Car following control method, computer program product and electronic equipment

Abstract

The invention provides a vehicle following control method, a computer program product and electronic equipment, according to the vehicle following control method provided by the invention, after a self-adaptive cruise function of a vehicle is activated, according to vehicle operation data of the vehicle and target related information of a candidate target object existing in front of the vehicle, the candidate target object can be detected according to the vehicle operation data of the vehicle and the target related information of the candidate target object. And selecting an overtaking prohibited vehicle which is closest to the vehicle at the lane where the vehicle is located from candidate target objects existing in front of the vehicle, and taking the selected vehicle as a vehicle following target of the self-adaptive cruise function of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle following control method, a computer program product, and an electronic device. Background Art

[0002] With the continuous advancement of technology, cars are gradually being equipped with adaptive cruise control functions. These functions adjust the speed of the car driven by the user by combining information about the surrounding environment and the car's own operating conditions, ensuring that the car maintains a safe distance between the car and the following vehicle in the road ahead, thereby improving the user's driving convenience and safety. However, when there is a parked vehicle or a vehicle traveling slower in the lane ahead of the user's car, the user may need to overtake the aforementioned vehicle. Therefore, the aforementioned vehicle should not be selected as the following vehicle for the adaptive cruise control function. Otherwise, the vehicle's driving efficiency and user experience will be easily affected when the adaptive cruise control function is in operation. Summary of the Invention

[0003] Based on this, the present invention provides a vehicle following control method, a computer program product and an electronic device. By adopting this vehicle following control method, it is possible to avoid selecting a vehicle that is located in the lane where the vehicle is located and is relatively close to the vehicle and that the vehicle needs to overtake as the following target of the vehicle's adaptive cruise function, which is beneficial to improving the vehicle driving efficiency and user experience when the adaptive cruise control function is running.

[0004] In one aspect, the present invention provides a vehicle following control method, the method comprising:

[0005] After the adaptive cruise control function of the vehicle is activated, the vehicle operation data of the vehicle and target-related information of candidate target objects in front of the vehicle are obtained;

[0006] determining, based on the vehicle operation data of the vehicle and the target-related information of the candidate target object, whether the candidate target object is a vehicle that is in a lane where the vehicle is located and is closest to the vehicle and is prohibited from overtaking, thereby obtaining a first determination result;

[0007] If the first judgment result indicates that the candidate target object is the vehicle that is closest to the vehicle in the lane where the vehicle is located and is prohibited from overtaking, the candidate target object is selected as the following target of the adaptive cruise control function of the vehicle.

[0008] Furthermore, in some embodiments, obtaining target-related information of a candidate target object in front of the vehicle includes:

[0009] Obtaining object-related information of the initial target object detected in the area in front of the vehicle and lane line data in the area in front of the vehicle;

[0010] determining, based on the object-related information of the initial target object and the lane line data, whether the initial target object is a vehicle object that is in the lane where the vehicle is located and is traveling in the same direction as the vehicle and is not in a lane change state, to obtain a second determination result;

[0011] If the second judgment result indicates that the initial target object is a vehicle object in the lane where the vehicle is located, in the same direction as the vehicle and not in a lane change state, the initial target object is determined as a candidate target object in front of the vehicle.

[0012] Furthermore, in some embodiments, obtaining object-related information of an initial target object detected in the area in front of the vehicle includes:

[0013] Obtaining object-related information of an initial target object obtained by processing an image of the area in front of the vehicle acquired by an image acquisition device; or

[0014] Obtaining object-related information of an initial target object obtained by processing perception data of the area in front of the vehicle collected by a radar device; or

[0015] Obtain object-related information of an initial target object obtained by processing the image of the area in front of the vehicle and the perception data of the area in front of the vehicle.

[0016] Furthermore, in some embodiments, determining whether the candidate target object is the vehicle that is closest to the vehicle in the lane where the vehicle is located and is prohibited from overtaking based on the vehicle operation data of the vehicle and the target-related information of the candidate target object includes:

[0017] determining, based on the vehicle operating data of the host vehicle and the target-related information of the candidate target object, whether a preset overtaking condition between the host vehicle and the candidate target object is satisfied, thereby obtaining a third judgment result; wherein the preset overtaking condition includes: the host vehicle is in a lane change state, and the host vehicle does not pose a collision risk when overtaking the candidate target object;

[0018] Based on the third judgment result, it is determined whether the specific candidate target object is a vehicle that is closest to the host vehicle and for which the preset overtaking condition is not satisfied.

[0019] Furthermore, in some embodiments, if the preset overtaking condition is that the vehicle is in a lane change state, determining whether the preset overtaking condition between the vehicle and the candidate target object is satisfied includes:

[0020] Calculate the lane change probability of the vehicle based on the vehicle operation data;

[0021] Determining whether the lane change probability of the vehicle reaches a first threshold; and / or,

[0022] It is determined whether at least one of the lateral speed data, the lateral acceleration data, the steering wheel angle data, and the wheel angle data in the vehicle operation data of the vehicle reaches a second threshold.

[0023] Furthermore, in some embodiments, if the preset overtaking condition is that the vehicle does not pose a collision risk when overtaking the candidate target object, then determining whether the preset overtaking condition between the vehicle and the candidate target object is satisfied includes:

[0024] According to the vehicle operation data of the vehicle and the target related information of the candidate target object, it is determined whether the target distance between the object area of the candidate target object and the vehicle area of the vehicle reaches a third threshold during the overtaking process of the vehicle.

[0025] Furthermore, in some embodiments, if the preset overtaking condition is that the vehicle does not pose a collision risk when overtaking the candidate target object, then determining whether the preset overtaking condition between the vehicle and the candidate target object is satisfied further includes:

[0026] It is determined whether a current longitudinal speed difference between the vehicle and the candidate target object reaches a fourth threshold, and whether a current longitudinal distance difference between the vehicle and the candidate target object is less than a fifth threshold.

[0027] Furthermore, in some embodiments, after selecting the candidate target object as a following target for the adaptive cruise control function of the vehicle, the method further includes:

[0028] generating a driving control instruction for the vehicle according to target-related information of the vehicle-following target of the adaptive cruise function; or

[0029] Sending target-related information of the vehicle-following target of the adaptive cruise function to a preset vehicle controller; wherein the preset vehicle controller is used to control the driving of the vehicle based on the target-related information of the vehicle-following target of the adaptive cruise function; or,

[0030] Sending target-related information of the vehicle-following target of the adaptive cruise function to a human-machine interface device of the vehicle; wherein the human-machine interface device is used to display the vehicle surrounding environment information including the vehicle-following target of the adaptive cruise function.

[0031] On the other hand, the present invention further provides a computer program product, which includes a computer program, and when the computer program is executed, the steps of the above method are implemented.

[0032] On the other hand, the present invention further provides an electronic device, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of the above method.

[0033] Furthermore, in some embodiments, the electronic device includes at least one of an image acquisition device, a radar device, and a domain controller.

[0034] According to the vehicle following control method provided by the present invention, after the adaptive cruise function of the vehicle is activated, the vehicle that is closest to the vehicle and is prohibited from overtaking in the lane where the vehicle is located can be selected from the candidate target objects in front of the vehicle based on the vehicle operation data of the vehicle and the target related information of the candidate target objects in front of the vehicle, and the selected vehicle can be used as the vehicle following target for the adaptive cruise function of the vehicle, so as to avoid selecting a vehicle that is located in the lane where the vehicle is located and is close to the vehicle and that the vehicle needs to overtake as the vehicle following target for the adaptive cruise function of the vehicle, which is beneficial to improving the vehicle driving efficiency and user experience when the adaptive cruise control function is running.

[0035] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flow chart of a vehicle following control method provided by an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a vehicle driving scenario provided by an embodiment of the present invention;

[0038] Figure 3 A bird's-eye view of a vehicle driving scene provided by an embodiment of the present invention;

[0039] Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, i.e., "including but not limited to." The term "based on" should be understood as "based at least in part on." The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0042] Currently, after a vehicle's adaptive cruise control function is activated, it usually detects vehicle objects in the area ahead of the vehicle. Based on the overlap between the areas where these vehicle objects are located and the lane where the vehicle is located, as well as the distance between these vehicle objects and the vehicle, the vehicle object closest to the vehicle in the lane where the vehicle is located can be selected as the following target for the vehicle's adaptive cruise control function, so as to control the vehicle to maintain a safe distance from the following target.

[0043] However, depending on the driver's driving needs, the current adaptive cruise control function may face the problem of insufficient accuracy in determining the following target during operation. For example, when there is a parked vehicle or a vehicle traveling at a lower speed in front of the vehicle's lane, the driver may need to drive the vehicle to overtake the aforementioned vehicle. However, the current selection scheme for the following target for the adaptive cruise control function often selects the parked vehicle or the vehicle traveling at a lower speed as the vehicle object closest to the vehicle in the lane, and then controls the vehicle to slow down or even stop. This not only fails to meet the driver's need to overtake the parked vehicle or the vehicle traveling at a lower speed, but also easily affects the vehicle's driving efficiency and user experience.

[0044] Based on this, the present invention proposes a vehicle following control method, which can, after the adaptive cruise function of the vehicle is activated, select the vehicle that is closest to the vehicle in the lane where the vehicle is located and is closest to the vehicle from the candidate target objects in front of the vehicle according to the vehicle operation data of the vehicle and the target-related information of the candidate target objects in front of the vehicle, and use it as the vehicle following target for the adaptive cruise function of the vehicle, so as to avoid selecting the vehicle that is located in the lane where the vehicle is located and is close to the vehicle and that the vehicle needs to overtake as the vehicle following target for the adaptive cruise function of the vehicle, which is beneficial to improving the vehicle driving efficiency and user experience when the adaptive cruise control function is running.

[0045] See Figure 1, which is a flow chart of a vehicle following control method provided by an embodiment of the present invention. From a program perspective, the execution subject of this process can be an application program installed on an image acquisition device, radar device, vehicle control device, or vehicle. Alternatively, the execution subject of this process can also be an image acquisition device, radar device, vehicle control device, or vehicle, or other device capable of communicating with the image acquisition device, radar device, vehicle control device, or vehicle, without specific limitation.

[0046] The following is for Figure 1 The process shown in FIG. 1 is described in detail. The vehicle following control method may specifically include the following steps:

[0047] Step S102 , after the adaptive cruise control function of the vehicle is activated, vehicle operation data of the vehicle and target-related information of a candidate target object in front of the vehicle are obtained.

[0048] In an embodiment of the present invention, the adaptive cruise function may generally refer to a function that requires flexibly and accurately selecting a following target for the adaptive cruise function of the vehicle from candidate target objects existing in front of the vehicle, so as to control the driving of the vehicle and thereby ensure that the vehicle can maintain a safe distance from the following target.

[0049] Because the driver may need to overtake a parked vehicle or a slower vehicle traveling in the same direction in the same lane ahead of the vehicle, even if the vehicle is the closest to the vehicle ahead in the same lane, the driver should not select the vehicle as the target for the adaptive cruise control function. Therefore, it is necessary to comprehensively consider the vehicle's driving intention and the operating conditions of the vehicle and the candidate targets to flexibly and accurately select the target for the adaptive cruise control function, thereby ensuring the intelligent performance of the adaptive cruise control function and improving the user experience.

[0050] Based on this, when selecting a target for the vehicle's adaptive cruise control function, the vehicle's operating data and target-related information about candidate target objects ahead of the vehicle can be obtained. The vehicle's operating data may include data reflecting the vehicle's speed, acceleration, and direction, while the target-related information about the candidate target objects may include location information, speed, acceleration, and direction of the candidate target objects, and other data, without specific limitations.

[0051] Step S104 , judging whether the candidate target object is the vehicle that is closest to the vehicle in the lane where the vehicle is located and is prohibited from overtaking based on the vehicle operation data of the vehicle and the target-related information of the candidate target object, and obtaining a first judgment result.

[0052] In an embodiment of the present invention, when the vehicle closest to the vehicle in the lane in front of the vehicle is a vehicle that can be overtaken by the vehicle, it can indicate that the driver of the vehicle has the intention to overtake the vehicle, and the vehicle has the ability to safely overtake the vehicle. Therefore, it is necessary to avoid using the vehicle as the following target of the adaptive cruise function of the vehicle to ensure the driver's driving intention.

[0053] If there is a vehicle prohibited from overtaking in the lane in front of the vehicle, it means that even if the driver of the vehicle intends to overtake the vehicle, the vehicle does not have the ability to safely overtake the vehicle. Therefore, the vehicle prohibited from overtaking in the lane in front of the vehicle and closest to the vehicle can be used as the following target of the adaptive cruise function of the vehicle, so as to reduce the collision risk of the vehicle by using the ability of the adaptive cruise function to maintain a safe distance between the vehicle and the following target.

[0054] Based on this, when selecting the following target for the adaptive cruise control function of the vehicle from the candidate target objects in front of the vehicle, the vehicle operation data of the vehicle and the target-related information of the candidate target objects can be combined to determine whether each candidate target object belongs to the vehicle that is closest to the vehicle in the lane where the vehicle is located and is prohibited from overtaking.

[0055] Step S106: If the first judgment result indicates that the candidate target object is the vehicle that is closest to the vehicle in the lane where the vehicle is located and is prohibited from overtaking, the candidate target object is selected as the following target of the adaptive cruise control function of the vehicle.

[0056] In an embodiment of the present invention, if the first judgment result indicates that any of the candidate target objects is not the vehicle that is closest to the vehicle in the lane where the vehicle is located and is prohibited from overtaking, then the candidate target object may be a vehicle that can be safely overtaken by the vehicle. Or, even if the candidate target object is a vehicle that is prohibited from overtaking, compared to the candidate target object, there is a vehicle that is prohibited from overtaking that is closer to the vehicle in the lane where the vehicle is located in front of the vehicle. Therefore, the candidate target object will usually not be selected as the following target for the adaptive cruise function of the vehicle.

[0057] If the first judgment result indicates that the candidate target object is the vehicle that is closest to the vehicle in the lane where the vehicle is located and is prohibited from overtaking, the candidate target object can be selected as the following target of the adaptive cruise function of the vehicle. Therefore, during the operation of the adaptive cruise function of the vehicle, the vehicle can safely overtake some vehicle objects in the lane where the vehicle is located to improve the driving efficiency of the vehicle and ensure the driver's driving intention and user experience. It can also enable the vehicle to maintain a safe distance from the nearest vehicle object that cannot be overtaken in the lane where the vehicle is located, so as to effectively ensure the safety of the vehicle during the operation of the adaptive cruise function.

[0058] In some feasible implementations, obtaining target-related information of a candidate target object in front of the vehicle may include:

[0059] Obtain object-related information of the initial target object detected in the area in front of the vehicle and lane line data in the area in front of the vehicle.

[0060] According to the object-related information of the initial target object and the lane line data, it is determined whether the initial target object is a vehicle object that is in the lane where the vehicle is located and is consistent with the driving direction of the vehicle and is not in a lane change state, to obtain a second judgment result.

[0061] If the second judgment result indicates that the initial target object is a vehicle object in the lane where the vehicle is located, in the same direction as the vehicle and not in a lane change state, the initial target object is determined as a candidate target object in front of the vehicle.

[0062] In embodiments of the present invention, to ensure that the vehicle can stably follow the adaptive cruise control target, it is typically necessary to select the adaptive cruise control target from vehicles traveling stably in the same direction as the vehicle's lane. To this end, initial target objects in the area ahead of the vehicle can be obtained. Then, from these initial target objects, vehicles in the vehicle's lane that are traveling in the same direction as the vehicle and not in a lane change state can be selected as candidate target objects ahead of the vehicle. This helps reduce the computational complexity of subsequently selecting the adaptive cruise control target from these candidate targets.

[0063] In practical applications, for any of the initial target objects, the running speed / direction information in the object-related information of the initial target object can be combined to determine whether the initial target object's traveling direction is consistent with the vehicle's traveling direction. If not, the initial target object can be prohibited from being considered as a candidate target object in front of the vehicle. Furthermore, the object category information in the object-related information of the initial target object can be combined to determine whether the initial target object is consistent with a vehicle object. If not, the initial target object can be prohibited from being considered as a candidate target object in front of the vehicle.

[0064] Furthermore, it is possible to determine whether the initial target object is located in the vehicle's lane based on the object position information in the object-related information of the initial target object and the lane position information of the vehicle's lane determined in combination with the lane line data in the area in front of the vehicle. If not, the initial target object can be prohibited from being used as a candidate target object in front of the vehicle. In actual applications, when the area ratio of the area where the initial target object is located in the vehicle's lane reaches a preset threshold, the initial target object can be considered to be located in the vehicle's lane; wherein the preset threshold can be set according to actual needs, for example, 30%, 60%, etc., and there is no specific limitation on this.

[0065] In some feasible implementations, obtaining object-related information of an initial target object detected in the area in front of the vehicle may include:

[0066] Obtaining object-related information of an initial target object obtained by processing an image of the area in front of the vehicle acquired by an image acquisition device; or

[0067] Obtaining object-related information of an initial target object obtained by processing perception data of the area in front of the vehicle collected by a radar device; or

[0068] Obtain object-related information of an initial target object obtained by processing the image of the area in front of the vehicle and the perception data of the area in front of the vehicle.

[0069] In an embodiment of the present invention, the initial target object existing in the area in front of the vehicle can be a target object detected from the area in front of the vehicle using image target detection technology, or a target object detected from the area in front of the vehicle using radar target detection technology. Alternatively, it can be a target object obtained by performing target fusion processing on the above-mentioned target objects detected by image target detection technology and radar target detection technology. Alternatively, it can be a target object obtained by collaborative analysis of image data and radar perception data collected from the area in front of the vehicle. It has good flexibility and is not specifically limited to this.

[0070] In some feasible implementations, determining whether the candidate target object is the vehicle that is closest to the vehicle in the lane where the vehicle is located and that is prohibited from overtaking based on the vehicle operation data of the vehicle and the target-related information of the candidate target object may include:

[0071] Based on the vehicle operation data of the vehicle and the target-related information of the candidate target object, it is determined whether the preset overtaking condition between the vehicle and the candidate target object is met to obtain a third judgment result; wherein, the preset overtaking condition may include: the vehicle is in a lane change state, and the vehicle does not have a collision risk when overtaking the candidate target object.

[0072] Based on the third judgment result, it is determined whether the specific candidate target object is a vehicle that is closest to the host vehicle and for which the preset overtaking condition is not satisfied.

[0073] In an embodiment of the present invention, when the vehicle is not in a lane change state, it can generally maintain its current lane. In this case, if the vehicle's speed is low and insufficient to overtake a candidate target object ahead of it in its lane, then such candidate target object may be classified as a vehicle prohibited from overtaking. However, if the vehicle's speed is high enough to overtake a candidate target object ahead of it in its lane, there is a high risk of collision because the vehicle and the candidate target object are in the same lane, making such candidate target object also classified as a vehicle prohibited from overtaking. Furthermore, when the vehicle is in a lane change state, since its trajectory generally gradually deviates from its lane, when its speed is high enough to overtake a candidate target object ahead of it in its lane, there may be no collision risk between the vehicle and the candidate target object, making the candidate target object a vehicle that can be overtaken by the vehicle. Based on this, the preset overtaking conditions used to characterize that the vehicle can safely overtake the candidate target object may include: the condition that the vehicle is in a lane change state, and the condition that the vehicle does not have a collision risk when overtaking the candidate target object.

[0074] In an embodiment of the present invention, if the third judgment result indicates that the vehicle is not in a lane change state and / or that there is a collision risk when the vehicle overtakes a specific candidate target object, that is, the preset overtaking condition corresponding to the specific candidate target object is not satisfied, then it can be indicated that the specific candidate target object is a vehicle that is prohibited from overtaking. Similarly, if the third judgment result indicates that the vehicle is in a lane change state and there is no collision risk when the vehicle overtakes the specific candidate target object, that is, the preset overtaking condition corresponding to the specific candidate target object is satisfied, then it can be indicated that the specific candidate target object is a vehicle that can be overtaken by the vehicle.

[0075] In practical applications, selecting the vehicle closest to the host vehicle that does not meet the preset overtaking condition based on the third judgment result can be implemented in various ways. For example, when it is determined that the host vehicle is not in a lane change state, each candidate target object belonging to a vehicle in the host vehicle's lane can be considered to be a vehicle that does not meet the preset overtaking condition. Therefore, the candidate target object belonging to a vehicle closest to the host vehicle in the host vehicle's lane can be used as the vehicle closest to the host vehicle that does not meet the preset overtaking condition, thereby obtaining the vehicle-following target for the host vehicle's adaptive cruise control function.

[0076] When the vehicle is identified as being in a lane change state, the candidate target objects belonging to vehicles in the vehicle's lane may be sequentially identified, in ascending order of distance between the candidate target objects and the vehicle, as vehicles for which the preset overtaking condition is not satisfied, until the first candidate target object in the vehicle's lane that does not satisfy the preset overtaking condition is identified, thereby obtaining a vehicle-to-follow target for the vehicle's adaptive cruise control function. Alternatively, after identifying the candidate target objects belonging to vehicles in the vehicle's lane that do not satisfy the preset overtaking condition, the distances between the candidate target objects and the vehicle may be compared, with the candidate target object having the smallest distance to the vehicle being selected as the vehicle closest to the vehicle for which the preset overtaking condition is not satisfied, thereby obtaining a vehicle-to-follow target for the vehicle's adaptive cruise control function. This is not specifically limited to this.

[0077] Figure 2 This is a schematic diagram of a vehicle driving scene provided by an embodiment of the present invention. In order to facilitate understanding of the screening principle of the following vehicle target for the adaptive cruise function of this vehicle, Figure 2 The contents in are given in the following examples. Figure 2 As shown, it is assumed that there are target objects 202, 203, and 204 in the area in front of vehicle 201. Since target object 204 is not located in the lane where vehicle 201 is located, it is necessary to prohibit target object 204 from being used as a following target for the adaptive cruise control function of vehicle 201.

[0078] For target objects 202 and 203 located in the lane of vehicle 201, if vehicle 201 is currently changing lanes to the left and there is no collision risk when overtaking target object 202, and there is a collision risk when overtaking target object 203, then target object 203 can be used as the target for the adaptive cruise control function of vehicle 201. Alternatively, if vehicle 201 is currently changing lanes to the right and there is a collision risk when overtaking target object 202, and there is no collision risk when overtaking target object 203, then target object 202 can be used as the target for the adaptive cruise control function of vehicle 201. Alternatively, if vehicle 201 is not currently changing lanes, then target object 202 can also be used as the target for the adaptive cruise control function of vehicle 201.

[0079] In some feasible implementations, if the preset overtaking condition is that the vehicle is in a lane change state, determining whether the preset overtaking condition between the vehicle and the candidate target object is satisfied may include:

[0080] Based on the vehicle operation data of the vehicle, the lane change probability of the vehicle is calculated.

[0081] Determine whether the lane change probability of the vehicle reaches a first threshold. And / or,

[0082] It is determined whether at least one of the lateral speed data, the lateral acceleration data, the steering wheel angle data, and the wheel angle data in the vehicle operation data of the vehicle reaches a second threshold.

[0083] In an embodiment of the present invention, the target probability value of the vehicle currently traveling in various preset driving directions (e.g., lane keeping direction, left lane change direction, right lane change direction, etc.) can be analyzed and calculated based on the vehicle operation data of the vehicle collected in the most recent period, and the lane change probability of the vehicle can be determined. If the lane change probability of the vehicle reaches a first threshold, it can generally be indicated that the possibility of the vehicle changing lanes is high. Therefore, it can be considered that the vehicle is currently in a lane change state with good accuracy. In actual applications, the first threshold can be set according to actual needs, for example, it can be 50%, 70%, etc., and there is no specific limitation on this.

[0084] In this embodiment of the present invention, when the vehicle's lateral velocity data, lateral acceleration data, steering wheel angle data, and wheel angle data are large, the vehicle will typically travel in a direction away from its lane. Therefore, when one or more of the lateral velocity data, lateral acceleration data, steering wheel angle data, and wheel angle data exceeds a corresponding second threshold, the vehicle can be considered to be in a lane change state, which is convenient and quick. In actual applications, the second threshold can be set according to actual needs, for example, from a few centimeters to tens of meters per second squared, from a few degrees to tens of degrees, etc., without specific limitation.

[0085] Of course, other methods may also be used to identify whether the vehicle is in a lane change state. For example, estimated driving trajectory data of the vehicle may be generated based on the vehicle's operating data; and the deviation between the estimated driving trajectory data and the lane line data of the vehicle's lane may be evaluated to identify whether the vehicle is in a lane change state. This is not specifically limited.

[0086] In some feasible implementations, if the preset overtaking condition is that the vehicle does not pose a collision risk when overtaking the candidate target object, then determining whether the preset overtaking condition between the vehicle and the candidate target object is satisfied may include:

[0087] According to the vehicle operation data of the vehicle and the target related information of the candidate target object, it is determined whether the target distance between the object area of the candidate target object and the vehicle area of the vehicle reaches a third threshold during the overtaking process of the vehicle.

[0088] In this embodiment of the present invention, if the area containing the candidate target object overlaps with the area containing the vehicle during the continuous movement of the host vehicle and the candidate target object, it can be indicated that a collision has occurred between the two. Based on this, if the distance between the area containing the candidate target object and the area containing the host vehicle is large during the process of the host vehicle overtaking the candidate target object, this can indicate a low collision risk between the two. This allows for a quick and convenient determination that there is no collision risk when the host vehicle overtakes the candidate target object.

[0089] In actual applications, when determining whether there is a collision risk when the vehicle overtakes the candidate target object, there may be multiple types of target distances between the object area of the candidate target object and the vehicle area of the vehicle. For example, the target distance may be the minimum distance (e.g., Euclidean distance) maintained by the two at any moment in the future. Alternatively, since the vehicle area of the vehicle and the object area of the candidate target object overlap in the longitudinal direction (i.e., the direction of vehicle travel) when the vehicle overtakes the candidate target object, the minimum distance value maintained by the two in the transverse direction (i.e., the direction perpendicular to the direction of vehicle travel) at this time may be used as the target distance. Correspondingly, the third threshold value may be set according to actual needs, for example, it may be from tens of centimeters to several meters, and there is no specific limitation on this.

[0090] In addition, when the candidate target object is a parked vehicle in a stationary state, since the position of the object area of the candidate target object will not change during the process of the host vehicle overtaking the candidate target object, the object area of the candidate target object and the vehicle area where the host vehicle will be located at various moments in the future can also be displayed in a two-dimensional bird's-eye view of the area in front of the host vehicle. At this time, the minimum value of the lateral distance between the object area of the candidate target object and the vehicle area of the host vehicle at the same longitudinal coordinate can be used as the target distance. The two-dimensional bird's-eye view of the area in front of the host vehicle can be either an image currently captured by the on-board image acquisition device for the area in front of the host vehicle, or a bird's-eye view generated by real-time map perception technology for the environmental conditions in the area in front of the host vehicle, and there is no specific limitation on this.

[0091] Figure 3 This is a bird's-eye view of a vehicle driving scene provided by an embodiment of the present invention. Figure 3 The target distance is illustrated in the following. Assume that the area where vehicle 301 will be located at various moments in the future, as determined based on vehicle operation data, can constitute area 302. If candidate target object 303 is a parked vehicle at rest, the minimum lateral distance 304 between the area where candidate target object 303 is located and area 302 where vehicle 301 may be located within a certain period of time in the future can serve as the target distance.

[0092] In some feasible implementations, if the preset overtaking condition is that there is no collision risk when the host vehicle overtakes the candidate target object, then determining whether the preset overtaking condition between the host vehicle and the candidate target object is satisfied may further include:

[0093] It is determined whether a current longitudinal speed difference between the vehicle and the candidate target object reaches a fourth threshold, and whether a current longitudinal distance difference between the vehicle and the candidate target object is less than a fifth threshold.

[0094] In an embodiment of the present invention, since the vehicle generally needs to be traveling at a much higher speed than the candidate target object in order to safely overtake the candidate target object, the preset overtaking condition may also include the current longitudinal speed difference between the vehicle and the candidate target object reaching a fourth threshold. It can be seen that when the current longitudinal speed difference between the vehicle and the candidate target object is less than the fourth threshold, the candidate target object should also be treated as a vehicle prohibited from overtaking, which is beneficial to improving the safety of the vehicle's driving process. In actual applications, the fourth threshold can be set according to actual needs, for example, it can be several meters to tens of meters per second, and there is no specific limitation on this.

[0095] In an embodiment of the present invention, since the length of the vehicle running trajectory generated in combination with the vehicle running data of the vehicle is long, the reliability of the vehicle running trajectory farther away from the vehicle is usually poor, thereby affecting the reliability of the evaluation results of the collision risk between the vehicle and the candidate target object farther away from the vehicle. Based on this, the preset overtaking condition can also include that the current longitudinal distance difference between the vehicle and the candidate target object is less than the fifth threshold. It can be seen that when the current longitudinal distance difference between the vehicle and the candidate target object is greater than or equal to the fifth threshold, the candidate target object should also be treated as a vehicle prohibited from overtaking, which is also conducive to improving the safety of the vehicle's driving process. In actual applications, the fifth threshold can be set according to actual needs, for example, it can be several meters to tens of meters, and there is no specific limitation on this.

[0096] In some feasible implementations, after selecting the candidate target object as a following target for the adaptive cruise control function of the vehicle, the following steps may also be included:

[0097] Generate driving control instructions for the vehicle based on the target-related information of the vehicle following target of the adaptive cruise function. Or,

[0098] Sending target-related information of the vehicle following target of the adaptive cruise function to a preset vehicle controller; wherein the preset vehicle controller is used to control the vehicle based on the target-related information of the vehicle following target of the adaptive cruise function. Or,

[0099] Sending target-related information of the vehicle-following target of the adaptive cruise function to a human-machine interface device of the vehicle; wherein the human-machine interface device is used to display the vehicle surrounding environment information including the vehicle-following target of the adaptive cruise function.

[0100] In the embodiment of the present invention, the adaptive cruise control function of the vehicle usually needs to combine the location and operation status of the currently selected target vehicle to control the vehicle, so as to maintain a safe distance between the vehicle and the target vehicle. Figure 1 The execution subject of the method can generate the driving control instruction of the vehicle according to the target related information of the vehicle following target of the adaptive cruise function, or can also generate the driving control instruction of the vehicle according to the target related information of the adaptive cruise function. Figure 1 A preset vehicle controller other than the execution subject of the method generates a driving control instruction of the vehicle, so that the vehicle can realize the adaptive cruise function by responding to the driving control instruction, which has good flexibility.

[0101] In the embodiment of the present invention, since the human-machine interface device of the vehicle may need to display the position information of the vehicle following the adaptive cruise function during the driving process to improve the user experience, Figure 1 The subject executing the method may also transmit target-related information of the adaptive cruise control function's following target to a human-machine interface device of the vehicle for display. In practical applications, the human-machine interface device may indicate the adaptive cruise control function's following target in the surrounding environment image captured by the image acquisition device, or may indicate the adaptive cruise control function's following target in a real-time perception map of the vehicle's surroundings (e.g., a bird's-eye view, a two-dimensional plan view, a three-dimensional stereo map, etc.), without specific limitation.

[0102] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed, it implements the steps of the vehicle following control method as described in the above embodiments. The specific execution process can be found in the specific descriptions of the above embodiments and will not be repeated here.

[0103] In one embodiment, the present invention further provides Figure 4 The structural diagram of the electronic device shown in FIG. Figure 4 At the hardware level, the electronic device may include a processor 41 and a memory 45. It may also include an internal bus 42, a network interface 43, memory 44, and other hardware required for its operation. The processor 41 may read corresponding computer-readable instructions from the memory 45, store them in the memory, and then execute them to implement the aforementioned vehicle-following control method. The specific execution process can be found in the detailed descriptions of the aforementioned embodiments and will not be elaborated upon here.

[0104] In some feasible implementations, the electronic device may include: at least one of an image acquisition device, a radar device, and a domain controller.

[0105] Finally, the various embodiments of the present invention are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the computer program product and electronic device embodiments are generally similar to the method embodiments, so their descriptions are relatively simplified. For relevant portions, reference can be made to the descriptions of the method embodiments.

[0106] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A vehicle following control method, comprising: After the adaptive cruise control function of the vehicle is activated, the vehicle operation data of the vehicle and target-related information of candidate target objects in front of the vehicle are obtained; determining, based on the vehicle operation data of the vehicle and the target-related information of the candidate target object, whether the candidate target object is a vehicle that is in a lane where the vehicle is located and is closest to the vehicle and is prohibited from overtaking, thereby obtaining a first determination result; If the first judgment result indicates that the candidate target object is the vehicle that is closest to the vehicle in the lane where the vehicle is located and is prohibited from overtaking, the candidate target object is selected as the following target of the adaptive cruise control function of the vehicle.

2. The method according to claim 1, wherein obtaining target-related information of a candidate target object in front of the vehicle comprises: Obtaining object-related information of the initial target object detected in the area in front of the vehicle and lane line data in the area in front of the vehicle; determining, based on the object-related information of the initial target object and the lane line data, whether the initial target object is a vehicle object that is in the lane where the vehicle is located and is traveling in the same direction as the vehicle and is not in a lane change state, to obtain a second determination result; If the second judgment result indicates that the initial target object is a vehicle object in the lane where the vehicle is located, in the same direction as the vehicle and not in a lane change state, the initial target object is determined as a candidate target object in front of the vehicle.

3. The method according to claim 2, wherein obtaining object-related information of an initial target object detected in the area in front of the vehicle comprises: Obtaining object-related information of an initial target object obtained by processing an image of an area in front of the vehicle captured by an image acquisition device; or, Obtaining object-related information of an initial target object obtained by processing perception data of the area in front of the vehicle collected by the radar device; or, Obtain object-related information of an initial target object obtained by processing the image of the area in front of the vehicle and the perception data of the area in front of the vehicle.

4. The method according to claim 1, wherein determining whether the candidate target object is the vehicle that is closest to the vehicle in the lane where the vehicle is located and is prohibited from overtaking based on the vehicle operation data of the vehicle and the target-related information of the candidate target object comprises: determining, based on the vehicle operating data of the host vehicle and the target-related information of the candidate target object, whether a preset overtaking condition between the host vehicle and the candidate target object is satisfied, thereby obtaining a third judgment result; wherein the preset overtaking condition includes: the host vehicle is in a lane change state, and the host vehicle does not pose a collision risk when overtaking the candidate target object; Based on the third judgment result, it is determined whether the specific candidate target object is a vehicle that is closest to the host vehicle and for which the preset overtaking condition is not satisfied.

5. The method according to claim 4, wherein if the preset overtaking condition is that the vehicle is in a lane change state, then determining whether the preset overtaking condition between the vehicle and the candidate target object is satisfied comprises: Calculate the lane change probability of the vehicle based on the vehicle operation data; Determining whether the lane change probability of the vehicle reaches a first threshold; and / or, It is determined whether at least one of the lateral speed data, the lateral acceleration data, the steering wheel angle data, and the wheel angle data in the vehicle operation data of the vehicle reaches a second threshold.

6. The method according to claim 4, wherein if the preset overtaking condition is that the host vehicle does not pose a collision risk when overtaking the candidate target object, then determining whether the preset overtaking condition between the host vehicle and the candidate target object is satisfied comprises: According to the vehicle operation data of the vehicle and the target related information of the candidate target object, it is determined whether the target distance between the object area of the candidate target object and the vehicle area of the vehicle reaches a third threshold during the overtaking process of the vehicle.

7. The method according to claim 6, wherein if the preset overtaking condition is that the host vehicle does not pose a collision risk when overtaking the candidate target object, then determining whether the preset overtaking condition between the host vehicle and the candidate target object is satisfied further comprises: It is determined whether a current longitudinal speed difference between the vehicle and the candidate target object reaches a fourth threshold, and whether a current longitudinal distance difference between the vehicle and the candidate target object is less than a fifth threshold.

8. The method according to any one of claims 1 to 7, further comprising: after selecting the candidate target object as a following target for the adaptive cruise control function of the vehicle; generating a driving control instruction for the vehicle according to target-related information of the vehicle-following target of the adaptive cruise control function; or, Sending target-related information of the vehicle-following target of the adaptive cruise function to a preset vehicle controller; wherein the preset vehicle controller is used to control the driving of the vehicle based on the target-related information of the vehicle-following target of the adaptive cruise function; or, Sending target-related information of the vehicle-following target of the adaptive cruise function to a human-machine interface device of the vehicle; wherein the human-machine interface device is used to display the vehicle surrounding environment information including the vehicle-following target of the adaptive cruise function.

9. A computer program product comprising a computer program, wherein when the computer program is executed, the steps of the method according to any one of claims 1 to 8 are implemented.

10. An electronic device comprising: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of the method according to any one of claims 1 to 8.

11. The electronic device according to claim 10, comprising: At least one of an image acquisition device, a radar device, and a domain controller.

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