Vehicle cruise control method and device, electronic equipment and storage medium
By calculating the distance and speed coefficient between the vehicle and the vehicle in front using lidar, and combining this with a stability rule table and control model, the instability problem of mode switching in the adaptive cruise control system in complex environments has been solved, thus improving driving safety and comfort.
Patent Information
- Application Number
- CN202511378507.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-25
- Publication Date
- 2025-11-07
AI Technical Summary
Existing adaptive cruise control systems frequently switch modes when faced with unpredictable vehicle motion, leading to decreased passenger comfort and increased safety risks. They also fail to effectively integrate multi-dimensional information such as distance between vehicles, relative speed, and rate of acceleration change, making it difficult to accurately assess driving risks.
The distance coefficient and relative speed coefficient between the vehicle and the vehicle in front are calculated by lidar to determine the target distance and relative speed range. Combined with the preset stability rule table, an appropriate cruise mode is selected, and vehicle control is carried out by PID speed control and error compensation correction model.
It improves the accuracy of driving risk assessment, increases following stability and passenger comfort, and reduces safety risks.
Smart Images
Figure CN120902730A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of vehicle control, in particular to a vehicle cruise control method and device, an electronic device and a storage medium. BACKGROUND
[0002] With the continuous growth of the number of cars, road traffic safety and driving efficiency problems are increasingly serious. As an important driving assistance technology, adaptive cruise control system effectively reduces the burden of drivers and improves driving safety by automatically adjusting vehicle speed and vehicle distance.
[0003] Currently, most adaptive cruise control systems rely on a single relative distance or speed parameter for mode switching. This strategy is prone to frequent mode switching and control command mutation when facing unpredictable motion states of the front vehicle (such as sudden cutting in, sudden acceleration / deceleration), which in turn leads to a decline in passenger comfort and safety risks. SUMMARY
[0004] The purpose of the present application includes, for example, to provide a vehicle cruise control method, device, electronic device and storage medium, which can at least partially solve the above technical problems.
[0005] Embodiments of the present application can be implemented as follows: In a first aspect, the embodiments of the present application provide a vehicle cruise control method applied to a controller of a vehicle cruise control system, the vehicle cruise control system further comprising a laser radar, the laser radar being in communication connection with the controller; the method comprising: calculating a distance coefficient and a relative speed coefficient between the vehicle and the front vehicle based on the laser radar, and determining a target distance coefficient range in which the distance coefficient is located in a preset distance coefficient range, and determining a target relative speed coefficient range in which the relative speed coefficient is located in a preset relative speed coefficient range; determining a stable state based on the target distance coefficient range and the target relative speed coefficient range; determining a target cruise mode from a plurality of cruise modes according to the stable state; controlling the vehicle to travel in a control mode corresponding to the target cruise mode.
[0006] Optionally, the calculating of the distance coefficient and the relative speed coefficient between the vehicle and the front vehicle based on the laser radar comprises: acquiring a vehicle distance and a following speed difference between the vehicle and the front vehicle based on the laser radar, the vehicle distance being a distance between the vehicle and the front vehicle, and the following speed difference being a following speed difference between the vehicle and the front vehicle; taking a ratio of the vehicle distance to a preset safe vehicle distance threshold as the distance coefficient; The following vehicle speed difference is taken as the relative speed coefficient.
[0007] Optionally, the determining of the stable state based on the target distance coefficient range and the target relative speed coefficient range comprises: calling a preset stable state rule table; looking up the preset stable state rule table according to the target distance coefficient range and the target relative speed coefficient range respectively to determine a corresponding stable state.
[0008] Optionally, the cruise mode comprises a constant speed mode, and the controlling of the vehicle in the target cruise mode comprises: if the target cruise mode is the constant speed mode, obtaining a current vehicle speed and a target vehicle speed of the vehicle, the target vehicle speed being a vehicle speed set by a driver through a terminal; determining a vehicle speed difference between the target vehicle speed and the current vehicle speed; determining an actual driving speed of the vehicle in real time based on a PID vehicle speed control formula according to the vehicle speed difference, and controlling the vehicle to drive at the actual driving speed; the PID vehicle speed control formula is:
[0009] wherein, u(t) is the actual driving speed, e(t) is the vehicle speed difference, and τ is a system delay time constant.
[0010] Optionally, the cruise mode comprises a following mode, and the controlling of the vehicle in the target cruise mode comprises: if the target cruise mode is the following mode, obtaining a first current acceleration of the vehicle and a second current acceleration of the preceding vehicle, determining a predicted state of the vehicle based on a vehicle state prediction model according to the first current acceleration, the second current acceleration, the following vehicle speed difference and the vehicle distance, the predicted state comprising a predicted vehicle distance, a predicted vehicle speed difference and a predicted first acceleration; compensating and correcting the predicted state based on an error compensation correction model to obtain an expected acceleration of the vehicle, and controlling the vehicle to drive according to the expected acceleration; a target function of the error compensation correction model is:
[0011] wherein, is the predicted state, is a reference trajectory, Q, R and S are weight matrices, is an error compensation weight.
[0012] Optionally, the weight matrix comprises a safety weight matrix and a comfort weight matrix, and the method further comprises: acquiring the vehicle distance in real time; judging a size relationship between the vehicle distance and a preset safety vehicle distance threshold; adjusting the safety weight matrix and the comfort weight matrix according to the size relationship.
[0013] Optionally, the cruise mode comprises a takeover mode, and the controlling the vehicle to travel by using the control mode corresponding to the target cruise mode comprises: determining a collision time of the vehicle and the preceding vehicle based on the vehicle distance and the following vehicle speed difference; if the collision time is less than a first safety collision time determined in real time, controlling an alarm device to send an alarm signal to make the driver manually control the vehicle; if the collision time is less than a second safety collision time determined in real time, controlling the vehicle to brake urgently, wherein the second safety collision time is less than the first safety collision time.
[0014] In a second aspect, an embodiment of the present application provides a vehicle cruise control device, applied to a controller of a vehicle cruise control system, wherein the vehicle cruise control system further comprises a laser radar, and the laser radar is in communication connection with the controller; and the vehicle cruise control device comprises: a coefficient range determination unit, configured to calculate a distance coefficient and a relative speed coefficient of a vehicle and a preceding vehicle based on the laser radar, and determine a target distance coefficient range in which the distance coefficient is located in a preset distance coefficient range, and determine a target relative speed coefficient range in which the relative speed coefficient is located in a preset relative speed coefficient range; a stable condition determination unit, configured to determine a stable condition based on the target distance coefficient range and the target relative speed coefficient range; a target cruise mode determination unit, configured to determine a target cruise mode from a plurality of cruise modes according to the stable condition; a vehicle travel control unit, configured to control the vehicle to travel by using a control mode corresponding to the target cruise mode.
[0015] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the steps of the method in any of the above aspects.
[0016] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which comprises a computer program, and the computer program controls a server where the computer readable storage medium is located to implement steps of the method according to any one of the preceding aspects when the computer program is executed.
[0017] The beneficial effects of the embodiments of the present application include, for example: The stable state is further determined based on the target distance coefficient range and the target relative speed coefficient range in which the distance coefficient and the relative speed coefficient of the vehicle and the preceding vehicle calculated by the laser radar are respectively located. Finally, the target cruise mode of the vehicle is determined according to the stable state, and the vehicle is controlled to travel by using the control mode corresponding to the target cruise mode. The multi-dimensional information such as the inter-vehicle distance and the relative speed is effectively integrated, the accuracy of the driving risk assessment is improved, and the following stability and the riding comfort are increased. BRIEF DESCRIPTION OF DRAWINGS
[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.
[0019] Figure 1 A block schematic diagram of an electronic device is provided for the embodiments of the present application; Figure 2 A step flowchart of a vehicle cruise control method is provided for the embodiments of the present application; Figure 3 An architecture diagram of a vehicle cruise control system is provided for the embodiments of the present application; Figure 4 An architecture diagram of a vehicle cruise control device is provided for the embodiments of the present application.
[0020] Fig. 1: 100-electronic device; 110-memory; 120-processor; 130-communication module; 300-vehicle cruise control device; 301-coefficient range determination unit; 302-stable state determination unit; 303-target cruise mode determination unit; 304-vehicle driving control unit. DETAILED DESCRIPTION
[0021] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some, but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.
[0022] Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the application.
[0023] It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.
[0024] In addition, if the terms "first", "second" and the like are used, they are only used to distinguish description, and cannot be understood as indicating or implying relative importance.
[0025] It should be noted that the features in the embodiments of the application can be combined with each other without conflict.
[0026] In the prior art, the mode division and switching strategy of the adaptive cruise system of the vehicle is mainly based on the following ideas: ACC (Adaptive Cruise Control) is divided into modes such as constant speed, following, lane changing, etc., and the mode boundary is defined by relative distance, relative speed threshold. For example, when the actual vehicle distance is less than the expected distance, the following mode is switched, and vice versa. However, this method does not effectively integrate multi-dimensional information such as vehicle spacing, relative speed, acceleration rate of change, etc., and it is difficult to accurately assess driving risks (such as the balance between following comfort and safety in low-speed congestion).
[0027] The upper controller mainly uses MPC (Model Predictive Control) to optimize the expected acceleration, and the lower layer realizes driving / braking execution through an inverse dynamics model; the longitudinal control realizes trajectory tracking by combining a two-degree-of-freedom dynamics model and a sliding mode control. However, this method does not consider the deviation between model prediction error and actual vehicle dynamics, and under the interference of road adhesion coefficient change, sensor noise, etc., it is easy to appear acceleration overshoot or tracking delay. It does not effectively integrate multi-dimensional information such as vehicle spacing, relative speed, acceleration rate of change, etc., and it is difficult to accurately assess driving risks (such as the balance between following comfort and safety in low-speed congestion).
[0028] Based on the above, the present application provides a vehicle cruise control method, device, electronic equipment and storage medium, which can effectively alleviate the above technical problems.
[0029] Please refer to Figure 1This is a block diagram of an electronic device 100 provided in this application. The electronic device 100 can be a data processing device, and this embodiment does not limit this. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.
[0030] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.
[0031] The processor 120 is used to read / write data or programs stored in memory and to perform corresponding functions.
[0032] The communication module 130 is used to establish a communication connection between the server and other communication terminals through the network, and to send and receive data through the network.
[0033] It should be understood that, Figure 1 The structure shown is only a schematic diagram of the electronic device 100. The electronic device 100 may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof. This electronic device 100 can be integrated into other devices or configured as a standalone device.
[0034] This invention provides a vehicle cruise control method, applied to a controller of a vehicle cruise control system. The vehicle cruise control system further includes a lidar, which is communicatively connected to the controller. The method includes, for example: Figure 2 The following steps are shown: Step S110: Calculate the distance coefficient and relative speed coefficient between the vehicle and the vehicle in front based on the lidar, and determine the target distance coefficient range in which the distance coefficient is located within the preset distance coefficient range, and determine the target relative speed coefficient range in which the relative speed coefficient is located within the preset relative speed coefficient range.
[0035] Step S120: Determine the stable state based on the target spacing coefficient range and the target relative velocity coefficient range.
[0036] Step S130: Determine the target cruise mode from multiple cruise modes based on the stability conditions.
[0037] Step S140: Control the vehicle's movement using the control method corresponding to the target cruise mode.
[0038] In step S110, the distance coefficient and relative speed coefficient between the vehicle and the vehicle in front are calculated based on the lidar, and the target distance coefficient range in which the distance coefficient is located within the preset distance coefficient range is determined, and the target relative speed coefficient range in which the relative speed coefficient is located within the preset relative speed coefficient range is determined.
[0039] like Figure 3 The diagram shows the architecture of a vehicle cruise control system. In addition to LiDAR, to more accurately confirm the presence of a vehicle ahead and lock onto it, a camera can be installed at the front of the vehicle. Image acquisition and recognition are used to identify the vehicle ahead. Once the vehicle ahead is identified, the LiDAR calculates the distance coefficient and relative speed coefficient between the two vehicles based on the vehicle's speed and distance. The preset distance coefficient range includes multiple sub-ranges; the sub-range within which the calculated distance coefficient falls within the preset preset distance coefficient range is the target distance coefficient range. Similarly, the target relative speed coefficient range is determined based on the relative speed coefficient falling within the preset relative speed coefficient range.
[0040] Optionally, the calculation of the distance coefficient and relative speed coefficient between the vehicle and the vehicle in front based on the lidar includes: The distance between the vehicle and the vehicle in front is obtained based on the lidar, and the following speed difference is the difference in following speed between the vehicle and the vehicle in front.
[0041] The ratio of the distance between the vehicles is used as the spacing coefficient. The difference in following speed is used as the relative speed coefficient.
[0042] In one optional implementation, the distance between the vehicle and the vehicle in front and the difference in following speed can be obtained first using lidar. The ratio of the distance between the two vehicles to a preset safe distance threshold is used as the spacing coefficient, and the difference in following speed is used as the relative speed coefficient.
[0043] For example, the speed of the vehicle is 20 km / h, the speed of the preceding vehicle is 30 km / h, the speed difference is -10 km / h, and the relative speed coefficient is -10. The preset safe distance threshold is 20 m, the distance is 10 m, and the distance coefficient is 0.5.
[0044] In step S120, a stable state is determined based on the target distance coefficient range and the target relative speed coefficient range.
[0045] After obtaining the target distance coefficient range and the target relative speed coefficient range, a corresponding unique stable state can be found through the target distance coefficient range and the target relative speed coefficient range, and then the target cruise mode is determined through the stable state.
[0046] Optionally, the determination of the stable state based on the target distance coefficient range and the target relative speed coefficient range comprises: A preset stable state rule table is called. The target distance coefficient range and the target relative speed coefficient range are looked up in the preset stable state rule table to determine the corresponding stable state.
[0047] As shown in Table 1, a preset stable state rule table can be preset. The target distance coefficient range and the target relative speed coefficient range are looked up in the preset stable state rule table to determine the corresponding stable state.
[0048] Table 1
[0049] As shown in Table 1, the preset distance coefficient range can include three sub-ranges, i.e., SC (target distance coefficient) ≤ 0.8, corresponding to a short distance between the vehicle and the preceding vehicle; 0.8 < SC ≤ 1.2, corresponding to a medium distance between the vehicle and the preceding vehicle; and SC > 1.2, corresponding to a long distance between the vehicle and the preceding vehicle. The relative speed coefficient range can include five sub-ranges, i.e., negative large (<-5 km / h), negative small (-5~0 km / h), zero (±1 km / h), positive small (0~5 km / h), and positive large (>5 km / h). The stable state can include four states, i.e., unstable, relatively stable, stable, and highly stable.
[0050] For example, when the target distance coefficient range is 0.8 < SC ≤ 1.2, corresponding to a medium distance between the vehicle and the preceding vehicle, and the target relative speed coefficient range is negative small (-5~0 km / h), the stable state is stable.
[0051] In step S130, the target cruise mode is determined from a plurality of cruise modes according to the stable state.
[0052] In actual situations, different cruise modes can be set for different stable states respectively, and when the stable state is determined, the cruise mode corresponding to the stable state can be determined as the target cruise mode.
[0053] For example, when the stable state is unstable, the target cruise mode is determined as the takeover mode; when the stable state is relatively stable, the target cruise mode is determined as the last determined target cruise mode; when the stable state is stable, the target cruise mode is determined as the follow mode; and when the stable state is highly stable, the target cruise mode is determined as the constant speed mode.
[0054] In step S140, the vehicle is controlled to travel by using the control mode corresponding to the target cruise mode.
[0055] For example, when the stable state is unstable, the target cruise mode is determined as the takeover mode, i.e. the driver is informed to manually take over the driving of the vehicle; when the stable state is relatively stable, the target cruise mode is determined as the last determined target cruise mode, but the error compensation of the vehicle and the predicted behavior of the preceding vehicle is activated; when the stable state is stable, the target cruise mode is determined as the follow mode, the behavior (such as the distance, the driving route, the acceleration of the preceding vehicle, the sudden braking of the preceding vehicle, etc.) of the vehicle and the preceding vehicle is predicted, and the error compensation is performed on the predicted result by using a compensation model; and when the stable state is highly stable, the target cruise mode is determined as the constant speed mode, and the vehicle is controlled to travel at a constant speed according to the speed set by the driver.
[0056] Optionally, the cruise mode includes a constant speed mode, and the control of the vehicle to travel by using the control mode corresponding to the target cruise mode includes: If the target cruise mode is the constant speed mode, the current speed of the vehicle and the target speed are obtained, and the target speed is the speed set by the driver through a terminal.
[0057] The vehicle speed difference between the target speed and the current speed is determined.
[0058] According to the PID vehicle speed control formula, the actual traveling speed of the vehicle is determined in real time according to the vehicle speed difference, and the vehicle is controlled to travel at the actual traveling speed.
[0059] The PID vehicle speed control formula is:
[0060] Wherein, u(t) is the actual traveling speed, e(t) is the vehicle speed difference, and τ is the system delay time constant.
[0061] In an alternative embodiment, when the target cruise mode is determined to be the constant speed mode, the controller obtains a target vehicle speed set by the driver through a terminal (such as a touchable display screen, etc.), calculates a vehicle speed difference between the target vehicle speed and a current vehicle speed of the vehicle, determines an actual driving speed according to the PID vehicle speed control formula, and controls the vehicle to drive at the actual driving speed.
[0062] Optionally, the cruise mode includes a following mode, and the controlling the vehicle to drive in the control mode corresponding to the target cruise mode includes: If the target cruise mode is the following mode, a first current acceleration of the vehicle and a second current acceleration of the preceding vehicle are obtained, a predicted state of the vehicle is determined based on a vehicle state prediction model according to the first current acceleration, the second current acceleration, the following speed difference, and the vehicle distance, and the predicted state includes a predicted vehicle distance, a predicted vehicle speed difference, and a predicted first acceleration.
[0063] The predicted state is compensated and corrected based on an error compensation correction model to obtain an expected acceleration of the vehicle, and the vehicle is controlled to drive according to the expected acceleration.
[0064] The target function of the error compensation correction model is:
[0065] wherein, is the predicted state, is a reference trajectory, Q, R, and S are weight matrices, is an error compensation weight.
[0066] When the target cruise mode is the following mode, it indicates that the stable state of the vehicle and the preceding vehicle is stable. At this time, the controller obtains a first current acceleration of the vehicle and a second current acceleration of the preceding vehicle, inputs the first current acceleration, the second current acceleration, the following speed difference, and the vehicle distance into a vehicle state prediction model to obtain a predicted state of the vehicle, including a predicted vehicle distance, a predicted vehicle speed difference, and a predicted first acceleration. The predicted state is input into an error compensation correction model for compensation and correction, and finally an expected acceleration after compensation is obtained. The motor is controlled to generate a corresponding torque according to the expected acceleration, so that the vehicle drives at the expected acceleration after compensation.
[0067] Optionally, the weight matrices include a safety weight matrix and a comfort weight matrix, and the method further includes: The vehicle distance is obtained in real time. The size relationship between the vehicle distance and a preset safety vehicle distance threshold is determined.
[0068] The safety weight matrix and the comfort weight matrix are adjusted according to the size relationship.
[0069] In the objective function of the error compensation correction model, the Q weight matrix mainly adjusts the following performance (such as the spacing error), the R weight matrix is used to control the smoothness of the quantity (such as the acceleration change rate of the vehicle to improve comfort), and the S weight matrix is related to the error compensation term, and the dynamic response of the system is further optimized.
[0070] Therefore, the Q weight matrix can be used as a safety weight matrix, and the R weight matrix can be used as a comfort weight matrix. In the following mode, the controller can obtain the vehicle distance from the front vehicle in real time, and determine the size relationship between the vehicle distance and the preset safety vehicle distance threshold. When the vehicle distance is less than 0.8 times the preset safety vehicle distance threshold, the safety weight matrix is increased (such as being adjusted to 1.5), and the safety is preferentially guaranteed; when the vehicle distance is greater than 1.2 times the preset safety vehicle distance threshold, the comfort weight matrix is increased (such as being adjusted to 1.0).
[0071] Optionally, the cruise mode includes a takeover mode, and the vehicle is controlled to travel by using the control mode corresponding to the target cruise mode, including: Determine the collision time of the vehicle and the front vehicle based on the vehicle distance and the following speed difference.
[0072] If the collision time is less than a first safety collision time determined in real time, control an alarm device to send an alarm signal to enable the driver to manually control the vehicle.
[0073] If the collision time is less than a second safety collision time determined in real time, control the vehicle to brake urgently; wherein the second safety collision time is less than the first safety collision time.
[0074] The first safety collision time and the second safety collision time are both determined in real time by the controller. In the takeover mode, when the determined collision time is less than the first safety collision time, the controller sends an alarm signal through the alarm device (such as a sound and light alarm) to notify the driver to manually control the vehicle. When the determined collision time is less than the second safety collision time, it means that there is an emergency collision risk, and the controller automatically controls the vehicle to brake urgently.
[0075] In an optional embodiment, the collision time can be determined by the ratio of the vehicle distance to the following speed, and considering the road adhesion coefficient, the preset safety collision time needs to be dynamically adjusted to obtain the first safety collision time and the second safety collision time. For example, the first safety collision time is the preset safety collision time multiplied by (1+0.5μ), wherein μ is the friction coefficient.
[0076] Based on the same inventive concept, such as Figure 4As shown, the embodiment of the present application provides a vehicle cruise control device 300, which is applied to a controller of a vehicle cruise control system, the vehicle cruise control system further comprising a laser radar, the laser radar being in communication connection with the controller; the vehicle cruise control device 300 comprising: a coefficient range determining unit 301, configured to calculate a distance coefficient and a relative speed coefficient of a vehicle and a preceding vehicle based on the laser radar, and determine a target distance coefficient range in which the distance coefficient is located in a preset distance coefficient range, and determine a target relative speed coefficient range in which the relative speed coefficient is located in a preset relative speed coefficient range.
[0077] a stable condition determining unit 302, configured to determine a stable condition based on the target distance coefficient range and the target relative speed coefficient range.
[0078] a target cruise mode determining unit 303, configured to determine a target cruise mode from a plurality of cruise modes according to the stable condition.
[0079] a vehicle driving control unit 304, configured to control vehicle driving in a control mode corresponding to the target cruise mode.
[0080] As to the vehicle cruise control device 300, the specific functions of each unit have been described in detail in the embodiment of the vehicle cruise control method provided in the present application, and thus will not be described in detail here.
[0081] Based on the same inventive concept, the embodiment of the present application provides a computer readable storage medium, which stores a computer program, the program being executed by a processor to implement the steps of any method of the vehicle cruise control method.
[0082] The present application at least has the following beneficial effects: The distance coefficient and the relative speed coefficient of the vehicle and the preceding vehicle are calculated based on the laser radar, and the target distance coefficient range and the target relative speed coefficient range in which the distance coefficient and the relative speed coefficient are located are determined, and then the stable condition is determined. Finally, the target cruise mode of the vehicle is determined according to the stable condition, and the vehicle is controlled to drive in the control mode corresponding to the target cruise mode. The multi-dimensional information such as the vehicle distance and the relative speed is effectively integrated, the accuracy of the driving risk evaluation is improved, and the following stability and the riding comfort are increased.
[0083] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, program segment or part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementation manners, the functions noted in the blocks can also occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.
[0084] In addition, the function modules in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0085] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.
[0086] The above description is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims
1. A vehicle cruise control method characterized by, A controller applied to a vehicle cruise control system, the vehicle cruise control system further comprising a laser radar, the laser radar being in communication connection with the controller; the method comprising: calculating a distance coefficient and a relative speed coefficient between the vehicle and a preceding vehicle based on the laser radar, and determining a target distance coefficient range in which the distance coefficient is located in a preset distance coefficient range, and determining a target relative speed coefficient range in which the relative speed coefficient is located in a preset relative speed coefficient range; determining a stable state based on the target distance coefficient range and the target relative speed coefficient range; determining a target cruise mode from a plurality of cruise modes according to the stable state; controlling the vehicle to travel in a control mode corresponding to the target cruise mode.
2. The vehicle cruise control method according to claim 1, characterized by, The method of calculating the distance coefficient and the relative speed coefficient between the vehicle and the preceding vehicle based on the laser radar comprises: acquiring a vehicle distance and a following speed difference between the vehicle and the preceding vehicle based on the laser radar, the vehicle distance being a distance between the vehicle and the preceding vehicle, and the following speed difference being a following speed difference between the vehicle and the preceding vehicle; taking a ratio of the vehicle distance to a preset safe vehicle distance threshold as the distance coefficient; taking the following speed difference as the relative speed coefficient.
3. The vehicle cruise control method according to claim 1, characterized by, The method of determining the stable state based on the target distance coefficient range and the target relative speed coefficient range comprises: calling a preset stable state rule table; looking up the target distance coefficient range and the target relative speed coefficient range in the preset stable state rule table to determine a corresponding stable state.
4. The vehicle cruise control method according to claim 1, characterized by, The cruise mode comprises a constant speed mode, and the method of controlling the vehicle to travel in the control mode corresponding to the target cruise mode comprises: if the target cruise mode is the constant speed mode, acquiring a current vehicle speed of the vehicle and a target vehicle speed set by a driver through a terminal; determining a vehicle speed difference between the target vehicle speed and the current vehicle speed; determining an actual travel speed of the vehicle in real time based on a PID vehicle speed control formula according to the vehicle speed difference, and controlling the vehicle to travel at the actual travel speed; The PID vehicle speed control formula is: wherein u(t) is the actual travel speed, e(t) is the vehicle speed difference, and τ is a system delay time constant.
5. The vehicle cruise control method according to claim 2, characterized by, The cruise mode comprises a following mode, and the method of controlling the vehicle to travel in the control mode corresponding to the target cruise mode comprises: if the target cruise mode is the following mode, acquiring a first current acceleration of the vehicle and a second current acceleration of the preceding vehicle, determining a predicted state of the vehicle based on a vehicle state prediction model according to the first current acceleration, the second current acceleration, the following speed difference and the vehicle distance, the predicted state comprising a predicted vehicle distance, a predicted vehicle speed difference and a predicted first acceleration; compensating and correcting the predicted state based on an error compensation correction model to obtain an expected acceleration of the vehicle, and controlling the vehicle to travel according to the expected acceleration; The objective function of the error compensation correction model is: wherein, is the predicted state, is a reference trajectory, Q, R, S are weight matrices, is an error compensation weight.
6. The vehicle cruise control method according to claim 5, characterized by, The weight matrix comprises a safety weight matrix and a comfort weight matrix, and the method further comprises: acquiring the vehicle distance in real time; judging a size relation between the vehicle distance and a preset safe vehicle distance threshold; adjusting the safe weight matrix and the comfort weight matrix according to the size relation.
7. The vehicle cruise control method according to claim 2, characterized by, The cruise mode includes a takeover mode, and the vehicle is controlled to travel by using a control mode corresponding to the target cruise mode, including: determining a collision time of the vehicle and the preceding vehicle based on the vehicle distance and the following speed difference; if the collision time is less than a first safe collision time determined in real time, controlling an alarm device to send an alarm signal to make the driver manually control the vehicle; if the collision time is less than a second safe collision time determined in real time, controlling the vehicle to brake urgently, wherein the second safe collision time is less than the first safe collision time.
8. A vehicle cruise control device characterized by comprising: A controller applied to a vehicle cruise control system, the vehicle cruise control system further includes a laser radar, the laser radar is in communication connection with the controller; the vehicle cruise control device includes: a coefficient range determination unit configured to calculate a distance coefficient and a relative speed coefficient of a vehicle and a preceding vehicle based on the laser radar, and determine a target distance coefficient range in which the distance coefficient is located in a preset distance coefficient range, and determine a target relative speed coefficient range in which the relative speed coefficient is located in a preset relative speed coefficient range; a stable condition determination unit configured to determine a stable condition based on the target distance coefficient range and the target relative speed coefficient range; a target cruise mode determination unit configured to determine a target cruise mode from a plurality of cruise modes according to the stable condition; a vehicle travel control unit configured to control the vehicle to travel by using a control mode corresponding to the target cruise mode.
9. An electronic device, comprising: including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method of any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a computer program, and the computer program controls the server where the computer readable storage medium is located to implement the steps of the method of any one of claims 1-7 when running.