An adaptive cruise control method and system considering vehicle merging

Abstract

This invention relates to the field of driver assistance technology and discloses an adaptive cruise control method and system that considers vehicle merging. By collecting real-time perception data, the system identifies whether a vehicle in the adjacent lane intends to merge, and whether the impending merging of the vehicle in the adjacent lane with merging intention is an emergency merging. Different control commands are generated for emergency and non-emergency merging, especially for non-emergency merging. This allows the target vehicle to switch its following object to the vehicle in the adjacent lane in advance and cooperate with it in merging. This enables the target vehicle to quickly and accurately determine the new following object in advance when a vehicle is about to merge, and to calculate a new safe distance and adjust the vehicle speed by planning the cooperative merging in advance. This makes the vehicle's acceleration or deceleration smoother, improving driving comfort and avoiding interference with the normal driving rhythm of surrounding vehicles.

Description

Technical Field

[0001] This invention relates to the field of driver assistance technology, and more specifically, to an adaptive cruise control method and system that takes into account vehicle merging. Background Technology

[0002] With the rapid development of intelligent driving technology, Adaptive Cruise Control (ACC) systems are also constantly evolving, from their initial simple speed-maintaining function to advanced assistance systems capable of handling various complex road conditions. Nevertheless, existing ACC systems still exhibit significant shortcomings when dealing with the common and critical scenario of vehicles merging from adjacent lanes. At the moment of a merging vehicle, the system experiences a delay in re-identifying the target vehicle, making it difficult to quickly and accurately determine the new following object, leading to misalignment of distance control and increasing the risk of rear-end collisions. Simultaneously, the limitations of the control algorithm in calculating the new safe following distance and adjusting speed result in less smooth acceleration or deceleration, not only reducing driving comfort but also potentially interfering with the normal driving rhythm of surrounding vehicles, affecting traffic flow stability. These issues urgently need to be addressed to further improve the reliability and practicality of adaptive cruise control systems. Summary of the Invention

[0003] The purpose of this invention is to provide an adaptive cruise control method and system that takes into account vehicle merging. By collecting real-time perception data, the system identifies whether a vehicle in the adjacent lane intends to merge, and whether the impending merging of the vehicle in the adjacent lane with merging intention is an emergency merging. Different control commands are generated for emergency and non-emergency merging, especially for non-emergency merging. This allows the target vehicle to switch its following object to the vehicle in the adjacent lane in advance and cooperate with it in merging. This enables the target vehicle to quickly and accurately determine the new following object in advance when a vehicle is about to merge, and to calculate a new safe distance and adjust the vehicle speed by planning the cooperative merging in advance. This makes the vehicle's acceleration or deceleration smoother, improving driving comfort and avoiding interference with the normal driving rhythm of surrounding vehicles.

[0004] This invention is achieved through the following technical solution: In a first aspect, the present invention discloses an adaptive cruise control method that takes into account vehicle merging, comprising the following steps: Collect real-time perception data from the target vehicle, the vehicle in front in this lane, the vehicle in front in the adjacent lane, and the surrounding environment of the target vehicle; After the target vehicle activates adaptive cruise control, the current traffic scenario of the target vehicle is identified based on the real-time perception data. When the current traffic scenario is identified as a situation where the vehicle in the adjacent lane does not intend to merge, a speed control command is generated. When the current traffic scenario is identified as a vehicle in the adjacent lane having the intention to merge, it is determined whether the vehicle merging corresponding to the merging intention is an emergency merging. If it is an emergency merge, an emergency merge control command is generated to prevent the target vehicle from causing an accident. If it is a non-emergency merge, a cooperative merge control command is generated to cause the target vehicle to switch its following object to the vehicle in the adjacent lane in advance and to adaptively adjust its driving status to cooperate with the vehicle in the adjacent lane to merge. Execute the adaptive cruise control operation corresponding to the speed maintenance control command, the emergency merge control command, or the cooperative merge control command.

[0005] To better implement the present invention, the method for identifying the current traffic scene of the target vehicle based on the real-time sensing data further includes: Based on the real-time sensing data, calculate the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane; The system monitors the yaw angle, lateral speed, and first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane. If the yaw angle of the vehicle in the adjacent lane is greater than the yaw angle threshold, the lateral speed is greater than the speed threshold, and the first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane is greater than zero, then the current traffic scenario is determined to be that the vehicle in the adjacent lane has the intention to merge.

[0006] To better implement the present invention, further, a method for calculating the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane based on the real-time sensing data includes: Acquire the following from real-time perception data: the first lateral distance d between the front of the target vehicle and the front of the vehicle in the adjacent lane; the length L of the vehicle in the adjacent lane; the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in the adjacent lane; the real-time speed V of the target vehicle; and the real-time speed v of the vehicle in the adjacent lane. f ; The safe time T is obtained based on the length L of the vehicle in front in the adjacent lane, the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in front in the adjacent lane, and the real-time speed V of the target vehicle, where T = (L + D) / V. Based on the safe time T and the first lateral distance d between the front of the target vehicle and the front of the vehicle in the adjacent lane, the lateral speed threshold v is obtained, where v = d / T; Based on the lateral vehicle speed threshold v and the real-time speed v of the vehicle in front in the adjacent lane f Obtain the yaw angle threshold α, where α = arcsin(v / v) f ).

[0007] To better implement the present invention, the method for determining whether the vehicle merging corresponding to the merging intention is an emergency merging further includes: When it is detected that the current traffic scenario is that the vehicle in front of the adjacent lane has the intention to merge, if the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in front of the adjacent lane is less than zero, then the vehicle merging corresponding to the merging intention is an emergency merging; otherwise, the vehicle merging corresponding to the merging intention is a non-emergency merging.

[0008] To better implement this invention, further, if the merging is not an emergency, a method for generating a coordinated merging control command that causes the target vehicle to switch its following object to the vehicle in the adjacent lane in advance and adaptively adjust its driving state to cooperate with the merging of the vehicle in the adjacent lane includes: Based on the vehicle length L of the vehicle in front in the adjacent lane, the real-time merging interval is obtained, wherein the real-time merging interval includes increasing the current longitudinal distance interval, maintaining the current longitudinal distance interval, and decreasing the current longitudinal distance interval; The target adjustment amount of the target vehicle is determined based on the position of the longitudinal distance D in the real-time merging interval. Based on the target adjustment amount, a coordinated merging control command is generated to cause the target vehicle to switch its following object to the vehicle in the adjacent lane and adjust its longitudinal distance D to the target adjustment amount when the first lateral distance d is 0, so as to cooperate with the vehicle in the adjacent lane to merge.

[0009] To better implement the present invention, a method for determining the target adjustment amount of the target vehicle based on the position of the longitudinal distance D in the real-time merging interval further includes: Based on the position of the longitudinal distance D in the real-time merging interval, the adjustment type of the target vehicle is determined, wherein the adjustment type includes increasing the current longitudinal distance, maintaining the current longitudinal distance, and decreasing the current longitudinal distance; Based on the real-time sensing data, the real-time vehicle status of the target vehicle is obtained; Based on the real-time vehicle status, the target vehicle status is obtained by using the Model Predictive Control (MPC) method. Based on the target vehicle state, a control quantity is obtained to make the target vehicle actuator respond directly as the target adjustment quantity.

[0010] To better realize the present invention, it further includes: The system monitors the presence of lane lines in the environment surrounding the target vehicle. If lane lines are present, the first lateral distance is replaced by the second lateral distance between the vehicle in front in the adjacent lane and the lane line. This is used to identify the current traffic scene, calculate the yaw angle threshold of the vehicle in front in the adjacent lane, calculate the lateral speed threshold, and generate a cooperative merging control command.

[0011] To better realize the present invention, the method for identifying the current traffic scene of the target vehicle based on the real-time sensing data further includes: Based on the real-time perception data, the flashing of the turn signal of the vehicle in front in the adjacent lane is identified. If the turn signal of the vehicle in front in the adjacent lane is flashing, it is determined that the current traffic scenario indicates that the vehicle in front in the adjacent lane intends to merge.

[0012] To better implement the present invention, further, before executing the adaptive cruise control operation corresponding to the speed maintenance control command, the emergency merge control command, or the cooperative merge control command, the following is also included: According to the preset verification rules, the emergency import control command or the collaborative import control command is subjected to security verification. Based on the security verification results, unreasonable control commands or control commands that exceed physical constraints in the emergency import control command or the collaborative import control command are removed.

[0013] Secondly, the present invention discloses an adaptive cruise control system that takes into account vehicle merging, comprising: The perception module is used to collect real-time perception data from the target vehicle, the vehicle in front in the same lane, the vehicle in front in the adjacent lane, and the surrounding environment of the target vehicle. The decision module is used to identify the current traffic scenario of the target vehicle based on the real-time perception data after the target vehicle activates adaptive cruise control. When the identified current traffic scenario is that the vehicle in front of the adjacent lane has the intention to merge, the decision module determines whether the vehicle merging corresponding to the merging intention is an emergency merging. If it is an emergency merging, an emergency merging control command is generated to prevent the target vehicle from causing an accident. If it is a non-emergency merging, a cooperative merging control command is generated to enable the target vehicle to switch its following object to the vehicle in front of the adjacent lane in advance and adaptively adjust its driving state to cooperate with the vehicle in front of the adjacent lane merging. The control module is used to execute the adaptive cruise control operation corresponding to the speed maintenance control command, the emergency merge control command, or the cooperative merge control command.

[0014] Compared with the prior art, the present invention has the following advantages and beneficial effects: By identifying the merging intention of the vehicle in the adjacent lane in advance, and by identifying whether the merging intention is an emergency merging, the target vehicle can switch to a different vehicle in advance to coordinate with the upcoming non-emergency merging when a vehicle is about to merge. This allows the target vehicle to quickly and accurately determine the new vehicle to follow in advance when a vehicle is about to merge. Furthermore, by planning and coordinating the merging in advance, the target vehicle can calculate a new safe following distance and adjust its speed, making the acceleration or deceleration of the vehicle smoother. This not only improves driving comfort but also avoids interfering with the normal driving rhythm of surrounding vehicles. Attached Figure Description

[0015] The present invention will be further described in conjunction with the following drawings and embodiments. All inventive concepts of the present invention should be considered as disclosed content and within the scope of protection of the present invention.

[0016] Figure 1 This is a flowchart illustrating an embodiment of an adaptive cruise control method that takes into account vehicle merging in this application.

[0017] Figure 2 This is a schematic diagram illustrating an application scenario of an embodiment of the adaptive cruise control method considering vehicle merging in this application.

[0018] Figure 3 This is a structural block diagram of an embodiment of an adaptive cruise control system that takes into account vehicle merging, as described in this application.

[0019] Figure 4 This is a first logic flow diagram of an embodiment of an adaptive cruise control system that takes into account vehicle merging in this application.

[0020] Figure 5 This is a second logic flow diagram of an embodiment of an adaptive cruise control system that takes into account vehicle merging in this application.

[0021] Figure 6 This is a structural block diagram of the control module of an embodiment of an adaptive cruise control system that takes into account vehicle merging in this application. Detailed Implementation

[0022] Example 1

[0023] like Figure 1 As shown, an embodiment of an adaptive cruise control method considering vehicle merging includes the following steps: Collect real-time perception data from the target vehicle, the vehicle in front in this lane, the vehicle in front in the adjacent lane, and the surrounding environment of the target vehicle; After the target vehicle activates adaptive cruise control, the current traffic scenario of the target vehicle is identified based on the real-time perception data. When the current traffic scenario is identified as a situation where the vehicle in the adjacent lane does not intend to merge, a speed control command is generated. When the current traffic scenario is identified as a vehicle in the adjacent lane having the intention to merge, it is determined whether the vehicle merging corresponding to the merging intention is an emergency merging. If it is an emergency merge, an emergency merge control command is generated to prevent the target vehicle from causing an accident. If it is a non-emergency merge, a cooperative merge control command is generated to cause the target vehicle to switch its following object to the vehicle in the adjacent lane in advance and to adaptively adjust its driving status to cooperate with the vehicle in the adjacent lane to merge. Execute the adaptive cruise control operation corresponding to the speed maintenance control command, the emergency merge control command, or the cooperative merge control command.

[0024] Optionally, real-time perception data can be collected by the data collection units carried by the target vehicle itself, such as cameras, lidar, and ultrasonic radar, combined with high-precision maps. This includes real-time perception data related to the vehicle in front in the same lane, such as its position and speed; real-time perception data related to the vehicle in front in the adjacent lane, such as its lateral speed, longitudinal speed, position, yaw angle, vehicle length, and turn signal flashing; real-time perception data related to the target vehicle, such as its position, speed, longitudinal distance from the vehicle in front in the same lane, lateral distance from the vehicle in front in the adjacent lane, and longitudinal distance from the vehicle in front in the adjacent lane; and real-time perception data related to the surrounding environment of the target vehicle, such as road width, lane markings, obstacle conditions, and weather conditions. Optionally, the intention of merging can be determined by the flashing of the turn signal of the vehicle in front in the adjacent lane and / or the yaw angle and lateral speed of the vehicle in front in the adjacent lane. When the turn signal of the vehicle in front in the adjacent lane is flashing, there is an intention to merge. And when the yaw angle is greater than the yaw angle threshold and the lateral speed is greater than the lateral speed threshold, there is an intention to merge. Optionally, when a merging intention is detected in the adjacent lane, the real-time longitudinal distance between the front of the target vehicle and the rear of the adjacent vehicle is used to determine whether the impending merging is an emergency merging. If it is an emergency merging, the emergency merging control commands prioritize safety, using audible / visual warnings to alert the adjacent vehicle. Simultaneously, the accelerator / brake pedals are controlled based on the surrounding environment and the speed and distance of vehicles behind in the current lane to avoid collisions. If it is a non-emergency merging, the coordinated merging control commands prioritize comfort. Firstly, the following target is switched to the adjacent vehicle before the merging is completed. The vehicle can determine the timing of switching the following target by measuring the real-time lateral distance between the target vehicle and the vehicle in front in the adjacent lane. A fixed lateral distance threshold can be preset. When the real-time lateral distance between the target vehicle and the vehicle in front in the adjacent lane is less than the lateral distance threshold, the following target is switched. Alternatively, a real-time lateral distance threshold can be generated based on real-time perception data. Then, during the merging process, the vehicle adaptively adjusts its driving state to cooperate with the merging of the vehicle in front in the adjacent lane. This mainly involves adjusting the speed and direction of the target vehicle to plan the lateral and longitudinal distances between the target vehicle and the vehicle in front in the adjacent lane in advance, so as to avoid collisions and ensure passenger comfort. Once an emergency merge control command or a cooperative merge control command is received, the command can be executed according to the pre-planned control instructions to achieve adaptive cruise control of the target vehicle and ensure the comfort and safety of the vehicle in front in the adjacent lane during the merge process.

[0025] Example 2

[0026] This embodiment further optimizes upon Embodiment 1 described above. In this embodiment, the method for identifying the current traffic scene of the target vehicle based on the real-time perception data includes: Based on the real-time sensing data, calculate the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane; The system monitors the yaw angle, lateral speed, and first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane. If the yaw angle of the vehicle in the adjacent lane is greater than the yaw angle threshold, the lateral speed is greater than the speed threshold, and the first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane is greater than zero, then the current traffic scenario is determined to be that the vehicle in the adjacent lane has the intention to merge.

[0027] By using this implementation method, the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane are calculated by real-time sensing data, which enables more accurate merging intent recognition.

[0028] Furthermore, based on the real-time perception data, the method for calculating the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane includes: Acquire the following from real-time perception data: the first lateral distance d between the front of the target vehicle and the front of the vehicle in the adjacent lane; the length L of the vehicle in the adjacent lane; the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in the adjacent lane; the real-time speed V of the target vehicle; and the real-time speed v of the vehicle in the adjacent lane. f ; The safe time T is obtained based on the length L of the vehicle in front in the adjacent lane, the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in front in the adjacent lane, and the real-time speed V of the target vehicle, where T = (L + D) / V. Based on the safe time T and the first lateral distance d between the front of the target vehicle and the front of the vehicle in the adjacent lane, the lateral speed threshold v is obtained, where v = d / T; Based on the lateral vehicle speed threshold v and the real-time speed v of the vehicle in front in the adjacent lane f Obtain the yaw angle threshold α, where α = arcsin(v / v) f ).

[0029] like Figure 2 As shown, in this embodiment, by using relevant data between the target vehicle and the vehicle in front in the adjacent lane, the following data are directly collected: the first lateral distance d, the length L of the vehicle in front in the adjacent lane, the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in front in the adjacent lane, the real-time speed V of the target vehicle, and the real-time speed v of the vehicle in front in the adjacent lane. f By performing calculations, reliable lateral speed threshold v and yaw angle threshold α can be obtained; In another optional implementation, the vehicle type of the vehicle in front in the adjacent lane can be further obtained. Based on the vehicle type, the obtained lateral speed threshold v and yaw angle threshold α are corrected. Vehicle types can include small cars, large cars, and special vehicles. Taking small cars as the baseline, the correction coefficient is 1. Large cars, due to their longer length and larger wheelbase, require a larger turning radius when turning, and their lateral movement speed is much lower than that of small cars; therefore, the lateral speed threshold needs to be lowered. Simultaneously, large cars have a slow yaw angle change, so the yaw angle threshold also needs to be lowered. Special vehicles, such as engineering vehicles, are typically equipped with heavy equipment, have extremely slow lateral movement speeds, and their turning... The response delay necessitates a significant reduction in the lateral speed threshold. Due to the small steering radius and high vehicle rigidity, the yaw angle threshold also needs further reduction. Dynamic corrections can be made by combining the real-time lateral acceleration of the vehicle in front in the adjacent lane with the road curvature. If the lateral acceleration of the vehicle in front in the adjacent lane exceeds the lateral acceleration threshold corresponding to the vehicle type, it indicates an abnormal merging action (potentially an emergency avoidance maneuver). In this case, the lateral speed threshold v and the yaw angle threshold α are temporarily increased. In curves, if the radius of curvature R < 500m, large vehicles have a lower lateral speed than on straight roads due to their larger turning radius; in this case, the lateral speed threshold v is temporarily decreased.

[0030] Furthermore, the method for determining whether the vehicle merging corresponding to the merging intention is an emergency merging includes: When it is detected that the current traffic scenario is that the vehicle in front of the adjacent lane has the intention to merge, if the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in front of the adjacent lane is less than zero, then the vehicle merging corresponding to the merging intention is an emergency merging; otherwise, the vehicle merging corresponding to the merging intention is a non-emergency merging.

[0031] Specifically, this implementation mainly considers low-speed merging of vehicles from adjacent lanes, such as in urban driving environments. In high-speed environments, such as highway driving environments, it is necessary to dynamically plan and determine whether it is an emergency merging distance based on the real-time speed of the target vehicle and the real-time speed of the vehicle in front in the adjacent lane. In high-speed scenarios, the essence of an emergency merging is that the current longitudinal distance D is insufficient to support the two vehicles to complete safe braking or avoidance. The minimum safe braking distance can be calculated as the basis for determining whether it is an emergency merging. The minimum safe braking distance consists of three parts: reaction distance, braking distance, and safety margin. The reaction distance is the distance the vehicle travels from the time the system recognizes the merging to the time it begins braking. The braking distance is the distance from the time it begins braking to the time the vehicle stops or reaches the same speed as the vehicle in front in the adjacent lane. The safety margin is a redundant distance set to account for sensor errors and changes in the road friction coefficient. The reaction distance is determined by the system reaction time and the current speed of the target vehicle. The braking distance is determined by the speed difference between the target vehicle and the vehicle in front in the adjacent lane, as well as the braking capacity of the target vehicle. The safety margin is determined by the fixed sensor error and the real-time surrounding environment of the target vehicle.

[0032] Furthermore, for non-emergency merging, a method for generating a cooperative merging control command that causes the target vehicle to switch the following object to the vehicle in the adjacent lane in advance and adaptively adjust its driving state to cooperate with the vehicle in the adjacent lane to merge includes: Obtain a real-time merging interval based on the vehicle length L of the vehicle in the adjacent lane, where the real-time merging interval includes an interval for increasing the current longitudinal distance, an interval for maintaining the current longitudinal distance, and an interval for decreasing the current longitudinal distance; Determine the target adjustment amount of the target vehicle according to the position of the longitudinal distance D in the real-time merging interval; Generate a cooperative merging control command that causes the target vehicle to switch the following object to the vehicle in the adjacent lane when the first lateral distance d is 0 and adjust the longitudinal distance D to the target adjustment amount to cooperate with the vehicle in the adjacent lane to merge.

[0033] Similarly, this embodiment is applicable to a low-speed environment. When 0 < D < L / 2, at this time, it can cooperate with the preceding vehicle to merge, but the vehicle needs to reduce the throttle force or increase the brake pedal force at this time to create a larger merging gap. The target adjustment amount is the adjustment amount of the throttle / brake pedal required to increase the current longitudinal distance; when L / 2 < D < L, at this time, it is considered that there is the best merging space, and the vehicle controls the throttle or brake pedal to keep the following distance within this interval. The target adjustment amount is the adjustment amount of the throttle / brake pedal required to maintain the current longitudinal distance; when the distance D between the front of the vehicle and the rear of the preceding vehicle is D > L, at this time, the vehicle can deepen the accelerator pedal to prevent the distance from the preceding vehicle from being too far. The target adjustment amount is the adjustment amount of the throttle / brake pedal required to decrease the current longitudinal distance, and at the same time, give the driver a prompt with light / sound signals.

[0034] Furthermore, the method for determining the target adjustment amount of the target vehicle according to the position of the longitudinal distance D in the real-time merging interval includes: Determine the adjustment type of the target vehicle according to the position of the longitudinal distance D in the real-time merging interval, where the adjustment type includes increasing the current longitudinal distance, maintaining the current longitudinal distance, and decreasing the current longitudinal distance; Obtain the real-time vehicle state of the target vehicle according to the real-time perception data; According to the real-time vehicle state, use the model predictive control method MPC to obtain the target vehicle state of the target vehicle; Obtain the control amount for the actuator of the target vehicle to directly respond as the target adjustment amount according to the target vehicle state.

[0035] In this embodiment, the real-time vehicle status of the target vehicle includes the target vehicle's current speed, current acceleration, throttle opening, and brake pressure. The target vehicle's current speed is used as the initial speed input for the MPC prediction model. The target vehicle's current acceleration reflects the current power or braking state and is used for MPC constraint verification. The target vehicle's throttle opening is the actuator's current state and is used to determine the feasibility of the MPC control quantity. The target vehicle's brake pressure is also the actuator's current state and is used to avoid frequent fluctuations in brake pressure. Based on the adjustment type, the MPC dynamically optimizes the vehicle status for the next 3-5 seconds and outputs the target vehicle status.

[0036] Furthermore, it also includes: The system monitors the presence of lane lines in the environment surrounding the target vehicle. If lane lines are present, the first lateral distance is replaced by the second lateral distance between the vehicle in front in the adjacent lane and the lane line. This is used to identify the current traffic scene, calculate the yaw angle threshold of the vehicle in front in the adjacent lane, calculate the lateral speed threshold, and generate a cooperative merging control command.

[0037] Similarly, Figure 2 As shown in this embodiment, when lane lines are present, the second lateral distance is smaller than the first lateral distance. By using a second lateral distance with a smaller value to replace the first lateral distance, safety can be further guaranteed.

[0038] Example 3

[0039] This embodiment further optimizes upon embodiment 2 described above. In this embodiment, the method for identifying the current traffic scene of the target vehicle based on the real-time perception data further includes: Based on the real-time perception data, the flashing of the turn signal of the vehicle in front in the adjacent lane is identified. If the turn signal of the vehicle in front in the adjacent lane is flashing, it is determined that the current traffic scenario indicates that the vehicle in front in the adjacent lane intends to merge.

[0040] Specifically, when identifying the intention to merge, the flashing of the turn signal of the vehicle in front in the adjacent lane can be identified first.

[0041] Before executing the adaptive cruise control operation corresponding to the speed maintenance control command, the emergency merge control command, or the cooperative merge control command, the following steps are included: According to the preset verification rules, the emergency import control command or the collaborative import control command is subjected to security verification. Based on the security verification results, unreasonable control commands or control commands that exceed physical constraints in the emergency import control command or the collaborative import control command are removed.

[0042] Example 4

[0043] like Figure 3As shown, an adaptive cruise control system that takes into account vehicle merging includes: The perception module is used to collect real-time perception data from the target vehicle, the vehicle in front in the same lane, the vehicle in front in the adjacent lane, and the surrounding environment of the target vehicle. The decision module is used to identify the current traffic scenario of the target vehicle based on the real-time perception data after the target vehicle activates adaptive cruise control. When the identified current traffic scenario is that the vehicle in front of the adjacent lane has the intention to merge, the decision module determines whether the vehicle merging corresponding to the merging intention is an emergency merging. If it is an emergency merging, an emergency merging control command is generated to prevent the target vehicle from causing an accident. If it is a non-emergency merging, a cooperative merging control command is generated to enable the target vehicle to switch its following object to the vehicle in front of the adjacent lane in advance and adaptively adjust its driving state to cooperate with the vehicle in front of the adjacent lane merging. The control module is used to execute the adaptive cruise control operation corresponding to the vehicle speed maintenance control command, the emergency merge control command, or the cooperative merge control command. In one specific implementation, after obtaining real-time sensing data from different acquisition units, the sensing module processes the real-time sensing data to obtain a sensing fusion result, and sends the sensing fusion result to the decision module. The decision-making module first identifies whether lane lines exist. If lane lines do not exist, then... Figure 4 As shown, it further determines whether the vehicle in front in the adjacent lane has its turn signal flashing; If so, further determine whether the merging is an emergency merging. If so, sound the horn to remind and generate an emergency merging control command to prevent the target vehicle from causing an accident. Otherwise, generate a cooperative merging control command to make the target vehicle switch its following object to the vehicle in front of the adjacent lane in advance and adaptively adjust its driving status to cooperate with the vehicle in front of the adjacent lane to merge. For details, refer to the above embodiments 1 to 3. If not, then calculate the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane based on the real-time sensing data. The system monitors the yaw angle, lateral speed, and first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane. If the yaw angle of the vehicle in the adjacent lane is greater than the yaw angle threshold, the lateral speed is greater than the speed threshold, and the first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane is greater than zero, then the current traffic scenario is determined to be that the vehicle in the adjacent lane has the intention to merge. For details, refer to the above embodiments 1 to 3. Then comes the judgment of emergency inbound shipment, which will not be elaborated here; If no merging intention is detected, maintain the current vehicle speed and generate a control command to maintain the current state. The generated emergency import control command, collaborative import control command, or maintain current state control command will be further sent to the control module; If lane markings exist, such as Figure 5 As shown, the first lateral distance is replaced by the second lateral distance between the vehicle in front of the adjacent lane and the lane line. The rest of the judgment logic is the same as the judgment logic for the absence of lane lines, and will not be repeated here.

[0044] like Figure 6 As shown, the control module also includes a safety verification unit, a control quantity calculation unit, an execution distribution unit, and a status feedback unit. The safety verification unit is used to perform safety verification on the emergency import control command or the collaborative import control command according to preset verification rules, and to remove unreasonable control commands or control commands that exceed physical constraints from the emergency import control command or the collaborative import control command based on the safety verification result. The control quantity calculation unit is used to parse the emergency import control command, the collaborative import control command, or the control command to maintain the current state, and to calculate the specific control quantity of the actuator. The execution distribution unit is used to distribute the specific control quantity of the actuator to the specific actuator. The status feedback unit is used to send the current control quantity and execution result to the decision module and the perception module.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An adaptive cruise control method considering vehicle merging, characterized in that, Includes the following steps: Collect real-time perception data from the target vehicle, the vehicle in front in this lane, the vehicle in front in the adjacent lane, and the surrounding environment of the target vehicle; After the target vehicle activates adaptive cruise control, the current traffic scenario of the target vehicle is identified based on the real-time perception data. When the current traffic scenario is identified as a situation where the vehicle in the adjacent lane does not intend to merge, a speed control command is generated. When the current traffic scenario is identified as a vehicle in the adjacent lane having the intention to merge, it is determined whether the vehicle merging corresponding to the merging intention is an emergency merging. If it is an emergency merge, an emergency merge control command is generated to prevent the target vehicle from causing an accident. If it is a non-emergency merge, a cooperative merge control command is generated to cause the target vehicle to switch its following object to the vehicle in the adjacent lane in advance and to adaptively adjust its driving status to cooperate with the vehicle in the adjacent lane to merge. Execute the adaptive cruise control operation corresponding to the speed maintenance control command, the emergency merge control command, or the cooperative merge control command; The method for identifying the current traffic scene of the target vehicle based on the real-time sensing data includes: Based on the real-time sensing data, calculate the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane; The system monitors the yaw angle, lateral speed, and first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane. If the yaw angle of the vehicle in the adjacent lane is greater than the yaw angle threshold, the lateral speed is greater than the speed threshold, and the first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane is greater than zero, then the current traffic scenario is determined to be that the vehicle in the adjacent lane has the intention to merge. Specifically, the method for calculating the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane based on the real-time perception data includes: obtain a first lateral distance d between the target vehicle head and the front vehicle head of the front vehicle in the adjacent lane, a vehicle length L of the front vehicle in the adjacent lane, a longitudinal distance D between the target vehicle head and the tail of the front vehicle in the adjacent lane, a real-time speed V of the target vehicle, and a real-time speed v of the front vehicle in the adjacent lane f ; The safe time T is obtained based on the length L of the vehicle in front in the adjacent lane, the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in front in the adjacent lane, and the real-time speed V of the target vehicle, where T = (L + D) / V. Based on the safe time T and the first lateral distance d between the front of the target vehicle and the front of the vehicle in the adjacent lane, the lateral speed threshold v is obtained, where v = d / T; Based on the lateral vehicle speed threshold v and the real-time speed v of the vehicle in front in the adjacent lane f Obtain the yaw angle threshold α, where α = arcsin(v / v) f ); In addition, the method for determining whether the vehicle merging corresponding to the merging intention is an emergency merging includes: When it is detected that the current traffic scenario is that the vehicle in front of the adjacent lane has the intention to merge, if the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in front of the adjacent lane is less than zero, then the vehicle merging corresponding to the merging intention is an emergency merging; otherwise, the vehicle merging corresponding to the merging intention is a non-emergency merging.

2. The adaptive cruise control method considering vehicle merging according to claim 1, characterized in that, If it is a non-emergency merge, the method for generating a coordinated merge control command that causes the target vehicle to switch its following object to the vehicle in the adjacent lane in advance and adaptively adjust its driving state to cooperate with the vehicle in the adjacent lane merging includes: Based on the vehicle length L of the vehicle in front in the adjacent lane, the real-time merging interval is obtained, wherein the real-time merging interval includes increasing the current longitudinal distance interval, maintaining the current longitudinal distance interval, and decreasing the current longitudinal distance interval; The target adjustment amount of the target vehicle is determined based on the position of the longitudinal distance D in the real-time merging interval. Based on the target adjustment amount, a coordinated merging control command is generated to cause the target vehicle to switch its following object to the vehicle in the adjacent lane and adjust its longitudinal distance D to the target adjustment amount when the first lateral distance d is 0, so as to cooperate with the vehicle in the adjacent lane to merge.

3. The adaptive cruise control method considering vehicle merging according to claim 2, characterized in that, A method for determining the target adjustment amount of a target vehicle based on its position within the real-time merging interval, including: Based on the position of the longitudinal distance D in the real-time merging interval, the adjustment type of the target vehicle is determined, wherein the adjustment type includes increasing the current longitudinal distance, maintaining the current longitudinal distance, and decreasing the current longitudinal distance; Based on the real-time sensing data, the real-time vehicle status of the target vehicle is obtained; Based on the real-time vehicle status, the target vehicle status is obtained by using the Model Predictive Control (MPC) method. Based on the target vehicle state, a control quantity is obtained to make the target vehicle actuator respond directly as the target adjustment quantity.

4. The adaptive cruise control method considering vehicle merging according to claim 2, characterized in that, Also includes: The system monitors the presence of lane lines in the environment surrounding the target vehicle. If lane lines are present, the first lateral distance is replaced by the second lateral distance between the vehicle in front in the adjacent lane and the lane line. This is used to identify the current traffic scene, calculate the yaw angle threshold of the vehicle in front in the adjacent lane, calculate the lateral speed threshold, and generate a cooperative merging control command.

5. The adaptive cruise control method considering vehicle merging according to any one of claims 1 to 4, characterized in that, The method for identifying the current traffic scene of a target vehicle based on the real-time sensing data further includes: Based on the real-time perception data, the flashing of the turn signal of the vehicle in front in the adjacent lane is identified. If the turn signal of the vehicle in front in the adjacent lane is flashing, it is determined that the current traffic scenario indicates that the vehicle in front in the adjacent lane intends to merge.

6. The adaptive cruise control method considering vehicle merging according to any one of claims 1 to 4, characterized in that, Before executing the adaptive cruise control operation corresponding to the speed maintenance control command, the emergency merge control command, or the cooperative merge control command, the following steps are included: According to the preset verification rules, the emergency import control command or the collaborative import control command is subjected to security verification. Based on the security verification results, unreasonable control commands or control commands that exceed physical constraints in the emergency import control command or the collaborative import control command are removed.

7. An adaptive cruise control system that takes into account vehicle merging, characterized in that, include: The perception module is used to collect real-time perception data from the target vehicle, the vehicle in front in the same lane, the vehicle in front in the adjacent lane, and the surrounding environment of the target vehicle. The decision module is used to identify the current traffic scenario of the target vehicle based on the real-time perception data after the target vehicle activates adaptive cruise control. When the current traffic scenario is identified as a situation where the vehicle in the adjacent lane does not intend to merge, a speed control command is generated. When the current traffic scenario is identified as a vehicle in the adjacent lane having the intention to merge, it is determined whether the vehicle merging corresponding to the merging intention is an emergency merging. If it is an emergency merge, an emergency merge control command is generated to prevent the target vehicle from causing an accident. If it is a non-emergency merge, a cooperative merge control command is generated to cause the target vehicle to switch its following object to the vehicle in the adjacent lane in advance and to adaptively adjust its driving status to cooperate with the vehicle in the adjacent lane to merge. The method for identifying the current traffic scene of the target vehicle based on the real-time sensing data includes: Based on the real-time sensing data, calculate the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane; The system monitors the yaw angle, lateral speed, and first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane. If the yaw angle of the vehicle in the adjacent lane is greater than the yaw angle threshold, the lateral speed is greater than the speed threshold, and the first lateral distance between the front of the target vehicle and the front of the vehicle in the adjacent lane is greater than zero, then the current traffic scenario is determined to be that the vehicle in the adjacent lane has the intention to merge. Specifically, the method for calculating the yaw angle threshold and lateral speed threshold of the vehicle in front in the adjacent lane based on the real-time perception data includes: Acquire the following from real-time perception data: the first lateral distance d between the front of the target vehicle and the front of the vehicle in the adjacent lane; the length L of the vehicle in the adjacent lane; the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in the adjacent lane; the real-time speed V of the target vehicle; and the real-time speed v of the vehicle in the adjacent lane. f ; The safe time T is obtained based on the length L of the vehicle in front in the adjacent lane, the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in front in the adjacent lane, and the real-time speed V of the target vehicle, where T = (L + D) / V. Based on the safe time T and the first lateral distance d between the front of the target vehicle and the front of the vehicle in the adjacent lane, the lateral speed threshold v is obtained, where v = d / T; Based on the lateral vehicle speed threshold v and the real-time speed v of the vehicle in front in the adjacent lane f Obtain the yaw angle threshold α, where α = arcsin(v / v) f ); In addition, the method for determining whether the vehicle merging corresponding to the merging intention is an emergency merging includes: When it is detected that the current traffic scenario is that the vehicle in front of the adjacent lane has the intention to merge, if the longitudinal distance D between the front of the target vehicle and the rear of the vehicle in front of the adjacent lane is less than zero, then the vehicle merging corresponding to the merging intention is an emergency merging; otherwise, the vehicle merging corresponding to the merging intention is a non-emergency merging. The control module is used to execute the adaptive cruise control operation corresponding to the speed maintenance control command, the emergency merge control command, or the cooperative merge control command.

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