Method and electronic device for adaptive cruise control of vehicle

Abstract

The embodiment of the invention provides a method for adaptive cruise control of a vehicle, which comprises the following steps: when an adaptive cruise system is in an operation state, judging whether an operation parameter of a brake pedal meets a preset brake takeover condition or not; determining requested acceleration information of the adaptive cruise system based at least on the operating parameter of the brake pedal in the event that the operating parameter of the brake pedal satisfies a predetermined brake takeover condition; an acceleration of the vehicle is controlled based on the determined requested acceleration information. According to the method and the device, under the condition that the operation parameters of the brake pedal meet the preset brake takeover conditions, the operation parameters of the driver for the brake pedal can be introduced as additional influence factors to participate in the process that the adaptive cruise control system determines the requested acceleration information; the requested acceleration information determined by the adaptive cruise system is more consistent with the expected operation of the driver, and the operation burden of the driver is relieved while the controllability and safety of the vehicle are ensured.

Description

Technical Field

[0001] The present application relates to the field of vehicle assisted driving, and in particular to a method for adaptive cruise control of a vehicle, an electronic device, and a computer program product for assisting in implementing the steps of the method described in the present application. Background Art

[0002] Vehicles with adaptive cruise control automatically adjust their speed to maintain a suitable distance from the vehicle ahead. When the driver presses the brake pedal, this is interpreted as a signal that the driver wishes to take over control of the vehicle, suspending acceleration control by the adaptive cruise control system and instead relying on the driver's brake pedal input. Existing adaptive cruise control systems re-start acceleration control the moment the driver releases the brake pedal, causing the vehicle to suddenly accelerate at the set acceleration rate. This can cause the driver to feel a sense of urgency, especially if the traffic light at the intersection ahead is red. This can significantly impact the user experience of the adaptive cruise control system.

[0003] Therefore, there is room for improvement in the current adaptive cruise control system. Summary of the Invention

[0004] The object of the present application is to provide a method for adaptive cruise control of a vehicle, an electronic device, and a computer program product to at least partially solve the problems in the prior art.

[0005] According to a first aspect of the present application, a method for adaptive cruise control of a vehicle is provided, which may include:

[0006] - While the adaptive cruise control system is in operation, determining whether the operating parameters of the brake pedal meet a predetermined brake takeover condition;

[0007] - when an operating parameter of the brake pedal satisfies a predetermined brake takeover condition, determining requested acceleration information of the adaptive cruise control system based at least on the operating parameter of the brake pedal; and

[0008] - controlling the acceleration of the vehicle based on the determined requested acceleration information.

[0009] The core concept of the present application includes at least: when the adaptive cruise system is in operation, when the operating parameters of the brake pedal meet the predetermined brake takeover conditions, the driver's operating parameters of the brake pedal can be introduced as additional influencing factors to participate in the process of the adaptive cruise system determining the requested acceleration information, so that the requested acceleration information determined by the adaptive cruise system is more in line with the driver's expected operation, thereby reducing the driver's operating burden while ensuring the vehicle's controllability and safety.

[0010] According to a second aspect of the present application, an electronic device is provided, comprising:

[0011] - at least one processor; and

[0012] - a memory, in which program instructions that can be executed by the at least one processor are stored, and when the program instructions are executed by the at least one processor, the method according to the present application is implemented.

[0013] According to a third aspect of the present application, a computer program product, such as a computer-readable program carrier, is provided, comprising computer program instructions, which assist in implementing the steps of the method described in the present application when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be described in more detail below with reference to the accompanying drawings, so that the principles, features and advantages of the present invention can be better understood. The accompanying drawings include:

[0015] Figure 1 A flowchart illustrating a method for adaptive cruise control of a vehicle according to an exemplary embodiment of the present application is shown;

[0016] Figure 2 A schematic diagram of a driving scene according to an exemplary embodiment of the present application is shown;

[0017] Figure 3 A flowchart showing a method for adaptive cruise control of a vehicle according to another exemplary embodiment of the present application; and

[0018] Figure 4 A schematic block diagram of an electronic device according to an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0019] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by this application more clearly understood, this application will be further described in detail below with reference to the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit the scope of protection of this application.

[0020] Figure 1 A flowchart of a method for adaptive cruise control of a vehicle according to an exemplary embodiment of the present application is shown. The following exemplary embodiments describe the method according to the present application in more detail.

[0021] like Figure 1 As shown, the method may include steps S1 to S3. In step S1, while the adaptive cruise system is in operation, it is determined whether the operating parameters of the brake pedal meet pre-defined brake takeover conditions. While the adaptive cruise system is in operation, the adaptive cruise system can fully control vehicle acceleration based on detected driving environment information and set preference parameters, and detect the driver's brake pedal operating parameters via various sensors installed on the brake pedal. Here, it is determined whether the detected brake pedal operating parameters meet pre-defined brake takeover conditions. The brake takeover conditions can be understood as conditions set for operating conditions in which the driver desires to suspend the adaptive cruise system's full control authority over vehicle acceleration through brake pedal operation and to reinstate driver control authority over vehicle acceleration.

[0022] Exemplarily, the operating parameters of the brake pedal may include the pedaling force of the brake pedal, which can be detected by a pressure sensor, and the brake takeover condition regarding the pedaling force is satisfied only when the detected pedaling force is within a preset pedaling force range; the operating parameters of the brake pedal may also include the pedaling stroke of the brake pedal, which can be detected by a displacement sensor installed at the brake pedal, and the brake takeover condition regarding the pedaling stroke is satisfied only when the detected pedaling stroke is within a preset pedaling stroke range; the operating parameters of the brake pedal may also include the pedaling speed of the brake pedal, which can be obtained based on the rate of change of the detected pedaling force or the rate of change of the detected pedaling stroke, and the brake takeover condition regarding the pedaling speed is satisfied only when the obtained pedaling speed is within a preset pedaling speed range; the operating parameters of the brake pedal may also include the pedaling time of the brake pedal, and the brake takeover condition regarding the pedaling time is satisfied only when the duration of the driver's pedaling on the brake pedal exceeds a preset time period (for example, 0.1s), and so on.

[0023] When the brake pedal operating parameters meet one or more of the aforementioned brake takeover conditions, it can be considered that the brake pedal operating parameters meet the predetermined brake takeover conditions; otherwise, the brake pedal operating parameters will continue to be monitored. It will be understood that the aforementioned brake takeover conditions are set based on the driver's brake pedal operating parameter ranges under normal driving conditions. However, in emergency driving conditions, the driver typically significantly increases the brake pedal's speed, / or pedal travel, / or pedal force, and / or pedaling time, resulting in the brake pedal operating parameters failing to meet the predetermined brake takeover conditions.

[0024] like Figure 2 A schematic diagram of a driving scenario according to an exemplary embodiment of the present application illustrates a situation in which an intersection appears at a preset distance ahead of vehicle 10, and traffic light 30 in the lane currently occupied by vehicle 10 is red. The driver of vehicle 10 depresses the brake pedal, causing the brake pedal operating parameters to satisfy the brake takeover conditions. In step S2, if the brake pedal operating parameters satisfy the predetermined brake takeover conditions, requested acceleration information for the adaptive cruise control system may be determined based at least on the brake pedal operating parameters. The driver's brake pedal operating parameters may be incorporated as an additional influencing factor into the adaptive cruise control system's determination of the requested acceleration information, ensuring that the requested acceleration information determined by the adaptive cruise control system better aligns with the driver's desired operation and reduces the driver's operational burden.

[0025] In addition, considering the different expected operations of the driver in high-speed driving scenarios and medium- and low-speed driving scenarios, the vehicle's driving speed information can also be introduced as an additional influencing factor to participate in the process of the adaptive cruise system determining the requested acceleration information, so that the requested acceleration information of the adaptive cruise system can be determined based on the vehicle's driving speed information and the operating parameters of the brake pedal.

[0026] like Figure 3 A flowchart of a method for adaptive cruise control of a vehicle according to another exemplary embodiment of the present application is shown. Step S2 may include steps S21 to S27. In step S21, a determination is made as to whether the vehicle 10's speed is greater than a preset speed threshold, such as 60 km / h. If the vehicle 10's speed is greater than the preset speed threshold, in step S22, the adaptive cruise system's requested acceleration information may be determined as the original requested acceleration when the adaptive cruise system is not under brake takeover, i.e., the influence of operating parameters without applying the brake pedal on the adaptive cruise system's requested acceleration information in a high-speed vehicle operation scenario. The adaptive cruise system continues to fully and automatically control the acceleration of the vehicle 10 based on detected driving environment information and set preference parameters to maintain an appropriate distance from the vehicle ahead.

[0027] When the vehicle 10 is traveling at a speed less than or equal to a preset speed threshold, it means that the vehicle 10 has entered a low-medium speed operation scenario. In step S23, it is determined whether the time the brake pedal is depressed is less than a preset time period threshold. Figure 2In the driving scenario diagram, if vehicle 10 is close to an intersection and the remaining time on the red light in the lane vehicle 10 is currently in is short, the driver depresses the brake pedal for a period of time and then releases it, hoping to allow vehicle 10 to pass through the intersection without stopping. In step S24, if the brake pedal is depressed for less than a preset time period threshold (e.g., 2 seconds), the requested acceleration information of the adaptive cruise control system can be determined as the original requested acceleration when the adaptive cruise control system is not under braking control. That is, even if the driver briefly depresses and releases the brake pedal in a low- to medium-speed vehicle operation scenario, the adaptive cruise control system automatically controls vehicle 10 to continue driving based on the detected driving environment information and set preference parameters, while maintaining an appropriate distance from the vehicle ahead.

[0028] For example, Figure 2 In the driving scenario diagram, if vehicle 10 is far from the intersection and the remaining time on the red light in the lane currently occupied by vehicle 10 is long, the driver will continue to step on the brake pedal in the hope of stopping vehicle 10 at the stop sign at the intersection. However, during the vehicle's deceleration, other vehicles 20 in adjacent lanes may change lanes and enter the lane occupied by vehicle 10, which will undoubtedly affect the driving safety of vehicle 10. Such lane-changing vehicles 20 can be identified and locked by the adaptive cruise control system. Therefore, if the brake pedal is pressed for a period of time greater than or equal to a preset time period threshold (e.g., 2 seconds), it can be determined in step S25 whether the adaptive cruise control system has locked onto the target object in the vehicle's driving environment. If the adaptive cruise system locks onto a target object in the vehicle's driving environment, which means that other vehicles appear within a certain distance in front of the lane where the vehicle 10 is currently located, the requested acceleration information of the adaptive cruise system in step S26 can be determined as the original requested acceleration when the adaptive cruise system is not taken over by braking, that is, in a low-speed operation scenario of the vehicle, after the driver steps on the brake pedal for a long time and releases the brake pedal, the adaptive cruise system will still automatically control the vehicle 10 to continue driving according to the detected driving environment information and the set preference parameters, and maintain an appropriate distance from the locked vehicle in front.

[0029] If the adaptive cruise control system does not lock onto the target object in the vehicle's driving environment, which means that there are no other vehicles within a certain distance range in front of the current lane of the vehicle 10, then in step S27, the requested acceleration information of the adaptive cruise control system from the moment the brake pedal is released can be determined as the set acceleration within the set time period, wherein the set acceleration is a negative acceleration, for example, the set acceleration is -0.5 m / s. 2 And it lasts for 5 seconds, so that the vehicle 10 can automatically decelerate according to the driver's desired operation and the current driving environment without the driver having to continuously step on the brake pedal for a long time.

[0030] Considering that the vehicle 10 is moving at a speed of -0.5 m / s 2 If the vehicle 10 still does not reach the driver's desired driving speed after decelerating at the set acceleration for 5 seconds, the set time period and / or the set acceleration may be adjusted based on the operating parameters of the brake pedal. For example, the set acceleration may be adjusted based on the braking speed, wherein the greater the braking speed, the greater the set acceleration; the set acceleration may also be adjusted based on the braking stroke, wherein the greater the pedal stroke, the greater the set acceleration; the set acceleration may also be adjusted based on the braking force, wherein the greater the braking force, the greater the set acceleration; the set time period may also be adjusted based on the braking time, for example, if the driver resumes braking after the vehicle 10 decelerates at the set acceleration for 5 seconds, the set time period may be extended.

[0031] In step S3, the vehicle acceleration may be controlled based on the determined requested acceleration information. Here, the adaptive cruise control system may transmit the determined requested acceleration information to the electronic stability program (ESP). The ESP analyzes vehicle state signals detected by various sensors and the received requested acceleration information and controls the acceleration of the vehicle 10 based on the analysis results. The acceleration may include positive acceleration for vehicle acceleration and / or negative acceleration for vehicle deceleration. When the determined requested acceleration information is a negative acceleration, the braking parameters of the vehicle 10 can be controlled, for example, the electronic stability system sends corresponding braking parameter control instructions to the vehicle's braking system, such as wheel cylinders, brakes, etc., and sends correction instructions to auxiliary driving systems such as the electronic brake force distribution system (EBD) and the anti-lock braking system (ABS); when the determined requested acceleration information is a positive acceleration, the operating parameters of the engine and / or electric motor of the vehicle 10 can be controlled, for example, the electronic stability system sends control instructions about the operating parameters of the engine and / or electric motor, such as torque, speed, motor current, etc., to the vehicle's electronic control unit (ECU), and sends correction instructions to auxiliary driving systems such as the traction control system (TCS) and the vehicle dynamic stability control system (VDC), thereby improving the vehicle's controllability while effectively preventing the vehicle from losing control under dynamic limit conditions.

[0032] According to an embodiment of the present application, while the adaptive cruise system is in operation, when the operating parameters of the brake pedal meet the predetermined brake takeover conditions, the driver's operating parameters of the brake pedal are introduced as additional influencing factors to participate in the process of the adaptive cruise system determining the requested acceleration information, so that the requested acceleration information determined by the adaptive cruise system is more in line with the driver's expected operation, thereby reducing the driver's operating burden while ensuring the vehicle's controllability and safety.

[0033] In addition, it should be noted that the step numbers described herein do not necessarily represent a chronological order, but are merely a reference mark. The order can be changed according to specific circumstances as long as the technical purpose of this application can be achieved.

[0034] Figure 4 A schematic block diagram of an electronic device according to an exemplary embodiment of the present application is shown.

[0035] like Figure 4 As shown, the electronic device 1 may include:

[0036] - at least one processor 11; and

[0037] A memory 12 , in which program instructions that can be executed by the at least one processor 11 are stored. When the program instructions are executed by the at least one processor 11 , the method according to the present application is implemented.

[0038] Optionally, the electronic device 1 may include a millimeter-wave radar, a front-facing camera and / or a domain controller, etc.

[0039] It should be understood that, in this document, the expressions "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor should they be understood as implicitly indicating the quantity of the indicated technical features.

[0040] If an embodiment includes an "and / or" relationship between a first feature and a second feature, it should be interpreted as follows: according to one embodiment, the embodiment has both the first feature and the second feature, and according to another embodiment, the embodiment has either only the first feature or only the second feature.

[0041] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of the present disclosure, even when only a single embodiment is described with respect to specific features. The feature examples provided in the present disclosure are intended to be illustrative and not limiting, unless otherwise stated. In specific implementations, multiple features may be combined with each other, depending on actual needs, where technically feasible. Various substitutions, changes, and modifications may be contemplated without departing from the spirit and scope of the present application.

Claims

1. A method for adaptive cruise control of a vehicle, the method comprising: While the adaptive cruise control system is in operation, determining whether an operating parameter of the brake pedal satisfies a predetermined brake takeover condition; determining requested acceleration information of the adaptive cruise control system based at least on the operating parameters of the brake pedal when the operating parameters of the brake pedal meet a predetermined brake takeover condition; as well as The acceleration of the vehicle is controlled based on the determined requested acceleration information.

2. The method according to claim 1, wherein The operating parameters of the brake pedal include a brake pedal depression speed, and / or a brake pedal stroke, and / or a brake pedal depression force, and / or a brake pedal depression time.

3. The method according to claim 1 or 2, wherein Requested acceleration information of the adaptive cruise control system is determined based on the vehicle's driving speed information and an operating parameter of the brake pedal.

4. The method according to claim 3, wherein: When the vehicle's travel speed is greater than a preset speed threshold, the requested acceleration information of the adaptive cruise system is determined as the original requested acceleration when the adaptive cruise system is not taken over by braking.

5. The method according to claim 3, wherein When the vehicle's driving speed is less than or equal to a preset speed threshold and the brake pedal is depressed for less than a preset time period threshold, the requested acceleration information of the adaptive cruise system is determined to be the original requested acceleration when the adaptive cruise system is not taken over by braking.

6. The method according to claim 3, wherein: When the vehicle's driving speed is less than or equal to a preset speed threshold and the brake pedal is depressed for a time greater than or equal to a preset time period threshold, determining whether the adaptive cruise control system has locked onto a target object in the vehicle's driving environment, wherein: If the adaptive cruise system locks onto a target object in the vehicle's driving environment, the requested acceleration information of the adaptive cruise system is determined to be the original requested acceleration when the adaptive cruise system is not taken over by braking; If the adaptive cruise control system does not lock onto a target object in the vehicle's driving environment, the requested acceleration information of the adaptive cruise control system from the moment the brake pedal is released is determined as a set acceleration within a set time period, wherein the set acceleration is a negative acceleration.

7. The method according to claim 6, wherein: The set time period and / or the set acceleration are adjusted based on the operating parameters of the brake pedal, wherein, for example, the set acceleration is adjusted based on the braking speed of the brake pedal, and / or the pedal stroke of the brake pedal, and / or the braking force of the brake pedal, and / or, for example, the set time period is adjusted based on the braking time of the brake pedal.

8. The method according to any one of claims 1 to 7, wherein When the determined requested acceleration information is a negative acceleration, controlling a braking parameter of the vehicle; When the determined requested acceleration information is a positive acceleration, operating parameters of an engine and / or a motor of the vehicle are controlled.

9. An electronic device (1), comprising: at least one processor (11); and A memory (12), wherein program instructions executable by the at least one processor (11) are stored in the memory (12), and when the program instructions are executed by the at least one processor (11), the method according to any one of claims 1 to 8 is implemented.

10. The electronic device (1) according to claim 9, wherein The electronic device (1) includes a millimeter wave radar, a front-view camera and / or a domain controller. 11 . A computer program product, such as a computer-readable program carrier, comprising computer program instructions which, when executed by a processor, assist in implementing the steps of the method according to claim 1 .

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