Car following speed control method, device, equipment, medium and program product

Abstract

The invention discloses a car following speed control method, device and equipment, a medium and a program product in the technical field of computers. The deviation to be checked is obtained according to the difference value proportion between the actual vehicle following distance and the expected safety distance, the deviation to be checked is matched with the corresponding compensation coefficient, appropriate brake force can be matched for different cruise gears, then the vehicle following speed of the vehicle is controlled according to the compensation coefficient, comfortable vehicle following can be achieved, and driving safety can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a vehicle following speed control method, device, equipment, medium and program product. Background Art

[0002] Currently, the difference between the actual following distance and the set following distance is typically used to query the corresponding compensation coefficient. This compensation coefficient is then used to determine braking force and, in turn, control following speed. However, because the desired following distances set for different cruise gears vary, querying the compensation coefficient based on the difference between the actual following distance and the set following distance can result in the same braking force being determined for different cruise gears. This can lead to a mismatch between the braking force and the actual driving conditions in certain cruise gears, resulting in poor driving comfort. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a vehicle-following speed control method, device, equipment, medium and program product to match appropriate braking force for different cruise gears.

[0004] In a first aspect, the present application provides a method for controlling vehicle following speed, comprising:

[0005] Get the expected safety distance corresponding to the current cruise gear of the vehicle, as well as the actual following distance between the vehicle and the vehicle in front;

[0006] Based on the difference ratio between the actual following distance and the expected safety distance, the deviation to be checked is obtained;

[0007] Query the compensation coefficient that matches the deviation to be checked, and control the following vehicle speed based on the compensation coefficient.

[0008] Optionally, the expected safety distance is: an expected following distance between the vehicle and the preceding vehicle;

[0009] Accordingly, based on the difference ratio between the actual following distance and the expected safety distance, the deviation to be checked is obtained, including:

[0010] calculating a first difference between the actual following distance and the expected following distance;

[0011] Calculate the ratio of the first difference to the expected following distance to obtain a difference ratio;

[0012] The difference ratio is used as the deviation to be checked.

[0013] Optionally, the expected safety distance is: the distance required for the ego vehicle to stop;

[0014] Accordingly, based on the difference ratio between the actual following distance and the expected safety distance, the deviation to be checked is obtained, including:

[0015] calculating a second difference between the actual following distance and the distance required for the ego vehicle to stop;

[0016] Calculate the ratio of the second difference to the required parking distance of the vehicle to obtain a difference ratio;

[0017] The difference ratio is used as the deviation to be checked.

[0018] Optionally, the required stopping distance of the leading vehicle is calculated based on the speed and acceleration of the leading vehicle; the required stopping distance of the own vehicle is obtained by subtracting the expected following distance between the own vehicle and the leading vehicle from the sum of the actual following distance and the required stopping distance of the leading vehicle.

[0019] Optionally, if there are at least two difference ratios, weighted processing is performed on the at least two difference ratios, and the weighted processing result is used as the deviation to be checked.

[0020] Optionally, weighting the at least two difference ratios includes:

[0021] Use the weighted formula to perform weighted processing on at least two difference ratios; the weighted formula is: S=M1×α1+M2×α2+…+M N ×α N ;

[0022] Among them, S represents the weighted processing result, M1, M2, ..., M N Represents N difference ratios, α1, α2, …, α N Indicates the N bias coefficients corresponding to the N difference ratios.

[0023] Optionally, query the compensation coefficient that matches the deviation to be checked, including:

[0024] Update the value of the deviation to be checked using the preset limit value;

[0025] Query the compensation coefficient that matches the updated deviation to be checked.

[0026] Optionally, query the compensation coefficient that matches the deviation to be checked, including:

[0027] The compensation coefficient matching the deviation to be checked is searched in a preset deviation mapping table; the deviation mapping table records multiple deviation values ​​and their mapped compensation coefficients, and the multiple deviation values ​​and their mapped compensation coefficients are set based on the vehicle model and / or vehicle brake actuator performance.

[0028] In a second aspect, the present application provides a vehicle following speed control device, comprising:

[0029] The acquisition module is used to obtain the expected safety distance corresponding to the current cruise gear of the vehicle and the actual following distance between the vehicle and the preceding vehicle;

[0030] a calculation module, configured to obtain a deviation to be checked based on a ratio of a difference between an actual following distance and a desired safety distance;

[0031] The control module is used to query the compensation coefficient that matches the deviation to be checked and control the following speed of the vehicle according to the compensation coefficient.

[0032] Optionally, the expected safety distance is: the expected following distance between the vehicle and the vehicle in front; accordingly, the calculation module is specifically used to: calculate a first difference between the actual following distance and the expected following distance; calculate the ratio of the first difference to the expected following distance to obtain a difference ratio; and use the difference ratio as the deviation to be checked.

[0033] Optionally, the expected safety distance is: the distance required for the vehicle to stop; accordingly, the calculation module is specifically used to: calculate the second difference between the actual following distance and the distance required for the vehicle to stop; calculate the ratio of the second difference to the distance required for the vehicle to stop, and obtain the difference ratio; and use the difference ratio as the deviation to be checked.

[0034] Optionally, the required stopping distance of the leading vehicle is calculated based on the speed and acceleration of the leading vehicle; the required stopping distance of the own vehicle is obtained by subtracting the expected following distance between the own vehicle and the leading vehicle from the sum of the actual following distance and the required stopping distance of the leading vehicle.

[0035] Optionally, it also includes:

[0036] The weighting module is used to perform weighted processing on the at least two difference ratios if there are at least two difference ratios, and use the weighted processing result as the deviation to be checked.

[0037] Optionally, the weighting module is specifically configured to:

[0038] Use the weighted formula to perform weighted processing on at least two difference ratios; the weighted formula is: S=M1×α1+M2×α2+…+M N ×α N ;

[0039] Among them, S represents the weighted processing result, M1, M2, ..., M N Represents N difference ratios, α1, α2, …, α N Indicates the N bias coefficients corresponding to the N difference ratios.

[0040] Optionally, the control module is specifically configured to:

[0041] Update the value of the deviation to be checked using the preset limit value;

[0042] Query the compensation coefficient that matches the updated deviation to be checked.

[0043] Optionally, the control module is specifically configured to:

[0044] The compensation coefficient matching the deviation to be checked is searched in a preset deviation mapping table; the deviation mapping table records multiple deviation values ​​and their mapped compensation coefficients, and the multiple deviation values ​​and their mapped compensation coefficients are set based on the vehicle model and / or vehicle brake actuator performance.

[0045] In a third aspect, the present application provides an electronic device, comprising:

[0046] memory for storing computer programs;

[0047] The processor is used to execute the computer program to implement the above-disclosed vehicle following speed control method.

[0048] In a fourth aspect, the present application provides a readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the aforementioned vehicle following speed control method disclosed above.

[0049] In a fifth aspect, the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the aforementioned vehicle following speed control method.

[0050] From the above scheme, it can be seen that the present application provides a method for controlling the following vehicle speed, including: obtaining the expected safety distance corresponding to the current cruise gear of the own vehicle, and the actual following distance between the own vehicle and the vehicle in front; obtaining the deviation to be checked based on the difference ratio between the actual following distance and the expected safety distance; querying the compensation coefficient that matches the deviation to be checked, and controlling the following speed of the own vehicle according to the compensation coefficient.

[0051] It can be seen that this application uses the difference ratio between the actual following distance and the expected safety distance to obtain the deviation to be checked, and uses the deviation to be checked to match the corresponding compensation coefficient to match the appropriate braking force for different cruise gears. Then, the following speed of the vehicle is controlled according to the compensation coefficient, which can achieve comfortable following and ensure driving safety.

[0052] For example, if the desired following distance set for cruise gear 1 is 5 meters, and the actual following distance is 3 meters, the compensation factor A can be queried using the difference of 2. Similarly, if the desired following distance set for cruise gear 2 is 10 meters, and the actual following distance is 8 meters, the compensation factor A can also be queried using the difference of 2. Thus, the corresponding desired following distances can be achieved in both situations using the same braking force. However, comparing these two driving situations, since the actual following distance in cruise gear 1 is shorter, it requires a greater braking force in a shorter time to achieve the desired following distance to ensure driving safety. However, the actual following distance in cruise gear 2 is longer and the driving situation is safe enough. In theory, gentle braking can also achieve the desired following distance, without the need for a greater braking force in a shorter time.

[0053] If the present application is followed, although the following distance difference is 2 for both cruise gear 1 and cruise gear 2, the difference ratio will be different. For example, the difference ratio for cruise gear 1 can be 2 / 5, and the difference ratio for cruise gear 2 can be 2 / 10. Thus, the two different difference ratios can determine different deviations to be checked, and the corresponding compensation coefficients matched will also be different, so the braking force will also be different. In this example, the braking force matched for cruise gear 1 will be greater than the braking force matched for cruise gear 2, which can also achieve: in cruise gear 1, a larger braking force is used in a shorter time to achieve the desired following distance for cruise gear 1 to ensure driving safety; while in cruise gear 2, the actual driving situation is safe enough, so a slow braking strategy can be used over a longer time to achieve the desired following distance for cruise gear 2. It can be seen from this that setting matching braking forces for different cruise gears can better ensure driving comfort and safety.

[0054] Correspondingly, the vehicle following speed control device, equipment, medium and program product provided by this application also have the above-mentioned technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0056] Figure 1 This is a flow chart of a vehicle following speed control method disclosed in this application;

[0057] Figure 2 A schematic diagram of a vehicle following disclosed in this application;

[0058] Figure 3This is a schematic diagram of a vehicle-following speed control solution disclosed in this application;

[0059] Figure 4 This is a schematic diagram of a vehicle-following speed control device disclosed in this application;

[0060] Figure 5 This is a schematic diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0062] At present, the difference between the actual following distance and the set following distance is usually used to query the compensation coefficient corresponding to the difference, so as to determine the braking force and further control the following speed based on this compensation coefficient. However, since the expected following distance set at different cruise gears is different, when the compensation coefficient is queried based on the difference between the actual following distance and the set following distance, it may happen that: the compensation coefficients queried at different cruise gears are the same, and the same compensation coefficients will determine the same braking force, resulting in the braking force not matching the actual driving conditions at some cruise gears, and poor driving comfort. To this end, the present application provides a following speed control scheme that can set matching braking forces for different cruise gears, thereby better ensuring driving comfort and safety.

[0063] See also Figure 1 As shown, the embodiment of the present application discloses a vehicle following speed control method, comprising:

[0064] S101: Obtain an expected safety distance corresponding to the current cruise gear of the vehicle and an actual following distance between the vehicle and the preceding vehicle.

[0065] It should be noted that the ego vehicle and the preceding vehicle are in the same lane and traveling in the same direction. In an Adaptive Cruise Control (ACC) system, different cruise gears are typically set, each with a different desired safety distance, to control the vehicle's speed during the automatic cruise control process.

[0066] In this embodiment, the expected safety distance can be the expected following distance or the expected stopping distance of the vehicle. Figure 2, d0 represents the actual following distance between the ego vehicle and the vehicle in front, d_des represents the expected following distance between the ego vehicle and the vehicle in front at any cruise gear, d1 represents the distance traveled by the vehicle in front during the parking process (i.e., the distance required for the vehicle in front to stop), and d_stop represents the distance traveled by the ego vehicle during the parking process (i.e., the distance required for the vehicle in front to stop). As can be seen from the figure: d_stop=d0+d1–d_des. Therefore, the expected parking distance of the ego vehicle can be calculated based on the expected following distance. In one embodiment, the required parking distance of the vehicle in front can be calculated based on the speed of the vehicle in front and the acceleration of the vehicle in front; the required parking distance of the ego vehicle can be obtained by subtracting the expected following distance between the ego vehicle and the vehicle in front from the sum of the actual following distance and the distance required for the vehicle in front to stop. This calculation process is expressed by the formula: d1=(v0) 2 / (2-a0), then d_stop=d0+(v0) 2 / (2-a0)–d_des; where v0 is the speed of the preceding vehicle and a0 is the acceleration of the preceding vehicle. In this process, a0 is set to a negative value, so a minus sign is added in front to optimize braking comfort.

[0067] S102: Obtain a deviation to be checked based on a ratio of a difference between the actual following distance and the expected safety distance.

[0068] In this embodiment, the ratio of the difference between the actual following distance and the expected safety distance can be: the ratio of the difference between the actual following distance and the expected following distance to the expected following distance; or it can be: the ratio of the difference between the actual following distance and the distance required for the vehicle to stop to the distance required for the vehicle to stop; of course, it can also be other ratio values ​​calculated based on the difference between the actual following distance and the expected safety distance, such as the ratio of the difference between the actual following distance and the expected following distance to the actual following distance, or the inverse ratio of the difference between the actual following distance and the expected following distance to the expected following distance, etc.

[0069] This embodiment provides several specific calculation methods. In one embodiment, the expected safety distance is: the expected following distance between the vehicle and the preceding vehicle; accordingly, based on the difference ratio between the actual following distance and the expected safety distance, a deviation to be checked is obtained, including: calculating a first difference between the actual following distance and the expected following distance; calculating the ratio of the first difference to the expected following distance to obtain a difference ratio; and using the difference ratio as the deviation to be checked. Furthermore, in one embodiment, the expected safety distance is: the distance required for the vehicle to stop; accordingly, based on the difference ratio between the actual following distance and the expected safety distance, a deviation to be checked is obtained, including: calculating a second difference between the actual following distance and the distance required for the vehicle to stop; calculating the ratio of the second difference to the distance required for the vehicle to stop to obtain a difference ratio; and using the difference ratio as the deviation to be checked.

[0070] It can be seen that there may be more than one difference ratio between the actual following distance and the expected safety distance. If there are multiple, one of them can be selected to execute the subsequent step S103, or these difference ratios can be combined to obtain a new value. In one embodiment, if there are at least two difference ratios, the at least two difference ratios are weighted, and the weighted processing result is used as the deviation to be checked. The weighting of the at least two difference ratios includes: using a weighting formula to weight the at least two difference ratios; the weighting formula is: S=M1×α1+M2×α2+…+M N ×α N ; Among them, S represents the weighted processing result, M1, M2, ..., M N Represents N difference ratios, α1, α2, …, α N Indicates the N bias coefficients corresponding to the N difference ratios.

[0071] In one example, when there are two difference ratios, the weighted formula can be transformed into: S=M1×α1+M2×(1-α1). It can be seen that different bias coefficients α1, α2, ..., α N The sum can be constrained to 1 to represent the influence of different difference ratios on the weighted result. If M1 is the ratio of the first difference to the desired following distance, and M2 is the ratio of the second difference to the required stopping distance for the ego vehicle, then a larger α1 indicates a greater bias toward safe following. This allows the braking force to be controlled to favor safety or comfort.

[0072] S103: Query a compensation coefficient that matches the deviation to be checked, and control the following speed of the own vehicle according to the compensation coefficient.

[0073] To prevent the deviation to be checked from being too large or too small, its value can be constrained. In one embodiment, querying for a compensation coefficient that matches the deviation to be checked includes: updating the value of the deviation to be checked using a preset limit; and querying for a compensation coefficient that matches the updated deviation to be checked. When updating the value of the deviation to be checked using the preset limit to constrain the deviation to be checked, the following process can be used: first, set the maximum and minimum values ​​of the preset limit, and then use the MIN and MAN functions to constrain the output, specifically: deviation to be checked = MIN(deviation to be checked, maximum value); deviation to be checked = MAX(deviation to be checked, minimum value).

[0074] It should be noted that, in order to facilitate the query of the compensation coefficient that matches the deviation to be checked, a deviation mapping table can be constructed in advance, in which multiple deviation values ​​and their mapped compensation coefficients are recorded. The values ​​of these data and the mapping relationship are set based on the vehicle model and / or the performance of the vehicle brake actuator. In one embodiment, querying the compensation coefficient that matches the deviation to be checked includes: querying the compensation coefficient that matches the deviation to be checked in a preset deviation mapping table; the deviation mapping table records multiple deviation values ​​and their mapped compensation coefficients, and the multiple deviation values ​​and their mapped compensation coefficients are set based on the vehicle model and / or the performance of the vehicle brake actuator. It should also be noted that the deviation mapping table is different from the mapping table used in traditional cruise control solutions, because the mapping table used in traditional cruise control solutions records: the difference between the actual following distance and the expected safety distance and the compensation coefficient mapped thereto.

[0075] In one embodiment, controlling the following speed of the vehicle according to the compensation coefficient includes: calculating a deceleration according to the compensation coefficient, determining a braking force of a brake actuator according to the deceleration, and controlling the driving speed of the vehicle according to the braking force.

[0076] It can be seen that this embodiment uses the difference ratio between the actual following distance and the expected safety distance to obtain the deviation to be checked, and uses the deviation to be checked to match the corresponding compensation coefficient, so as to match the appropriate braking force for different cruise gears. Then, the following speed of the vehicle is controlled according to the compensation coefficient, which can achieve comfortable following and ensure driving safety.

[0077] In one example, if the ratio of the first difference to the expected following distance and the ratio of the second difference to the required stopping distance of the vehicle are calculated, and the final deviation to be checked is determined by the formula S=M1×α1+M2×(1-α1) and the preset limit, the corresponding implementation process can be referred to Figure 3 . Figure 3 In the figure, the ratio of the difference between the actual following distance and the expected following distance to the expected following distance is calculated to obtain the distance intrusion percentage 1; the ratio of the difference between the actual following distance and d_stop to d_stop is calculated to obtain the distance intrusion percentage 2; here, the weighting coefficient 1 (i.e., α1) is set for the distance intrusion percentage 1, and the weighting coefficient 1-α1 is set for the distance intrusion percentage 2, and then the final intrusion percentage is calculated according to the formula S=M1×α1+M2×(1-α1); the next step is to constrain and limit the output with the maximum and minimum values ​​of the preset limits, and use the restricted percentage to look up the table to obtain the distance deviation coefficient (i.e., compensation coefficient).

[0078] By constraining and limiting the deviations to be checked using the preset maximum and minimum limits, you can reduce the probability of excessive deviations. If the deviations are too large, the compensation coefficients obtained from the table lookup will also be too large, potentially leading to an abnormally large deceleration, which can cause harsh braking and affect driving comfort. This limit can effectively prevent excessive deceleration. For example, if the maximum value of the deviations to be checked is set to 50%, all deviations above 50% will be checked using the table lookup value of 50%.

[0079] It can be seen that this embodiment can adaptively adjust the braking force at different time intervals according to the actual following distance, thereby improving the safety and comfort of following the vehicle; it can also change the braking bias type through the weighted coefficient, so that ACC has the ability to adaptively adjust at different cruise gears.

[0080] A vehicle-following speed control device provided in an embodiment of the present application is introduced below. The vehicle-following speed control device described below and the vehicle-following speed control method described above can be referenced to each other.

[0081] See also Figure 4 As shown, the embodiment of the present application discloses a vehicle following speed control device, comprising:

[0082] The acquisition module 401 is used to obtain the expected safety distance corresponding to the current cruise gear of the vehicle and the actual following distance between the vehicle and the preceding vehicle;

[0083] A calculation module 402 is configured to obtain a deviation to be checked based on a ratio of a difference between the actual following distance and the expected safety distance;

[0084] The control module 403 is used to query the compensation coefficient that matches the deviation to be checked, and control the following speed of the vehicle according to the compensation coefficient.

[0085] In one embodiment, the expected safety distance is: the expected following distance between the vehicle and the preceding vehicle; accordingly, the calculation module is specifically used to: calculate a first difference between the actual following distance and the expected following distance; calculate the ratio of the first difference to the expected following distance to obtain a difference ratio; and use the difference ratio as the deviation to be checked.

[0086] In one embodiment, the expected safety distance is: the distance required for the vehicle to stop; accordingly, the calculation module is specifically used to: calculate a second difference between the actual following distance and the distance required for the vehicle to stop; calculate the ratio of the second difference to the distance required for the vehicle to stop, to obtain a difference ratio; and use the difference ratio as the deviation to be checked.

[0087] In one embodiment, the required stopping distance of the leading vehicle is calculated based on the speed and acceleration of the leading vehicle; the required stopping distance of the own vehicle is obtained by subtracting the expected following distance between the own vehicle and the leading vehicle from the sum of the actual following distance and the required stopping distance of the leading vehicle.

[0088] In one embodiment, it further includes:

[0089] The weighting module is used to perform weighted processing on the at least two difference ratios if there are at least two difference ratios, and use the weighted processing result as the deviation to be checked.

[0090] In one embodiment, the weighting module is specifically configured to:

[0091] Use the weighted formula to perform weighted processing on at least two difference ratios; the weighted formula is: S=M1×α1+M2×α2+…+M N ×α N ;

[0092] Among them, S represents the weighted processing result, M1, M2, ..., M N Represents N difference ratios, α1, α2, …, α N Indicates the N bias coefficients corresponding to the N difference ratios.

[0093] In one embodiment, the control module is specifically configured to:

[0094] Update the value of the deviation to be checked using the preset limit value;

[0095] Query the compensation coefficient that matches the updated deviation to be checked.

[0096] In one embodiment, the control module is specifically configured to:

[0097] The compensation coefficient matching the deviation to be checked is searched in a preset deviation mapping table; the deviation mapping table records multiple deviation values ​​and their mapped compensation coefficients, and the multiple deviation values ​​and their mapped compensation coefficients are set based on the vehicle model and / or vehicle brake actuator performance.

[0098] Among them, for more specific working processes of each module and unit in this embodiment, reference can be made to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0099] It can be seen that this embodiment provides a following vehicle speed control device, which can obtain the deviation to be checked based on the difference ratio between the actual following distance and the expected safety distance, and use the deviation to be checked to match the corresponding compensation coefficient to match the appropriate braking force for different cruise gears. Then, the following speed of the vehicle is controlled according to the compensation coefficient, which can achieve comfortable following and ensure driving safety.

[0100] An electronic device provided in an embodiment of the present application is introduced below. The electronic device described below and the vehicle following speed control method and device described above can be referenced to each other.

[0101] See also Figure 5 As shown, the embodiment of the present application discloses an electronic device, including:

[0102] Memory 501, used for storing computer programs;

[0103] The processor 502 is configured to execute the computer program to implement the method disclosed in any of the above embodiments.

[0104] In this embodiment, when the processor executes the computer program stored in the memory, it can specifically implement the following steps: obtain the expected safety distance corresponding to the current cruise gear of the vehicle, and the actual following distance between the vehicle and the vehicle in front; obtain the deviation to be checked based on the difference ratio between the actual following distance and the expected safety distance; query the compensation coefficient that matches the deviation to be checked, and control the following speed of the vehicle according to the compensation coefficient.

[0105] In this embodiment, when the processor executes the computer program stored in the memory, the following steps can be specifically implemented: the expected safety distance is: the expected following distance between the vehicle and the vehicle in front; the first difference between the actual following distance and the expected following distance is calculated; the ratio of the first difference to the expected following distance is calculated to obtain the difference ratio; and the difference ratio is used as the deviation to be checked.

[0106] In this embodiment, when the processor executes the computer program stored in the memory, the following steps can be specifically implemented: the expected safety distance is: the distance required for the vehicle to stop; the second difference between the actual following distance and the distance required for the vehicle to stop is calculated; the ratio of the second difference to the distance required for the vehicle to stop is calculated to obtain the difference ratio; and the difference ratio is used as the deviation to be checked.

[0107] In this embodiment, when the processor executes the computer program stored in the memory, it can specifically implement the following steps: calculate the distance required for the leading vehicle to stop based on the speed and acceleration of the leading vehicle; use the sum of the actual following distance and the distance required for the leading vehicle to stop, subtract the expected following distance between the own vehicle and the leading vehicle, to obtain the distance required for the own vehicle to stop.

[0108] In this embodiment, when the processor executes the computer program stored in the memory, it can specifically implement the following steps: if there are at least two difference ratios, weighted processing is performed on the at least two difference ratios, and the weighted processing result is used as the deviation to be checked.

[0109] In this embodiment, when the processor executes the computer program stored in the memory, the following steps may be specifically implemented: updating the value of the deviation to be checked using a preset limit value; and querying a compensation coefficient that matches the updated deviation to be checked.

[0110] In this embodiment, when the processor executes the computer program stored in the memory, it can specifically implement the following steps: querying the compensation coefficient matching the deviation to be checked in a preset deviation mapping table; the deviation mapping table records multiple deviation values ​​and their mapped compensation coefficients, and the multiple deviation values ​​and their mapped compensation coefficients are set based on the vehicle model and / or vehicle brake actuator performance.

[0111] The following introduces a readable storage medium provided in an embodiment of the present application. The readable storage medium described below and the vehicle-following speed control method, device, and apparatus described above can be referenced to each other.

[0112] The present application discloses a readable storage medium for storing a computer program. When executed by a processor, the computer program implements the vehicle following speed control method disclosed in the aforementioned embodiment. The specific steps of this method can be found in the corresponding contents disclosed in the aforementioned embodiment and will not be further described here.

[0113] A computer program product provided in an embodiment of the present application is introduced below. The computer program product described below can be referenced with other embodiments described herein.

[0114] An embodiment of the present application discloses a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the aforementioned vehicle following speed control method.

[0115] References to "first," "second," "third," "fourth," and the like (if any) herein are intended to distinguish similar objects and are not necessarily intended to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, or apparatus.

[0116] It should be noted that the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0117] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0118] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of readable storage medium known in the art.

[0119] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A vehicle following speed control method, characterized in that: include: Get the expected safety distance corresponding to the current cruise gear of the vehicle, as well as the actual following distance between the vehicle and the vehicle in front; Obtaining a deviation to be checked based on a difference ratio between the actual following distance and the expected safety distance; A compensation coefficient matching the deviation to be checked is queried, and a following speed of the own vehicle is controlled according to the compensation coefficient.

2. The method according to claim 1, characterized in that The expected safety distance is: the expected following distance between the vehicle and the preceding vehicle; Accordingly, based on the difference ratio between the actual following distance and the expected safety distance, a deviation to be checked is obtained, including: calculating a first difference between the actual following distance and the expected following distance; calculating a ratio of the first difference to the expected following distance to obtain the difference ratio; The difference ratio is used as the deviation to be checked.

3. The method according to claim 1, characterized in that The expected safety distance is: the distance required for the vehicle to stop; Accordingly, based on the difference ratio between the actual following distance and the expected safety distance, a deviation to be checked is obtained, including: calculating a second difference between the actual following distance and the required parking distance for the own vehicle; Calculating a ratio of the second difference to the required parking distance of the vehicle to obtain the difference ratio; The difference ratio is used as the deviation to be checked.

4. The method according to claim 3, characterized in that The required stopping distance of the leading vehicle is calculated based on the speed and acceleration of the leading vehicle; the required stopping distance of the leading vehicle is obtained by subtracting the expected following distance between the own vehicle and the leading vehicle from the sum of the actual following distance and the required stopping distance of the leading vehicle.

5. The method according to claim 1, wherein If there are at least two difference ratios, weighted processing is performed on the at least two difference ratios, and the weighted processing result is used as the deviation to be checked.

6. The method according to claim 5, characterized in that At least two difference ratios are weighted, including: Use a weighted formula to perform weighted processing on at least two difference ratios; the weighted formula is: S=M1×α1+M2×α2+…+M N ×α N ; Wherein, S represents the weighted processing result, M1, M2, ..., M N Represents N difference ratios, α1, α2, …, α N Indicates the N bias coefficients corresponding to the N difference ratios.

7. The method according to any one of claims 1 to 6, characterized in that Querying the compensation coefficient that matches the deviation to be checked includes: Updating the value of the deviation to be checked using a preset limit; Query the compensation coefficient that matches the updated deviation to be checked.

8. The method according to any one of claims 1 to 6, characterized in that Querying the compensation coefficient that matches the deviation to be checked includes: A compensation coefficient matching the deviation to be checked is searched in a preset deviation mapping table; the deviation mapping table records multiple deviation values ​​and their mapped compensation coefficients, and the multiple deviation values ​​and their mapped compensation coefficients are set based on the vehicle model and / or vehicle brake actuator performance.

9. A vehicle following speed control device, characterized in that: include: The acquisition module is used to obtain the expected safety distance corresponding to the current cruise gear of the vehicle and the actual following distance between the vehicle and the preceding vehicle; a calculation module, configured to obtain a deviation to be checked based on a ratio of a difference between the actual following distance and the expected safety distance; The control module is used to query a compensation coefficient that matches the deviation to be checked, and control the following speed of the vehicle according to the compensation coefficient.

10. An electronic device, characterized in that: include: memory for storing computer programs; A processor, configured to execute the computer program to implement the method according to any one of claims 1 to 8.

11. A readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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