a second preset range in front of the vehicle.

[0010] Optionally, the above method further includes:

[0011] Identifying the distance of the vehicle from the target intersection;

[0012] In response to the distance between the vehicle and the target intersection being less than or equal to a preset distance threshold, a following relationship is established between the vehicle and the vehicle in front within a second preset range in front of the vehicle.

[0013] Optionally, the above obtaining the target motion parameters of the vehicle in front in real time includes:

[0014] Communicate with the preceding vehicle via vehicle wireless communication to obtain the target motion parameters of the preceding vehicle.

[0015] Optionally, the target motion parameters include: target acceleration;

[0016] Adjusting the motion parameters of the vehicle according to the target motion parameters includes:

[0017] When the distance between the vehicle and the preceding vehicle is greater than or equal to the target distance, where the target distance is greater than the safety distance;

[0018] In response to the acceleration of the preceding vehicle being greater than zero and the distance between the vehicle and the preceding vehicle increasing, adjust the acceleration of the vehicle based on the target acceleration combined with a preset increase amount, and after the distance between the vehicle and the preceding vehicle is equal to the target distance, adjust the acceleration of the vehicle based on the target acceleration;

[0019] In response to the acceleration of the preceding vehicle being less than zero and the distance between the vehicle and the preceding vehicle decreasing, adjust the acceleration of the vehicle based on the target acceleration combined with a preset decrease amount, and after the distance between the vehicle and the preceding vehicle is equal to the target distance, adjust the acceleration of the vehicle based on the target acceleration.

[0020] Optionally, the method further includes:

[0021] During the process of following the target vehicle, in response to the target driving direction included in the target motion parameters being inconsistent with the driving direction indicated by the vehicle path planning, end the following relationship with the preceding vehicle.

[0022] Optionally, the safety distance is positively correlated with the speed of the vehicle.

[0023] To achieve the above object, according to another aspect of the embodiments of the present invention, there is provided a vehicle following device, including:

[0024] An acquisition module, configured to, when the vehicle is in a specific driving scenario, in response to the vehicle forming a following relationship with the preceding vehicle, acquire the target motion parameters of the preceding vehicle in real time;

[0025] A following module, configured to, in response to a change in the parameter related to speed in the target motion parameters, adjust the motion parameters of the vehicle according to the target motion parameters to follow the preceding vehicle.

[0026] To achieve the above object, according to another aspect of the embodiments of the present invention, there is provided an electronic device for vehicle following.

[0027] An electronic device for vehicle following in an embodiment of the present invention includes: one or more processors; 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 a vehicle following method in an embodiment of the present invention.

[0028] To achieve the above object, according to another aspect of an embodiment of the present invention, there is provided a computer-readable storage medium.

[0029] A computer-readable storage medium in an embodiment of the present invention has a computer program stored thereon, and when the program is executed by a processor, it implements a vehicle following method in an embodiment of the present invention.

[0030] One embodiment of the above invention has the following advantages or beneficial effects: When the vehicle is in a specific driving scenario, a following relationship between the vehicle and the vehicle in front can be established, and the target motion parameters of the vehicle in front can be obtained in real time, so as to adjust the motion parameters of the vehicle based on the target motion parameters, solving the problem that when the vehicle starts, the driver or the intelligent driving system needs a certain reaction time, resulting in an increase in the distance between the vehicle and the vehicle in front, and realizing real-time adjustment of the motion parameters of the vehicle based on the target motion parameters of the vehicle in front, greatly improving the traffic passing efficiency.

[0031] The further effects of the above non-conventional optional methods will be described in combination with specific embodiments below. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings are used to better understand the present invention and do not constitute an improper limitation of the present invention. Among them:

[0033] Figure 1 is a flowchart of a vehicle following method according to an embodiment of the present invention;

[0034] Figure 2 is a flowchart of adjusting the motion parameters of the vehicle according to an embodiment of the present invention;

[0035] Figure 3 is a structural diagram of the vehicle according to an embodiment of the present invention;

[0036] Figure 4 is a flowchart of a vehicle following method according to another embodiment of the present invention;

[0037] Figure 5 is a structural diagram of a vehicle following device according to an embodiment of the present invention;

[0038] Figure 6 is an exemplary system architecture diagram to which an embodiment of the present invention can be applied;

[0039] Figure 7It is a schematic structural diagram of a computer system suitable for implementing the vehicle following method according to an embodiment of the present invention. Detailed implementation manners

[0040] The following describes exemplary embodiments of the present invention with reference to the accompanying drawings. Various details of the embodiments of the present invention are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, descriptions of well-known functions and structures are omitted below for clarity and conciseness.

[0041] It should be noted that, without conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0042] Figure 1 It is a schematic diagram of the main steps of the vehicle following method according to an embodiment of the present invention. As Figure 1 shown, the vehicle following method according to an embodiment of the present invention mainly includes the following steps S101 to step S102:

[0043] Step S101, when the host vehicle is in a specific driving scenario, in response to the formation of a following relationship between the host vehicle and the leading vehicle, obtain the target motion parameters of the leading vehicle in real time;

[0044] The specific driving scenario refers to the scenario where the host vehicle is driving on a congested road section or approaching a traffic light intersection and waiting at the intersection due to a red light. In the above specific driving scenario, identify whether a following relationship is formed between the host vehicle and the leading vehicle. Once a following relationship is formed with the leading vehicle, the host vehicle can obtain the motion parameters of the leading vehicle as the target motion parameters.

[0045] The following relationship referred to in the embodiments of the present invention refers to the relationship formed between the host vehicle and the leading vehicle when they are driving in the same lane in a specific driving scenario, forming a front-to-back arrangement state, the distance between the two vehicles is relatively close, the speeds are similar, and the host vehicle has no intention of overtaking.

[0046] After a following relationship is formed between the host vehicle and the leading vehicle, the motion parameters of the leading vehicle can be obtained in real time as the target motion parameters. The target motion parameters include but are not limited to target speed, target acceleration, target braking parameters, etc. Among them, the target braking parameters include but are not limited to throttle opening, brake pedal stroke, etc.

[0047] Step S102, in response to the change in the parameter related to speed in the above target motion parameters, adjust the motion parameters of the host vehicle according to the above target motion parameters to follow the leading vehicle.

[0048] After obtaining the target motion parameters of the vehicle ahead, once the parameters related to speed in the target motion parameters of the vehicle ahead change, it indicates that the motion state of the vehicle ahead has changed. At this time, the motion parameters of the host vehicle can be immediately adjusted based on the target motion parameters of the vehicle ahead so that the host vehicle follows the vehicle ahead. Among them, the parameters related to speed in the target motion parameters refer to the parameters describing the motion change and motion state of the vehicle ahead, including but not limited to the target speed, target acceleration, throttle opening, etc.

[0049] According to the target motion parameters of the vehicle ahead obtained in real time, the host vehicle can understand the motion change of the vehicle ahead in real time, solving the problem that in the case of the vehicle ahead suddenly starting, the driver or intelligent driving system of the host vehicle needs a certain reaction time to take corresponding driving measures, resulting in an increase in the distance between the host vehicle and the vehicle ahead and hindering the passage of the vehicle behind.

[0050] In an optional embodiment, the above method further includes: identifying the number of vehicles and the average speed of the vehicles within a first preset range around the host vehicle; and establishing a following relationship between the host vehicle and the vehicle ahead within a second preset range in front of the host vehicle when the number of vehicles is greater than a preset vehicle number threshold and the average speed is less than a preset average speed threshold.

[0051] The traffic data within the first preset range around the host vehicle can be collected by an image acquisition device or other sensors pre-set on the body of the host vehicle, and the vehicle data within the first preset range around the host vehicle and the speed of each vehicle can be determined by identifying and analyzing the above traffic data, and then the average speed of the vehicles within the first preset range around the host vehicle can be calculated.

[0052] When the number of vehicles within the first preset range around the host vehicle is less than or equal to the preset vehicle number threshold, or the average speed exceeds the preset average speed threshold, it indicates that the host vehicle may not be in a congested section currently. At this time, the following relationship between the host vehicle and the vehicle ahead may not be established. When the number of vehicles within the first preset range around the host vehicle is greater than the preset vehicle number threshold and the average speed is less than the preset average speed threshold, it indicates that the host vehicle may be in a congested section currently and the vehicles in this section are moving slowly. When driving in a congested section, there may be multiple vehicles in front of the host vehicle. When determining the following relationship, it is first necessary to determine the vehicle ahead directly in front of the host vehicle and adjacent to the host vehicle, and then determine the following relationship between the host vehicle and this vehicle ahead.

[0053] Specifically, the vehicle ahead within the second preset range in front of the host vehicle can be determined according to the above traffic data and used as the vehicle ahead directly in front of the host vehicle and adjacent to the host vehicle. Among them, the second preset range can be smaller than the first preset range.

[0054] It should be noted that the first preset range can be a circular range centered on the vehicle itself with a preset first distance as the radius, or a square range centered on the vehicle itself with a preset second distance as the side length, and no specific limitation is made here. Among them, the preset first distance and the preset second distance can be the same or different. The preset vehicle number threshold and the preset average speed threshold are both preset data and can also be adjusted according to actual situations, and no specific limitation is made here.

[0055] In an optional embodiment, the above method further includes: identifying the distance between the vehicle itself and the target intersection; in response to the distance between the vehicle itself and the target intersection being less than or equal to a preset distance threshold, establishing a following relationship between the vehicle itself and the vehicle in front within a second preset range in front of the vehicle itself.

[0056] Road data can be collected through an image acquisition device or other sensors pre-set on the vehicle body itself, and by identifying and analyzing the above road data, the distance between the vehicle itself and the target intersection on the road in front of the vehicle itself can be determined to determine whether the vehicle itself is about to reach the intersection. Among them, the target intersection refers to the first intersection with a traffic signal set in the driving planned road of the vehicle itself and that will be passed through ahead.

[0057] When the distance between the vehicle itself and the target intersection is greater than the preset distance threshold, it indicates that the distance between the vehicle itself and the target intersection is relatively far and there is still a certain distance to travel to reach the target intersection. At this time, the following relationship between the vehicle itself and the vehicle in front may not be established. When the distance between the vehicle itself and the target intersection is less than or equal to the preset distance threshold, it indicates that the vehicle itself is about to reach the target intersection. At this time, the following relationship between the vehicle itself and the vehicle in front can be established.

[0058] Further, when it is determined that the distance between the vehicle itself and the target intersection is less than or equal to the preset distance threshold, it is also possible to further predict whether the traffic signal is red when the vehicle itself travels to the target intersection and whether there is a vehicle in front within the second preset range in front of the vehicle itself. To avoid the problem that when the traffic signal turns green, the driver or the intelligent driving system of the vehicle itself needs a certain reaction time to start, resulting in a large distance between the vehicle itself and the vehicle in front and hindering traffic flow, in response to the traffic signal being red when the vehicle itself travels to the target intersection, the vehicle itself needs to wait for the traffic signal to turn green before it can pass, and there is a vehicle in front within the second preset range in front of the vehicle itself, a following relationship between the vehicle itself and the vehicle in front is established. In response to the traffic signal being green when the vehicle itself travels to the target intersection, generally the vehicle itself can directly pass through the intersection. At this time, whether to establish the following relationship between the vehicle itself and the vehicle in front can be determined according to actual situations.

[0059] In an optional embodiment, the above-mentioned real-time acquisition of the target motion parameters of the vehicle in front includes: communicating with the vehicle in front through vehicle wireless communication to acquire the target motion parameters of the vehicle in front.

[0060] Specifically, it can either communicate directly with the vehicle ahead through vehicle wireless communication (V2X) to directly obtain the target motion parameters from the vehicle ahead, or the vehicle ahead communicates with the base station and the host vehicle communicates with the base station to obtain the target motion parameters of the vehicle ahead from the base station. Herein, the base station refers to the infrastructure for vehicles to communicate with the outside world, and is a device that provides connection and data transmission services for communication between vehicles and vehicles, vehicles and infrastructure, etc. The communication terminals of the vehicle ahead, the communication terminal of the host vehicle, and the base station jointly implement V2X communication.

[0061] It can be understood that whether directly obtaining the target motion parameters from the vehicle ahead or obtaining the target motion parameters of the vehicle ahead through the base station, the reaction time of the driver or the intelligent driving system of the host vehicle after the motion state of the vehicle ahead changes is omitted, and the longest data transmission time of V2X should not exceed the specified communication delay requirement, that is, generally not exceeding 0.1 second. Generally, the reaction time of the driver is between 0.3 second and 1.5 seconds, and the reaction time of the intelligent driving system can be shortened to 0.2 second. In complex traffic conditions, the reaction time of the intelligent driving system will be greatly extended, and the time for adjusting the motion parameters of the host vehicle by obtaining the target motion parameters through V2X can be shortened to within 0.1 second. By shortening the time for the host vehicle to take driving measures, the distance between the host vehicle and the vehicle ahead is shortened, thereby improving the traffic efficiency.

[0062] In an alternative embodiment, the above-mentioned target motion parameters include: target acceleration.

[0063] As Figure 2 shown, the above-mentioned step S102 may include the following steps S201 to S203:

[0064] Step S201, identify the distance between the host vehicle and the vehicle ahead; ensure that the distance between the host vehicle and the vehicle ahead is greater than or equal to the target distance, where the target distance is greater than the safety distance;

[0065] Step S202, when the distance between the host vehicle and the vehicle ahead is greater than or equal to the target distance, in response to the acceleration of the vehicle ahead being greater than zero and the distance between the host vehicle and the vehicle ahead increasing, adjust the acceleration of the host vehicle based on the above-mentioned target acceleration combined with a preset increment, and after the distance between the host vehicle and the vehicle ahead is equal to the target distance, adjust the acceleration of the host vehicle based on the above-mentioned target acceleration;

[0066] Step S203, when the distance between the host vehicle and the preceding vehicle is greater than or equal to the target distance, in response to the acceleration of the preceding vehicle being less than zero and the distance between the host vehicle and the preceding vehicle decreasing, adjust the acceleration of the host vehicle based on the target acceleration combined with a preset reduction amount, and after the distance between the host vehicle and the preceding vehicle is equal to the target distance, adjust the acceleration of the host vehicle based on the target acceleration.

[0067] Determine the distance between the host vehicle and the preceding vehicle through an image acquisition device or other sensors. When the distance is less than the target distance, suspend adjusting the motion parameters of the host vehicle to make the distance between the host vehicle and the preceding vehicle greater than or equal to the target distance, ensuring traffic safety. When the distance between the host vehicle and the preceding vehicle is greater than or equal to the target distance, adjust according to the target motion parameters and the motion parameters of the host vehicle to prevent the distance between the host vehicle and the preceding vehicle from being too large and hindering traffic. Among them, the target distance is greater than the safety distance to ensure that the distance between the host vehicle and the preceding vehicle is greater than the safety distance.

[0068] For example, set an active distance in advance. The target distance can be the sum of the safety distance and the active distance. The active distance can be a preset fixed distance value or a distance value positively correlated with the speed of the host vehicle. As an example, when the speed of the host vehicle is 60 km / h, the safety distance can be 60 m, the active distance can be set to 10 m, and the target distance can be the sum of the safety distance and the active distance, which is 70 m; when the speed of the host vehicle is 80 km / h, the safety distance can be 80 m, the active distance can be set to 20 m, and the target distance can be the sum of the safety distance and the active distance, which is 100 m.

[0069] During the process of adjusting the motion parameters of the host vehicle, it is possible to determine whether the acceleration of the preceding vehicle is greater than zero and whether the distance between the host vehicle and the preceding vehicle is increasing. When the acceleration of the preceding vehicle is greater than zero and the distance between the host vehicle and the preceding vehicle is increasing, it indicates that the preceding vehicle is accelerating. To avoid the distance between the host vehicle and the preceding vehicle from increasing further and hindering traffic, adjust the acceleration of the host vehicle based on the sum of the target acceleration and a preset increase amount. After the distance between the host vehicle and the preceding vehicle is equal to the target distance, adjust the acceleration of the host vehicle based on the target acceleration to ensure that the host vehicle follows the preceding vehicle and the distance between them remains within a reasonable range without affecting traffic efficiency. Among them, the preset increase amount should be greater than zero, and the preset increase amount can be positively correlated with the target acceleration, can also be a preset fixed value, or can be adjusted according to the actual situation, and no specific limitation is made here.

[0070] When the acceleration of the vehicle in front is less than zero and the distance between the host vehicle and the vehicle in front is decreasing, it indicates that the vehicle in front is decelerating. To avoid the further reduction of the distance between the host vehicle and the vehicle in front, so that the distance between the host vehicle and the vehicle in front is reduced to less than the target distance or the safety distance, which affects traffic safety, the acceleration of the host vehicle can be adjusted based on the sum of the target acceleration and the preset reduction amount until the distance between the host vehicle and the vehicle in front is equal to the target distance. Then, the acceleration of the host vehicle can be adjusted based on the target acceleration to ensure that the host vehicle follows the vehicle in front and the distance between them is maintained within a reasonable range, without affecting traffic safety and traffic efficiency. Among them, the preset reduction amount should be less than zero, and the preset reduction amount can be negatively correlated with the target acceleration, or can be a preset fixed value, or can be adjusted according to the actual situation, which is not specifically limited here.

[0071] It should be noted that during the process of adjusting the motion parameters of the host vehicle according to the target motion parameters of the vehicle in front, not only can the acceleration of the host vehicle be adjusted through the target acceleration, but also the motion parameters of the host vehicle can be adjusted according to other parameters in the target motion parameters. As an example, the throttle opening of the host vehicle can be adjusted according to the throttle opening of the vehicle in front.

[0072] In an alternative embodiment, the above method further includes: during the process of following the target vehicle, in response to the target driving direction included in the above target motion parameters being inconsistent with the driving direction indicated by the path planning of the host vehicle, ending the following relationship with the vehicle in front.

[0073] The target motion parameters may further include a target driving direction. The target driving direction can be obtained based on the turn signal of the vehicle in front and the steering wheel rotation angle. Once the target driving direction of the vehicle in front is inconsistent with the driving direction indicated by the path planning of the host vehicle, the following relationship between the host vehicle and the vehicle in front can be ended, and the host vehicle continues to drive based on the driving direction indicated by the path planning.

[0074] In an alternative embodiment, the above safety distance is positively correlated with the speed of the host vehicle.

[0075] The safety distance that needs to be maintained between the host vehicle and the vehicle in front can vary dynamically according to various factor conditions. The safety distance that needs to be maintained between the host vehicle and the vehicle in front can be positively correlated with the speed of the host vehicle. The faster the speed of the host vehicle, the longer the safety distance should be. As an example, when the speed of the host vehicle exceeds 100 km / h, the safety distance between the host vehicle and the vehicle in front should be maintained greater than 100 meters; when the speed of the host vehicle is between 60 km / h and 100 km / h, the value of the safety distance between the host vehicle and the vehicle in front can be equal to the speed value.

[0076] In addition, the safety distance can also be related to the V2X data transmission time. When the V2X data transmission time is longer and other parameters affecting the safety distance are the same, the safety distance is relatively longer.

[0077] The safety distance can also be related to the adjustment duration for adjusting the vehicle's own motion parameters according to the target motion parameters. When the adjustment duration is longer and other parameters affecting the safety distance are the same, the safety distance is relatively longer.

[0078] Furthermore, the safety distance can be determined by the following formula:

[0079] S = V(T1 + T2)

[0080] Wherein, S represents the safety distance; V represents the speed of the vehicle itself; T1 represents the V2X data transmission time; T2 represents the adjustment duration for adjusting the vehicle's own motion parameters according to the target motion parameters.

[0081] In addition, the safety distance can also be related to weather, road conditions, and vehicle types. For example, in the case of low visibility such as rain, snow, or fog, compared with the weather without rain, snow, or fog, the safety distance should be appropriately increased; when on a highway, the safety distance should be longer than when on an urban road; in the case of a heavy vehicle, compared with an ordinary car, the safety distance should be appropriately increased.

[0082] The vehicle following method will be described below through a specific embodiment.

[0083] The vehicle following method of the embodiments of the present invention is applicable to the situation where the driver drives the vehicle itself, and is also applicable to the situation where the vehicle is driven through an intelligent driving system. The vehicle following method of the embodiments of the present invention can be executed by the vehicle itself or a vehicle following device configured on the vehicle. As Figure 3 shown, when executed by the vehicle itself, the vehicle 300 can include a driving end 301, a sensor end 302, a path planning end 303, a processing end 304, a communication end 305, etc. As Figure 4 shown, the vehicle following method of the embodiments of the present invention includes the following steps S401 to step S406:

[0084] Step S401, the vehicle 300 can determine whether the vehicle 300 is in a specific driving scenario through the sensor end 302;

[0085] Specifically, the vehicle 300 can collect traffic data within a first preset range around the vehicle through the sensor end 302, and determine the number of vehicles and the average speed of the vehicles within the first preset range around the vehicle 300 based on the above traffic data through the processing end 304; in the case where the number of vehicles is greater than a preset vehicle number threshold and the average speed is less than a preset average speed threshold, it is determined that the vehicle 300 is in a special scenario of a congested section.

[0086] Alternatively, the vehicle 300 can collect road data through the sensor end 302, and determine the distance of the vehicle 300 from the target intersection based on the above road data through the processing end 304; in response to the distance between the vehicle 300 and the target intersection being less than or equal to a preset distance threshold, it is determined that the vehicle 300 is in a special scenario of approaching the target intersection.

[0087] Step S402, the vehicle 300 can communicate with the preceding vehicle through vehicle wireless communication using the communication end 305 to obtain the target motion parameters of the preceding vehicle;

[0088] Step S403, the vehicle 300 can collect the distance between the vehicle 300 and the preceding vehicle through the sensor end 302 to ensure that the distance between the vehicle 300 and the preceding vehicle is greater than or equal to the target distance; wherein, the target distance is greater than the safety distance; the above safety distance is positively correlated with the speed of the vehicle 300;

[0089] Step S404, in response to the acceleration of the preceding vehicle being greater than zero and the distance between the vehicle 300 and the preceding vehicle increasing, based on the above target acceleration combined with a preset increase amount, the driving end 301 of the vehicle 300 can adjust the acceleration of the vehicle 300, and after the distance between the vehicle 300 and the preceding vehicle is equal to the target distance, adjust the acceleration of the vehicle 300 based on the above target acceleration;

[0090] Step S405, in response to the acceleration of the preceding vehicle being less than zero and the distance between the vehicle and the preceding vehicle decreasing, based on the above target acceleration combined with a preset decrease amount, the driving end 301 of the vehicle 300 adjusts the acceleration of the vehicle 300, and after the distance between the vehicle 300 and the preceding vehicle is equal to the target distance, adjust the acceleration of the vehicle 300 based on the above target acceleration;

[0091] Step S406, during the process of following the target vehicle, in response to the target driving direction included in the above target motion parameters being inconsistent with the driving direction of the driving path planned by the vehicle path planning end 303 of the vehicle, end the following relationship with the preceding vehicle.

[0092] According to the vehicle following method of the embodiments of the present invention, when the host vehicle is in a specific driving scenario, a following relationship between the host vehicle and the preceding vehicle can be established, and the target motion parameters of the preceding vehicle can be obtained in real time, so as to adjust the motion parameters of the host vehicle based on the target motion parameters, solving the problem that when the host vehicle starts, the driver or the intelligent driving system needs a certain reaction time, resulting in an increase in the distance between the host vehicle and the preceding vehicle, and realizing real-time adjustment of the motion parameters of the host vehicle based on the target motion parameters of the preceding vehicle, greatly improving the traffic passing efficiency.

[0093] Figure 5 It is a schematic diagram of the main modules of the vehicle following device according to the embodiments of the present invention. As Figure 5 shown, the vehicle following device 500 according to the embodiments of the present invention includes: an acquisition module 501, configured to, when the host vehicle is in a specific driving scenario, in response to the formation of a following relationship between the host vehicle and the preceding vehicle, obtain the target motion parameters of the preceding vehicle in real time; a following module 502, configured to, in response to a change in the parameter related to speed among the above target motion parameters, adjust the motion parameters of the host vehicle according to the above target motion parameters to follow the preceding vehicle.

[0094] In an optional embodiment of the present invention, the above vehicle following device 500 further includes: a first establishment module, configured to: identify the number of vehicles within a first preset range around the host vehicle and the average speed of the vehicles; and establish a following relationship between the host vehicle and the preceding vehicle within a second preset range in front of the host vehicle when the number of vehicles is greater than a preset vehicle number threshold and the average speed is less than a preset average speed threshold.

[0095] In an optional embodiment of the present invention, the above vehicle following device 500 further includes: a second establishment module, configured to: identify the distance of the host vehicle from the target intersection; and establish a following relationship between the host vehicle and the preceding vehicle within a second preset range in front of the host vehicle in response to the distance between the host vehicle and the target intersection being less than or equal to a preset distance threshold.

[0096] In an optional embodiment of the present invention, the above acquisition module 501 is further configured to: communicate with the preceding vehicle through vehicle wireless communication to obtain the target motion parameters of the preceding vehicle.

[0097] In an alternative embodiment of the present invention, the above-mentioned target motion parameter includes: target acceleration. The following module 502 is further configured to: when the distance between the host vehicle and the preceding vehicle is greater than or equal to the target distance, where the target distance is greater than the safety distance; in response to the acceleration of the preceding vehicle being greater than zero and the distance between the host vehicle and the preceding vehicle increasing, adjust the acceleration of the host vehicle based on the target acceleration combined with a preset increase amount, and after the distance between the host vehicle and the preceding vehicle is equal to the target distance, adjust the acceleration of the host vehicle based on the target acceleration; in response to the acceleration of the preceding vehicle being less than zero and the distance between the host vehicle and the preceding vehicle decreasing, adjust the acceleration of the host vehicle based on the target acceleration combined with a preset decrease amount, and after the distance between the host vehicle and the preceding vehicle is equal to the target distance, adjust the acceleration of the host vehicle based on the target acceleration.

[0098] In an alternative embodiment of the present invention, the vehicle following device 500 further includes: an end module, configured to: during the process of following the target vehicle, in response to the target driving direction included in the above-mentioned target motion parameter being inconsistent with the driving direction indicated by the path planning of the host vehicle, end the following relationship with the preceding vehicle.

[0099] In an alternative embodiment of the present invention, the above-mentioned safety distance is positively correlated with the speed of the host vehicle.

[0100] According to the vehicle following device of the embodiments of the present invention, when the host vehicle is in a specific driving scenario, a following relationship between the host vehicle and the preceding vehicle can be established, and the target motion parameters of the preceding vehicle can be obtained in real time, so as to adjust the motion parameters of the host vehicle based on the target motion parameters, solve the problem that when the host vehicle starts, the driver or the intelligent driving system needs a certain reaction time, resulting in an increase in the distance between the host vehicle and the preceding vehicle, and realize the real-time adjustment of the motion parameters of the host vehicle based on the target motion parameters of the preceding vehicle, greatly improving the traffic passing efficiency.

[0101] Figure 6 An exemplary system architecture 600 to which the vehicle following method or vehicle following device of the embodiments of the present invention can be applied is shown.

[0102] As Figure 6 shown, the system architecture 600 may include a host vehicle 601, a network 602, and a preceding vehicle 603. The network 602 is used to provide a medium for a communication link between the host vehicle 601 and the preceding vehicle 603. The network 602 may include various connection types, such as a wireless communication link, etc.

[0103] The host vehicle 601 interacts with the preceding vehicle 603 through the network 602 to receive or send data, etc.

[0104] The vehicle 601 can obtain the target motion parameters of the vehicle 603 in front through the network 602, and adjust the motion parameters of the vehicle 601 according to the target motion parameters to follow the vehicle in front.

[0105] It should be noted that the vehicle following method provided by the embodiments of the present invention is generally executed by the vehicle 601. Correspondingly, the vehicle following device is generally arranged in the vehicle 601.

[0106] Next, refer to Figure 7 , which shows a schematic structural diagram of a computer system 700 suitable for implementing the vehicle following method of the embodiments of the present invention. Figure 7 The shown computer system 700 is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0107] As Figure 7 shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage section 708 into the random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the computer system 700 are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other through a bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

[0108] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that the computer program read from it can be installed into the storage section 708 as needed.

[0109] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 709, and / or installed from the removable medium 711. When the computer program is executed by the central processing unit (CPU) 701, the above-described functions defined in the system of the present invention are executed.

[0110] It should be noted that the computer-readable medium shown in the present invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device. In the present invention, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0111] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as combinations of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0112] The modules involved in the embodiments of the present invention can be implemented in software or in hardware. The described modules can also be provided in a processor. For example, it can be described as: a processor includes an acquisition module and a following module. Among them, the names of these modules do not constitute a limitation on the module itself in some cases. For example, the acquisition module can also be described as "a module that, when the vehicle is in a specific driving scenario and in response to the vehicle forming a following relationship with the preceding vehicle, acquires the target motion parameters of the preceding vehicle in real time".

[0113] On the other hand, the present invention also provides a computer-readable medium. This computer-readable medium can be included in the device described in the above embodiments; or it can exist separately and not be assembled into the device. The above computer-readable medium carries one or more programs. When the one or more programs are executed by a device, the device includes: when the vehicle is in a specific driving scenario and in response to the vehicle forming a following relationship with the preceding vehicle, acquiring the target motion parameters of the preceding vehicle in real time; and in response to a change in the parameter related to speed among the above target motion parameters, adjusting the motion parameters of the vehicle according to the above target motion parameters to follow the preceding vehicle.

[0114] According to the technical solution of the embodiments of the present invention, when the vehicle is in a specific driving scenario, a following relationship between the vehicle and the preceding vehicle can be established, and the target motion parameters of the preceding vehicle can be acquired in real time, so as to adjust the motion parameters of the vehicle based on the target motion parameters, solving the problem that when the vehicle starts, the driver or the intelligent driving system needs a certain reaction time, resulting in an increase in the distance between the vehicle and the preceding vehicle, and realizing real-time adjustment of the motion parameters of the vehicle based on the target motion parameters of the preceding vehicle, greatly improving the traffic passing efficiency.

[0115] 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 occur depending on 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 following method, characterized in that, It includes: When the vehicle is in a specific driving scenario, in response to the vehicle forming a following relationship with the preceding vehicle, the target motion parameters of the preceding vehicle are obtained in real time; In response to the change of the speed-related parameter in the target motion parameters, the motion parameters of the vehicle are adjusted according to the target motion parameters to follow the preceding vehicle.

2. The vehicle following method according to claim 1, wherein The method further includes: Identifying the number of vehicles within a first preset range around the vehicle and the average speed of the vehicles; When the number of vehicles is greater than a preset vehicle number threshold and the average speed is less than a preset average speed threshold, a following relationship is established between the vehicle and the preceding vehicle within a second preset range in front of the vehicle.

3. The vehicle following method according to claim 1, characterized in that, The method further includes: Identifying the distance of the vehicle from the target intersection; In response to the distance between the vehicle and the target intersection being less than or equal to a preset distance threshold, a following relationship is established between the vehicle and the preceding vehicle within a second preset range in front of the vehicle.

4. The vehicle following method according to claim 1, characterized in that, The obtaining of the target motion parameters of the preceding vehicle in real time includes: Communicating with the preceding vehicle through vehicle wireless communication to obtain the target motion parameters of the preceding vehicle.

5. The vehicle following method according to claim 1, wherein The target motion parameters include: target acceleration; The adjustment of the motion parameters of the vehicle according to the target motion parameters includes: When the distance between the vehicle and the preceding vehicle is greater than or equal to the target distance, where the target distance is greater than the safety distance; In response to the acceleration of the preceding vehicle being greater than zero and the distance between the vehicle and the preceding vehicle increasing, the acceleration of the vehicle is adjusted based on the target acceleration combined with a preset increase amount, and after the distance between the vehicle and the preceding vehicle is equal to the target distance, the acceleration of the vehicle is adjusted based on the target acceleration; In response to the acceleration of the preceding vehicle being less than zero and the distance between the vehicle and the preceding vehicle decreasing, the acceleration of the vehicle is adjusted based on the target acceleration combined with a preset decrease amount, and after the distance between the vehicle and the preceding vehicle is equal to the target distance, the acceleration of the vehicle is adjusted based on the target acceleration.

6. The vehicle following method according to any one of claims 1-5, characterized in that, The method further includes: During the process of following the target vehicle, in response to the target driving direction included in the target motion parameters being inconsistent with the driving direction indicated by the vehicle path planning, the following relationship with the preceding vehicle is ended.

7. The vehicle following method according to claim 5, wherein The safety distance is positively correlated with the speed of the vehicle.

8. A vehicle following device, characterized in that, It includes: An obtaining module, configured to obtain the target motion parameters of the preceding vehicle in real time when the vehicle is in a specific driving scenario and in response to the vehicle forming a following relationship with the preceding vehicle; A following module, configured to adjust the motion parameters of the vehicle according to the target motion parameters in response to the change of the speed-related parameter in the target motion parameters to follow the preceding vehicle.

9. An electronic device for vehicle following, characterized in that, It includes: One or more processors; A storage device, configured to store one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1-7.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, the method according to any one of claims 1-7 is implemented.

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