Car following control method and computing device

Abstract

The embodiment of the invention provides a vehicle following control method which comprises the steps of receiving a speed value representing the real-time speed of a vehicle, a displacement value representing the real-time displacement of the vehicle and the speed and displacement of a target vehicle different from the vehicle, the speed and the displacement of the target vehicle respectively serve as a target speed and a target displacement for the vehicle; determining an evaluated disturbance for a disturbance of the vehicle, an evaluated speed corresponding to the real-time speed, and an evaluated displacement corresponding to the real-time displacement based on the speed value, the displacement value, and a longitudinal force control amount representing a parameter for controlling a magnitude of a longitudinal force of the vehicle, the longitudinal force comprises a driving force and a braking force; and determining the longitudinal force control amount based on the target speed, the target displacement, the evaluated speed, the evaluated displacement, and the evaluated disturbance, thereby controlling a longitudinal force of the vehicle according to the longitudinal force control amount.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a following vehicle control method, a computing device, a computer program product, and a computer-readable storage medium. Background Art

[0002] With the development and application promotion of artificial intelligence technology, transportation means such as automobiles are gradually equipped with more and more powerful intelligent auxiliary driving functions. Currently, maintaining an appropriate dynamic distance between a vehicle and the vehicle in front of it is an important aspect that needs attention and implementation during the vehicle driving process. Therefore, the accurate tracking of the vehicle in front by the current vehicle is one of the important aspects of intelligent auxiliary driving. However, in practice, when using the auxiliary driving function of the vehicle, the implementation of the aforementioned accurate tracking function is often affected by some external factors or some uncertain factors of the vehicle itself. For example, environmental factors such as air resistance received by the vehicle, uncertainties in the vehicle's own control caused by changes in the vehicle's load, and the like. Summary of the Invention

[0003] An embodiment of this application provides a following vehicle control method, including: receiving a speed value representing the real-time speed of a vehicle, a displacement value representing the real-time displacement of the vehicle, and the speed and displacement of a target vehicle different from the vehicle, where the speed and displacement of the target vehicle respectively serve as the target speed and target displacement for the vehicle; determining an evaluation disturbance of the disturbance for the vehicle, an evaluation speed corresponding to the real-time speed, and an evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and a longitudinal force control amount, where the longitudinal force control amount represents a parameter for controlling the magnitude of the longitudinal force of the vehicle, and the longitudinal force includes a driving force and a braking force; and determining the longitudinal force control amount based on the target speed, the target displacement, the evaluation speed, the evaluation displacement, and the evaluation disturbance, so as to control the longitudinal force of the vehicle according to the longitudinal force control amount.

[0004] According to some embodiments of this application, the determining an evaluation disturbance of the disturbance for the vehicle, an evaluation speed corresponding to the real-time speed, and an evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and a longitudinal force control amount includes: determining a displacement difference between the displacement value and the evaluation displacement, and a speed difference between the speed value and the evaluation speed; and obtaining the evaluation disturbance based on a weighted sum of the displacement difference and the speed difference.

[0005] According to some embodiments of this application, where obtaining the evaluation disturbance based on a weighted sum of the displacement difference and the speed difference includes: determining the weighted sum of the displacement difference and the speed difference as the derivative of the evaluation disturbance.

[0006] According to some embodiments of the present application, the determining of the evaluation disturbance for the vehicle, the evaluation speed corresponding to the real-time speed, and the evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and the longitudinal force control amount further includes: determining the derivative of the evaluation displacement based on the weighted sum of the displacement difference and the evaluation speed.

[0007] According to some embodiments of the present application, the determining of the evaluation disturbance for the vehicle, the evaluation speed corresponding to the real-time speed, and the evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and the longitudinal force control amount further includes: determining the derivative of the acceleration evaluation value of the vehicle based on the weighted sum of the displacement difference, the speed difference, the evaluation disturbance, and the longitudinal force control amount; and determining the derivative of the evaluation speed based on the weighted sum of the acceleration evaluation value, the displacement difference, and the speed difference.

[0008] According to some embodiments of the present application, the determining of the longitudinal force control amount based on the target speed, the target displacement, the evaluation speed, the evaluation displacement, and the evaluation disturbance includes: obtaining an intermediate control amount by using a state error feedback controller according to the difference between the target speed and the evaluation speed and the difference between the target displacement and the evaluation displacement, where the intermediate control amount represents the derivative of the acceleration evaluation value of the vehicle; and determining the longitudinal force control amount based on the difference between the intermediate control amount and the evaluation disturbance.

[0009] According to some embodiments of the present application, the vehicle includes an electric motor, and the vehicle following control method further includes: controlling the output torque of the electric motor according to the longitudinal force control amount.

[0010] According to some embodiments of the present application, the vehicle following control method is applied to vehicle adaptive cruise control.

[0011] According to some embodiments of the present application, the vehicle following control method is applied to vehicle automatic emergency braking. Another embodiment of the present application provides a device for controlling a vehicle, the device includes: a data receiving unit configured to receive a speed value representing the real-time speed of the vehicle and a displacement value representing the real-time displacement of the vehicle; an evaluation unit configured to determine an evaluation disturbance for the vehicle, an evaluation speed corresponding to the real-time speed, and an evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and a longitudinal force control amount, where the longitudinal force control amount represents a parameter for controlling the magnitude of the longitudinal force of the vehicle; and a longitudinal force control amount determining unit configured to determine the longitudinal force control amount based at least on the evaluation speed, the evaluation displacement, and the evaluation disturbance, so as to control the longitudinal force of the vehicle according to the longitudinal force control amount.

[0012] According to some embodiments of the present application, the longitudinal force control amount determining unit includes a state error feedback controller, and the state error feedback controller is configured to: receive a target speed and a target displacement for the vehicle; obtain an intermediate control amount according to a difference between the target speed and the evaluated speed and a difference between the target displacement and the evaluated displacement, where the intermediate control amount represents a derivative of an evaluated acceleration value of the vehicle, and the longitudinal force control amount determining unit determines the longitudinal force control amount based on a difference between the intermediate control amount and the evaluated disturbance.

[0013] Another embodiment of the present application provides an electronic control unit, including a device for controlling a vehicle as described in any one of the foregoing embodiments.

[0014] Another embodiment of the present application provides a computing device, including: a memory configured to store computer-executable instructions; and a processor configured to execute a method as described in any one of the foregoing following vehicle-following control method embodiments when the computer-executable instructions are executed by the processor.

[0015] According to some embodiments of the present application, the computing device includes a vehicle domain controller.

[0016] Another embodiment of the present application provides a computer program product, including a computer program that implements a method as described in any one of the foregoing vehicle-following control method embodiments when executed by a processor.

[0017] Another embodiment of the present application provides a computer-readable storage medium, on which computer-readable instructions are stored, and the computer-readable instructions implement a method as described in any one of the foregoing vehicle-following control method embodiments when executed.

[0018] According to the embodiments described below, these and other advantages of the present application will become clear, and these and other advantages of the present application are illustrated with reference to the embodiments described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Embodiments of the present application will now be described in more detail with reference to the drawings, where:

[0020] Figure 1 illustrates some steps involved in a vehicle-following control method provided according to an embodiment of the present application;

[0021] Figure 2 illustrates according to Figure 1 some processes involved in determining the evaluated disturbance, the evaluated speed, and the evaluated displacement according to step S102 in;

[0022] Figure 3 illustrates according toFigure 1 Some processes involved in determining the longitudinal force control amount in step S103 in

[0023] Figure 4 The figure illustrates an example of a principle model of a vehicle control strategy for applying the vehicle following control method provided by an embodiment of the present application;

[0024] Figure 5 The figure illustrates based on Figure 4 The figure shows a simulation result graph of controlling an electric vehicle based on the vehicle control strategy shown;

[0025] Figure 6 The figure illustrates a structural block diagram of a device for controlling a vehicle to achieve a target speed and a target displacement according to another embodiment of the present application. Detailed implementation manners

[0026] The following description provides specific details of various embodiments of the present application so that those skilled in the art can fully understand and implement various embodiments of the present application. It should be understood that the technical solutions of the present application can be implemented without some of these details. In some cases, the present application does not show or describe in detail some well-known structures or functions to avoid obscuring the description of the embodiments of the present application with these unnecessary descriptions. The terms used in the present application should be understood in the broadest reasonable manner, even if they are used in combination with specific embodiments of the present application.

[0027] The terms used in the present application should be understood in the broadest reasonable manner, even if they are used in combination with specific embodiments of the present application. The "vehicle" in this article includes, but is not limited to, various types of vehicles. For example, examples of vehicles at least include pure electric vehicles or motorcycles, fuel vehicles or motorcycles, hybrid vehicles or motorcycles, etc. The "longitudinal force" mentioned in this article refers to the force received by the vehicle along the driving direction (for example, the vehicle moving forward or backward), which directly affects the acceleration, deceleration, and driving stability of the vehicle. The longitudinal force mainly includes driving force and braking force, etc. For an electric vehicle, the driving force is the force output by the motor torque through the transmission system to the wheels to drive the vehicle forward. The braking force is the deceleration force generated by the braking system (friction braking or energy recovery braking).

[0028] Figure 1 The figure illustrates some steps included in the vehicle following control method provided by an embodiment of the present application, such as Figure 1As shown, the method may include the following steps: S101. Receive a speed value representing the real-time speed of the vehicle, a displacement value representing the real-time displacement of the vehicle, and the speed and displacement of a target vehicle different from the vehicle, where the speed and displacement of the target vehicle respectively serve as the target speed and target displacement for the vehicle; S102. Determine an estimated disturbance for the disturbance of the vehicle, an estimated speed corresponding to the real-time speed, and an estimated displacement corresponding to the real-time displacement based on the speed value, the displacement value, and a longitudinal force control quantity, where the longitudinal force control quantity represents a parameter for controlling the magnitude of the longitudinal force of the vehicle, and the longitudinal force includes a driving force and a braking force; and S103. Determine the longitudinal force control quantity based on the target speed, the target displacement, the estimated speed, the estimated displacement, and the estimated disturbance, so as to control the longitudinal force of the vehicle according to the longitudinal force control quantity. In step S101, the speed value representing the real-time speed of the vehicle and the displacement value representing the real-time displacement of the vehicle may be respectively received or obtained from a speed sensor and a displacement sensor provided in the vehicle itself. Of course, it can be understood that the foregoing speed value and displacement value can be obtained by appropriately processing the speed signal and displacement output by the speed sensor and the displacement sensor. Here, the target speed and target displacement represent the expected speed and expected displacement for the currently controlled vehicle. In other words, the target speed and target displacement are the driving speed and driving displacement that the currently controlled vehicle is expected to reach. The target speed and target displacement depend on the speed and displacement of a target vehicle different from the currently controlled vehicle. In other words, the speed and displacement of the target vehicle are respectively used as the target speed and target displacement of the currently controlled vehicle. For example, a target vehicle in front of the currently controlled vehicle may be real-time monitored through an in-vehicle radar, a camera, or a lidar sensor, so as to obtain the speed and displacement of the target vehicle, and the speed and displacement of the target vehicle are respectively used as the target speed and target displacement of the currently controlled vehicle. In step S102, the foregoing speed value, displacement value, and longitudinal force control quantity may be used to evaluate the disturbance suffered by the vehicle during driving. Examples of the disturbance include, but are not limited to, wind resistance suffered by the vehicle, uphill resistance, changes in the load of the vehicle, and the like. Here, the longitudinal force control quantity represents a parameter for controlling the magnitude of the longitudinal force of the vehicle. For example, in the case where the vehicle is an electric vehicle, the longitudinal force control quantity may control the output torque of the motor, so as to control or affect the driving force or braking force of the electric vehicle, and further control the driving speed and displacement of the electric vehicle. In some embodiments, an extended state observer (ESO) may be constructed based on the foregoing speed value, displacement value, and longitudinal force control quantity to real-time evaluate the disturbance suffered by the vehicle during driving. The extended state observer may regard the unmodeled dynamics inside the system and external disturbances as total disturbances, and real-time estimate these disturbances by adding an additional state variable (extended state), so as to significantly improve the robustness of the control system.According to the embodiments of the present application, while evaluating the disturbance received by the vehicle during driving, an evaluation speed corresponding to the aforementioned real-time speed and an evaluation displacement corresponding to the aforementioned real-time displacement can also be obtained. The evaluation speed and evaluation displacement here are different from the speed value or displacement value obtained or received from the sensor, and can be regarded as the speed and displacement of the vehicle evaluated considering the influence of the disturbance. In step S103, the aforementioned target speed, target displacement, evaluation speed, evaluation displacement, and evaluation disturbance can be applied to the overall control strategy for the driving state of the vehicle, so that the disturbance received by the vehicle during driving can be eliminated or compensated, and an appropriate longitudinal force control amount can be obtained, and thus the longitudinal force of the vehicle can be controlled according to the longitudinal force control amount.

[0029] In the scenario of intelligent assisted driving, the aforementioned target speed and target displacement can represent the displacement and speed of the target vehicle in front of or behind the vehicle. By using the following vehicle following control method provided by the embodiments of the present application, the interference received by the vehicle during driving can be evaluated and compensated in real time, thereby significantly enhancing the anti-interference ability during the operation of the vehicle, facilitating better precise tracking of the target vehicle in front of or behind the vehicle, maintaining an appropriate safety distance, and improving the reliability and safety of the intelligent assisted driving function.

[0030] In some embodiments, the aforementioned step S102 - determining the evaluation disturbance of the disturbance for the vehicle, the evaluation speed corresponding to the real-time speed, and the evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and the longitudinal force control amount includes: determining the displacement difference between the displacement value and the evaluation displacement, and the speed difference between the speed value and the evaluation speed; and obtaining the evaluation disturbance based on the weighted sum of the displacement difference and the speed difference. In some embodiments, obtaining the evaluation disturbance based on the weighted sum of the displacement difference and the speed difference includes: determining the weighted sum of the displacement difference and the speed difference as the derivative of the evaluation disturbance. Thus, the evaluation disturbance can be obtained according to the derivative of the evaluation disturbance.

[0031] Figure 2 Illustrates some processes involved in determining the evaluation disturbance, evaluation speed, and evaluation displacement according to the aforementioned step S102. As Figure 2As shown, determining the evaluation perturbation, evaluation speed, and evaluation displacement may include: S201, determining the displacement difference between the displacement value and the evaluation displacement, and the speed difference between the speed value and the evaluation speed; S202, determining the weighted sum of the displacement difference and the speed difference as the derivative of the evaluation perturbation. Further, in some embodiments, the foregoing step S102 may further include: S203, determining the derivative of the evaluation displacement based on the weighted sum of the displacement difference and the evaluation speed. Thus, the evaluation displacement can be determined based on the derivative of the evaluation displacement. S204, determining the derivative of the acceleration evaluation value of the vehicle based on the weighted sum of the displacement difference, the speed difference, the evaluation perturbation, and the longitudinal force control amount; and S205, determining the derivative of the evaluation speed based on the weighted sum of the acceleration evaluation value, the displacement difference, and the speed difference. Thus, the evaluation speed can be determined according to the derivative of the evaluation speed.

[0032] In some embodiments, the foregoing steps S201 to S205 may be implemented by designing an Extended State Observer (ESO), and the designed Extended State Observer can be expressed by the following formula.

[0033]

[0034] In the above formula, x1 and x2 respectively represent the real-time displacement and real-time speed of the vehicle, that is, the foregoing displacement value and speed value. and respectively represent the foregoing evaluation displacement and evaluation speed.

[0035] represents the acceleration evaluation value of the vehicle, that is, the estimated acceleration. represents the foregoing evaluation perturbation. respectively represent the derivative of the evaluation displacement, the derivative of the evaluation speed, the derivative of the acceleration evaluation value, and the derivative of the evaluation perturbation. In the above formula, u represents the foregoing longitudinal force control amount, and L1, L2, L3, L4, L5, L6, L7, and b all represent weighting coefficients or gain coefficients. It can be seen from the above formula that the derivative of the evaluation perturbation is determined as the weighted sum of the displacement difference between the displacement value x1 and the evaluation displacement , and the speed difference between the speed value x2 and the evaluation speed . The derivative of the evaluation displacement is determined as the weighted sum of the displacement difference and the evaluation speed . The derivative of the acceleration evaluation value is determined as the weighted sum of the displacement difference, the speed difference, the evaluation perturbation , and the longitudinal force control amount u. The derivative of the evaluation speed Determined as the acceleration evaluation value The weighted sum of the displacement difference and the velocity difference. In the above formula, the weighting coefficients L1, L2, L3, L4, L5, L6, L7, and b are adjustable. Some of the weighting coefficients are determined to be 1. However, this does not constitute a limitation on this patent application. The weighting coefficient 1 can be replaced by other weighting coefficients.

[0036] Figure 3 The figure illustrates some processes involved in step S103 of determining the longitudinal force control amount based on the target velocity, the target displacement, the evaluation velocity, the evaluation displacement, and the evaluation disturbance. As Figure 3 shown, the process of determining the longitudinal force control amount may include: S301. Using a state error feedback controller to obtain an intermediate control amount based on the difference between the target velocity and the evaluation velocity and the difference between the target displacement and the evaluation displacement, where the intermediate control amount represents the derivative of the acceleration evaluation value of the vehicle; and S302. Determining the longitudinal force control amount based on the difference between the intermediate control amount and the evaluation disturbance. In step S301, a state error feedback (SEF) controller can be used to obtain an intermediate control amount based on the error between the target velocity and the evaluation velocity and the error between the target displacement and the evaluation displacement, and this intermediate control amount represents the derivative of the acceleration evaluation value of the vehicle. The meaning of "the intermediate control amount represents the derivative of the acceleration evaluation value of the vehicle" mentioned here is that the value of the intermediate control amount is approximately close to or equal to the value of the derivative of the acceleration evaluation value of the vehicle. State error feedback (SEF) is an important control algorithm in the active disturbance rejection control (ADRC) theory, which is used to dynamically calculate the control amount according to the system state error. In some embodiments, the state error feedback (SEF) controller outputs an intermediate control amount based on the error between the target velocity and the evaluation velocity and the error between the target displacement and the evaluation displacement, and this intermediate control amount is approximately equal to the derivative of the acceleration evaluation value of the vehicle in terms of value. The value of the above intermediate control amount can be adjusted by adjusting the parameters in the state error feedback model, so that the value of the intermediate control amount is approximately close to or equal to the value of the derivative of the acceleration evaluation value of the vehicle. In step S302, the longitudinal force control amount is determined based on the difference between the intermediate control amount and the evaluation disturbance. Since the intermediate control amount represents the derivative of the acceleration evaluation value of the vehicle, that is, the weighted sum of the displacement difference, the velocity difference, the evaluation disturbance, and the longitudinal force control amount, at least to a certain extent, the influence of the evaluation disturbance in the obtained longitudinal force control amount can be eliminated. In other words, the interference suffered by the vehicle during driving can be compensated at least to a certain extent, thereby enhancing the anti-interference ability during the vehicle operation, which is beneficial to better realizing the precise tracking of the vehicle in front, maintaining an appropriate safety distance, and improving the reliability and safety of the intelligent assisted driving function.

[0037] In the case where the vehicle is an electric vehicle such as an electric car, the vehicle includes an electric motor. At this time, in some embodiments, the following vehicle following control method further includes: controlling the output torque of the electric motor according to the longitudinal force control amount, so as to control or affect the driving force or braking force of the electric vehicle, and further control the driving speed and displacement of the electric vehicle. Since the influence of the evaluation disturbance has been basically eliminated in the determined longitudinal force control amount, the speed and displacement of the electric vehicle can be better controlled to approach the foregoing target speed and target displacement. In the case where it is necessary to accurately track a vehicle in front (for example, an electric vehicle), the target speed and target displacement can be determined in real time according to the speed and displacement of the electric vehicle in front, thereby enabling accurate tracking of the electric vehicle in front.

[0038] By applying the vehicle following control method provided by the embodiments of the present application, automatic control of vehicle acceleration, deceleration, and parking can be achieved, and the current vehicle can be adaptively controlled and adjusted according to the operating state of the target vehicle, significantly improving driving safety and comfort. For example, in some embodiments, the vehicle following control method described in the foregoing embodiments is applied to vehicle adaptive cruise control (ACC). That is to say, the methods described in the foregoing embodiments can be applied to scenarios of automatic vehicle following and speed regulation, and can automatically adjust the vehicle speed and maintain a safe following distance according to the operating state of the vehicle in front. In another embodiment, the vehicle following control method described in the foregoing embodiments can be applied to vehicle automatic emergency braking (AEB). When a collision risk is detected and the driver does not react in time, it can actively intervene to implement emergency braking, effectively reducing the accident rate or mitigating the collision damage.

[0039] Figure 4 The figure illustrates an example of a principle model of a vehicle control strategy applying the vehicle following control method provided by an embodiment of the present application. As Figure 4 shown, the real-time displacement x1 and real-time speed x2 of the vehicle 410 can be collected to obtain the foregoing speed value and displacement value. The speed value and displacement value are provided to the extended state observer (ESO) 420. The extended state observer 420 also receives the longitudinal force control amount u and outputs the evaluated displacement evaluated speed and evaluated disturbance Figure 4 where S and V respectively represent the target displacement and target speed of the vehicle. The state error feedback (SEF) controller 430 receives the difference between the target speed and the evaluated speed, and the difference between the target displacement and the evaluated displacement, and outputs an intermediate control amount M based on the difference between the target speed and the evaluated speed, and the difference between the target displacement and the evaluated displacement. The intermediate control amount M and the evaluated disturbance The difference is approximately processed by gain (the gain coefficient is 1 / b) to obtain the aforementioned longitudinal force control amount u, and thus the output torque of the motor in the vehicle 410 is controlled according to the longitudinal force control amount u.

[0040] In some embodiments, the mathematical model of the state error feedback (SEF) controller 430 can be expressed as:

[0041] M = k p e1 + k d e2

[0042] where M represents the aforementioned intermediate control amount, e1 and e2 respectively represent the differences between the target speed and the evaluated speed, and between the target displacement and the evaluated displacement, k p and k d are adjustable coefficients. In simulation or actual tests, the adjustable coefficients k p and k d can be changed or adjusted such that when the entire system converges, the output value of the state error feedback controller 430 (i.e., the intermediate control amount M) is approximately close to or equal to the derivative of the vehicle acceleration evaluation value calculated by the Zhang state observer 420 . The difference between the intermediate control amount M and the evaluated disturbance is approximately processed by gain (the gain coefficient is 1 / b) to obtain the aforementioned longitudinal force control amount u, and thus the output torque of the motor in the vehicle 410 is controlled according to the longitudinal force control amount u. Since the intermediate control amount M can be approximately close to or equal to the derivative of the vehicle acceleration evaluation value , that is, the intermediate control amount M is approximately equal to the weighted sum of the aforementioned displacement difference, the aforementioned speed difference, the aforementioned evaluated disturbance, and the longitudinal force control amount, so the influence of the evaluated disturbance in the obtained longitudinal force control amount u can be at least eliminated to a certain extent. In other words, the interference received by the vehicle during driving can be at least compensated to a certain extent, thereby enhancing the anti-interference ability during the vehicle operation, facilitating better realization of accurate tracking of the vehicle in front, maintaining an appropriate safety distance, and improving the reliability and safety of the intelligent assisted driving function. Figure 5 The figure shows Figure 4 the simulation result diagram of controlling an electric vehicle based on the vehicle control strategy shown. Figure 5 In the upper figure of Figure 5 , the darker curve indicated by the arrow C1 represents the target displacement of the electric vehicle, and the lighter curve indicated by the arrow C2 represents the actual displacement of the electric vehicle. Figure 5As can be seen from the simulation results shown, after a short response time, the actual displacement of the electric vehicle is almost the same as the target displacement, and the actual speed of the electric vehicle is almost the same as the target speed. That is, the electric vehicle can achieve good tracking of the target displacement and target speed. Accordingly, by applying the vehicle-following control method provided in the embodiments of the present application, it is possible to better achieve precise tracking of the vehicle in front of the vehicle, and improve the reliability and safety of the intelligent assisted driving function.

[0043] Another embodiment of the present application provides a device for controlling a vehicle, as Figure 6 shown, the device includes: a data receiving unit 610 configured to receive a speed value representing the real-time speed of the vehicle and a displacement value representing the real-time displacement of the vehicle; an evaluation unit 620 configured to determine an evaluation disturbance for the disturbance of the vehicle, an evaluation speed corresponding to the real-time speed, and an evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and a longitudinal force control amount, where the longitudinal force control amount represents a parameter for controlling the magnitude of the longitudinal force of the vehicle; and a longitudinal force control amount determination unit 630 configured to determine the longitudinal force control amount based at least on the evaluation speed, the evaluation displacement, and the evaluation disturbance, so as to control the longitudinal force of the vehicle according to the longitudinal force control amount. In some embodiments, the longitudinal force control amount determination unit 630 includes a state error feedback controller configured to: receive a target speed and a target displacement for the vehicle; obtain an intermediate control amount based on the difference between the target speed and the evaluation speed and the difference between the target displacement and the evaluation displacement, where the intermediate control amount represents the derivative of the acceleration evaluation value of the vehicle, and the longitudinal force control amount determination unit determines the longitudinal force control amount based on the difference between the intermediate control amount and the evaluation disturbance. The device for controlling a vehicle can be implemented in the form of pure software or in a combination of software and hardware. Therefore, the device for controlling a vehicle can be implemented in a single chip or multiple chips.

[0044] Another embodiment of the present application provides an electronic control unit, and the electronic control unit (ECU) includes the device for controlling a vehicle as described in any of the foregoing embodiments. The device for controlling a vehicle can be implemented in a chip within the electronic control unit.

[0045] Another embodiment of the present application provides a computing device, including: a memory configured to store computer-executable instructions; and a processor configured to execute the method according to any of the embodiments of the vehicle-following control method described above when the computer-executable instructions are executed by the processor.

[0046] In some embodiments, the computing device may be implemented as a vehicle domain controller (VDC), or the computing device is implemented to include a vehicle domain controller, that is, the vehicle domain controller is at least a component of the computing device. The vehicle domain controller is an integrated electronic control unit that has emerged with the development of automotive electronics and intelligence, and improves the intelligence level of the vehicle by integrating the functions of multiple electronic control units (ECUs). According to the functions or application fields of the vehicle domain controller, the vehicle domain controller can be implemented as a power domain controller, a body domain controller, an autonomous driving domain controller, a cockpit domain controller, etc.

[0047] The vehicle following control method described above with reference to the flowchart can be implemented as a computer program. Another embodiment of the present application provides a computer program product, including a computer program, which when executed by a processor implements the method according to any one of the embodiments of the foregoing vehicle following control method embodiments.

[0048] Another embodiment of the present application provides a computer-readable storage medium, on which computer-readable instructions are stored, and the computer-readable instructions, when executed, implement the method according to any one of the embodiments of the foregoing vehicle following control method embodiments.

[0049] The scope of the present application is limited only by the appended claims. Although individual features may be included in different claims, these may possibly be advantageously combined, and the order of features in the claims does not imply that the features must work in any particular order. Further, in the claims, the word "comprising" does not exclude other elements or steps.

Claims

1. A following vehicle control method, comprising: Receiving a speed value representing the real-time speed of a vehicle, a displacement value representing the real-time displacement of the vehicle, and the speed and displacement of a target vehicle different from the vehicle, wherein the speed and displacement of the target vehicle respectively serve as the target speed and target displacement for the vehicle; Determining an evaluation disturbance for the disturbance of the vehicle, an evaluation speed corresponding to the real-time speed, and an evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and a longitudinal force control quantity, where the longitudinal force control quantity represents a parameter for controlling the magnitude of the longitudinal force of the vehicle, and the longitudinal force includes a driving force and a braking force; And Determining the longitudinal force control quantity based on the target speed, the target displacement, the evaluation speed, the evaluation displacement, and the evaluation disturbance, so as to control the longitudinal force of the vehicle according to the longitudinal force control quantity.

2. The vehicle-following control method according to claim 1, wherein The determining the evaluation disturbance for the disturbance of the vehicle, the evaluation speed corresponding to the real-time speed, and the evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and the longitudinal force control quantity includes: Determining a displacement difference between the displacement value and the evaluation displacement, and a speed difference between the speed value and the evaluation speed; and Obtaining the evaluation disturbance based on a weighted sum of the displacement difference and the speed difference.

3. The vehicle-following control method according to claim 1, wherein Wherein obtaining the evaluation disturbance based on the weighted sum of the displacement difference and the speed difference includes: Determining the weighted sum of the displacement difference and the speed difference as the derivative of the evaluation disturbance.

4. The vehicle following control method according to claim 2 or 3, wherein The determining the evaluation disturbance for the disturbance of the vehicle, the evaluation speed corresponding to the real-time speed, and the evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and the longitudinal force control quantity further includes: Determining the derivative of the evaluation displacement based on a weighted sum of the displacement difference and the evaluation speed.

5. The vehicle-following control method according to claim 4, wherein The determining the evaluation disturbance for the disturbance of the vehicle, the evaluation speed corresponding to the real-time speed, and the evaluation displacement corresponding to the real-time displacement based on the speed value, the displacement value, and the longitudinal force control quantity further includes: Determining the derivative of the acceleration evaluation value of the vehicle based on a weighted sum of the displacement difference, the speed difference, the evaluation disturbance, and the longitudinal force control quantity; and Determining the derivative of the evaluation speed based on a weighted sum of the acceleration evaluation value, the displacement difference, and the speed difference.

6. The vehicle following control method according to claim 1, characterized in that, The determining the longitudinal force control quantity based on the target speed, the target displacement, the evaluation speed, the evaluation displacement, and the evaluation disturbance includes: obtaining an intermediate control quantity by using a state error feedback controller according to the difference between the target speed and the evaluation speed and the difference between the target displacement and the evaluation displacement, where the intermediate control quantity represents the derivative of the acceleration evaluation value of the vehicle; and Determining the longitudinal force control quantity based on the difference between the intermediate control quantity and the evaluation disturbance.

7. The vehicle-following control method according to any one of claims 1-3 and 5-6, characterized in that The vehicle includes an electric motor, and the method further includes: Controlling the output torque of the electric motor according to the longitudinal force control quantity.

8. The vehicle-following control method according to claim 1, wherein The following vehicle control method is applied to vehicle adaptive cruise control or vehicle automatic emergency braking.

9. A computing device comprising: a memory configured to store computer-executable instructions; as well as A processor is configured to execute the vehicle following control method according to any one of claims 1-8 when the computer executable instructions are executed by the processor.

10. The computing device according to claim 9, wherein The computing device includes a vehicle domain controller.

11. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the vehicle following control method according to any one of claims 1 to 8.

12. A computer-readable storage medium having computer-readable instructions stored thereon, which, when executed, implement the vehicle following control method according to any one of claims 1-8.

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