An assisted driving longitudinal control method, system, device and computer medium

Abstract

This application discloses a longitudinal control method, system, device, and computer medium for assisted driving, relating to the field of vehicle assisted driving technology. The method involves acquiring the vehicle pitch angle of a target vehicle; acquiring the target vehicle speed and actual vehicle speed, and generating a speed error between the target and actual speeds; classifying the vehicle pitch angle anomaly based on a set pitch angle anomaly threshold to obtain a pitch angle anomaly level; classifying the speed error anomaly based on a set speed error anomaly threshold to obtain a speed error anomaly level; responding to a situation where the vehicle pitch angle and speed error have opposite signs, and the speed error anomaly level is higher than or equal to the pitch angle anomaly level, then performing pitch angle compensation on the target vehicle according to the pitch angle anomaly level, and performing longitudinal control based on the compensated pitch angle; the actual vehicle speed includes the current speed reached by the target vehicle after longitudinal control based on the vehicle pitch angle and target vehicle speed. This improves vehicle driving safety.

Description

Technical Field

[0001] This application relates to the field of vehicle driver assistance technology, and more specifically, to a driver assistance longitudinal control method, system, device, and computer medium. Background Technology

[0002] With the development of intelligent assisted driving technology, the longitudinal control module is one of the components of the assisted driving system. Its main function is to calculate the longitudinal control quantity based on the desired speed issued by the planning module and the current state of the vehicle, and then send it to the vehicle actuator module to enable the vehicle to travel at the expected speed. The performance of the longitudinal control module is crucial to driving safety; however, challenges still exist in some traffic scenarios, especially on roads with rapid changes in gradient.

[0003] The longitudinal control module typically uses the vehicle pitch angle output by the positioning module as the road gradient angle to calculate the compensation control amount. However, abnormal data from the vehicle inertial measurement unit (IMU), such as due to the installation position not being level with the vehicle, abnormal calibration parameters, or a malfunction in the positioning module itself, can lead to an abnormal vehicle pitch angle calculated by the positioning module. This abnormal pitch angle, in turn, causes the longitudinal control module to misinterpret the current road scenario; for example, it might interpret a flat road as a very steep uphill slope based on the abnormal pitch angle. If the longitudinal control module calculates the compensation control amount based on this abnormal pitch angle, the vehicle speed will significantly exceed the desired speed, increasing driving risks.

[0004] In conclusion, improving vehicle driving safety is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a longitudinal control method for assisted driving, which can, to a certain extent, solve the technical problem of how to improve vehicle driving safety. This application also provides an assisted driving longitudinal control system, electronic equipment, and a computer-readable storage medium.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A longitudinal control method for assisted driving, comprising:

[0008] Obtain the vehicle pitch angle of the target vehicle;

[0009] Obtain the target speed and actual speed of the target vehicle, and generate the speed error between the target speed and the actual speed;

[0010] The pitch angle of the vehicle is classified into anomalies based on a set pitch angle anomaly threshold to obtain the pitch angle anomaly level;

[0011] Based on a set speed error anomaly threshold, the speed error is classified into anomalies to obtain the speed error anomaly level;

[0012] In response to the opposite sign of the vehicle pitch angle and the speed error, and the speed error anomaly level being higher than or equal to the pitch angle anomaly level, pitch angle compensation is performed on the target vehicle according to the pitch angle anomaly level, so as to perform longitudinal control based on the compensated pitch angle.

[0013] The target vehicle speed includes the planned speed for the target vehicle; the actual vehicle speed includes the current speed reached by the target vehicle after longitudinal control based on the vehicle pitch angle and the target vehicle speed.

[0014] Preferably, the step of performing pitch angle compensation on the target vehicle according to the pitch angle anomaly level includes:

[0015] Retrieve the exception count value corresponding to each exception level in the records;

[0016] Increase the anomaly count value corresponding to the pitch angle anomaly level, and decrease the anomaly count value corresponding to the other anomaly levels;

[0017] Based on the abnormal count value, determine the abnormal state of the pitch angle;

[0018] Pitch angle compensation is performed on the target vehicle according to the abnormal pitch angle state.

[0019] Preferably, increasing the anomaly count value corresponding to the pitch angle anomaly level and decreasing the anomaly count values ​​corresponding to the other anomaly levels includes:

[0020] Increase the anomaly count value corresponding to the pitch angle anomaly level by 1;

[0021] Decrease the exception count value corresponding to the remaining exception levels by 1.

[0022] Preferably, determining the pitch angle anomaly state based on the anomaly count value includes:

[0023] Retrieve recorded pitch angle anomalies;

[0024] Determine the first level of anomaly corresponding to the pitch angle anomaly;

[0025] In response to the existence of an abnormal count value that is greater than or equal to the count value threshold, the abnormal level corresponding to the abnormal count value is taken as the second abnormal level, and the pitch angle abnormal state is updated to the second abnormal level.

[0026] In response to the absence of an abnormal count value greater than or equal to the count value threshold, and the abnormal count value of the first abnormal level is zero, the pitch angle abnormal state is updated to the normal state.

[0027] If there is no abnormal count value greater than or equal to the count value threshold, and the abnormal count value of the first abnormal level is not zero, then the pitch angle abnormal state remains unchanged.

[0028] Preferably, the step of performing pitch angle compensation on the target vehicle according to the abnormal pitch angle state includes:

[0029] Based on the pitch angle anomaly state, a compensation coefficient is determined, and the compensation coefficient is negatively correlated with the anomaly level in the pitch angle anomaly state;

[0030] The target vehicle is subjected to pitch angle compensation based on the compensation coefficient.

[0031] Preferably, the step of classifying the vehicle pitch angle anomaly based on a set pitch angle anomaly threshold to obtain the pitch angle anomaly level includes:

[0032] If the absolute value of the vehicle pitch angle is greater than the pitch angle minor abnormality threshold and the absolute value of the vehicle pitch angle is less than or equal to the pitch angle severe abnormality threshold, then the pitch angle abnormality level is determined to be minor abnormality.

[0033] If the absolute value of the vehicle pitch angle is greater than the pitch angle severe anomaly threshold, then the pitch angle anomaly level is determined to be severe anomaly.

[0034] Preferably, the step of classifying the speed error based on a set speed error anomaly threshold to obtain a speed error anomaly level includes:

[0035] If the absolute value of the speed error is greater than the speed error slight anomaly threshold and the absolute value of the speed error is less than or equal to the speed error severe anomaly threshold, then the speed error anomaly level is determined to be slight anomaly.

[0036] If the absolute value of the speed error is greater than the speed error severe anomaly threshold, then the speed error anomaly level is determined to be severe anomaly.

[0037] A longitudinal control system for assisted driving, comprising:

[0038] The pitch angle acquisition module is used to acquire the vehicle pitch angle of the target vehicle.

[0039] The speed error generation module is used to obtain the target speed and actual speed of the target vehicle, and generate the speed error between the target speed and the actual speed.

[0040] The pitch angle analysis module is used to classify the pitch angle of the vehicle based on a set pitch angle anomaly threshold, and obtain the pitch angle anomaly level.

[0041] The speed error analysis module is used to classify the speed error based on a set speed error anomaly threshold to obtain the speed error anomaly level;

[0042] The pitch angle compensation module is used to respond to the vehicle pitch angle and the speed error having opposite signs, and the speed error anomaly level being higher than or equal to the pitch angle anomaly level, by performing pitch angle compensation on the target vehicle according to the pitch angle anomaly level, so as to perform longitudinal control based on the compensated pitch angle.

[0043] The target vehicle speed includes the planned speed for the target vehicle; the actual vehicle speed includes the current speed reached by the target vehicle after longitudinal control based on the vehicle pitch angle and the target vehicle speed.

[0044] An electronic device, comprising:

[0045] Memory, used to store computer programs;

[0046] A processor for executing the computer program to implement the steps of any of the above-described assisted driving longitudinal control methods.

[0047] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the above-described assisted driving longitudinal control methods.

[0048] This application provides a longitudinal control method for assisted driving, which involves: acquiring the vehicle pitch angle of a target vehicle; acquiring the target vehicle speed and actual vehicle speed, and generating a speed error between the target speed and the actual vehicle speed; classifying the vehicle pitch angle anomaly based on a set pitch angle anomaly threshold to obtain a pitch angle anomaly level; classifying the speed error anomaly based on a set speed error anomaly threshold to obtain a speed error anomaly level; responding to a situation where the vehicle pitch angle and speed error have opposite signs, and the speed error anomaly level is higher than or equal to the pitch angle anomaly level, then performing pitch angle compensation on the target vehicle according to the pitch angle anomaly level, and performing longitudinal control based on the compensated pitch angle; wherein, the target vehicle speed includes the planned speed for the target vehicle; and the actual vehicle speed includes the current speed reached by the target vehicle after performing longitudinal control based on the vehicle pitch angle and the target vehicle speed. In this application, since the actual vehicle speed is the target vehicle speed achieved after longitudinal control based on the vehicle pitch angle, a deviation between the actual and target vehicle speed will occur if there is a discrepancy between the vehicle pitch angle and the true pitch angle. Therefore, the vehicle pitch angle can be detected as abnormal based on the speed error. Furthermore, considering that pitch angle error causes the sign of the speed error to be opposite to that of the vehicle pitch angle, and that the anomaly level of the speed error exceeds the anomaly level of the pitch angle, anomaly checks for pitch angle can be performed using the sign and anomaly level. Only when the check passes is pitch angle compensation performed according to the anomaly level, improving the accuracy of pitch angle anomaly compensation, avoiding situations where the vehicle speed exceeds the expected speed under longitudinal control, and improving vehicle driving safety. The longitudinal control system for assisted driving, electronic equipment, and computer-readable storage medium provided in this application also solve the corresponding technical problems. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0050] Figure 1 A flowchart of an assisted driving longitudinal control method provided in an embodiment of this application;

[0051] Figure 2 This diagram illustrates the alternation between normal, slightly abnormal, and severely abnormal states.

[0052] Figure 3 This is a schematic diagram of the structure of a longitudinal control system for assisted driving provided in an embodiment of this application;

[0053] Figure 4This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0054] Figure 5 This is another structural schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] Please see Figure 1 , Figure 1 A flowchart of a longitudinal control method for assisted driving provided in an embodiment of this application.

[0057] This application provides an assisted driving longitudinal control method, which may include the following steps:

[0058] Step S101: Obtain the vehicle pitch angle of the target vehicle.

[0059] In practical applications, considering that the vehicle's longitudinal control module uses the vehicle pitch angle output by the positioning module as the road slope angle, and then calculates the compensation control value based on the road slope angle, it is necessary to obtain the target vehicle's pitch angle for subsequent longitudinal control. The vehicle pitch angle can be output by the positioning module installed on the vehicle. It should be noted that the type of target vehicle can be flexibly determined according to the application scenario; for example, the target vehicle can be a car, bus, etc.

[0060] Step S102: Obtain the target speed and actual speed of the target vehicle. The target speed includes the speed planned for the target vehicle. The actual speed includes the current speed reached by the target vehicle after longitudinal control based on the vehicle pitch angle and the target speed.

[0061] Step S103: Generate the speed error between the target vehicle speed and the actual vehicle speed.

[0062] In practical applications, since longitudinal control uses the target vehicle speed as the control objective and performs speed control based on the vehicle pitch angle, if the vehicle pitch angle matches the actual pitch angle, the target vehicle speed after longitudinal control will match the target speed. If there is an error in the vehicle pitch angle, the target vehicle speed after longitudinal control will deviate from the target speed. For ease of understanding, suppose the desired target speed is 100 kph, the actual vehicle pitch angle is 0, but the pitch angle input from the positioning module to the control module is +0.15 radians. The acceleration control command calculated by the longitudinal control based on this pitch angle is too large, causing the actual vehicle speed to reach 110 kph. The discrepancy between the actual speed and the target speed indicates a deviation in the vehicle pitch angle. Therefore, the relationship between the actual speed and the target speed of the target vehicle can be used to detect whether there is a deviation in the vehicle pitch angle; that is, the target vehicle speed needs to be obtained. and actual vehicle speed It also generates the speed error between the target vehicle speed and the actual vehicle speed. For example, the difference between the target speed and the actual speed can be used as the speed error. This is to analyze the speed error and check whether the vehicle pitch angle is abnormal.

[0063] It should be noted that the target speed refers to the speed planned for the target vehicle, such as the speed issued by the driver assistance system planning module to the control module; the actual speed refers to the current speed reached by the target vehicle after longitudinal control is performed based on the vehicle pitch angle and the target speed, such as the current speed reached by the vehicle after the control module calculates the longitudinal control command based on the target speed and issues it to the vehicle actuator, and the actuator responds.

[0064] Step S104: Based on the set pitch angle anomaly threshold, classify the vehicle pitch angle anomaly to obtain the pitch angle anomaly level.

[0065] In practical applications, considering that the method of obtaining the vehicle pitch angle may introduce errors, and if this error exceeds the operating range, the vehicle pitch angle itself will have errors. Therefore, anomalies in the vehicle pitch angle can be classified based on a set pitch angle anomaly threshold to obtain the pitch angle anomaly level. It is understandable that the type of pitch angle anomaly level can be flexibly determined according to the application scenario. For example, the pitch angle anomaly level can be minor, moderate, or severe, and it can also be anomaly level 1, anomaly level 2, anomaly level 3, etc. The pitch angle anomaly threshold can be flexibly determined according to the application scenario; for example, it can be selected based on empirical values, or it can be determined based on the "Highway Engineering Technical Standard" (JTG B01-2003) and the summary of large-mileage vehicle test data.

[0066] In an exemplary embodiment, pitch angle anomaly intervals can be defined based on the anomaly level and pitch angle anomaly threshold. If the vehicle pitch angle falls within a certain pitch angle anomaly interval, the anomaly level corresponding to that interval can be taken as the pitch angle anomaly level. For ease of understanding, assume the anomaly levels are minor, moderate, and severe, with corresponding pitch angle anomaly thresholds A, B, and C, respectively. If the absolute value of the vehicle pitch angle is less than or equal to pitch angle anomaly threshold A, the vehicle pitch angle is considered normal. If the absolute value of the vehicle pitch angle is greater than pitch angle anomaly threshold A but less than or equal to pitch angle anomaly threshold B, the pitch angle anomaly level is considered minor. If the absolute value of the vehicle pitch angle is greater than pitch angle anomaly threshold B but less than or equal to pitch angle anomaly threshold C, the pitch angle anomaly level is considered moderate. If the absolute value of the vehicle pitch angle is greater than pitch angle anomaly threshold C, the pitch angle anomaly level is considered severe, etc.

[0067] In an exemplary embodiment, to facilitate implementation, the anomaly level can be set as minor anomaly and severe anomaly. Accordingly, in the process of classifying the vehicle pitch angle based on the set pitch angle anomaly threshold to obtain the pitch angle anomaly level, if the absolute value of the vehicle pitch angle is greater than the minor pitch angle anomaly threshold and the absolute value of the vehicle pitch angle is less than or equal to the severe pitch angle anomaly threshold, then the pitch angle anomaly level is determined to be minor anomaly; if the absolute value of the vehicle pitch angle is greater than the severe pitch angle anomaly threshold, then the pitch angle anomaly level is determined to be severe anomaly. The thresholds for minor and severe pitch angle anomalies can be flexibly determined based on the application scenario. For example, considering that the slope angle of common highways in plains and hilly areas is less than 0.02 radians and the larger slope angle is about 0.04 radians, while the slope angle of elevated ramps on urban expressways is about 0.06 radians, the threshold for minor pitch angle anomalies can be set to 0.06 radians. Considering that the maximum longitudinal slope of highways at all levels is controlled between 3% and 9%, corresponding to a vehicle pitch angle of about 0.03-0.09 radians, and based on the summary of vehicle mileage test data and the pitch angle anomaly data that occurred in actual tests, abnormal pitch angles can reach 0.12-0.15 radians, the threshold for severe pitch angle anomalies can be set to 0.1 radians, etc.

[0068] Step S105: Based on the set speed error anomaly threshold, classify the speed error into anomalies to obtain the speed error anomaly level.

[0069] In practical applications, if the vehicle pitch angle deviates significantly from the actual pitch angle, the speed error will be correspondingly large. Therefore, speed errors can be classified into anomaly levels based on a set speed error anomaly threshold. These anomaly levels can then be used to reflect the deviation of the vehicle pitch angle from a speed perspective. It is understandable that the type of speed error anomaly level can be flexibly determined according to the application scenario. For example, the speed error anomaly level can be minor, moderate, or severe, and it can also be anomaly level 1, anomaly level 2, anomaly level 3, etc.

[0070] In an exemplary embodiment, the speed error anomaly range can be divided according to the anomaly level and the speed error anomaly threshold. If the speed error hits a certain speed error anomaly range, the anomaly level corresponding to that pitch angle anomaly range can be taken as the pitch angle anomaly level. For ease of understanding, assume that the anomaly levels are minor anomaly, general anomaly, and severe anomaly, and the corresponding speed error anomaly thresholds are speed error anomaly threshold D, speed error anomaly threshold E, and speed error anomaly threshold F, respectively. If the absolute value of the speed error is less than or equal to the speed error anomaly threshold D, the speed error can be determined to be normal. If the absolute value of the speed error is greater than the speed error anomaly threshold D and less than or equal to the speed error anomaly threshold E, the speed error anomaly level can be determined to be minor anomaly. If the absolute value of the speed error is greater than the speed error anomaly threshold F, the speed error anomaly level can be determined to be severe anomaly, etc.

[0071] In an exemplary embodiment, to facilitate implementation, the anomaly levels can be set as minor anomaly and severe anomaly. Correspondingly, in the process of classifying speed errors based on a set speed error anomaly threshold to obtain the speed error anomaly level, if the absolute value of the speed error is greater than the minor anomaly threshold and less than or equal to the severe anomaly threshold, the speed error anomaly level is determined to be minor; if the absolute value of the speed error is greater than the severe anomaly threshold, the speed error anomaly level is determined to be severe. The minor and severe speed error anomaly thresholds can be flexibly determined according to the application scenario. For example, considering that the summary of vehicle mileage test data shows that under the activated state of the high-speed assisted driving function, except for extreme conditions such as rapid acceleration and deceleration, the statistical average speed error of the longitudinal control module is generally less than 1 m / s, the minor speed error anomaly threshold can be set to 1 m / s, and the severe speed error anomaly threshold can be set to 1.5 m / s, etc.

[0072] Step S106: In response to the opposite sign of the vehicle pitch angle and speed error, and the speed error anomaly level being higher than or equal to the pitch angle anomaly level, pitch angle compensation is performed on the target vehicle according to the pitch angle anomaly level, so as to perform longitudinal control based on the compensated pitch angle.

[0073] In practical applications, besides the control error caused by the vehicle pitch angle, other information in longitudinal control may also introduce control errors, ultimately causing the speed error anomaly level to be higher than or equal to the pitch angle anomaly level. For ease of understanding, let's assume the anomaly levels are divided into normal, minor anomaly, and severe anomaly, and the pitch angle anomaly level is minor. If only the pitch angle control error exists, the speed error anomaly level should also be minor. However, if other control errors exist, the speed error anomaly level may escalate to severe anomaly. Therefore, even when the pitch angle anomaly level is minor, as long as the speed error anomaly level is... Both minor and severe anomalies can be categorized as minor anomalies. If the current pitch angle compensation in longitudinal control prevents the speed error from converging to approximately zero, resulting in the opposite of the expected vehicle speed, the pitch angle and speed error will have opposite signs. Therefore, pitch angle compensation should only be performed on the target vehicle based on the pitch angle anomaly level if the signs of the pitch angle and speed error are opposite, and the speed error anomaly level is higher than or equal to the pitch angle anomaly level. This allows for longitudinal control based on the compensated pitch angle, eliminating the control error caused by the vehicle's pitch angle itself. It should be noted that if the signs of the pitch angle and speed error are the same, or if the speed error anomaly level is lower than the pitch angle anomaly level, it indicates that the pitch angle anomaly level error is too large, making further pitch angle compensation based on the anomaly level unsuitable. In this case, the previous compensation mechanism can be used for pitch angle compensation, or alternatively, pitch angle compensation can be omitted. No specific limitations are imposed here.

[0074] To better understand the pitch angle anomaly reflected by the opposite sign of the vehicle pitch angle and speed error, let's assume the desired target speed is 100 kph, the actual vehicle pitch angle is 0, but the pitch angle input from the positioning module to the control module is positive 0.15 radians. The acceleration control command calculated by the longitudinal control based on this pitch angle is too large, causing the actual vehicle speed to reach 110 kph. At this time, the speed error is negative 10 kph, so the vehicle pitch angle and speed error have opposite signs.

[0075] In an exemplary embodiment, during pitch angle compensation of the target vehicle according to the pitch angle anomaly level, the compensation coefficient can be directly determined based on the pitch angle anomaly level. The compensation coefficient is negatively correlated with the pitch angle anomaly level; that is, the higher the pitch angle anomaly level, the smaller the compensation coefficient. For example, if the pitch angle anomaly level is normal, the compensation coefficient can be 1; if it is slightly abnormal, the compensation coefficient can be 0.3; if it is moderately abnormal, the compensation coefficient can be 0.05; and if it is severely abnormal, the compensation coefficient can be 0, and so on. Then, pitch angle compensation is performed on the target vehicle based on the compensation coefficient. While this method can quickly compensate the pitch angle of the target vehicle, considering the fluctuations in the pitch angle anomaly level at different times, the pitch angle compensation of the target vehicle will fluctuate significantly. For example, if the pitch angle anomaly level is distributed as slightly abnormal, severely abnormal, and moderately abnormal over three consecutive times, pitch angle compensation of the target vehicle needs to be performed with different degrees, resulting in significant fluctuations in the target vehicle's pitch angle compensation. This increases the difficulty of control and affects vehicle stability.

[0076] To avoid compensation fluctuations caused by directly determining the compensation coefficient based on the pitch angle anomaly level, during the pitch angle compensation process for the target vehicle according to the pitch angle anomaly level, the recorded anomaly count value corresponding to each anomaly level can be obtained. This anomaly count value refers to the latest anomaly count value for each anomaly level before longitudinal control is performed according to the vehicle's pitch angle. For example, the anomaly count value for a minor anomaly is 3, the anomaly count value for a moderate anomaly is 0, and the anomaly count value for a severe anomaly is 2, etc. The anomaly count value corresponding to the pitch angle anomaly level is increased, and the anomaly count values ​​corresponding to the remaining anomaly levels are decreased. For example, assuming the pitch angle anomaly level is minor, the anomaly count value corresponding to minor anomalies is increased, and the anomaly count values ​​corresponding to moderate and severe anomalies are decreased. As the abnormal count values ​​decrease, the minimum value of the abnormal count value can be set to 0 to avoid the generation of abnormal count values ​​less than 0. The maximum value of the abnormal count value can also be set to a certain value to prevent the abnormal count value from continuously increasing and becoming stuck in a certain abnormal level that is difficult to change. Based on the abnormal count values, the pitch angle abnormal state is determined. For example, if all abnormal count values ​​are 0, the pitch angle can be determined to be normal. If a certain abnormal count value is the largest, the abnormal level corresponding to this abnormal count value is taken as the pitch angle abnormal state. Similarly, if a certain abnormal count value exceeds a count value threshold, the abnormal level corresponding to this abnormal count value is taken as the pitch angle abnormal state. Pitch angle compensation is then performed on the target vehicle according to the pitch angle abnormal state. In this way, even if the pitch angle anomaly level is a certain level, it still needs to accumulate anomaly counts before it can be changed to a pitch angle anomaly state. Since the accumulation of anomaly counts takes time, the update of the pitch angle anomaly state is carried out over time rather than at any given moment. The stability of the pitch angle anomaly state is due to the pitch angle anomaly level, so the pitch angle compensation of the target vehicle can be performed more stably based on the pitch angle anomaly state. This can prevent the longitudinal control amount of the compensation from being unsmooth due to frequent changes in the monitored pitch angle state, thereby ensuring the driving experience.

[0077] In specific application scenarios, when increasing the anomaly count value corresponding to the pitch angle anomaly level and decreasing the anomaly count values ​​corresponding to other anomaly levels, one can increase the anomaly count value corresponding to the pitch angle anomaly level by 1 and clear the anomaly count values ​​corresponding to other anomaly levels to 0. Although this method can quickly filter anomaly count values, it still has the potential to quickly clear anomaly count values ​​from a large value to 0, such as clearing the anomaly count values ​​corresponding to other anomaly levels from 3 to 0. This can cause fluctuations in the anomaly count values, which is not conducive to maintaining the stability of the pitch angle anomaly state. To avoid this situation, one can increase the anomaly count value corresponding to the pitch angle anomaly level by 1 and decrease the anomaly count values ​​corresponding to other anomaly levels by 1. In this way, after each round of longitudinal control, the change in the anomaly count value is only 1, without any sudden changes, thus ensuring the stability of the pitch angle anomaly state.

[0078] It should be noted that the anomaly count changes with the number of longitudinal control cycles. For ease of understanding, it is assumed that the anomaly level is divided into minor anomaly and severe anomaly. If the target vehicle's pitch angle is normal at the beginning, the recorded anomaly count for minor anomaly is 0, and the anomaly count for severe anomaly is also 0. If the scheme of this application is run once and the pitch angle anomaly state is minor, the recorded anomaly count increases to 1, and the anomaly count for severe anomaly remains 0. If the scheme of this application is run again and the pitch angle anomaly state is still minor, the recorded anomaly count increases to 2, and the anomaly count for severe anomaly remains 0. If the scheme of this application is run again and the pitch angle anomaly state changes to severe anomaly, the recorded anomaly count for minor anomaly decreases to 1, and the anomaly count for severe anomaly increases to 1.

[0079] In specific application scenarios, pitch angle anomalies can be filtered based on a count threshold. During this process, considering that if the anomaly count hasn't accumulated to the threshold, the pitch angle anomaly will remain at a certain anomaly level, the anomaly can be determined by recording the pitch angle anomaly and then comparing the anomaly count with this anomaly. That is, in determining the pitch angle anomaly based on the anomaly count, the recorded pitch angle anomaly can be obtained. This pitch angle anomaly refers to the pitch angle anomaly at the previous moment before longitudinal control was performed according to the vehicle's pitch angle; the first anomaly level corresponding to the pitch angle anomaly is determined; and the response is that there is a count greater than or equal to the threshold. If the abnormal count value exceeds the threshold, the abnormal level corresponding to the abnormal count value is taken as the second abnormal level, and the pitch angle abnormal state is updated to the second abnormal level. During this process, if the second abnormal level is lower than the first abnormal level, it is equivalent to reducing the pitch angle abnormal state; if the second abnormal level is higher than the first abnormal level, it is equivalent to upgrading the pitch angle abnormal state. If there is no abnormal count value greater than or equal to the count value threshold, and the abnormal count value of the first abnormal level is zero, the pitch angle abnormal state is updated to the normal state. If there is no abnormal count value greater than or equal to the count value threshold, and the abnormal count value of the first abnormal level is not zero, the pitch angle abnormal state remains unchanged.

[0080] It should be noted that since the anomaly count changes with the number of longitudinal control cycles, the pitch angle anomaly state also changes with the number of longitudinal control cycles. For ease of understanding, let's assume the anomaly levels are divided into minor and severe anomalies, with a count threshold of 3. If the target vehicle's initial pitch angle is normal, then the recorded anomaly count for minor anomalies is 0, and the anomaly count for severe anomalies is also 0, resulting in a normal pitch angle anomaly state. If this application's scheme runs once, and the pitch angle anomaly state is a minor anomaly, then the recorded count for minor anomalies increases to 1, and the count for severe anomalies increases to 1. The count value remains 0. Since no abnormal count value is greater than 3, the pitch angle abnormality state is still considered normal. Assuming this application's scheme is run again, and the pitch angle abnormality state is still slightly abnormal, the recorded count value for slightly abnormalities increases to 2, while the count value for severely abnormalities remains 0. Since no abnormal count value is greater than 3, the pitch angle abnormality state is still considered normal. Assuming this application's scheme is run again, and the pitch angle abnormality state is still slightly abnormal, the recorded count value for slightly abnormalities increases to 3, while the count value for severely abnormalities remains 0. At this point, since the count value for slightly abnormalities is equal to... Since the pitch angle anomaly is 3, the pitch angle anomaly status is updated to minor anomaly. If the scheme is run again and the pitch angle anomaly status remains minor, the recorded anomaly count for minor anomalies will remain at 3, and the anomaly count for severe anomalies will remain at 0. Since the anomaly count for minor anomalies is equal to 3, the pitch angle anomaly status is updated to minor anomaly. If the scheme is run again and the pitch angle anomaly status changes to severe anomaly, the recorded anomaly count for minor anomalies will decrease to 2, and the anomaly count for severe anomalies will increase to 1. Since both anomaly counts are less than 3, the pitch angle anomaly status is updated to minor anomaly. The state remains slightly abnormal. If the scheme is run again and the pitch angle anomaly state is still severely abnormal, the recorded anomaly count for slightly abnormalities decreases to 1, and the anomaly count for severely abnormalities increases to 2. Since both anomaly counts are less than 3, the pitch angle anomaly state remains slightly abnormal. If the scheme is run again and the pitch angle anomaly state is still severely abnormal, the recorded anomaly count for slightly abnormalities decreases to 0, and the anomaly count for severely abnormalities increases to 3. Since the anomaly count for severely abnormalities is equal to 3, the pitch angle anomaly state is updated to severely abnormal. This process shows that the pitch angle anomaly state only changes once when the anomaly count increases from 0 to the count threshold. Furthermore, while the anomaly count decreases from the count threshold to 0, the pitch angle anomaly state remains in a certain state. Therefore, the pitch angle anomaly state changes periodically at multiples of the count threshold, without abrupt changes, demonstrating good stability.

[0081] In specific application scenarios, during pitch angle compensation for a target vehicle based on an abnormal pitch angle state, a compensation coefficient can be determined according to the abnormal pitch angle state. The compensation coefficient is negatively correlated with the anomaly level of the abnormal pitch angle state; that is, the higher the anomaly level, the smaller the compensation coefficient. The value of the compensation coefficient can be flexibly determined according to the application scenario. For example, when the pitch angle abnormality state is normal, the compensation coefficient value can be 0.9 or 1; when the pitch angle abnormality state is slightly abnormal, the compensation coefficient value can be 0.3 or 0.4; and when the pitch angle abnormality state is severely abnormal, the compensation coefficient value can be 0 or 0.1. Pitch angle compensation for the target vehicle based on the compensation coefficient can be performed, for example, according to the formula... Generate vehicle pitch angle compensation acceleration control values. For vehicle pitch angle compensation acceleration control, It is the acceleration due to gravity. The pitch angle is expressed in radians. To compensate for the angle, longitudinal control is then applied to the target vehicle based on the vehicle pitch angle compensation acceleration control. It should be noted that in cases of severe pitch angle abnormalities, the driver assistance functions can be suppressed, and the driver can be prompted to inspect the target vehicle via text or voice to correct the pitch angle problem.

[0082] This application provides a longitudinal control method for assisted driving, which involves: acquiring the vehicle pitch angle of a target vehicle; acquiring the target vehicle speed and actual vehicle speed, and generating a speed error between the target speed and the actual vehicle speed; classifying the vehicle pitch angle anomaly based on a set pitch angle anomaly threshold to obtain a pitch angle anomaly level; classifying the speed error anomaly based on a set speed error anomaly threshold to obtain a speed error anomaly level; responding to a situation where the vehicle pitch angle and speed error have opposite signs, and the speed error anomaly level is higher than or equal to the pitch angle anomaly level, then performing pitch angle compensation on the target vehicle according to the pitch angle anomaly level, and performing longitudinal control based on the compensated pitch angle; wherein, the target vehicle speed includes the planned speed for the target vehicle; and the actual vehicle speed includes the current speed reached by the target vehicle after performing longitudinal control based on the vehicle pitch angle and the target vehicle speed. In this application, since the actual vehicle speed is the target vehicle speed, and the current speed reached by the target vehicle after longitudinal control based on the vehicle pitch angle, if there is a deviation between the vehicle pitch angle and the true pitch angle, a deviation will form between the actual vehicle speed and the target vehicle speed. Therefore, the vehicle pitch angle can be detected as abnormal based on the speed error. Furthermore, considering that the pitch angle error will cause the sign of the speed error to be opposite to that of the vehicle pitch angle, and that the abnormality level of the speed error will exceed the abnormality level of the pitch angle, the pitch angle can be checked for abnormality based on the sign and the abnormality level. Only when the check passes will the pitch angle be compensated according to the abnormality level, which improves the accuracy of pitch angle abnormality compensation, avoids the situation where the vehicle speed exceeds the expected speed under longitudinal control, and improves vehicle driving safety.

[0083] To facilitate understanding of the longitudinal control scheme for assisted driving provided in this application, it is assumed that the anomaly levels are divided into minor anomalies and severe anomalies. The longitudinal control process for the target vehicle can then be described as follows:

[0084] Obtain the recorded counts of minor anomalies, counts of severe anomalies, and pitch angle anomalies;

[0085] Obtain the vehicle pitch angle of the target vehicle;

[0086] Obtain the target speed and actual speed of the target vehicle, and generate the speed error between the target speed and the actual speed;

[0087] If the signs of the vehicle pitch angle and speed error are opposite, and the absolute value of the vehicle pitch angle is greater than the pitch angle minor anomaly threshold but less than or equal to the pitch angle severe anomaly threshold, and the absolute value of the speed error is greater than the speed error minor anomaly threshold, that is, the pitch angle anomaly level is minor and the speed error anomaly level is either minor or severe, then the minor anomaly count is increased by 1; if the absolute value of the vehicle pitch angle is less than or equal to the pitch angle minor anomaly threshold, and the absolute value of the speed error is less than or equal to the speed error minor anomaly threshold, then the minor anomaly count is decreased by 1; during this process, the minor anomaly counter is limited to being less than or equal to the minor anomaly count threshold and greater than or equal to 0;

[0088] If the signs of the vehicle pitch angle and speed error are opposite, and the absolute value of the vehicle pitch angle is greater than the pitch angle severe anomaly threshold, and the absolute value of the speed error is greater than the speed error severe anomaly threshold, that is, the pitch angle anomaly level and the speed error anomaly level are both severe anomalies, then the severe anomaly count value is increased by 1; if the absolute value of the vehicle pitch angle is less than or equal to the pitch angle severe anomaly threshold, and the absolute value of the speed error is less than or equal to the speed error severe anomaly threshold, then the severe anomaly count value is decreased by 1; during this process, the severe anomaly counter is limited to being less than or equal to the severe anomaly count threshold and greater than or equal to 0;

[0089] If the pitch angle abnormality status is normal, and if the minor abnormality count value is equal to the minor abnormality count value threshold and the severe abnormality count value is less than the severe abnormality count value threshold, then the pitch angle abnormality status is updated from normal to minor abnormality status; if the severe abnormality count value is equal to the severe abnormality count value threshold, then the pitch angle abnormality status is updated from normal to severe abnormality status; otherwise, the pitch angle abnormality status remains normal.

[0090] If the pitch angle anomaly is classified as a minor anomaly, and if the minor anomaly count is 0 and the severe anomaly count is less than the severe anomaly count threshold, then the pitch angle anomaly is updated from a minor anomaly to a normal state; if the severe anomaly count is equal to the severe anomaly count threshold, then the pitch angle anomaly is updated from a normal state to a severe anomaly; otherwise, the pitch angle anomaly remains classified as a minor anomaly.

[0091] If the pitch angle anomaly is classified as a severe anomaly, and if the severe anomaly count is 0 and the minor anomaly count is less than the minor anomaly count threshold, then the pitch angle anomaly status is updated from severe to normal. If the severe anomaly count is 0 and the minor anomaly count is equal to the minor anomaly count threshold, then the pitch angle anomaly status is updated from severe to minor. Otherwise, the pitch angle anomaly status remains severe. Figure 2 As shown;

[0092] The compensation coefficient is determined according to the pitch angle anomaly state, and the compensation coefficient is negatively correlated with the anomaly level in the pitch angle anomaly state;

[0093] Pitch angle compensation for the target vehicle is performed based on the compensation coefficient.

[0094] Please see Figure 3 , Figure 3 This is a schematic diagram of a longitudinal control system for assisted driving provided in an embodiment of this application.

[0095] This application provides an assisted driving longitudinal control system, which may include:

[0096] Pitch angle acquisition module 101 is used to acquire the vehicle pitch angle of the target vehicle;

[0097] The speed error generation module 102 is used to obtain the target speed and actual speed of the target vehicle, and generate the speed error between the target speed and the actual speed.

[0098] The pitch angle analysis module 103 is used to classify the vehicle pitch angle anomaly based on a set pitch angle anomaly threshold to obtain the pitch angle anomaly level.

[0099] Speed ​​error analysis module 104 is used to classify speed errors based on a set speed error anomaly threshold to obtain the speed error anomaly level;

[0100] The pitch angle compensation module 105 is used to respond to the opposite sign of the vehicle pitch angle and speed error, and the speed error abnormality level is higher than or equal to the pitch angle abnormality level, and then to perform pitch angle compensation on the target vehicle according to the pitch angle abnormality level, so as to perform longitudinal control based on the compensated pitch angle.

[0101] The target speed includes the planned speed for the target vehicle; the actual speed includes the current speed reached by the target vehicle after longitudinal control based on the vehicle pitch angle and the target speed.

[0102] This application provides an assisted driving longitudinal control system, in which the pitch angle compensation module may include:

[0103] An anomaly count value acquisition unit is used to acquire the anomaly count value corresponding to each anomaly level in the records;

[0104] An anomaly count adjustment unit is used to increase the anomaly count value corresponding to the pitch angle anomaly level and decrease the anomaly count value corresponding to the other anomaly levels.

[0105] The pitch angle anomaly determination unit is used to determine the pitch angle anomaly state based on the anomaly count value.

[0106] The pitch angle compensation unit is used to compensate the target vehicle for pitch angle abnormalities.

[0107] This application provides an assisted driving longitudinal control system, an abnormal count value adjustment unit, used to: increase the abnormal count value corresponding to the pitch angle abnormality level by 1; and decrease the abnormal count value corresponding to the other abnormality levels by 1.

[0108] This application provides an assisted driving longitudinal control system, including a pitch angle abnormality determination unit, for acquiring recorded pitch angle abnormalities; determining a first abnormality level corresponding to the pitch angle abnormality; in response to the existence of an abnormal count value greater than or equal to a count value threshold, setting the abnormality level corresponding to the abnormal count value as a second abnormality level, and updating the pitch angle abnormality to the second abnormality level; in response to the absence of an abnormal count value greater than or equal to the count value threshold, and the abnormal count value of the first abnormality level being zero, updating the pitch angle abnormality to a normal state; and in response to the absence of an abnormal count value greater than or equal to the count value threshold, and the abnormal count value of the first abnormality level being non-zero, maintaining the pitch angle abnormality unchanged.

[0109] This application provides an assisted driving longitudinal control system, a pitch angle compensation unit, which is used to determine a compensation coefficient according to an abnormal pitch angle state, and the compensation coefficient is negatively correlated with the abnormality level in the abnormal pitch angle state; and to perform pitch angle compensation on the target vehicle based on the compensation coefficient.

[0110] This application provides an assisted driving longitudinal control system, in which a pitch angle analysis module is used to: determine the pitch angle abnormality level as slightly abnormal when the absolute value of the vehicle pitch angle is greater than the pitch angle slight abnormality threshold and the absolute value of the vehicle pitch angle is less than or equal to the pitch angle severe abnormality threshold; and determine the pitch angle abnormality level as severely abnormal when the absolute value of the vehicle pitch angle is greater than the pitch angle severe abnormality threshold.

[0111] This application provides an assisted driving longitudinal control system, in which a speed error analysis module is used to: determine the speed error abnormality level as slight abnormality when the absolute value of the speed error is greater than the speed error slight abnormality threshold and the absolute value of the speed error is less than or equal to the speed error severe abnormality threshold; and determine the speed error abnormality level as severe abnormality when the absolute value of the speed error is greater than the speed error severe abnormality threshold.

[0112] This application also provides an electronic device and a computer-readable storage medium, both of which have the corresponding effects of the assisted driving longitudinal control method provided in the embodiments of this application. Please refer to... Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0113] An electronic device provided in this application includes a memory 201 and a processor 202. The memory 201 stores a computer program, and the processor 202 executes the computer program to implement the steps of the assisted driving longitudinal control method described in any of the above embodiments.

[0114] Please see Figure 5 Another electronic device provided in this application embodiment may further include: an input port 203 connected to the processor 202 for transmitting commands input from the outside to the processor 202; a display unit 204 connected to the processor 202 for displaying the processing results of the processor 202 to the outside; and a communication module 205 connected to the processor 202 for enabling communication between the electronic device and the outside. The display unit 204 may be a display panel, a laser scanner, or the like; the communication method used by the communication module 205 includes, but is not limited to, Mobile High-Definition Link (MHL), Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI), wireless connectivity: Wireless Fidelity (WiFi), Bluetooth communication technology, Bluetooth Low Energy communication technology, and communication technology based on IEEE 802.11s.

[0115] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of the assisted driving longitudinal control method described in any of the above embodiments.

[0116] The computer-readable storage media involved in this application include random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs (compact disc read-only memory), or any other form of storage media known in the art.

[0117] This application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the assisted driving longitudinal control method described in any of the above embodiments.

[0118] For descriptions of relevant parts in the assisted driving longitudinal control system, electronic device, and computer-readable storage medium provided in this application's embodiments, please refer to the detailed description of the corresponding parts in the assisted driving longitudinal control method provided in this application's embodiments; they will not be repeated here. Furthermore, parts of the technical solutions provided in this application that are consistent with the implementation principles of corresponding technical solutions in the prior art have not been described in detail to avoid excessive elaboration.

[0119] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0120] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A longitudinal control method for assisted driving, characterized in that, include: Obtain the vehicle pitch angle of the target vehicle; Obtain the target speed and actual speed of the target vehicle, and generate the speed error between the target speed and the actual speed; The pitch angle of the vehicle is classified into anomalies based on a set pitch angle anomaly threshold to obtain the pitch angle anomaly level; Based on a set speed error anomaly threshold, the speed error is classified into anomalies to obtain the speed error anomaly level; In response to the opposite sign of the vehicle pitch angle and the speed error, and the speed error anomaly level being higher than or equal to the pitch angle anomaly level, pitch angle compensation is performed on the target vehicle according to the pitch angle anomaly level, so as to perform longitudinal control based on the compensated pitch angle. Wherein, the target vehicle speed includes the planned vehicle speed for the target vehicle; the actual vehicle speed includes the current vehicle speed reached by the target vehicle after longitudinal control based on the vehicle pitch angle and the target vehicle speed; The step of performing pitch angle compensation on the target vehicle according to the pitch angle anomaly level includes: Retrieve the exception count value corresponding to each exception level in the records; Increase the anomaly count value corresponding to the pitch angle anomaly level, and decrease the anomaly count value corresponding to the other anomaly levels; Based on the abnormal count value, determine the abnormal state of the pitch angle; Pitch angle compensation is performed on the target vehicle according to the abnormal pitch angle state.

2. The assisted driving longitudinal control method according to claim 1, characterized in that, The step of increasing the anomaly count value corresponding to the pitch angle anomaly level and decreasing the anomaly count values ​​corresponding to the other anomaly levels includes: Increase the anomaly count value corresponding to the pitch angle anomaly level by 1; Decrease the exception count value corresponding to the remaining exception levels by 1.

3. The assisted driving longitudinal control method according to claim 1, characterized in that, The determination of pitch angle anomaly status based on anomaly count values ​​includes: Retrieve recorded pitch angle anomalies; Determine the first level of anomaly corresponding to the pitch angle anomaly; In response to the existence of an abnormal count value that is greater than or equal to the count value threshold, the abnormal level corresponding to the abnormal count value is taken as the second abnormal level, and the pitch angle abnormal state is updated to the second abnormal level. In response to the absence of an abnormal count value greater than or equal to the count value threshold, and the abnormal count value of the first abnormal level is zero, the pitch angle abnormal state is updated to the normal state. If there is no abnormal count value greater than or equal to the count value threshold, and the abnormal count value of the first abnormal level is not zero, then the pitch angle abnormal state remains unchanged.

4. The assisted driving longitudinal control method according to claim 3, characterized in that, The pitch angle compensation for the target vehicle according to the abnormal pitch angle state includes: Based on the pitch angle anomaly state, a compensation coefficient is determined, and the compensation coefficient is negatively correlated with the anomaly level in the pitch angle anomaly state; The target vehicle is subjected to pitch angle compensation based on the compensation coefficient.

5. The assisted driving longitudinal control method according to any one of claims 1 to 4, characterized in that, The pitch angle of the vehicle is classified into anomalies based on a set pitch angle anomaly threshold to obtain the pitch angle anomaly level, including: If the absolute value of the vehicle pitch angle is greater than the pitch angle minor abnormality threshold and the absolute value of the vehicle pitch angle is less than or equal to the pitch angle severe abnormality threshold, then the pitch angle abnormality level is determined to be minor abnormality. If the absolute value of the vehicle pitch angle is greater than the pitch angle severe anomaly threshold, then the pitch angle anomaly level is determined to be severe anomaly.

6. The assisted driving longitudinal control method according to claim 5, characterized in that, The speed error is classified into anomaly levels based on a set speed error anomaly threshold to obtain speed error anomaly levels, including: If the absolute value of the speed error is greater than the speed error slight anomaly threshold and the absolute value of the speed error is less than or equal to the speed error severe anomaly threshold, then the speed error anomaly level is determined to be slight anomaly. If the absolute value of the speed error is greater than the speed error severe anomaly threshold, then the speed error anomaly level is determined to be severe anomaly.

7. A longitudinal control system for assisted driving, characterized in that, include: The pitch angle acquisition module is used to acquire the vehicle pitch angle of the target vehicle. The speed error generation module is used to obtain the target speed and actual speed of the target vehicle, and generate the speed error between the target speed and the actual speed. The pitch angle analysis module is used to classify the pitch angle of the vehicle based on a set pitch angle anomaly threshold, and obtain the pitch angle anomaly level. The speed error analysis module is used to classify the speed error based on a set speed error anomaly threshold to obtain the speed error anomaly level; The pitch angle compensation module is used to respond to the vehicle pitch angle and the speed error having opposite signs, and the speed error anomaly level being higher than or equal to the pitch angle anomaly level, by performing pitch angle compensation on the target vehicle according to the pitch angle anomaly level, so as to perform longitudinal control based on the compensated pitch angle. Wherein, the target vehicle speed includes the planned vehicle speed for the target vehicle; the actual vehicle speed includes the current vehicle speed reached by the target vehicle after longitudinal control based on the vehicle pitch angle and the target vehicle speed; The pitch angle compensation module includes: An anomaly count value acquisition unit is used to acquire the anomaly count value corresponding to each anomaly level in the records; An abnormal count adjustment unit is used to increase the abnormal count value corresponding to the pitch angle abnormality level and decrease the abnormal count value corresponding to the other abnormality levels. The pitch angle anomaly determination unit is used to determine the pitch angle anomaly state based on the anomaly count value. The pitch angle compensation unit is used to compensate the target vehicle for pitch angle abnormalities.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the assisted driving longitudinal control method as described in any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the assisted driving longitudinal control method as described in any one of claims 1 to 6.

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