Vehicle control method and device and readable storage medium
By detecting the distance between vehicles and obtaining acceleration, the vehicle speed is controlled to solve the problem of speed control accuracy, thereby achieving stable and safe driving of the vehicle during the automatic following process.
Patent Information
- Application Number
- CN202511166837.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-20
- Publication Date
- 2025-10-10
AI Technical Summary
In the prior art, when a vehicle automatically follows another vehicle, the speed control accuracy is poor.
By detecting the distance between vehicles, obtaining acceleration, and controlling the vehicle speed based on the target acceleration, the vehicle can ensure smooth following and safe driving.
The accuracy and safety of vehicle speed control are improved, ensuring that the vehicle can maintain a stable speed and safe distance during automatic following.
Smart Images
Figure CN120756473A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of new energy vehicle technology, and in particular to a vehicle control method, device, and readable storage medium. Background Art
[0002] With cars now commonplace in everyday homes, they need to adapt to the changing driving demands of the times. Vehicles are equipped with various driver-assistance features based on various body sensors, actuators, and controllers. Among these features, the use of automatic following driving on roads enhances the intelligent and convenient driving experience. However, when following other vehicles, the vehicle's control methods present technical challenges, such as poor speed control accuracy. Summary of the Invention
[0003] The embodiments of the present application provide a vehicle control method, device, and readable storage medium for solving technical problems such as poor speed change stability in the prior art.
[0004] According to a first aspect of an embodiment of the present application, a vehicle control method is provided, comprising: When the first vehicle follows the second vehicle, controlling the first vehicle to detect the interval between the first vehicle and the second vehicle; When the separation distance is greater than the first separation distance and less than the second separation distance, obtaining a first acceleration of the first vehicle; When the separation distance is less than a preset second separation distance, determining a second acceleration of the first vehicle according to the first separation distance; determining a target acceleration of the first vehicle based on the first acceleration and the second acceleration; Based on the target acceleration, the speed of the first vehicle is controlled so that the first vehicle continues to travel following the second vehicle.
[0005] In some embodiments, determining a target acceleration of the first vehicle based on the first acceleration and the second acceleration includes: When both the first acceleration and the second acceleration are smaller than the first acceleration threshold, determining the minimum value of the first acceleration and the second acceleration as the target acceleration; When the first acceleration is less than a first acceleration threshold and the second acceleration is greater than a second acceleration threshold, determining the first acceleration as the target acceleration; The second acceleration threshold is greater than the first acceleration threshold.
[0006] In some embodiments, determining a second acceleration of the first vehicle based on the first separation distance includes: When the separation distance is less than the second separation distance, obtaining a first speed and a third acceleration of the first vehicle; A second acceleration is determined based on the first separation distance, the first velocity, and the third acceleration.
[0007] In some embodiments, after determining the target acceleration of the first vehicle based on the first acceleration and the second acceleration, the method further includes: Obtaining a first time quantity and a second time quantity corresponding to the target acceleration, wherein the first time quantity is greater than the second time quantity; performing quantitative corresponding differential operations on the target acceleration, the third acceleration, and the first time to obtain a lower limit value of the target acceleration; performing quantitative corresponding differential operations on the target acceleration, the third acceleration, and the second time to obtain an acceleration upper limit value of the target acceleration; Based on the lower acceleration limit value and the upper acceleration limit value, the target acceleration is numerically constrained to obtain a constrained target acceleration.
[0008] In some embodiments, after determining the target acceleration of the first vehicle based on the first acceleration and the second acceleration, the method further includes: obtaining a comfortable speed shift range of a first vehicle; By comparing the target acceleration with the comfortable speed change range, the target acceleration is updated.
[0009] In some embodiments, the comfortable speed shift range includes a first threshold and a second threshold, the first threshold being less than the second threshold, and updating the target acceleration by comparing the target acceleration with the comfortable speed shift range includes: When the target acceleration is less than the first threshold, performing value-added processing on the target acceleration to obtain an updated target acceleration; When the target acceleration is greater than the second threshold, the target acceleration is decremented to obtain an updated target acceleration.
[0010] In some embodiments, after controlling the speed of the first vehicle based on the target acceleration, the method further includes: When the first vehicle cannot identify the second vehicle, controlling the first vehicle to travel at a constant speed; While the first vehicle is traveling at a constant speed, the first vehicle is controlled to re-detect and identify the second vehicle.
[0011] The vehicle control method in this embodiment determines the target acceleration of the first vehicle based on the first angular velocity and the second acceleration, thereby improving the numerical accuracy of the target acceleration, and then controls the speed of the first vehicle based on the accurate target acceleration, thereby improving the control accuracy of the first vehicle's speed.
[0012] According to a second aspect of the embodiments of the present application, a vehicle control device is provided, comprising: a control unit, configured to control the first vehicle and detect a distance between the first vehicle and the second vehicle when the first vehicle follows the second vehicle; an acquiring unit, configured to acquire a first acceleration of the first vehicle when the separation distance is greater than the first separation distance and less than the second separation distance; a processing unit, configured to determine a second acceleration of the first vehicle according to the first separation distance when the separation distance is less than a preset second separation distance; The processing unit is further configured to determine a target acceleration of the first vehicle based on the first acceleration and the second acceleration; The control unit is further configured to control the speed of the first vehicle based on the target acceleration so that the first vehicle continues to follow the second vehicle.
[0013] The vehicle control device in this embodiment determines the target acceleration of the first vehicle based on the first angular velocity and the second acceleration, thereby improving the numerical accuracy of the target acceleration, and then controls the speed of the first vehicle based on the accurate target acceleration, thereby improving the control accuracy of the first vehicle's speed.
[0014] A third aspect of the present application provides another vehicle control device, comprising a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, implements the steps of the vehicle control method described in any of the aforementioned embodiments. Therefore, this vehicle control device possesses all the beneficial effects of the vehicle control method described in any of the aforementioned embodiments, and further description thereof is omitted.
[0015] A fourth aspect of the present application provides a readable storage medium having a program or instructions stored thereon. When executed by a processor, the program or instructions implement the steps of the vehicle control method described in any of the aforementioned embodiments. Therefore, the readable storage medium possesses all the beneficial effects of the vehicle control method described in any of the aforementioned embodiments, and further description thereof is omitted. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0017] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application; Figure 2 This is a schematic diagram of a vehicle control method provided in an embodiment of the present application; Figure 3A second schematic diagram of a vehicle control method provided in an embodiment of the present application; Figure 4 A functional module block diagram of a vehicle control device provided in an embodiment of the present application; Figure 5 This is a structural block diagram of the vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0018] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.
[0019] In this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also include elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the statement "comprising a ..." do not exclude the presence of other identical elements in the process, method, article or equipment comprising the elements. The term "two or more" includes two or more than two cases.
[0020] In some embodiments, as Figure 1 As shown, an embodiment of the present application provides a vehicle control method, including: Step S101, when a first vehicle follows a second vehicle, controlling the first vehicle to detect a distance between the first vehicle and the second vehicle; Step S102, when the separation distance is greater than the first separation distance and less than the second separation distance, obtaining a first acceleration of the first vehicle; Step S103, when the separation distance is less than a preset second separation distance, determining a second acceleration of the first vehicle according to the first separation distance; Step S104, determining a target acceleration of the first vehicle according to the first acceleration and the second acceleration; Step S105 : Based on the target acceleration, the speed of the first vehicle is controlled so that the first vehicle continues to follow the second vehicle.
[0021] In this embodiment, a vehicle control method is proposed, which is applied to a first vehicle. When the first vehicle follows a second vehicle, the real-time speed of the first vehicle is controlled by adjusting the acceleration of the first vehicle, thereby ensuring that the first vehicle can smoothly follow the second vehicle while maintaining a safe distance between the first vehicle and the second vehicle.
[0022] Exemplarily, the first vehicle may be a new energy vehicle.
[0023] Exemplarily, the first vehicle may be a self-driving car.
[0024] For example, the first vehicle can realize functions such as automatic following driving.
[0025] For example, the second vehicle may be another vehicle on the same road as the first vehicle.
[0026] When a first vehicle follows a second vehicle, the first vehicle is controlled and a distance between the first vehicle and the second vehicle is detected, wherein the first vehicle is a vehicle following the second vehicle, the second vehicle is a target vehicle to be followed by the first vehicle, and the distance between the first vehicle and the second vehicle is detected.
[0027] Exemplarily, the first vehicle is provided with a distance sensor, and the distance between the first vehicle and the second vehicle can be detected by the distance sensor.
[0028] For example, the separation distance may be specifically 5 meters.
[0029] A first spacing distance and a second spacing distance are determined respectively, wherein the first spacing distance is smaller than the second spacing distance, the first spacing distance is a target spacing distance between the first vehicle and the second vehicle, and the second spacing distance is a deep-entry distance between the first vehicle and the second vehicle.
[0030] Exemplarily, the first interval distance may be a safe distance between the first vehicle and the second vehicle. The first interval distance may ensure safe driving of the first vehicle and the second vehicle and avoid a collision accident between the first vehicle and the second vehicle.
[0031] For example, the first interval distance may be a distance that is dynamically adjusted in real time, such as Figure 2 As shown, the first interval distance is determined by the speed V of the first vehicle. veh and the set time headway T set , through d desire (V veh , V set ) function, and the specific curve corresponding to the function can be selected by the driver's subjective input.
[0032] For example, the second separation distance may be a limit distance between the first vehicle and the second vehicle.
[0033] Exemplarily, the second interval distance can be the deep-entry distance between the first vehicle and the second vehicle. When the second vehicle suddenly decelerates, the distance between the first vehicle and the second vehicle decreases. In this case, the distance between the first vehicle and the second vehicle is the deep-entry distance. When the distance between the first vehicle and the second vehicle reaches the deep-entry distance, it is necessary to control the first vehicle to decelerate to avoid a collision accident between the first vehicle and the second vehicle.
[0034] For example, the second separation distance may be a deep-seated distance or a comfortable deep-seated distance between the first vehicle and the second vehicle, wherein d immerseComfort =K×d immerse , d immerseComfort For comfortable deep distance, d immerse is the deep-entry distance, and K is the proportionality coefficient. In order to achieve zero relative speed between the first vehicle and the second vehicle when the inter-vehicle distance is the deep-entry distance or the comfortable deep-entry distance, it is necessary to predict the driving behavior of the preceding vehicle.
[0035] When the separation distance is greater than the first separation distance and less than the second separation distance, a first acceleration of the first vehicle is acquired, wherein the first acceleration is a real-time acceleration of the first vehicle.
[0036] Exemplarily, when the separation distance is greater than the first separation distance and less than the second separation distance, the real-time acceleration of the first vehicle is detected to obtain the first acceleration.
[0037] For example, the first acceleration may represent the acceleration of the first vehicle itself before it enters the deep-entry distance.
[0038] When the separation distance is less than a preset second separation distance, a second acceleration of the first vehicle is determined according to the first separation distance, wherein the second acceleration is the acceleration of the first vehicle after entering the deep-entrapment distance.
[0039] For example, the second acceleration may be an acceleration for controlling deceleration of the first vehicle.
[0040] The first acceleration and the second acceleration are selected to determine a target acceleration of the first vehicle, wherein the target acceleration is an angular velocity for speed control of the first vehicle.
[0041] After the target acceleration is determined, the speed of the first vehicle is controlled based on the target acceleration so that the first vehicle continues to travel following the second vehicle.
[0042] For example, when the second vehicle decelerates, the first vehicle can be controlled to decelerate synchronously based on the target acceleration, thereby ensuring the safety of the first vehicle and the second vehicle.
[0043] It should be noted that this embodiment first determines the safe driving distance between the first vehicle and the second vehicle, that is, the first interval distance, and then determines the maximum driving distance between the first vehicle and the second vehicle, that is, the second interval distance. According to the first interval distance and the second interval distance, the first angular velocity and the second acceleration are determined respectively. Based on the first angular velocity and the second acceleration, the target acceleration of the first vehicle is determined, which ensures the numerical accuracy of the target acceleration and thereby improves the accuracy of controlling the speed of the first vehicle.
[0044] The vehicle control method in this embodiment determines the target acceleration of the first vehicle based on the first angular velocity and the second acceleration, thereby improving the numerical accuracy of the target acceleration, and then controls the speed of the first vehicle based on the accurate target acceleration, thereby improving the control accuracy of the first vehicle's speed.
[0045] In some embodiments, an embodiment of the present application provides a vehicle control method, which determines a target acceleration of a first vehicle based on a first acceleration and a second acceleration, including: Step S201: when both the first acceleration and the second acceleration are smaller than the first acceleration threshold, determine the minimum value of the first acceleration and the second acceleration as the target acceleration; Step S202: When the first acceleration is less than a first acceleration threshold and the second acceleration is greater than a second acceleration threshold, the first acceleration is determined as a target acceleration.
[0046] In this embodiment, a preset first acceleration threshold and a second acceleration threshold are acquired, wherein the second acceleration threshold is greater than the first acceleration threshold.
[0047] Exemplarily, the first acceleration threshold may be P_FOCApproachActivation, and the first acceleration threshold may indicate an upper limit of violent acceleration that can be achieved when the first vehicle has not yet reached comfortable constant speed control.
[0048] For example, the second acceleration threshold may be P_FOCApproachEnsured, and the first acceleration threshold may represent a maximum deceleration upper limit for avoiding collision.
[0049] When both the first acceleration and the second acceleration are smaller than the first acceleration threshold, the minimum value of the first acceleration and the second acceleration is determined as the target acceleration.
[0050] Exemplarily, when both the first acceleration and the second acceleration are less than the first acceleration threshold, indicating that the values of the first acceleration and the second acceleration are both small, the minimum value of the first acceleration and the second acceleration is determined as the target acceleration to ensure safe driving of the first vehicle.
[0051] When the first acceleration is smaller than a first acceleration threshold and the second acceleration is larger than a second acceleration threshold, the first acceleration is determined as the target acceleration.
[0052] Exemplarily, when the first acceleration is less than the first acceleration threshold and the second acceleration is greater than the second acceleration threshold, it means that the value of the second acceleration is large. At this time, the second acceleration is greater than the first acceleration. Determining the first acceleration as the target acceleration can suppress excessive acceleration of the first vehicle.
[0053] For example, the target acceleration is calculated as follows: ; Among them, a xvCv is the target acceleration, a follow is the first acceleration, a approach is the second acceleration, P_FOCApproachActivation is the first acceleration threshold, and P_FOCApproachEnsured is the second acceleration threshold. approach with a follow When the two values are smaller, the smaller value is executed to ensure that the brake is executed and the vehicle is safe. approach When it is larger, execute a follow , because the target vehicle distance is greater than the target deep-entry distance, so, a follow Less than a approach , when accelerating, suppress excessive acceleration; when a approach with a follow When both values are large, this situation does not occur and the function does not require this solution.
[0054] In some embodiments, an embodiment of the present application provides a vehicle control method, which determines a second acceleration of a first vehicle according to a first separation distance, including: Step S301, when the separation distance is less than the second separation distance, obtaining a first speed and a third acceleration of the first vehicle; Step S302: determining a second acceleration according to the first interval distance, the first velocity, and the third acceleration.
[0055] In this embodiment, when the separation distance is less than the second separation distance, a first speed and a third acceleration of the first vehicle are respectively acquired, wherein the first speed is the real-time speed of the first vehicle and the third acceleration is the expected acceleration of the first vehicle.
[0056] Exemplarily, when the interval distance between the first vehicle and the second vehicle is less than the second interval distance, the speed of the first vehicle is detected to obtain the first speed.
[0057] Illustratively, the first speed is a relative speed of the first vehicle with respect to the second vehicle.
[0058] Exemplarily, when the interval distance between the first vehicle and the second vehicle is less than the second interval distance, the acceleration of the first vehicle is detected to obtain the third acceleration.
[0059] A second acceleration is determined based on the first separation distance, the first velocity, and the third acceleration.
[0060] For example, the calculation formula of the second acceleration is: approach =f(d desire ,vrel,axvi); among them, a approach is the second acceleration, d desire is the first interval distance, vrel is the first velocity, and axvi is the third acceleration.
[0061] In some embodiments, an embodiment of the present application provides a vehicle control method. After determining a target acceleration of the first vehicle based on the first acceleration and the second acceleration, the method further includes: Step S401, obtaining a first time quantity and a second time quantity corresponding to a target acceleration, wherein the first time quantity is greater than the second time quantity; Step S402: performing quantitative corresponding differential operations on the target acceleration, the third acceleration, and the first time to obtain a lower limit value of the target acceleration; Step S403, performing quantitative corresponding differential operations on the target acceleration, the third acceleration, and the second time to obtain an upper limit value of the target acceleration; Step S404 : performing numerical constraint processing on the target acceleration based on the lower acceleration limit and the upper acceleration limit to obtain a constrained target acceleration.
[0062] In this embodiment, after determining the target acceleration of the first vehicle, the first time quantity and the second time quantity corresponding to the target acceleration are obtained, wherein the first time quantity and the second time quantity are time quantities used for differential operations, and the first time quantity is greater than the second time quantity.
[0063] Exemplarily, the first time quantity and the second time quantity may be a preset time difference.
[0064] A quantitative corresponding differential operation is performed on the target acceleration, the third acceleration, and the first time to obtain an acceleration lower limit value of the target acceleration, wherein the acceleration lower limit value is a lower limit value constraining the target acceleration.
[0065] The target acceleration, the third acceleration, and the second time are quantitatively and correspondingly differentially calculated to obtain an upper limit value of the target acceleration, wherein the upper limit value of the acceleration is an upper limit value constraining the target acceleration.
[0066] Exemplarily, the upper limit value of acceleration may be an upper limit minimum rate of change of acceleration.
[0067] Based on the lower acceleration limit value and the upper acceleration limit value, the target acceleration is numerically constrained to obtain a constrained target acceleration.
[0068] Exemplarily, the upper limit value of acceleration may be a lower limit minimum rate of change of acceleration.
[0069] Based on the lower acceleration limit value and the upper acceleration limit value, the target acceleration is numerically constrained to obtain a constrained target acceleration.
[0070] For example, the calculation formula of the acceleration upper limit is: ; Among them, DtUpperLimitAxvCv is the upper limit of acceleration, a xvCv is the target acceleration, DtUpperLimit is the second time quantity, UpperLimitLowerLimit is the lower limit threshold of the target acceleration, and UpperLimitUpperowerLimit is the upper limit threshold of the target acceleration.
[0071] For example, the calculation formula for the acceleration lower limit is: ; Among them, DtLowerLimitAxvCv is the lower limit of acceleration, a xvCv is the target acceleration, DtLowerLimit is the first time quantification, UpperLimitLowerLimit is the lower limit threshold of the target acceleration, and UpperLimitUpperowerLimit is the upper limit threshold of the target acceleration.
[0072] In some embodiments, an embodiment of the present application provides a vehicle control method. After determining a target acceleration of the first vehicle based on the first acceleration and the second acceleration, the method further includes: Step S501, obtaining a comfortable speed shift range of a first vehicle; Step S502: Update the target acceleration by comparing the target acceleration with the comfortable speed change range.
[0073] In this embodiment, after the target acceleration of the first vehicle is determined, a comfortable speed shift range of the first vehicle is obtained, wherein the comfortable speed shift range is an acceleration range in which the speed of the first vehicle can be smoothly adjusted.
[0074] By comparing the target acceleration with the comfortable speed change range, the target acceleration can be updated, thereby ensuring that the speed of the first vehicle can be smoothly adjusted.
[0075] In some embodiments, an embodiment of the present application provides a vehicle control method that updates the target acceleration by comparing the target acceleration with a comfortable speed range, including: Step S601: when the target acceleration is less than a first threshold, performing value-added processing on the target acceleration to obtain an updated target acceleration; Step S602: When the target acceleration is greater than the second threshold, subtract the target acceleration to obtain an updated target acceleration.
[0076] In this embodiment, the comfortable shifting range includes a first threshold and a second threshold, wherein the first threshold is smaller than the second threshold.
[0077] For example, the first threshold may be a lower threshold of the comfortable speed shift range.
[0078] For example, the second threshold may be an upper threshold of the comfortable speed shift range.
[0079] When the target acceleration is less than the first threshold, the target acceleration is incremented to obtain an updated target acceleration.
[0080] When the target acceleration is greater than the second threshold, the target acceleration is decremented to obtain an updated target acceleration.
[0081] For example, strictly following the target acceleration will result in uncomfortable vehicle driving behavior. Therefore, it is necessary to set an acceptable comfortable speed change range near the target acceleration to suppress uncomfortable vehicle driving behavior.
[0082] For example, Figure 3 As shown, the first threshold can be ApproachEnsured, and the second threshold can be ApproachActivation. Depending on the situation, the relative position relationship between the comfort zone and the target acceleration is different: When the target acceleration is greater than ApproachActivation, it can be assumed that the situation is non-emergency, and the comfortable shift range is positioned symmetrically on both sides of the target acceleration. Therefore, appropriate adjustments can be made within this range to prevent uncomfortable acceleration or unnecessary shifting.
[0083] When the target acceleration is less than the ApproachEnsured value, it can be assumed that the vehicle is in an emergency condition and that the comfortable speed range is below the target acceleration. Therefore, deceleration below the target deceleration is acceptable, while deceleration below the target deceleration is unacceptable.
[0084] When the target acceleration is between ApproachActivation and ApproachEnsured, the relative position of the comfortable speed range and the target acceleration is linearly related.
[0085] For example, when the actual headway is higher than d desire =V veh × tauGapMax (low speed, generally V veh will be less than 60km / h), improving driving comfort by narrowing the acceleration differential limit range.
[0086] For example, when the actual headway is less than d desire =V veh × tauGapMin (high speed, general V veh will be greater than 60km / h), expand the acceleration differential limit range, where d desire is the second spacing distance, V veh is the speed of the first vehicle, auGapMax is the maximum sampling interval ratio function, and tauGapMin is the minimum sampling interval ratio function.
[0087] In some embodiments, a vehicle control method is provided in an embodiment of the present application. After controlling the speed of the first vehicle based on the target acceleration, the method further includes: Step S701, when the first vehicle cannot identify the second vehicle, controlling the first vehicle to travel at a constant speed; Step S702: When the first vehicle is traveling at a constant speed, the first vehicle is controlled to re-detect and identify the second vehicle.
[0088] In this embodiment, when the first vehicle cannot identify the second vehicle, the first vehicle is controlled to travel at a constant speed, and while the first vehicle is traveling at the constant speed, the first vehicle is controlled to re-detect and identify the second vehicle.
[0089] For example, when the first vehicle re-detects and recognizes the second vehicle, the first vehicle is controlled to follow the second vehicle again.
[0090] For example, output smoothness (continuity) is defined to ensure comfortable driving behavior. Ongoing control should not be interrupted when the second vehicle is lost. The following time-limited control will prevent the vehicle from accelerating to the set target speed.
[0091] For example, if the second vehicle is lost (the target vehicle is lost from tracking): do not accelerate until the target object is detected again; Exemplarily, both the second vehicle and the first vehicle are turning (including the possibility of the target vehicle changing lanes): a smooth switch to cornering control is performed, and lateral centrifugal acceleration control is introduced.
[0092] Exemplarily, the second vehicle changes from motion to stationary: the control of decelerating to a stop is applied only when the distance is close (less than 2.8 m) and the speed is low (less than 2 m / s).
[0093] In some embodiments, as Figure 4 As shown, an embodiment of the present application provides a vehicle control device 800, including: The control unit 802 is configured to control the first vehicle and detect a distance between the first vehicle and the second vehicle when the first vehicle follows the second vehicle; an acquiring unit 804, configured to acquire a first acceleration of the first vehicle when the separation distance is greater than the first separation distance and less than the second separation distance; The processing unit 806 is configured to determine a second acceleration of the first vehicle according to the first separation distance when the separation distance is less than a preset second separation distance; The processing unit 806 is further configured to determine a target acceleration of the first vehicle based on the first acceleration and the second acceleration; The control unit 802 is further configured to control the speed of the first vehicle based on the target acceleration, so that the first vehicle continues to follow the second vehicle.
[0094] In this embodiment, a vehicle control device 800 is proposed, which is applied to a first vehicle. When the first vehicle follows a second vehicle, the real-time speed of the first vehicle is controlled by adjusting the acceleration of the first vehicle, thereby ensuring that the first vehicle can smoothly follow the second vehicle while maintaining a safe distance between the first vehicle and the second vehicle.
[0095] Exemplarily, the first vehicle may be a new energy vehicle.
[0096] Exemplarily, the first vehicle may be a self-driving car.
[0097] For example, the first vehicle can realize functions such as automatic following driving.
[0098] For example, the second vehicle may be another vehicle on the same road as the first vehicle.
[0099] When a first vehicle follows a second vehicle, the first vehicle is controlled and a distance between the first vehicle and the second vehicle is detected, wherein the first vehicle is a vehicle following the second vehicle, the second vehicle is a target vehicle to be followed by the first vehicle, and the distance between the first vehicle and the second vehicle is detected.
[0100] Exemplarily, the first vehicle is provided with a distance sensor, and the distance between the first vehicle and the second vehicle can be detected by the distance sensor.
[0101] For example, the separation distance may be specifically 5 meters.
[0102] A first spacing distance and a second spacing distance are determined respectively, wherein the first spacing distance is smaller than the second spacing distance, the first spacing distance is a target spacing distance between the first vehicle and the second vehicle, and the second spacing distance is a deep-entry distance between the first vehicle and the second vehicle.
[0103] Exemplarily, the first interval distance may be a safe distance between the first vehicle and the second vehicle. The first interval distance may ensure safe driving of the first vehicle and the second vehicle and avoid a collision accident between the first vehicle and the second vehicle.
[0104] For example, the second separation distance may be a limit distance between the first vehicle and the second vehicle.
[0105] Exemplarily, the second interval distance can be the deep-entry distance between the first vehicle and the second vehicle. When the second vehicle suddenly decelerates, the distance between the first vehicle and the second vehicle decreases. In this case, the distance between the first vehicle and the second vehicle is the deep-entry distance. When the distance between the first vehicle and the second vehicle reaches the deep-entry distance, it is necessary to control the first vehicle to decelerate to avoid a collision accident between the first vehicle and the second vehicle.
[0106] For example, the second separation distance may be a deep-seated distance or a comfortable deep-seated distance between the first vehicle and the second vehicle, wherein d immerseComfort =K×d immerse , d immerseComfort For comfortable deep distance, d immerse is the deep-entry distance, and K is the proportionality coefficient. In order to achieve zero relative speed between the first vehicle and the second vehicle when the inter-vehicle distance is the deep-entry distance or the comfortable deep-entry distance, it is necessary to predict the driving behavior of the preceding vehicle.
[0107] When the separation distance is greater than the first separation distance and less than the second separation distance, a first acceleration of the first vehicle is acquired, wherein the first acceleration is a real-time acceleration of the first vehicle.
[0108] Exemplarily, when the separation distance is greater than the first separation distance and less than the second separation distance, the real-time acceleration of the first vehicle is detected to obtain the first acceleration.
[0109] For example, the first acceleration may represent the acceleration of the first vehicle itself before it enters the deep-entry distance.
[0110] When the separation distance is less than a preset second separation distance, a second acceleration of the first vehicle is determined according to the first separation distance, wherein the second acceleration is the acceleration of the first vehicle after entering the deep-entrapment distance.
[0111] For example, the second acceleration may be an acceleration for controlling deceleration of the first vehicle.
[0112] The first acceleration and the second acceleration are selected to determine a target acceleration of the first vehicle, wherein the target acceleration is an angular velocity for speed control of the first vehicle.
[0113] After the target acceleration is determined, the speed of the first vehicle is controlled based on the target acceleration so that the first vehicle continues to travel following the second vehicle.
[0114] For example, when the second vehicle decelerates, the first vehicle can be controlled to decelerate synchronously based on the target acceleration, thereby ensuring the safety of the first vehicle and the second vehicle.
[0115] It should be noted that this embodiment first determines the safe driving distance between the first vehicle and the second vehicle, that is, the first interval distance, and then determines the maximum driving distance between the first vehicle and the second vehicle, that is, the second interval distance. According to the first interval distance and the second interval distance, the first angular velocity and the second acceleration are determined respectively. Based on the first angular velocity and the second acceleration, the target acceleration of the first vehicle is determined, which ensures the numerical accuracy of the target acceleration and thereby improves the accuracy of controlling the speed of the first vehicle.
[0116] The vehicle control device 800 in this embodiment determines the target acceleration of the first vehicle based on the first angular velocity and the second acceleration, thereby improving the numerical accuracy of the target acceleration, and then controls the speed of the first vehicle based on the accurate target acceleration, thereby improving the control accuracy of the first vehicle's speed.
[0117] In some embodiments, an embodiment of the present application provides a vehicle control device 800, including: The processing unit 806 is further configured to, when both the first acceleration and the second acceleration are smaller than the first acceleration threshold, determine the minimum value of the first acceleration and the second acceleration as the target acceleration; The processing unit 806 is further configured to determine the first acceleration as the target acceleration when the first acceleration is less than the first acceleration threshold and the second acceleration is greater than the second acceleration threshold. The second acceleration threshold is greater than the first acceleration threshold.
[0118] In some embodiments, the embodiments of the present application provide a control device 800 of a vehicle, comprising: The processing unit 806 is further configured to obtain the first speed and the third acceleration of the first vehicle when the interval distance is less than the second interval distance. The processing unit 806 is further configured to determine the second acceleration according to the first interval distance, the first speed and the third acceleration.
[0119] In some embodiments, the embodiments of the present application provide a control device 800 of a vehicle, comprising: The processing unit 806 is further configured to obtain a first time quantification and a second time quantification corresponding to the target acceleration, the first time quantification being greater than the second time quantification. The processing unit 806 is further configured to perform a differential operation on the target acceleration, the third acceleration and the first time quantification to obtain a lower limit value of the target acceleration. The processing unit 806 is further configured to perform a differential operation on the target acceleration, the third acceleration and the second time quantification to obtain an upper limit value of the target acceleration. The processing unit 806 is further configured to perform numerical constraint processing on the target acceleration based on the lower limit value and the upper limit value to obtain a constrained target acceleration.
[0120] In some embodiments, the embodiments of the present application provide a control device 800 of a vehicle, comprising: The processing unit 806 is further configured to obtain a comfortable gear shifting interval of the first vehicle. The processing unit 806 is further configured to update the target acceleration by comparing the target acceleration and the comfortable gear shifting interval.
[0121] In some embodiments, the embodiments of the present application provide a control device 800 of a vehicle, comprising: The processing unit 806 is further configured to perform value increasing processing on the target acceleration to obtain an updated target acceleration when the target acceleration is less than the first threshold value. The processing unit 806 is further configured to perform value decreasing processing on the target acceleration to obtain an updated target acceleration when the target acceleration is greater than the second threshold value.
[0122] In some embodiments, the embodiments of the present application provide a control device 800 of a vehicle, comprising: The control unit 802 is further configured to control the first vehicle to travel at a constant speed when the first vehicle cannot identify the second vehicle; The control unit 802 is further configured to control the first vehicle to re-detect and identify the second vehicle while the first vehicle is traveling at a constant speed.
[0123] In some embodiments, as Figure 5 As shown, a vehicle control device 900 is provided. The vehicle control device 900 includes a processor 902 and a memory 904. The memory 904 stores a computer program. When executed by the processor 902, the computer program implements the steps of the vehicle control method described in any of the above-mentioned embodiments. Therefore, the vehicle control device 900 has all the advantages of the vehicle control method described in any of the above-mentioned embodiments, and will not be further described here.
[0124] In some embodiments, a readable storage medium is provided on which a program is stored. When the program is executed by a processor, the steps of the vehicle control method in any of the above embodiments are implemented, thereby having all the beneficial technical effects of the vehicle control method in any of the above embodiments.
[0125] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.
[0126] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.
[0127] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0128] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 The flow or flows and / or blocks Figure 1 The flow or flows and / or blocks
[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 The flow or flows and / or blocks Figure 1 The flow or flows and / or blocks
[0130] The embodiments of the present application also provide a computer program product, which comprises computer software instructions, when the computer software instructions are run on a processing device, cause the processing device to execute the flow of the control method of the vehicle.
[0131] The computer program product comprises one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of the present application is produced. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium, or transmitted from one computer readable storage medium to another, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be stored by the computer or data storage device such as server, data center, etc. integrated with one or more available media sets. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, solid state disk (SSD)) and the like.
[0132] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.
[0133] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.
[0134] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.
[0135] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.
[0136] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.
[0137] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.
[0138] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the preferred embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to encompass within their scope all such alternatives, modifications and variations as fall within the scope of the present application. One skilled in the art will readily recognize from the prior art teachings that numerous changes and modifications can be made to the preferred embodiments of the present application without departing from the spirit and scope of the application. It is therefore intended that such changes and modifications be included within the scope of the application as measured by the claims.
[0139] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.
Claims
1. A vehicle control method, characterized in that: The method comprises: When a first vehicle follows a second vehicle, controlling the first vehicle to detect a distance between the first vehicle and the second vehicle; When the separation distance is greater than the first separation distance and less than the second separation distance, obtaining a first acceleration of the first vehicle; When the separation distance is less than a preset second separation distance, determining a second acceleration of the first vehicle according to the first separation distance; determining a target acceleration of the first vehicle based on the first acceleration and the second acceleration; Based on the target acceleration, the speed of the first vehicle is controlled so that the first vehicle continues to travel following the second vehicle.
2. The method according to claim 1, characterized in that Determining a target acceleration of the first vehicle according to the first acceleration and the second acceleration includes: When both the first acceleration and the second acceleration are smaller than a first acceleration threshold, determining a minimum value of the first acceleration and the second acceleration as the target acceleration; When the first acceleration is less than the first acceleration threshold and the second acceleration is greater than the second acceleration threshold, determining the first acceleration as the target acceleration; The second acceleration threshold is greater than the first acceleration threshold.
3. The method according to claim 1, characterized in that The determining the second acceleration of the first vehicle according to the first interval distance includes: When the interval distance is less than the second interval distance, obtaining a first speed and a third acceleration of the first vehicle; The second acceleration is determined based on the first separation distance, the first speed, and the third acceleration.
4. The method according to claim 3, characterized in that After determining the target acceleration of the first vehicle according to the first acceleration and the second acceleration, the method further includes: Acquire a first time quantity and a second time quantity corresponding to the target acceleration, wherein the first time quantity is greater than the second time quantity; performing quantitative corresponding differential operations on the target acceleration, the third acceleration, and the first time to obtain a lower limit value of the target acceleration; performing corresponding differential operations on the target acceleration, the third acceleration, and the second time to obtain an upper limit value of the target acceleration; Based on the acceleration lower limit value and the acceleration upper limit value, numerical constraint processing is performed on the target acceleration to obtain the constrained target acceleration.
5. The method according to claim 1, wherein After determining the target acceleration of the first vehicle according to the first acceleration and the second acceleration, the method further includes: obtaining a comfortable speed shift range of the first vehicle; The target acceleration is updated by comparing the target acceleration with the comfortable speed change range.
6. The method according to claim 5, characterized in that The comfortable speed shifting range includes a first threshold and a second threshold, the first threshold is smaller than the second threshold, and updating the target acceleration by comparing the target acceleration with the comfortable speed shifting range includes: When the target acceleration is less than the first threshold, performing value-added processing on the target acceleration to obtain the updated target acceleration; When the target acceleration is greater than the second threshold, a subtraction process is performed on the target acceleration to obtain the updated target acceleration.
7. The method according to any one of claims 1 to 6, characterized in that After controlling the speed of the first vehicle based on the target acceleration, the method further includes: When the first vehicle cannot recognize the second vehicle, controlling the first vehicle to travel at a constant speed; While the first vehicle is traveling at a constant speed, the first vehicle is controlled to re-detect and identify the second vehicle.
8. A vehicle control device, characterized in that: The device comprises: a control unit configured to control the first vehicle and detect a distance between the first vehicle and the second vehicle when the first vehicle follows the second vehicle; an acquiring unit, configured to acquire a first acceleration of the first vehicle when the interval distance is greater than a first interval distance and less than a second interval distance; a processing unit configured to determine a second acceleration of the first vehicle according to the first separation distance when the separation distance is less than a preset second separation distance; The processing unit is further configured to determine a target acceleration of the first vehicle based on the first acceleration and the second acceleration; The control unit is further configured to control the speed of the first vehicle based on the target acceleration so that the first vehicle continues to travel following the second vehicle.
9. A vehicle control device, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and when the processor executes the program or instruction in the memory, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.
10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.