Vehicle cruise control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle cruise control method, device and equipment and a storage medium, and the method comprises the steps: obtaining the driving information of a target vehicle in a vehicle lane and an adjacent lane, and the driving information comprises the steering lamp state, the driving track, the position, the speed and the acceleration of the target vehicle; judging whether the target vehicle has a lane changing intention or not based on the driving information; and if the lane changing intention exists, the current cruising speed of the vehicle is controlled to approach the speed of the target vehicle in advance. According to the method, the lane changing intention of the target vehicle can be recognized in advance in the high-speed lane changing scene, so that the vehicle can start gentle deceleration control earlier, deceleration fluctuation and braking abrupt feeling are remarkably reduced, and the control comfort, smoothness and driving safety of the self-adaptive cruise system under the high-speed working condition are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle cruise control technology, and in particular to a vehicle cruise control method, device, equipment and storage medium. Background Technology

[0002] Adaptive Cruise Control (ACC), as an intelligent driving assistance system, is widely used in modern vehicles. This system primarily uses sensors such as millimeter-wave radar and cameras to monitor the status of vehicles ahead in real time and controls the vehicle's speed and acceleration to maintain a safe distance.

[0003] During highway driving, especially in scenarios where trailers (such as large trucks) change lanes to overtake, existing adaptive cruise control systems based on millimeter-wave radar have significant technical shortcomings. Since millimeter-wave radar primarily senses the longitudinal position and speed of the target vehicle, its ability to recognize lateral movements (such as lane changes) is limited. Particularly when a target vehicle is slowly merging into the driver's lane, the radar system can easily misinterpret this lateral movement as forward emergency braking, leading to inaccurate target acceleration signals. Specifically, when the trailer activates its turn signal and begins to change lanes, the millimeter-wave radar may not be able to recognize its intention to change lanes in time, only identifying it as the target vehicle after it has fully entered the lane. At this point, the distance between the driver and trailer is already close, and the system often uses a large deceleration for braking control to match the target vehicle's speed and acceleration. This delayed recognition and sudden deceleration not only affects driving comfort and smoothness but may also pose safety hazards at high speeds.

[0004] Therefore, improving the control comfort and smoothness of a vehicle is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The main objective of this invention is to provide a vehicle cruise control method, device, equipment, and storage medium that can identify the lane-changing intention of a target vehicle in advance in high-speed lane-changing scenarios, enabling the vehicle to initiate smooth deceleration control earlier, significantly reducing deceleration fluctuations and braking abruptness, and effectively improving the control comfort, smoothness, and driving safety of the adaptive cruise system under high-speed conditions.

[0006] In a first aspect, this application provides a vehicle cruise control method, wherein the method includes the following steps: Acquire the driving information of the target vehicle in the vehicle lane and adjacent lanes, including: the turn signal status, driving trajectory, position, speed and acceleration of the target vehicle; Based on the driving information, determine whether the target vehicle intends to change lanes; If there is an intention to change lanes, the vehicle's current cruising speed should be adjusted in advance to approach the speed of the target vehicle.

[0007] In conjunction with the first aspect mentioned above, as an optional implementation method, if the deceleration of the vehicle is greater than the set deceleration, the vehicle is controlled in advance to decelerate according to the preset deceleration control amount so that the acceleration of the vehicle and the acceleration of the target vehicle reach the same level. If the vehicle's deceleration is less than the set deceleration, the vehicle's stopping torque is controlled in advance to obtain the sliding resistance based on the vehicle's rolling resistance and wind resistance, and the vehicle's deceleration is reduced through the sliding resistance so that the vehicle's acceleration reaches the same level as the target vehicle's acceleration.

[0008] In conjunction with the first aspect mentioned above, as an optional implementation method, cameras and millimeter-wave radar are used to acquire the driving information of target vehicles in the vehicle's lane and adjacent lanes; Specifically, the camera is used to acquire the turn signal status and driving trajectory of the target vehicle; Millimeter-wave radar is used to obtain the position, speed, and acceleration of the target vehicle.

[0009] In conjunction with the first aspect mentioned above, as an optional implementation method, if a target vehicle is identified by millimeter-wave radar, the lateral speed of the target vehicle exceeds a set threshold, and the acceleration is greater than that of the vehicle itself, and the turn signal of the target vehicle is identified by a camera as being on, and the predicted trajectory intersects with the vehicle's lane, then it is determined that the target vehicle intends to change lanes; otherwise, it does not intend to change lanes.

[0010] In conjunction with the first aspect mentioned above, as an optional implementation method, the confidence level of the target vehicle's lane change intention is calculated by weighting the target vehicle's turn signal status, lane intrusion distance, and lateral speed. If the confidence level of the lane change intention exceeds the set threshold, it is determined that the target vehicle has the intention to change lanes.

[0011] In conjunction with the first aspect mentioned above, as an optional implementation, if the confidence level of the lane change intention exceeds a set threshold and falls back below the set threshold within a preset time, the vehicle's power system is controlled to smoothly restore the drive torque, so that the vehicle returns to the original set speed for cruising.

[0012] In conjunction with the first aspect mentioned above, as an optional implementation method, the vehicle speed is obtained; Determine if the vehicle's speed is greater than the set speed; If not, it is determined to be a non-high-speed scenario, and the driving information of the target vehicle in the driver's lane and adjacent lanes will not be obtained; otherwise, it is a high-speed scenario.

[0013] Secondly, this application provides a vehicle cruise control device, the device comprising: The acquisition module is used to acquire the driving information of target vehicles in the vehicle lane and adjacent lanes. The driving information includes: the turn signal status, driving trajectory, position, speed and acceleration of the target vehicles. The judgment module is used to determine whether the target vehicle intends to change lanes based on the driving information; The control module is used to control the vehicle's current cruising speed to approach the speed of the target vehicle in advance if there is an intention to change lanes.

[0014] Thirdly, this application also provides an electronic device, the electronic device comprising: a processor; and a memory storing computer-readable instructions, which, when executed by the processor, implement the method described in any one of the first aspects.

[0015] Fourthly, this application also provides a computer-readable storage medium storing computer program instructions that, when executed by a computer, cause the computer to perform the method described in any of the first aspects.

[0016] This application provides a vehicle cruise control method, device, equipment, and storage medium. The method includes the steps of: acquiring driving information of a target vehicle in the vehicle's lane and adjacent lanes, the driving information including: the target vehicle's turn signal status, driving trajectory, position, speed, and acceleration; determining whether the target vehicle intends to change lanes based on the driving information; and if an intention to change lanes is present, controlling the vehicle's current cruise speed to approach the target vehicle's speed in advance. This application enables early identification of the target vehicle's lane-changing intention in high-speed lane-changing scenarios, allowing the vehicle to initiate smooth deceleration control earlier, significantly reducing deceleration fluctuations and braking abruptness, and effectively improving the control comfort, smoothness, and driving safety of the adaptive cruise control system at high speeds.

[0017] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] Figure 1 This is a flowchart of a vehicle cruise control method provided in the embodiments of this application; Figure 2 This is a schematic diagram of a vehicle cruise control device provided in the embodiments of this application; Figure 3 This is a schematic diagram of an electronic device provided in an embodiment of this application; Figure 4 This is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0021] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings represent functional entities and do not necessarily correspond to physically or logically independent entities.

[0022] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0023] Reference Figure 1 , Figure 1 The diagram shown is a flowchart of a vehicle cruise control method provided by the present invention. Figure 1 As shown, the method includes the following steps: Step S101: Obtain the driving information of the target vehicle in the vehicle lane and adjacent lanes. The driving information includes: the turn signal status, driving trajectory, position, speed and acceleration of the target vehicle.

[0024] Before acquiring the driving information of the target vehicles in the vehicle's lane and adjacent lanes, the vehicle's speed is acquired; it is then determined whether the vehicle's speed is greater than the set speed; if not, it is determined to be a non-high-speed scenario, and the driving information of the target vehicles in the vehicle's lane and adjacent lanes is not acquired, otherwise it is a high-speed scenario.

[0025] Specifically, cameras and millimeter-wave radar are used to obtain driving information of target vehicles in the vehicle's lane and adjacent lanes; Specifically, the camera is used to acquire the turn signal status and driving trajectory of the target vehicle; millimeter-wave radar is used to acquire the position, speed and acceleration of the target vehicle.

[0026] For ease of understanding and illustration, based on information from both cameras and millimeter-wave radar, the current lane and adjacent lane target vehicle status are as follows: In the left lane (Lane 1), there is a target vehicle (A) approximately 100 meters to the left front of this vehicle, traveling at a constant speed of approximately 100 km / h. Its left turn signal is on, and its trajectory indicates it is crossing the left lane, showing a clear intention to enter this vehicle's lane. In this lane (Lane 2), there is a target vehicle (B) approximately 40 meters directly ahead, traveling at approximately 95 km / h and significantly decelerating (acceleration -2 m / s²). Immediate caution is needed to prevent a rear-end collision. This vehicle is not using its turn signal and its trajectory is stable, indicating no immediate intention to change lanes. In the right lane (Lane 3), there is a target vehicle (C) approximately 10 meters to the right rear of this vehicle, rapidly approaching and overtaking at approximately 110 km / h. Its turn signal is off, and its trajectory is stable; it is expected to remain within its lane, posing no immediate threat of lane change.

[0027] Step S102: Determine whether the target vehicle intends to change lanes based on the driving information.

[0028] Specifically, if a target vehicle is identified by millimeter-wave radar, the target vehicle's lateral speed exceeds a set threshold, and its acceleration is greater than the vehicle's acceleration, and the target vehicle's turn signal is detected by camera as being on, and the predicted trajectory intersects with the vehicle's lane, then it is determined that the target vehicle intends to change lanes; otherwise, it does not intend to change lanes.

[0029] To illustrate this, consider the following example: A target vehicle (R) on the right front clearly intends to change lanes into this vehicle's lane. The determination is based on the following criteria: millimeter-wave radar confirms the target's presence; its lateral speed (-0.4 m / s, pointing towards this lane) exceeds the lane change threshold; and its acceleration (0.3 m / s²) is greater than that of this vehicle. Simultaneously, the camera detects that its right turn signal is on, and vision-based trajectory prediction indicates that its path will intersect with this vehicle's lane line. Considering both the movement trend and driving signals, it is determined that this vehicle is performing a right lane change (cutting into this lane). Please be alert and prepare to adopt an adaptive driving strategy.

[0030] Optionally, in one embodiment, the confidence level of the target vehicle's lane change intention is calculated by weighting the turn signal status, lane intrusion distance, and lateral speed of the target vehicle; if the confidence level of the lane change intention exceeds a set threshold, it is determined that the target vehicle has a lane change intention.

[0031] To illustrate this, based on a weighted confidence model, the target vehicle (T) on the left front is determined to have a lane-changing intention, with a comprehensive confidence score as high as 83.5 points (threshold 60 points). The specific criteria are: its left turn signal is on (strong intention signal, contributing 50 points), its vehicle body has encroached into the lane by approximately 0.3 meters (substantial lane-crossing behavior, contributing 21 points), and it is continuously approaching at a lateral speed of approximately 0.4 meters per second (clear movement trend, contributing 12.5 points). All three key characteristics demonstrate a strong lane-changing intention, leading the system to determine that its intention to cut into the lane is clear.

[0032] In one embodiment, if the confidence level of the lane change intention exceeds a set threshold and falls below the set threshold within a preset time, the system controls the vehicle's powertrain to smoothly restore drive torque, allowing the vehicle to return to the original set cruising speed. For ease of understanding, an example is given: the system detects a high-confidence lane change intention (confidence level 75) from a vehicle (T) to the right front and proactively employs a gentle deceleration strategy to mitigate the risk. Subsequently, the vehicle turns off its turn signal, returns to its original lane, and ceases lateral movement within approximately 2.5 seconds, its lane change intention confidence level dropping to 0. Given that the risk is rapidly eliminated within a preset observation period (3 seconds), the system is currently smoothly restoring drive torque, gradually increasing the vehicle's speed from 92 km / h in a linear and comfortable manner, and is expected to return to the original set cruising speed of 100 km / h within a few seconds. No driver intervention is required throughout the entire process; the system automatically completes the threat response and status recovery.

[0033] Step S103: If there is an intention to change lanes, control the current cruising speed of the vehicle in advance to approach the speed of the target vehicle.

[0034] Specifically, if the vehicle's deceleration exceeds the set acceleration, the system proactively controls the vehicle to decelerate according to a preset deceleration control amount, ensuring that the vehicle's acceleration matches that of the target vehicle. For clarity, consider this example: a target vehicle ahead is detected braking at approximately -1.5 m / s². The vehicle's current deceleration is -0.2 m / s², exceeding the system's set threshold (-0.3 m / s²), indicating a significant lag in deceleration response. The system actively triggers deceleration control, implementing smooth braking with an initial deceleration of approximately -0.8 m / s². The vehicle is now decelerating, with the deceleration approaching the target vehicle's -1.5 m / s², and the two vehicles' motions are becoming synchronized.

[0035] If the vehicle's deceleration is less than the set deceleration, the driving torque is stopped in advance. Based on the vehicle's rolling resistance and wind resistance, a sliding resistance is calculated, and deceleration is achieved through this sliding resistance, bringing the vehicle's acceleration to the same level as the target vehicle. In other words, after determining the target distance, such as 300m, if the vehicle's deceleration is detected to be greater than a set threshold, the vehicle is controlled to decelerate according to the preset deceleration amount. If the vehicle's deceleration is detected to be less than the set threshold, deceleration is not required in advance; the driving torque is stopped, and deceleration is achieved using sliding resistance.

[0036] To illustrate with an example, the system detects a target vehicle ahead decelerating at approximately -0.6 m / s². The current deceleration of the vehicle is -0.5 m / s², which is less than the system's set threshold (-0.3 m / s²). Therefore, the vehicle is considered to have entered a reasonable deceleration range, and the difference between its deceleration and the target vehicle's is small. To prioritize driving smoothness and energy efficiency, the system completely cuts off the drive output, allowing the vehicle to enter a coasting state. The vehicle is currently coasting at approximately -0.25 m / s², relying on rolling resistance and wind resistance. Although this deceleration is not yet perfectly matched to the vehicle ahead, it has successfully steered the vehicle dynamically towards a clear deceleration trend. The system will continue to monitor the relative distance; currently, the risk is manageable, and a coasting strategy without braking intervention will be prioritized for fine-tuning the speed.

[0037] Furthermore, it needs to be explained that the smaller the distance between the target vehicle and the vehicle itself, the greater the braking acceleration required, and the stronger the jerkiness. This is understandable, as system limitations, such as late recognition of the vehicle ahead and timing settings, lead to a smaller timing distance between the vehicle and the target vehicle, resulting in greater deceleration and poor vehicle comfort.

[0038] This application targets the lane-changing scenario of trailers on highways. It uses a camera to identify the trailer's lane-changing intentions in advance and adjusts the vehicle's following control accordingly, causing the vehicle to initiate deceleration control ahead of time. This significantly reduces changes in the vehicle's acceleration and greatly improves the vehicle's control comfort and smoothness.

[0039] Reference Figure 2 , Figure 2 The diagram shown is a schematic of a vehicle cruise control device provided by the present invention. Figure 2 As shown, the device includes: Acquisition module 201: It is used to acquire the driving information of the target vehicle in the vehicle lane and the adjacent lane. The driving information includes: the turn signal status, driving trajectory, position, speed and acceleration of the target vehicle.

[0040] Judgment module 202: It is used to determine whether the target vehicle has the intention to change lanes based on the driving information.

[0041] Control module 203: It is used to control the current cruising speed of the vehicle to approach the speed of the target vehicle in advance if there is an intention to change lanes.

[0042] Furthermore, in one possible implementation, the control module is also used to control the vehicle to decelerate in advance according to a preset deceleration control amount if the vehicle's deceleration is greater than the set deceleration, so that the vehicle's acceleration reaches the same level as the target vehicle's acceleration. If the vehicle's deceleration is less than the set deceleration, the vehicle's stopping torque is controlled in advance to obtain the sliding resistance based on the vehicle's rolling resistance and wind resistance, and the vehicle's deceleration is reduced through the sliding resistance so that the vehicle's acceleration reaches the same level as the target vehicle's acceleration.

[0043] Furthermore, in one possible implementation, the acquisition module is also used to acquire driving information of target vehicles in the vehicle's lane and adjacent lanes using a camera and millimeter-wave radar. Specifically, the camera is used to acquire the turn signal status and driving trajectory of the target vehicle; Millimeter-wave radar is used to obtain the position, speed, and acceleration of the target vehicle.

[0044] Furthermore, in one possible implementation, the judgment module is also used to determine that the target vehicle has the intention to change lanes if the target vehicle is identified by millimeter-wave radar, the lateral speed of the target vehicle exceeds a set threshold, the acceleration is greater than the acceleration of the vehicle itself, and the turn signal of the target vehicle is identified by the camera as being on, and the predicted trajectory intersects with the vehicle's lane; otherwise, the target vehicle does not have the intention to change lanes.

[0045] Furthermore, in one possible implementation, the judgment module is also used to calculate the confidence level of the target vehicle's lane change intention in a weighted manner based on the target vehicle's turn signal status, lane intrusion distance, and lateral speed. If the confidence level of the lane change intention exceeds the set threshold, it is determined that the target vehicle has the intention to change lanes.

[0046] Furthermore, in one possible implementation, the control module is also configured to control the vehicle's power system to smoothly restore drive torque if the confidence level of the lane change intention exceeds a set threshold and falls back below the set threshold within a preset time, so that the vehicle returns to the original set speed for cruising.

[0047] Furthermore, in one possible implementation, the acquisition module is also used to acquire the vehicle speed; Determine if the vehicle's speed is greater than the set speed; If not, it is determined to be a non-high-speed scenario, and the driving information of the target vehicle in the driver's lane and adjacent lanes will not be obtained; otherwise, it is a high-speed scenario.

[0048] The following reference Figure 3 To describe an electronic device 300 according to this embodiment of the present invention. Figure 3 The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0049] like Figure 3 As shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including storage unit 320 and processing unit 310).

[0050] The storage unit stores program code that can be executed by the processing unit 310, causing the processing unit 310 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0051] Storage unit 320 may include readable media in the form of volatile storage units, such as random access memory (RAM) 321 and / or cache memory 322, and may further include read-only memory (ROM) 323.

[0052] Storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0053] Bus 330 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0054] Electronic device 300 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 300, and / or any device that enables electronic device 300 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 350. Furthermore, electronic device 300 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 360. As shown, network adapter 360 communicates with other modules of electronic device 300 via bus 330. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0055] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0056] According to the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0057] refer to Figure 4 As shown, a program product 400 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0058] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0059] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0060] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0061] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0062] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0063] A vehicle cruise control method, apparatus, device, and storage medium are disclosed. The method includes the steps of: acquiring driving information of a target vehicle in the vehicle's lane and adjacent lanes, the driving information including: the target vehicle's turn signal status, driving trajectory, position, speed, and acceleration; determining whether the target vehicle intends to change lanes based on the driving information; and if an intention to change lanes is present, controlling the vehicle's current cruise speed to approach the target vehicle's speed in advance. This application enables early identification of the target vehicle's lane-changing intention in high-speed lane-changing scenarios, allowing the vehicle to initiate smooth deceleration control earlier, significantly reducing deceleration fluctuations and braking abruptness, and effectively improving the control comfort, smoothness, and driving safety of the adaptive cruise control system at high speeds.

[0064] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement 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 claimed herein.

[0065] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. A vehicle cruise control method, characterized in that, include: Acquire the driving information of the target vehicle in the vehicle lane and adjacent lanes, including: the turn signal status, driving trajectory, position, speed and acceleration of the target vehicle; Based on the driving information, determine whether the target vehicle intends to change lanes; If there is an intention to change lanes, the vehicle's current cruising speed should be adjusted in advance to approach the speed of the target vehicle.

2. The method according to claim 1, characterized in that, The method of pre-controlling the current cruising speed of the vehicle to approach the speed of the target vehicle includes: If the vehicle's deceleration is greater than the set deceleration, the vehicle will be controlled in advance to decelerate according to the preset deceleration control amount so that the vehicle's acceleration reaches the same level as the target vehicle's acceleration. If the vehicle's deceleration is less than the set deceleration, the vehicle's stopping torque is controlled in advance to obtain the sliding resistance based on the vehicle's rolling resistance and wind resistance, and the vehicle's deceleration is reduced through the sliding resistance so that the vehicle's acceleration reaches the same level as the target vehicle's acceleration.

3. The method according to claim 1, characterized in that, The acquisition of driving information of target vehicles in the vehicle's lane and adjacent lanes includes: The system uses cameras and millimeter-wave radar to acquire driving information of target vehicles in the driver's lane and adjacent lanes. Specifically, the camera is used to acquire the turn signal status and driving trajectory of the target vehicle; Millimeter-wave radar is used to obtain the position, speed, and acceleration of the target vehicle.

4. The method according to claim 1, characterized in that, The step of determining whether the target vehicle intends to change lanes based on the driving information includes: If a target vehicle is detected by millimeter-wave radar, the target vehicle's lateral speed exceeds a set threshold, and its acceleration is greater than the vehicle's acceleration, and the camera detects that the target vehicle's turn signal is on and the predicted trajectory intersects with the vehicle's lane, then it is determined that the target vehicle intends to change lanes; otherwise, it does not intend to change lanes.

5. The method according to claim 1, characterized in that, The determination of whether the target vehicle intends to change lanes also includes: Based on the target vehicle's turn signal status, lane incursion distance, and lateral speed, the confidence level of the target vehicle's lane change intention is calculated using a weighted method. If the confidence level of the lane change intention exceeds the set threshold, it is determined that the target vehicle has the intention to change lanes.

6. The method according to claim 5, characterized in that, Also includes: If the confidence level of the lane change intention exceeds a set threshold and falls back below the set threshold within a preset time, the vehicle's power system is controlled to smoothly restore the drive torque, so that the vehicle returns to the original set speed for cruising.

7. The method according to claim 1, characterized in that, Before obtaining the driving information of the target vehicle in the vehicle lane and adjacent lanes, the following steps are included: Get the vehicle's speed; Determine if the vehicle's speed is greater than the set speed; If not, it is determined to be a non-high-speed scenario, and the driving information of the target vehicle in the driver's lane and adjacent lanes will not be obtained; otherwise, it is a high-speed scenario.

8. A vehicle cruise control device, characterized in that, include: The acquisition module is used to acquire the driving information of target vehicles in the vehicle lane and adjacent lanes. The driving information includes: the turn signal status, driving trajectory, position, speed and acceleration of the target vehicles. The judgment module is used to determine whether the target vehicle intends to change lanes based on the driving information; The control module is used to control the vehicle's current cruising speed to approach the speed of the target vehicle in advance if there is an intention to change lanes.

9. An electronic device, characterized in that, The electronic device includes: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores computer program instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 7.

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