Control method and equipment of adaptive cruise control system (ACC)

Abstract

The invention relates to a control method of an adaptive cruise control system (ACC). The method comprises the following steps: receiving adjacent target information from an ultrasonic radar (USS); judging a cut-in intention of the adjacent target based on the adjacent target information; and when it is determined that the adjacent target has the cut-in intention, notifying the adaptive cruise control system ACC to enable the adaptive cruise control system ACC to take countermeasures. The invention also relates to a control device of an adaptive cruise control system (ACC), a computer program product and an automatic driving system.

Description

Technical Field

[0001] This application relates to the field of adaptive cruise control (ACC) systems, and more specifically, to a control method and device for an adaptive cruise control (ACC) system, a computer program product, and an autonomous driving system. Background Art

[0002] As a key component of autonomous driving systems (such as ADAS systems), the main purpose of the Adaptive Cruise Control (ACC) system is to select a moving vehicle in front of the vehicle as the primary target (also known as the "target vehicle") and to control the longitudinal movement and following distance of the vehicle in real time and comfortably based on the movement state of the primary target.

[0003] When other vehicles cut in, the existing adaptive cruise control (ACC) system often performs poorly, failing to detect and react to the cutting vehicle in time, which may lead to safety issues. Summary of the Invention

[0004] The inventors of this application realized that the current adaptive cruise control (ACC) system still controls the vehicle appropriately by measuring the speed of the vehicle in front, but the monitoring of vehicles in the two lanes is slightly insufficient. When vehicles in the two lanes need to change lanes to the vehicle's own lane (i.e., "cut into the vehicle's own lane"), the adaptive cruise control (ACC) system, based on the sensor combination (e.g., 1 camera + 1 millimeter-wave radar), cannot predict in a timely and accurate manner.

[0005] According to one aspect of this application, a control method for an adaptive cruise control system (ACC) is proposed, the method comprising: receiving neighboring target information from an ultrasonic radar (USS); determining the neighboring target's intention to enter based on the neighboring target information; and, when determining that the neighboring target has an intention to enter, notifying the adaptive cruise control system (ACC) so that the adaptive cruise control system (ACC) can take countermeasures.

[0006] As a supplement or replacement to the above scheme, in the above method, the adjacent target information includes the relative distance between the outermost edge of the vehicle that is closest to the adjacent target and the side of the adjacent target that is closest to the vehicle, and wherein, judging the cutting intention of the adjacent target based on the adjacent target information includes: when the relative distance is less than a first threshold, determining that the adjacent target has a cutting intention.

[0007] As a supplement or replacement to the above scheme, in the above method, when it is determined that the adjacent target has the intention to cut in, notifying the adaptive cruise control system ACC so that the adaptive cruise control system ACC can take countermeasures includes: sending a warning to the adaptive cruise control system ACC so that when the relative distance is greater than or equal to a second threshold, the adaptive cruise control system ACC maintains a constant speed or slightly accelerates to shorten the following distance; and when the relative distance is less than the second threshold, the adaptive cruise control system ACC begins to decelerate, wherein the second threshold is less than the first threshold.

[0008] As a supplement or replacement to the above solution, the above method also includes: controlling the adaptive cruise control system ACC to feed back the switching signal and countermeasures through the human-machine interface.

[0009] According to another aspect of this application, a control device for an adaptive cruise control system (ACC) is proposed, the device comprising: a receiving device for receiving neighboring target information from an ultrasonic radar (USS); a judging device for judging the cutting intention of a neighboring target based on the neighboring target information; and a control device for notifying the adaptive cruise control system (ACC) so that the adaptive cruise control system (ACC) can take countermeasures when it is determined that the neighboring target has a cutting intention.

[0010] As a supplement or replacement to the above solution, in the above device, the adjacent target information includes the relative distance between the outermost edge of the vehicle that is closest to the adjacent target and the side of the adjacent target that is closest to the vehicle, and the judgment device is configured to determine that the adjacent target has the intention to cut in when the relative distance is less than a first threshold.

[0011] As a supplement or replacement to the above solution, in the above device, the control device is configured to: send a warning to the adaptive cruise control system ACC, such that when the relative distance is greater than or equal to a second threshold, the adaptive cruise control system ACC maintains a constant speed or slightly accelerates to shorten the following distance; and when the relative distance is less than the second threshold, the adaptive cruise control system ACC begins to decelerate, wherein the second threshold is less than the first threshold.

[0012] As a supplement or replacement to the above solution, in the above equipment, the control device is further configured to: control the adaptive cruise control system ACC to feed back the switching signal and countermeasures through the human-machine interface.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the medium comprising instructions that, when executed, perform the method described above.

[0014] According to another aspect of this application, a computer program product is proposed, comprising a computer program that, when executed by a processor, implements the method described above.

[0015] According to another aspect of this application, an autonomous driving system is proposed, the autonomous driving system comprising the device as described above.

[0016] The adaptive cruise control (ACC) scheme of this application's embodiments acquires information about adjacent targets by reusing the ultrasonic radar (USS), and then determines the adjacent targets' intention to cut in. When it is determined that an adjacent target intends to cut in (e.g., the adjacent target is close enough), the adaptive cruise control system (ACC) is notified so that it can take appropriate countermeasures. In this way, the adaptive cruise control system (ACC) can react promptly to potential cutting-in behavior from adjacent vehicles. Attached Figure Description

[0017] The above and other objects and advantages of this application will become more fully clear from the following detailed description taken in conjunction with the accompanying drawings, wherein the same or similar elements are denoted by the same reference numerals.

[0018] Figure 1 A flowchart illustrating a control method for an adaptive cruise control (ACC) system according to an embodiment of this application is shown; and

[0019] Figure 2 A schematic diagram of the control device of an adaptive cruise control system (ACC) according to an embodiment of this application is shown. Detailed Implementation

[0020] In the following, the control scheme of the adaptive cruise control system (ACC) according to various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0021] Figure 1 A schematic flowchart of a control method 1000 for an adaptive cruise control system (ACC) according to an embodiment of this application is shown. Figure 1 As shown, the control method 1000 of the adaptive cruise control system ACC includes the following steps:

[0022] In step S110, neighboring target information is received from the ultrasonic radar USS;

[0023] In step S120, the cutting intention of the adjacent targets is determined based on the adjacent target information; and

[0024] In step S130, when it is determined that the adjacent target has the intention to cut in, the adaptive cruise control system ACC is notified so that the adaptive cruise control system ACC can take countermeasures.

[0025] In the context of this application, the term "Adaptive Cruise Control System (ACC)" also refers to the adaptive cruise control function, which sends commands to actuators based on the driving status (e.g., distance and speed) of the target vehicle ahead and the vehicle itself, thereby determining whether to accelerate, decelerate, or disengage cruise control. In some embodiments, when there is a risk of collision, the ACC system alerts the driver and takes active braking intervention. Moreover, when the distance to the vehicle ahead is too small, the ACC system can appropriately brake the wheels in conjunction with anti-lock braking systems (ABS) to maintain a safe distance from the vehicle ahead at all times.

[0026] Adaptive Cruise Control (ACC) systems typically employ information fusion from multiple sensors, including millimeter-wave radar and cameras. Millimeter-wave radar provides reliable distance measurements in adverse weather conditions, while cameras capture richer environmental information, such as road markings and lane lines. By cleverly fusing data from both, the ACC system can gain a more comprehensive understanding of the vehicle's surroundings.

[0027] However, as described in the invention summary, the inventors of this application realized that existing millimeter-wave radar and camera (combination) cannot detect intruding vehicles in time so that the vehicle can react in time.

[0028] To address the problems existing in the control scheme of the existing adaptive cruise control system (ACC), in step S110 of the embodiment of this application, neighboring target information is received from the ultrasonic radar USS.

[0029] Here, the term "Ultrasonic Sensor System" (USS) refers to a crucial sensor for parking functions. Its detection principle involves emitting ultrasonic waves, detecting the echoes, and measuring distance based on the time difference. Theoretically, ultrasonic radar works on all objects that can reflect ultrasonic waves, including solids and liquids. Based on detection range, it is mainly divided into two categories: LRU (Long Range Unit), with a detection range typically between 30-500cm, and some exceeding 700cm, with a smaller detection angle, usually installed on the side of the vehicle; and SRU (Short Range Unit), with a detection range typically between 15-250cm, usually installed on the front and rear bumpers. For example, in passenger cars, there are usually four SRUs at the front and rear, and two LRUs on each side, totaling 12 ultrasonic radars forming the USS.

[0030] Unlike existing technologies, this application considers expanding the application scenarios of the ultrasonic radar USS, i.e., not limited to parking scenarios. In one embodiment, the adaptive cruise control (ACC) control scheme of this application reuses the ultrasonic radar USS to receive information about adjacent targets. This further supports improvements in the cut-in detection performance of the adaptive cruise control (ACC). In one embodiment, the ultrasonic radar USS can detect the left and right front areas of the vehicle and identify adjacent vehicles. If the adjacent vehicles are close enough, the adaptive cruise control (ACC) can react to potential cut-in behavior from the adjacent vehicles.

[0031] The term "adjacent target information," as the name suggests, refers to information related to targets near the vehicle that helps determine whether the target (i.e., adjacent target) intends to encroach. In one embodiment, adjacent target information includes the relative distance between the outermost point of the vehicle closest to the adjacent target (e.g., the location of the USS sensor) and the adjacent target (the side closest to the vehicle). For example, a lane is typically 3.5 meters wide, while a vehicle is typically 2 meters wide. If an adjacent vehicle encroaches on the lane, the relative distance will drop to less than 3 meters.

[0032] In step S120, the cutting intention of the adjacent target is determined based on the adjacent target information. In one embodiment, step S120 includes: determining that the adjacent target has a cutting intention when the relative distance is less than a first threshold (e.g., 3 meters).

[0033] In step S130, when it is determined that the adjacent target intends to cut in, the adaptive cruise control system (ACC) is notified so that the ACC can take countermeasures. In one embodiment, step S130 includes: sending a warning to the ACC so that when the relative distance is greater than or equal to a second threshold (e.g., 1.5 meters), the ACC maintains a constant speed or slightly accelerates to shorten the following distance; and when the relative distance is less than the second threshold (e.g., 1.5 meters), the ACC begins to decelerate, wherein the second threshold is less than the first threshold.

[0034] In one embodiment, when the relative distance decreases to 2.5 meters but the adjacent target has not yet entered the driving lane, a warning is sent to the adaptive cruise control (ACC) system. At this time, the ACC system maintains its speed or slightly accelerates to shorten the following distance (the user can set the mode). When the relative distance between the two vehicles is less than 1.5 meters, the ACC system begins to decelerate to avoid a collision.

[0035] although Figure 1As not shown in the diagram, the method 1000 described above may further include: controlling the adaptive cruise control system ACC to provide the driver with a cut-in signal (e.g., an adjacent vehicle cutting in) and corresponding measures (e.g., maintaining a constant speed, slightly accelerating, or decelerating) through the human-machine interface (HMI). Of course, the driver can also send intervention commands to the adaptive cruise control system ACC through the HMI.

[0036] Furthermore, those skilled in the art will readily understand that the adaptive cruise control system (ACC) control method 1000 provided in one or more embodiments of this application can be implemented by a computer program. For example, the computer program is included in a computer program product, and when executed by a processor, it implements the adaptive cruise control system (ACC) control method 1000 of one or more embodiments of this application. As another example, when a computer-readable storage medium (e.g., a USB flash drive) containing the computer program is connected to a computer, running the computer program executes one or more embodiments of this application, namely the adaptive cruise control system (ACC) control method 1000.

[0037] refer to Figure 2 , Figure 2 A schematic diagram of the control device 2000 of an adaptive cruise control system (ACC) according to an embodiment of this application is shown. Figure 2 As shown, the control device 2000 includes a receiving device 210, a judging device 220, and a control device 230. The receiving device 210 receives neighboring target information from the ultrasonic radar USS; the judging device 220 judges the approach intention of neighboring targets based on the neighboring target information; and the control device 230, when determining that a neighboring target has an approach intention, notifies the adaptive cruise control system ACC so that the adaptive cruise control system ACC can take countermeasures.

[0038] In the context of this application, the term "Adaptive Cruise Control System (ACC)" also refers to the adaptive cruise control function, which sends commands to actuators based on the driving status (e.g., distance and speed) of the target vehicle ahead and the vehicle itself, thereby determining whether to accelerate, decelerate, or disengage cruise control. In some embodiments, when there is a risk of collision, the ACC system alerts the driver and takes active braking intervention. Moreover, when the distance to the vehicle ahead is too small, the ACC system can appropriately brake the wheels in conjunction with anti-lock braking systems (ABS) to maintain a safe distance from the vehicle ahead at all times.

[0039] Adaptive Cruise Control (ACC) systems typically employ information fusion from multiple sensors, including millimeter-wave radar and cameras. Millimeter-wave radar provides reliable distance measurements in adverse weather conditions, while cameras capture richer environmental information, such as road markings and lane lines. By cleverly fusing data from both, the ACC system can gain a more comprehensive understanding of the vehicle's surroundings.

[0040] However, as described in the invention summary, the inventors of this application realized that existing millimeter-wave radar and camera (combination) cannot detect intruding vehicles in time so that the vehicle can react in time.

[0041] In view of the problems existing in the control scheme of the existing adaptive cruise control system ACC, in the embodiments of this application, the receiving device 210 is used to receive adjacent target information from the ultrasonic radar USS.

[0042] Here, the term "Ultrasonic Sensor System" (USS) refers to a crucial sensor for parking functions. Its detection principle involves emitting ultrasonic waves, detecting the echoes, and measuring distance based on the time difference. Theoretically, ultrasonic radar works on all objects that can reflect ultrasonic waves, including solids and liquids. Based on detection range, it is mainly divided into two categories: LRU (Long Range Unit), with a detection range typically between 30-500cm, though some can exceed 700cm, and a smaller detection angle; these are usually installed on the sides of the vehicle. SRU (Short Range Unit), with a detection range typically between 15-250cm, is usually installed on the front and rear bumpers. For example, in passenger vehicles, there are usually four SRUs at the front and rear, and two LRUs on each side, totaling 12 ultrasonic radars forming the USS.

[0043] Unlike existing technologies, this application considers expanding the application scenarios of the ultrasonic radar USS, i.e., not limited to parking scenarios. In one embodiment, the adaptive cruise control (ACC) control scheme of this application reuses the ultrasonic radar USS to receive information about adjacent targets. This further supports improving the approach detection performance of the adaptive cruise control (ACC). In one embodiment, the ultrasonic radar USS installed on the vehicle can be used to detect target information near the vehicle and transmit it to the receiving device 210. The receiving device 210 selects USS-related information from the left and right front areas of the vehicle to provide to the judgment device 220 for target approach detection.

[0044] The term "adjacent target information," as the name suggests, refers to information related to targets near the vehicle that helps determine whether the target (i.e., adjacent target) intends to encroach. In one embodiment, adjacent target information includes the relative distance between the outermost point of the vehicle closest to the adjacent target (e.g., the location of the USS sensor) and the adjacent target (the side closest to the vehicle). For example, a lane is typically 3.5 meters wide, while a vehicle is typically 2 meters wide. If an adjacent vehicle encroaches on the lane, the relative distance will drop to less than 3 meters.

[0045] The determining device 220 is used to determine the cutting intention of a neighboring target based on the neighboring target information. In one embodiment, the determining device 220 is configured to determine that the neighboring target has a cutting intention when the relative distance is less than a first threshold (e.g., 3 meters).

[0046] The control device 230 is configured to notify the adaptive cruise control system ACC to take countermeasures when it determines that the adjacent target intends to cut in. In one embodiment, the control device 230 is configured to: send a warning to the adaptive cruise control system ACC, causing the adaptive cruise control system ACC to maintain a constant speed or slightly accelerate to shorten the following distance when the relative distance is greater than or equal to a second threshold (e.g., 1.5 meters); and to begin decelerating when the relative distance is less than the second threshold (e.g., 1.5 meters), wherein the second threshold is less than the first threshold.

[0047] In one embodiment, when the relative distance decreases to 2.5 meters but the adjacent target has not yet entered the driving lane, a warning is sent to the adaptive cruise control (ACC) system. At this time, the ACC system maintains its speed or slightly accelerates to shorten the following distance (the user can set the mode). When the relative distance between the two vehicles is less than 1.5 meters, the ACC system begins to decelerate to avoid a collision.

[0048] In one embodiment, the control device 230 is further configured to control the adaptive cruise control system ACC to provide feedback on the switching signal and corresponding measures through a human-machine interface.

[0049] In one or more embodiments, the control device 2000 of the aforementioned Adaptive Cruise Control (ACC) system can be integrated into the main ECU of the ACC function, for example, integrated into a camera or radar sensor. In one embodiment, the main ECU is connected to the ultrasonic radar USS via a CAN bus.

[0050] In one or more embodiments, the aforementioned adaptive cruise control (ACC) control device 2000 is integrated into various types of autonomous driving systems. This autonomous driving system is, for example, an ADAS (Advanced Driver Assistance System). It utilizes various sensors installed on the vehicle (e.g., millimeter-wave radar, lidar, monocular / dual-lens cameras, and satellite navigation) to continuously sense the surrounding environment during vehicle operation, collect data, identify, detect, and track static and dynamic objects, and combine this data with navigation map data for system calculations and analysis. This allows the driver to anticipate potential dangers, effectively increasing driving comfort and safety. In one embodiment, an advanced driver assistance system may include lane keeping assist, navigation and real-time traffic control (TMC), intelligent speed adaptation (ISA), vehicle-to-everything (V2X) communication systems, adaptive cruise control (ACC), lane departure warning system (LDWS), collision avoidance system (Collision Avoidance System (Precrash System), night vision system, adaptive light control, pedestrian protection system, automatic parking system, traffic sign recognition, blind spot detection, driver fatigue detection, hill descent control, and electric vehicle warning sounds system.

[0051] In summary, the adaptive cruise control (ACC) scheme of this application's embodiments acquires information about adjacent targets by reusing the ultrasonic radar (USS), and then determines the adjacent targets' intention to cut in. When it is determined that an adjacent target intends to cut in (e.g., the adjacent target is close enough), the adaptive cruise control (ACC) is notified so that it can take appropriate countermeasures. In this way, the adaptive cruise control (ACC) can react promptly to potential cutting-in behaviors of adjacent vehicles.

[0052] The above examples primarily illustrate the control scheme of the Adaptive Cruise Control (ACC) system according to embodiments of this application. Although only some embodiments of this application have been described, those skilled in the art should understand that this application can be implemented in many other forms without departing from its spirit and scope. Therefore, the examples and embodiments shown are considered illustrative rather than restrictive, and various modifications and substitutions may be made without departing from the spirit and scope of this application as defined in the claims.

Claims

1. A control method for an adaptive cruise control (ACC) system, characterized in that, The method includes: Receive neighboring target information from the ultrasonic radar USS; Based on the neighboring target information, determine the entry intention of the neighboring targets; and When it is determined that the adjacent target intends to cut in, the adaptive cruise control system (ACC) is notified so that the ACC can take countermeasures.

2. The method as described in claim 1, wherein, The adjacent target information includes the relative distance between the outermost edge of the adjacent target closest to the vehicle and the side of the adjacent target closest to the vehicle, and wherein determining the cutting intention of the adjacent target based on the adjacent target information includes: When the relative distance is less than a first threshold, it is determined that the adjacent target has the intention to cut in.

3. The method as described in claim 2, wherein, When it is determined that the adjacent target intends to cut in, the adaptive cruise control system (ACC) is notified so that the ACC can take countermeasures, including: The adaptive cruise control system (ACC) sends a warning to the vehicle, causing the ACC to maintain a constant speed or accelerate to shorten the following distance when the relative distance is greater than or equal to a second threshold; and the ACC begins to decelerate when the relative distance is less than the second threshold, wherein the second threshold is less than the first threshold.

4. The method of claim 3, further comprising: The adaptive cruise control system (ACC) provides feedback on the switching signal and corresponding response measures through a human-machine interface.

5. A control device for an adaptive cruise control (ACC) system, characterized in that, The device includes: A receiving device for receiving information about adjacent targets from the ultrasonic radar USS; The judgment device is used to determine the cutting intention of adjacent targets based on the adjacent target information; and A control device is used to notify the adaptive cruise control system (ACC) so that the ACC can take countermeasures when it is determined that the adjacent target has the intention to cut in.

6. The device as claimed in claim 5, wherein, The adjacent target information includes the relative distance between the outermost edge of the adjacent target closest to the vehicle and the side of the adjacent target closest to the vehicle, and the determination device is configured to: When the relative distance is less than a first threshold, it is determined that the adjacent target has the intention to cut in.

7. The device as claimed in claim 6, wherein, The control device is configured to: The adaptive cruise control system (ACC) sends a warning to the vehicle, causing the ACC to maintain a constant speed or accelerate to shorten the following distance when the relative distance is greater than or equal to a second threshold; and the ACC begins to decelerate when the relative distance is less than the second threshold, wherein the second threshold is less than the first threshold.

8. The device as claimed in claim 7, wherein, The control device is also configured to: The adaptive cruise control system (ACC) provides feedback on the switching signal and corresponding response measures through a human-machine interface.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 4.

10. An autonomous driving system, characterized in that, The autonomous driving system includes the device as described in any one of claims 5 to 8.

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