Vehicle operation control method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle operation control method and device, a vehicle and a storage medium, and relates to the technical field of vehicles, and the method comprises the steps: obtaining the current vehicle speed and the current acceleration of a current vehicle, the front vehicle speed and the front vehicle acceleration of a front vehicle, and the vehicle distance between the current vehicle and the front vehicle; determining a safe distance between the current vehicle and the front vehicle according to the current vehicle speed and the current acceleration of the current vehicle and the front vehicle speed and the front vehicle acceleration of the front vehicle; and adjusting the current acceleration of the current vehicle according to the vehicle distance and the safe distance so as to adjust the current speed of the current vehicle. According to the technical scheme, the safe distance between the current vehicle and the front vehicle is calculated based on the safe distance calculation mode determined by the speed relation and the acceleration relation between the current vehicle and the front vehicle, and then the acceleration of the current vehicle is adjusted according to the actual vehicle distance and the safe distance so as to adjust the speed of the current vehicle. And the actual vehicle distance approaches and is kept near the safe distance.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle technology, and in particular, to a vehicle operation control method, device, vehicle, and storage medium. Background Art

[0002] Adaptive cruise control system is an advanced automobile driving assistance technology. Its basic principle is to monitor the distance to the vehicle in front in real time through sensors (such as radar, lidar or camera), and intelligently adjust the vehicle's driving status to maintain a safe distance from the vehicle in front.

[0003] In existing technologies, the safety distance calculation model typically uses a stationary vehicle as the basis for calculating the safety distance. Typically, the vehicle ahead has a certain speed and acceleration, and the safety distance is often smaller than the conventional calculation. Continuing to adjust the vehicle's driving state based on the safety distance could result in a collision with the vehicle ahead.

[0004] Therefore, the present application proposes a vehicle operation control method, which reasonably controls the vehicle's travel by calculating a reasonable safety distance. Summary of the Invention

[0005] The present invention provides a vehicle operation control method, device, vehicle and storage medium to calculate a reasonable safety distance between the current vehicle and the vehicle in front, implement vehicle operation control based on the safety distance, and improve vehicle driving comfort and safety.

[0006] In a first aspect, an embodiment of the present invention provides a method for controlling the operation of a vehicle, comprising:

[0007] Obtaining the current speed and current acceleration of the current vehicle, the preceding speed and preceding acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle;

[0008] determining a safe distance between the current vehicle and the preceding vehicle based on the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle;

[0009] The current acceleration of the current vehicle is adjusted according to the vehicle distance and the safety distance to adjust the current vehicle speed.

[0010] The technical solution of an embodiment of the present invention provides a vehicle operation control method, including: obtaining the current speed and current acceleration of the current vehicle, the front vehicle speed and front vehicle acceleration of the front vehicle, and the vehicle distance between the current vehicle and the front vehicle; determining the safety distance between the current vehicle and the front vehicle based on the current speed and current acceleration of the current vehicle and the front vehicle speed and front vehicle acceleration of the front vehicle; adjusting the current acceleration of the current vehicle based on the vehicle distance and the safety distance to adjust the current speed of the current vehicle. The above technical solution can first obtain the current speed and current acceleration of the current vehicle, the speed and acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle. Secondly, it can determine the scenario based on the collision risk corresponding to the speed relationship and acceleration relationship between the current vehicle and the preceding vehicle, determine the corresponding safety distance calculation formula based on the strategy adopted in the scenario, and then calculate the safety distance to avoid collision between the current vehicle and the preceding vehicle based on the safety distance calculation formula, thereby calculating the safety distance between the current vehicle and the preceding vehicle. Furthermore, the current acceleration of the current vehicle can be adjusted based on the distance and safety distance between the current vehicle and the preceding vehicle to adjust the current speed of the current vehicle so that the actual distance approaches and remains near the safe distance, thereby achieving operational control of the current vehicle. By obtaining the speed and acceleration of the preceding vehicle in real time, the current vehicle can understand the driving status of the preceding vehicle at any time, more accurately assess the collision risk, predict the risk in advance, and adjust the safety distance in a timely manner to avoid unnecessary excessive or insufficient safety distances.

[0011] Further, determining a safe distance between the current vehicle and the preceding vehicle according to the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration includes:

[0012] Determining a speed relationship by comparing the current vehicle speed with the preceding vehicle speed, and determining an acceleration relationship by comparing the current acceleration with the preceding vehicle acceleration;

[0013] Determining an operating scenario based on the vehicle speed relationship and the acceleration relationship, and determining a safe distance calculation formula based on the operating scenario;

[0014] The safety distance is obtained by substituting the current vehicle speed and the current acceleration as well as the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle into the safety distance calculation method.

[0015] Furthermore, determining an operating scenario based on the vehicle speed relationship and the acceleration relationship includes:

[0016] When the vehicle speed magnitude relationship is that the current vehicle speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are greater than zero and the current acceleration is greater than the preceding vehicle acceleration, determining that the operating scenario is the first scenario;

[0017] When the vehicle speed magnitude relationship is that the current vehicle speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are greater than zero and the current acceleration is not greater than the preceding vehicle acceleration, determining that the operating scenario is the second scenario;

[0018] When the vehicle speed magnitude relationship is that the current vehicle speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are not greater than zero and the current acceleration is greater than the preceding vehicle acceleration, determining that the operating scenario is the third scenario;

[0019] When the vehicle speed magnitude relationship is that the current vehicle speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are not greater than zero and the current acceleration is not greater than the preceding vehicle acceleration, determining that the operating scenario is the fourth scenario;

[0020] When the vehicle speed magnitude relationship is that the current vehicle speed is not greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are greater than zero and the current acceleration is greater than the preceding vehicle acceleration, determining that the operating scenario is the fifth scenario;

[0021] When the vehicle speed magnitude relationship is that the current vehicle speed is not greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are greater than zero and the current vehicle speed is not greater than the speed of the preceding vehicle, determining that the operating scenario is the sixth scenario;

[0022] When the vehicle speed magnitude relationship is that the current vehicle speed is not greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are not greater than zero and the current acceleration is greater than the preceding vehicle acceleration, the operating scenario is determined to be the seventh scenario;

[0023] When the vehicle speed relationship is that the current vehicle speed is not greater than the front vehicle speed, and the acceleration relationship is that both the current acceleration and the front vehicle acceleration are not greater than zero and the current acceleration is not greater than the front vehicle acceleration, the operating scenario is determined to be the eighth scenario.

[0024] Furthermore, a safety distance calculation formula is determined according to the operation scenario, including:

[0025] According to the operation scenario, a correspondence table between the operation scenario and the safety distance calculation method is searched to determine the safety distance calculation formula corresponding to the operation scenario.

[0026] Furthermore, the safety distance calculation formula corresponding to the first scenario is: The safety distance calculation formula corresponding to the second scenario is: The safety distance calculation formula corresponding to the third scenario is: The safety distance calculation formula corresponding to the fourth scenario is: The safety distance calculation formula corresponding to the fifth scenario is: The safety distance calculation formula corresponding to the sixth scenario, the seventh scenario and the eighth scenario is: D safe =v*t gap , where D safe represents the safe distance, v represents the current speed, t gap represents the reaction time, a ego Indicates the current acceleration, a lead Indicates the acceleration of the vehicle ahead.

[0027] Further, the reaction time is determined based on the current vehicle and the driver of the current vehicle.

[0028] Furthermore, adjusting the current acceleration of the current vehicle according to the vehicle distance and the safety distance to adjust the current speed of the current vehicle includes:

[0029] If it is determined that the vehicle distance is not greater than the safety distance and the current acceleration is greater than zero, reducing the current acceleration until the current vehicle speed reaches a cruising speed;

[0030] When it is determined that the vehicle distance is greater than the safety distance, the current acceleration is maintained until the current vehicle speed reaches a cruising speed.

[0031] In a second aspect, an embodiment of the present invention further provides a vehicle operation control device, comprising:

[0032] an acquisition module, configured to acquire a current vehicle speed and a current acceleration of the current vehicle, a preceding vehicle speed and a preceding vehicle acceleration, and a vehicle distance between the current vehicle and the preceding vehicle;

[0033] a determination module, configured to determine a safe distance between the current vehicle and the preceding vehicle based on the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle;

[0034] An execution module is used to adjust the current acceleration of the current vehicle according to the vehicle distance and the safety distance to adjust the current speed of the current vehicle.

[0035] In a third aspect, an embodiment of the present invention further provides a vehicle, comprising:

[0036] at least one processor; and a memory communicatively coupled to the at least one processor;

[0037] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle operation control method as described in any one of the first aspects.

[0038] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are used to execute the vehicle operation control method as described in any one of the first aspects.

[0039] In a fifth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed on a computer, the computer executes the vehicle operation control method provided in the first aspect.

[0040] It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium may be packaged together with the processor of the vehicle's operation control device, or may be packaged separately from the processor of the vehicle's operation control device, and this application does not limit this.

[0041] The descriptions of the second, third, fourth and fifth aspects of this application can refer to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second, third, fourth and fifth aspects can refer to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0042] In this application, the name of the vehicle operation control device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of this application, they fall within the scope of the claims of this application and their equivalents.

[0043] These and other aspects of the present application will become more readily apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A flow chart of a vehicle operation control method provided by an embodiment of the present invention;

[0046] Figure 2 A flowchart of another vehicle operation control method provided by an embodiment of the present invention;

[0047] Figure 3 A schematic structural diagram of a vehicle operation control device provided by an embodiment of the present invention;

[0048] Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0050] The term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0051] The terms "first" and "second" and the like in the specification and drawings of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0052] Furthermore, the terms "including," "having," and any variations thereof, as used in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0053] It should be mentioned before discussing exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although flow charts describe various operations (or steps) as sequential processes, many operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of various operations can be rearranged. When its operation is completed, the process can be terminated, but can also have additional steps not included in the accompanying drawings. The process can correspond to methods, functions, procedures, subroutines, subprograms, etc. In addition, the features in the embodiments of the present invention and the embodiments can be combined with each other without conflict.

[0054] It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being more preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0055] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0056] Figure 1 This is a flow chart of a vehicle operation control method provided by an embodiment of the present invention. This embodiment is applicable to situations where the current vehicle needs to be adjusted by monitoring the vehicle in front. The method can be executed by the vehicle operation control device, such as Figure 1 As shown, the specific steps include:

[0057] Step 110: Obtain the current speed and acceleration of the current vehicle, the preceding speed and acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle.

[0058] Among them, the current vehicle is equipped with a speed sensor and an acceleration sensor for measuring the speed and acceleration of the current vehicle. The current vehicle is also equipped with a ranging radar, which can be used to test the speed and acceleration of the vehicle in front, and can also be used to test the distance between the current vehicle and the vehicle in front.

[0059] Specifically, the current vehicle speed can be obtained based on the speed sensor installed on the current vehicle, the current acceleration can be obtained based on the acceleration sensor installed on the current vehicle, and the speed and acceleration of the preceding vehicle, as well as the distance between the current vehicle and the preceding vehicle, can be measured based on the ranging radar installed on the current vehicle. Specifically, the relative distance between the current vehicle and the preceding vehicle, as well as the preceding speed and acceleration of the preceding vehicle, can be measured using the Doppler shift method of the ranging radar. It can be understood that the relative distance between the current vehicle and the preceding vehicle is the distance between the current vehicle and the preceding vehicle.

[0060] In the embodiment of the present invention, the speed and acceleration of the current vehicle are acquired in real time, the speed and acceleration of the vehicle ahead of the current vehicle are acquired in real time, and the distance between the current vehicle and the vehicle ahead is acquired in real time.

[0061] Step 120: Determine a safe distance between the current vehicle and the preceding vehicle based on the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle.

[0062] Under the premise that the vehicle in front is stationary, the safe distance to avoid collision between the current vehicle and the vehicle in front can be determined Where V represents the current speed of the vehicle; t gap Indicates the current vehicle reaction time, which is related to the driver and system reaction time, usually 1.5-3 seconds; a max Indicates the current maximum deceleration of the vehicle, usually 0.3-0.4g.

[0063] After determining the current speed and current acceleration of the current vehicle, the speed and acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle, the speed difference and acceleration difference between the two vehicles can be determined, and a safe distance to avoid a collision between the two vehicles can be derived based on the speed difference and acceleration difference.

[0064] For example, at time t=0, the current vehicle and the vehicle ahead are moving at speeds v A 、v B The vehicle ahead is traveling at a deceleration of a B To decelerate, the current vehicle is decelerating at a A To decelerate, the displacement equation of the current vehicle is: The displacement equation of the vehicle in front is: The condition for avoiding collision between the current vehicle and the vehicle in front is: at any time, the distance between the current vehicle and the vehicle in front is greater than or equal to zero, that is, Ds A +s B ≥0. Substituting the displacement equations of the current vehicle and the vehicle in front into the above equation, we can determine

[0065] When both the current vehicle and the vehicle ahead are decelerating, the safe distance between the two vehicles is the smallest when their speeds are equal. A +a A t=v B +a B At t, the safe distance between the two vehicles is the smallest. At this time, Furthermore, the conditions for avoiding collision between two vehicles can be determined as If aB A , then the safety distance is negative and the vehicle will collide, so the safety distance needs to be increased. The corrected formula is:

[0066] Specifically, the current scene can be determined based on the speed relationship and acceleration relationship between the current vehicle and the vehicle in front, and then the calculation method of the safe distance can be determined by analyzing the current scene, and then the safe distance between the current vehicle and the vehicle in front can be calculated.

[0067] For example, when the front vehicle has a faster acceleration but the current vehicle has a faster speed, the safety distance needs to be adjusted dynamically to avoid a collision between the two vehicles. and v*t gap Therefore, we can determine the larger of When the current deceleration of the current vehicle is faster and the current speed is faster, the safety distance also needs to be dynamically adjusted to avoid a collision between the two vehicles. and v*t gap Therefore, we can determine the larger of When the vehicle in front accelerates faster and is moving faster, the distance between the two vehicles will naturally increase. The safe distance to avoid a collision between the two vehicles is v*t gap , so we can determine D safe =v*t gap ; The preceding vehicle has a faster deceleration rate and the current vehicle has a lower speed. The current vehicle can choose to follow conservatively. At this time, the safe distance to avoid a collision between the two vehicles is v*t gap , similarly, we can determine D safe =v*t gap When the current vehicle's deceleration is faster but the preceding vehicle's speed is faster, the safe distance is minimum. At this time, the safe distance to avoid a collision between the two vehicles is v*t gap , similarly, we can determine D safe =v*t gap When the current acceleration of the current vehicle is faster and the current speed is faster, the safety distance needs to be increased. At this time, the safety distance to avoid collision between the two vehicles is When the current acceleration of the current vehicle is faster but the speed of the preceding vehicle is faster, the safety distance needs to be adjusted dynamically. At this time, the safety distance to avoid collision between the two vehicles is When the current deceleration of the current vehicle is faster and the current speed is faster, the current vehicle needs to brake, and the safe distance to avoid collision between the two vehicles can be determined Among them, V represents the current vehicle speed, a ego Indicates the current acceleration, a max Indicates the current maximum acceleration of the vehicle, v lead Indicates the speed of the preceding vehicle, a​lead Indicates the acceleration of the vehicle ahead.

[0068] After determining the speed relationship and acceleration relationship between the current vehicle and the vehicle in front based on the current speed and current acceleration of the current vehicle and the front speed and acceleration of the vehicle in front, the current scene can be determined based on the speed relationship and acceleration relationship, and then the calculation formula for the safe distance can be determined based on the current scene. By substituting the current speed and current acceleration of the current vehicle and the front speed and acceleration of the vehicle in front into the calculation formula for the safe distance, the safe distance between the current vehicle and the vehicle in front can be determined.

[0069] In an embodiment of the present invention, the speed relationship and acceleration relationship between the current vehicle and the vehicle in front correspond to different collision risks. The scenario can be determined based on the collision risk of the speed relationship and acceleration relationship between the current vehicle and the vehicle in front. According to the scenario, the corresponding strategy and the corresponding safety distance calculation formula are used to calculate the safety distance to avoid collision between the current vehicle and the vehicle in front, thereby realizing the calculation of the safety distance between the current vehicle and the vehicle in front.

[0070] Step 130: Adjust the current acceleration of the current vehicle according to the vehicle distance and the safety distance to adjust the current speed of the current vehicle.

[0071] Specifically, after calculating the safe distance between the current vehicle and the vehicle in front to avoid collision, the current acceleration of the current vehicle can be controlled according to the safe distance and the vehicle distance, and the current speed of the current vehicle can be adjusted based on the current acceleration to make the actual vehicle distance approach and remain near the safe distance.

[0072] Specifically, the PID control algorithm (proportional-integral-differential control algorithm) can be used to adjust the current acceleration with reference to the difference between the safety distance and the vehicle distance. For example, when it is determined that the difference between the safety distance and the vehicle distance is greater than 0, appropriate acceleration can be achieved. When it is determined that the difference between the safety distance and the vehicle distance is not greater than 0, deceleration must be achieved.

[0073] In the embodiment of the present invention, the current acceleration of the current vehicle is adjusted according to the vehicle distance and the safety distance, thereby adjusting the current speed of the current vehicle and controlling the operation of the current vehicle.

[0074] The vehicle operation control method provided by an embodiment of the present invention includes: obtaining the current speed and current acceleration of the current vehicle, the front vehicle speed and front vehicle acceleration of the front vehicle, and the vehicle distance between the current vehicle and the front vehicle; determining the safe distance between the current vehicle and the front vehicle based on the current speed and current acceleration of the current vehicle and the front vehicle speed and front vehicle acceleration of the front vehicle; adjusting the current acceleration of the current vehicle based on the vehicle distance and the safety distance to adjust the current speed of the current vehicle. The above technical solution can first obtain the current speed and current acceleration of the current vehicle, the speed and acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle. Secondly, it can determine the scenario based on the collision risk corresponding to the speed relationship and acceleration relationship between the current vehicle and the preceding vehicle, determine the corresponding safety distance calculation formula based on the strategy adopted in the scenario, and then calculate the safety distance to avoid collision between the current vehicle and the preceding vehicle based on the safety distance calculation formula, thereby calculating the safety distance between the current vehicle and the preceding vehicle. Furthermore, the current acceleration of the current vehicle can be adjusted based on the distance and safety distance between the current vehicle and the preceding vehicle to adjust the current speed of the current vehicle so that the actual distance approaches and remains near the safe distance, thereby achieving operational control of the current vehicle. By obtaining the speed and acceleration of the preceding vehicle in real time, the current vehicle can understand the driving status of the preceding vehicle at any time, more accurately assess the collision risk, predict the risk in advance, and adjust the safety distance in a timely manner to avoid unnecessary excessive or insufficient safety distances.

[0075] Figure 2 This is a flow chart of another vehicle operation control method provided by an embodiment of the present invention. This embodiment is specific based on the above embodiment. Figure 2 As shown, in this embodiment, the method may further include:

[0076] Step 210: Obtain the current speed and acceleration of the current vehicle, the preceding speed and acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle.

[0077] Among them, the current vehicle is equipped with a millimeter-wave radar, which can emit frequency-modulated continuous waves.

[0078] Specifically, the current vehicle speed may be acquired based on a speed sensor currently installed on the vehicle, and the current acceleration may be acquired based on an acceleration sensor currently installed on the vehicle.

[0079] The millimeter-wave radar installed in the current vehicle can generate a transmission signal. After the transmission signal is reflected by the vehicle in front, an echo signal can be formed. The transmission signal and the echo signal are mixed to generate an intermediate frequency signal. The distance between the current vehicle and the vehicle in front can be calculated based on the frequency of the intermediate frequency signal, that is, the distance between the current vehicle and the vehicle in front can be determined. Among them, d represents the distance between vehicles, c represents the speed of light, and f IF Indicates the frequency of the intermediate frequency signal, and S indicates the frequency modulation slope. The millimeter wave radar continuously transmits multiple Chirps, and N Chirps form a frame. The moving front vehicle will cause the echo of the adjacent Chirp to produce a phase change. Therefore, the front speed of the front vehicle can be determined based on the phase change. The forward acceleration of the vehicle ahead can be determined Where λ represents the wavelength, △Ф represents the phase difference, and T c Indicates the Chirp interval time, and acceleration will introduce a phase difference that changes over time.

[0080] In practical applications, by performing fast Fourier transform on the intermediate frequency signal of a single chirp, the distance between the current vehicle and the vehicle in front can be determined. By performing fast Fourier transform on multiple chirps of the same distance gate, the speed of the vehicle in front can be determined. By performing two fast Fourier transforms on multiple chirps of the same distance gate, the acceleration of the vehicle in front can be determined.

[0081] In an embodiment of the present invention, the speed and acceleration of the current vehicle are acquired in real time. By processing the signal transmitted by the millimeter-wave radar, the speed and acceleration of the vehicle in front of the current vehicle and the distance between the current vehicle and the vehicle in front are acquired in real time.

[0082] Step 220: Determine the speed relationship by comparing the current vehicle speed with the speed of the preceding vehicle, and determine the acceleration relationship by comparing the current acceleration with the acceleration of the preceding vehicle.

[0083] Specifically, by comparing the current vehicle speed and the speed of the vehicle in front, the speed relationship can be determined, that is, the current vehicle speed is greater than the speed of the vehicle in front, or the current vehicle speed is not greater than the speed of the vehicle in front. By comparing the current acceleration and the acceleration of the vehicle in front, the acceleration relationship can be determined, that is, the acceleration relationship can be determined as the current acceleration is greater than the acceleration of the vehicle in front, or the current acceleration is not greater than the acceleration of the vehicle in front. It can be further determined that the acceleration relationship is that the current acceleration and the acceleration of the vehicle in front are both greater than zero and the current acceleration is greater than the acceleration of the vehicle in front, the current acceleration and the acceleration of the vehicle in front are both not greater than zero and the current acceleration is not greater than the acceleration of the vehicle in front, the current acceleration and the acceleration of the vehicle in front are both not greater than zero and the current acceleration is greater than the acceleration of the vehicle in front, or the current acceleration and the acceleration of the vehicle in front are both not greater than zero and the current acceleration is not greater than the acceleration of the vehicle in front.

[0084] In the embodiment of the present invention, the speed relationship is determined by comparing the current vehicle speed with the speed of the preceding vehicle, and the acceleration relationship is determined by comparing the current acceleration with the acceleration of the preceding vehicle.

[0085] Step 230: Determine an operating scenario based on the vehicle speed relationship and the acceleration relationship, and determine a safety distance calculation formula based on the operating scenario.

[0086] In one implementation, step 230 may specifically include:

[0087] When the speed relationship is that the current speed is greater than the speed of the preceding vehicle, and the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both greater than zero, and the current acceleration is greater than the preceding vehicle acceleration, the operating scenario is determined to be the first scenario; when the speed relationship is that the current speed is greater than the speed of the preceding vehicle, and the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both greater than zero, and the current acceleration is not greater than the preceding vehicle acceleration, the operating scenario is determined to be the second scenario; When the speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are not greater than zero and the current acceleration is greater than the preceding vehicle acceleration, the operating scenario is determined to be the third scenario; when the speed magnitude relationship is that the current speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are not greater than zero and the current acceleration is not greater than the preceding vehicle acceleration, the operating scenario is determined to be the fourth scenario; when the speed magnitude relationship is that the current speed is not greater than the speed of the preceding vehicle, the When the acceleration magnitude relationship is that the current acceleration and the front vehicle acceleration are both greater than zero and the current acceleration is greater than the front vehicle acceleration, the operating scenario is determined to be the fifth scenario; when the vehicle speed magnitude relationship is that the current vehicle speed is not greater than the front vehicle speed, the acceleration magnitude relationship is that the current acceleration and the front vehicle acceleration are both greater than zero and the current vehicle speed is not greater than the front vehicle speed, the operating scenario is determined to be the sixth scenario; when the vehicle speed magnitude relationship is that the current vehicle speed is not greater than the front vehicle speed, the acceleration magnitude relationship is that the current acceleration and the front vehicle acceleration are both not greater than zero and the current acceleration is greater than the front vehicle acceleration, the operating scenario is determined to be the seventh scenario; when the vehicle speed magnitude relationship is that the current vehicle speed is not greater than the front vehicle speed, the acceleration magnitude relationship is that the current acceleration and the front vehicle acceleration are both not greater than zero and the current acceleration is not greater than the front vehicle acceleration, the operating scenario is determined to be the eighth scenario; according to the operating scenario, a correspondence table of operating scenarios and safety distance calculation methods is searched to determine the safety distance calculation formula corresponding to the operating scenario.

[0088] Specifically, after determining the relationship between vehicle speeds and accelerations, an operating scenario can be determined based on the relationship between vehicle speeds and accelerations, i.e., the operating scenario can be determined as the first scenario, the second scenario, the third scenario, the fourth scenario, the fifth scenario, the sixth scenario, the seventh scenario, or the eighth scenario. Furthermore, a safe distance calculation formula can be determined based on the operating scenario.

[0089] The calculation formula for the safety distance corresponding to the first scenario can be determined as follows: The calculation formula for the safety distance corresponding to the second scenario is: The calculation formula for the safety distance corresponding to the third scenario is: The calculation formula for the safety distance corresponding to the fourth scenario is: The calculation formula for the safe distance corresponding to the fifth scenario is: The calculation formula for the safety distance corresponding to the sixth, seventh and eighth scenarios is: D safe =v*t gap , where D safe represents the safe distance, v represents the current speed, t gap Represents the reaction time, which is determined based on the current vehicle and the driver of the current vehicle. ego Indicates the current acceleration, a lead Indicates the acceleration of the vehicle ahead.

[0090] In the embodiment of the present invention, the scene is determined based on the speed relationship and acceleration relationship between the current vehicle and the preceding vehicle.

[0091] Step 240: Obtain the safety distance by substituting the current vehicle speed and the current acceleration as well as the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle into the safety distance calculation method.

[0092] Specifically, by substituting the current vehicle speed and current acceleration of the current vehicle and the preceding vehicle speed and preceding vehicle acceleration obtained above into the calculation formula of the safety distance corresponding to the scene, the safety distance between the current vehicle and the preceding vehicle can be determined.

[0093] In the embodiment of the present invention, a corresponding strategy and a corresponding safety distance calculation formula are used according to the scenario to calculate the safety distance to avoid collision between the current vehicle and the vehicle in front, thereby realizing the calculation of the safety distance between the current vehicle and the vehicle in front.

[0094] Step 250: Adjust the current acceleration of the current vehicle according to the vehicle distance and the safety distance to adjust the current speed of the current vehicle.

[0095] In one implementation, step 250 may specifically include:

[0096] When it is determined that the vehicle distance is not greater than the safety distance and the current acceleration is greater than zero, the current acceleration is reduced until the current vehicle speed reaches the cruising speed; when it is determined that the vehicle distance is greater than the safety distance, the current acceleration is maintained until the current vehicle speed reaches the cruising speed.

[0097] Specifically, when it is determined that the vehicle distance is not greater than the safe distance and the current acceleration is greater than zero, the PID control algorithm (proportional-integral-differential control algorithm) is used to reduce the current acceleration until the current vehicle speed reaches the cruising speed; when it is determined that the vehicle distance is greater than the safe distance, the current acceleration is maintained until the current vehicle speed reaches the cruising speed.

[0098] Of course, when it is determined that the current vehicle speed is greater than the cruising speed, a PID control algorithm (proportional-integral-differential control algorithm) can be used to adjust the current acceleration until the current vehicle speed is no greater than the cruising speed.

[0099] In the embodiment of the present invention, the current acceleration of the current vehicle is adjusted according to the vehicle distance and the safety distance, thereby adjusting the current speed of the current vehicle and controlling the operation of the current vehicle.

[0100] The vehicle operation control method provided by an embodiment of the present invention includes: obtaining the current speed and current acceleration of the current vehicle, the front vehicle speed and front vehicle acceleration of the front vehicle, and the distance between the current vehicle and the front vehicle; determining the speed relationship by comparing the current speed and the front vehicle speed, and determining the acceleration relationship by comparing the current acceleration and the front vehicle acceleration; determining an operation scenario based on the speed relationship and the acceleration relationship, and determining a safety distance calculation formula based on the operation scenario; obtaining the safety distance by substituting the current speed and the current acceleration and the front vehicle speed and the front vehicle acceleration of the front vehicle into the safety distance calculation method; adjusting the current acceleration of the current vehicle according to the distance and the safety distance to adjust the current speed of the current vehicle. The above technical solution can first obtain the current speed and current acceleration of the current vehicle, the speed and acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle. Secondly, the speed relationship can be determined by comparing the current speed with the speed of the preceding vehicle, and the acceleration relationship can be determined by comparing the current acceleration with the acceleration of the preceding vehicle. The scenario can be determined based on the speed and acceleration relationship between the current vehicle and the preceding vehicle. Then, the corresponding strategy and the corresponding safety distance calculation formula can be used according to the scenario to calculate the safe distance to avoid collision between the current vehicle and the preceding vehicle, and the current acceleration of the current vehicle can be adjusted according to the distance and safety distance to adjust the current vehicle's current speed so that the actual distance approaches and remains near the safe distance, thereby achieving operational control of the current vehicle. By obtaining the speed and acceleration of the preceding vehicle in real time, the current vehicle can understand the driving status of the preceding vehicle at any time, more accurately assess the risk of collision, predict the risk in advance, and adjust the safety distance in a timely manner to avoid unnecessary excessive or insufficient safety distances.

[0101] Furthermore, by being able to sense speed changes of the vehicle ahead in advance, the driver or the vehicle's automatic control system can adjust the current speed more smoothly, avoiding sudden braking and acceleration. This not only improves ride comfort, reduces driver stress, but also reduces wear and tear on the vehicle's mechanical components. While ensuring safety, vehicles can maintain reasonably close driving distances, increasing the number of vehicles passing through a road section per unit time, optimizing road utilization, and alleviating traffic congestion.

[0102] Figure 3 This is a schematic diagram of the structure of a vehicle operation control device provided by an embodiment of the present invention. This device is suitable for situations where the current vehicle needs to be adjusted by monitoring the vehicle ahead. The device can be implemented using software and / or hardware and is generally integrated into electronic equipment, such as a vehicle.

[0103] like Figure 3 As shown, the device includes:

[0104] An acquisition module 310 is configured to acquire a current vehicle speed and a current acceleration of the current vehicle, a preceding vehicle speed and a preceding vehicle acceleration, and a distance between the current vehicle and the preceding vehicle;

[0105] a determination module 320 for determining a safe distance between the current vehicle and the preceding vehicle based on the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle;

[0106] The execution module 330 is configured to adjust the current acceleration of the current vehicle according to the vehicle distance and the safety distance, so as to adjust the current speed of the current vehicle.

[0107] The vehicle operation control device provided in this embodiment obtains the current speed and current acceleration of the current vehicle, the front vehicle speed and front vehicle acceleration of the front vehicle, and the vehicle distance between the current vehicle and the front vehicle; determines the safety distance between the current vehicle and the front vehicle based on the current speed and current acceleration of the current vehicle and the front vehicle speed and front vehicle acceleration of the front vehicle; adjusts the current acceleration of the current vehicle based on the vehicle distance and the safety distance to adjust the current speed of the current vehicle. The above technical solution can first obtain the current speed and current acceleration of the current vehicle, the speed and acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle. Secondly, it can determine the scenario based on the collision risk corresponding to the speed relationship and acceleration relationship between the current vehicle and the preceding vehicle, determine the corresponding safety distance calculation formula based on the strategy adopted in the scenario, and then calculate the safety distance to avoid collision between the current vehicle and the preceding vehicle based on the safety distance calculation formula, thereby calculating the safety distance between the current vehicle and the preceding vehicle. Furthermore, the current acceleration of the current vehicle can be adjusted based on the distance and safety distance between the current vehicle and the preceding vehicle to adjust the current speed of the current vehicle so that the actual distance approaches and remains near the safe distance, thereby achieving operational control of the current vehicle. By obtaining the speed and acceleration of the preceding vehicle in real time, the current vehicle can understand the driving status of the preceding vehicle at any time, more accurately assess the collision risk, predict the risk in advance, and adjust the safety distance in a timely manner to avoid unnecessary excessive or insufficient safety distances.

[0108] Based on the above embodiment, the determination module 320 is specifically configured to:

[0109] The speed relationship is determined by comparing the current vehicle speed and the speed of the preceding vehicle, and the acceleration relationship is determined by comparing the current acceleration and the acceleration of the preceding vehicle; an operating scenario is determined based on the speed relationship and the acceleration relationship, and a safety distance calculation formula is determined based on the operating scenario; the safety distance is obtained by substituting the current vehicle speed and the current acceleration as well as the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle into the safety distance calculation method.

[0110] In one embodiment, determining an operating scenario based on the vehicle speed relationship and the acceleration relationship includes:

[0111] When the speed relationship is that the current speed is greater than the speed of the preceding vehicle, the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both greater than zero, and the current acceleration is greater than the preceding vehicle acceleration, the operating scenario is determined to be the first scenario; when the speed relationship is that the current speed is greater than the speed of the preceding vehicle, the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both greater than zero, and the current acceleration is not greater than the preceding vehicle acceleration, the operating scenario is determined to be the second scenario; when the speed relationship is that the current speed is greater than the speed of the preceding vehicle, the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both not greater than zero, and the current acceleration is greater than the preceding vehicle acceleration, the operating scenario is determined to be the third scenario; when the speed relationship is that the current speed is greater than the speed of the preceding vehicle, the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both not greater than zero, and the current acceleration is not greater than the preceding vehicle acceleration, the operating scenario is determined to be the fourth scenario; When the speed relationship is that the current speed is not greater than the speed of the preceding vehicle, and the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both greater than zero, and the current acceleration is greater than the preceding vehicle acceleration, the operating scenario is determined to be the fifth scenario; when the speed relationship is that the current speed is not greater than the speed of the preceding vehicle, and the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both greater than zero, and the current speed is not greater than the preceding vehicle speed, the operating scenario is determined to be the sixth scenario; when the speed relationship is that the current speed is not greater than the speed of the preceding vehicle, and the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both not greater than zero, and the current acceleration is greater than the preceding vehicle acceleration, the operating scenario is determined to be the seventh scenario; when the speed relationship is that the current speed is not greater than the speed of the preceding vehicle, and the acceleration relationship is that the current acceleration and the preceding vehicle acceleration are both not greater than zero, and the current acceleration is not greater than the preceding vehicle acceleration, the operating scenario is determined to be the eighth scenario.

[0112] In one embodiment, determining a safety distance calculation formula according to the operating scenario includes:

[0113] According to the operation scenario, a correspondence table between the operation scenario and the safety distance calculation method is searched to determine the safety distance calculation formula corresponding to the operation scenario.

[0114] The calculation formula for the safety distance corresponding to the first scenario is: The safety distance calculation formula corresponding to the second scenario is: The safety distance calculation formula corresponding to the third scenario is: The safety distance calculation formula corresponding to the fourth scenario is: The safety distance calculation formula corresponding to the fifth scenario is: The safety distance calculation formula corresponding to the sixth scenario, the seventh scenario and the eighth scenario is: D safe =v*t gap , where D safe represents the safe distance, v represents the current speed, t gap represents the reaction time, a ego Indicates the current acceleration, a lead Indicates the acceleration of the vehicle ahead.

[0115] Further, the reaction time is determined based on the current vehicle and the driver of the current vehicle.

[0116] Based on the above embodiment, the execution module 330 is specifically configured to:

[0117] When it is determined that the vehicle distance is not greater than the safety distance and the current acceleration is greater than zero, the current acceleration is reduced until the current vehicle speed reaches the cruising speed; when it is determined that the vehicle distance is greater than the safety distance, the current acceleration is maintained until the current vehicle speed reaches the cruising speed.

[0118] The vehicle operation control device provided in the embodiment of the present invention can execute the vehicle operation control method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the vehicle operation control method.

[0119] It is worth noting that in the embodiment of the above-mentioned vehicle operation control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0120] Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. Figure 4 A block diagram of an exemplary vehicle 4 suitable for implementing embodiments of the present invention is shown. Figure 4 The vehicle 4 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0121] like Figure 4 As shown, vehicle 4 is represented as a general purpose computing electronic device. Components of vehicle 4 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and bus 18 that connects various system components (including system memory 28 and processing unit 16).

[0122] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0123] The vehicle 4 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the vehicle 4, including volatile and non-volatile media, removable and non-removable media.

[0124] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The vehicle 4 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be configured to read and write to non-removable, non-volatile magnetic media ( Figure 4 Not shown, often called a "hard drive"). Although Figure 4 Not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0125] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0126] The vehicle 4 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the vehicle 4, and / or any device that enables the vehicle 4 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the vehicle 4 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. Figure 4 As shown, the network adapter 20 communicates with other modules of the vehicle 4 via the bus 18. Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with the vehicle 4, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0127] The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, such as implementing the vehicle operation control method provided by an embodiment of the present invention, which includes:

[0128] Obtaining the current speed and current acceleration of the current vehicle, the preceding speed and preceding acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle;

[0129] determining a safe distance between the current vehicle and the preceding vehicle based on the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle;

[0130] The current acceleration of the current vehicle is adjusted according to the vehicle distance and the safety distance to adjust the current vehicle speed.

[0131] Of course, those skilled in the art will understand that the processor can also implement the technical solution of the vehicle operation control method provided by any embodiment of the present invention.

[0132] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, for example, a vehicle operation control method provided by an embodiment of the present invention is implemented. The method includes:

[0133] Obtaining the current speed and current acceleration of the current vehicle, the preceding speed and preceding acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle;

[0134] determining a safe distance between the current vehicle and the preceding vehicle based on the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle;

[0135] The current acceleration of the current vehicle is adjusted according to the vehicle distance and the safety distance to adjust the current vehicle speed.

[0136] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0137] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0138] Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0139] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0140] Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using a general-purpose computing device. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they can be implemented using program code executable by a computer device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

[0141] In addition, the acquisition, storage, use, and processing of data in the technical solution of the present invention comply with relevant provisions of laws and regulations.

[0142] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle operation control method, characterized in that: include: Obtaining the current speed and current acceleration of the current vehicle, the preceding speed and preceding acceleration of the preceding vehicle, and the distance between the current vehicle and the preceding vehicle; determining a safe distance between the current vehicle and the preceding vehicle based on the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle; The current acceleration of the current vehicle is adjusted according to the vehicle distance and the safety distance to adjust the current vehicle speed.

2. The vehicle operation control method according to claim 1, characterized in that: Determining a safe distance between the current vehicle and the preceding vehicle according to the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle includes: Determining a speed relationship by comparing the current vehicle speed with the preceding vehicle speed, and determining an acceleration relationship by comparing the current acceleration with the preceding vehicle acceleration; Determining an operating scenario based on the vehicle speed relationship and the acceleration relationship, and determining a safety distance calculation formula based on the operating scenario; The safety distance is obtained by substituting the current vehicle speed and the current acceleration as well as the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle into the safety distance calculation method.

3. The vehicle operation control method according to claim 2, characterized in that: Determining an operating scenario according to the vehicle speed magnitude relationship and the acceleration magnitude relationship includes: When the vehicle speed magnitude relationship is that the current vehicle speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are greater than zero and the current acceleration is greater than the preceding vehicle acceleration, determining that the operating scenario is the first scenario; When the vehicle speed magnitude relationship is that the current vehicle speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are greater than zero and the current acceleration is not greater than the preceding vehicle acceleration, determining that the operating scenario is the second scenario; When the vehicle speed magnitude relationship is that the current vehicle speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are not greater than zero and the current acceleration is greater than the preceding vehicle acceleration, determining that the operating scenario is the third scenario; When the vehicle speed magnitude relationship is that the current vehicle speed is greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are not greater than zero and the current acceleration is not greater than the preceding vehicle acceleration, determining that the operating scenario is the fourth scenario; When the vehicle speed magnitude relationship is that the current vehicle speed is not greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are greater than zero and the current acceleration is greater than the preceding vehicle acceleration, determining that the operating scenario is the fifth scenario; When the vehicle speed magnitude relationship is that the current vehicle speed is not greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are greater than zero and the current acceleration is not greater than the preceding vehicle acceleration, determining that the operating scenario is the sixth scenario; When the vehicle speed magnitude relationship is that the current vehicle speed is not greater than the speed of the preceding vehicle, and the acceleration magnitude relationship is that both the current acceleration and the preceding vehicle acceleration are not greater than zero and the current acceleration is greater than the preceding vehicle acceleration, the operating scenario is determined to be the seventh scenario; When the vehicle speed relationship is that the current vehicle speed is not greater than the front vehicle speed, and the acceleration relationship is that both the current acceleration and the front vehicle acceleration are not greater than zero and the current acceleration is not greater than the front vehicle acceleration, the operating scenario is determined to be the eighth scenario.

4. The vehicle operation control method according to claim 3, characterized in that: The safety distance calculation formula is determined based on the operating scenario, including: According to the operation scenario, a correspondence table between the operation scenario and the safety distance calculation method is searched to determine the safety distance calculation formula corresponding to the operation scenario.

5. The vehicle operation control method according to claim 4, characterized in that: The safety distance calculation formula corresponding to the first scenario is: The safety distance calculation formula corresponding to the second scenario is: The safety distance calculation formula corresponding to the third scenario is: The safety distance calculation formula corresponding to the fourth scenario is: The safety distance calculation formula corresponding to the fifth scenario is: The safety distance calculation formula corresponding to the sixth scenario, the seventh scenario and the eighth scenario is: D safe =v*t gap , where D safe represents the safe distance, v represents the current speed, t gap represents the reaction time, a ego Indicates the current acceleration, a lead Indicates the acceleration of the vehicle ahead.

6. The vehicle operation control method according to claim 5, characterized in that: The reaction time is determined based on the current vehicle and a driver of the current vehicle.

7. The vehicle operation control method according to claim 1, characterized in that: Adjusting the current acceleration of the current vehicle according to the vehicle distance and the safety distance to adjust the current speed of the current vehicle includes: If it is determined that the vehicle distance is not greater than the safety distance and the current acceleration is greater than zero, reducing the current acceleration until the current vehicle speed reaches a cruising speed; When it is determined that the vehicle distance is greater than the safety distance, the current acceleration is maintained until the current vehicle speed reaches a cruising speed.

8. A vehicle operation control device, characterized in that: include: an acquisition module, configured to acquire a current vehicle speed and a current acceleration of the current vehicle, a preceding vehicle speed and a preceding vehicle acceleration, and a vehicle distance between the current vehicle and the preceding vehicle; a determination module, configured to determine a safe distance between the current vehicle and the preceding vehicle based on the current vehicle speed and the current acceleration of the current vehicle and the preceding vehicle speed and the preceding vehicle acceleration of the preceding vehicle; An execution module is used to adjust the current acceleration of the current vehicle according to the vehicle distance and the safety distance to adjust the current speed of the current vehicle.

9. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle operation control method as described in any one of claims 1 to 7.

10. A storage medium containing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform the vehicle operation control method according to any one of claims 1 to 7.

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