Adaptive cruise control method, adaptive cruise control device and adaptive cruise system

Abstract

The embodiment of the invention provides an adaptive cruise control method, an adaptive cruise control device and an adaptive cruise system. During adaptive cruise control, a historical self-vehicle speed set of the self-vehicle is acquired, the acquired historical self-vehicle speed set comprises at least one historical self-vehicle speed continuously acquired immediately before the acquisition time of the current self-vehicle speed of the self-vehicle, and smoothing filtering processing is performed on the current self-vehicle speed based on the historical self-vehicle speed set. And then, according to a difference value between the current self-vehicle speed after smooth filtering processing and a set cruise vehicle speed, self-adaptive cruise control is carried out on the self-vehicle. By means of the self-adaptive cruise control method, the fluctuation of the vehicle speed used during self-adaptive cruise control can be eliminated, and therefore the control precision of self-adaptive cruise control is improved.

Description

Technical Field

[0001] The embodiments described in this specification generally relate to the field of autonomous driving, and more specifically, to adaptive cruise control methods, adaptive cruise control devices, and adaptive cruise systems. Background Technology

[0002] Intelligent vehicles typically feature Advanced Driving Assistance Systems (ADAS). During autonomous driving, ADAS uses the vehicle's speed displayed on the Human Machine Interface (HMI) for adaptive cruise control. However, the displayed speed is only accurate to the integer part, and it is usually mapped from the vehicle's speed received from the Electronic Stability Control (ESC). Communication delays exist between the display device and the ESC, meaning the displayed speed does not reflect the vehicle's real-time speed, thus affecting the accuracy of adaptive cruise control. Summary of the Invention

[0003] The following brief introduction is provided to present some of the selected concepts in a simplified manner, which will be further described in the detailed description that follows. This brief introduction is not intended to highlight the key or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter.

[0004] According to one aspect of an embodiment of this specification, an adaptive cruise control method is provided, comprising: acquiring a historical vehicle speed set of a vehicle, the historical vehicle speed set including at least one historical vehicle speed acquired consecutively prior to the acquisition time of the current vehicle speed of the vehicle; performing a smoothing filter on the current vehicle speed based on the historical vehicle speed set; and performing adaptive cruise control on the vehicle based on the difference between the smoothed current vehicle speed and a set cruise speed.

[0005] According to another aspect of the embodiments of this specification, an adaptive cruise control device is provided, comprising: one or more processors; and a memory storing computer-executable instructions that, when executed, cause the one or more processors to perform the adaptive cruise control method as described above.

[0006] According to another aspect of the embodiments of this specification, an adaptive cruise control system is provided, including: a vehicle speed acquisition device configured to acquire the current vehicle speed of the vehicle; and an adaptive cruise control device as described above.

[0007] According to another aspect of the embodiments of this specification, a computer program product is provided, including a computer program that is executed by a processor to implement the adaptive cruise control method as described above.

[0008] The adaptive cruise control method according to the embodiments of this specification uses historical vehicle speeds to smooth the current vehicle speed, and performs adaptive cruise control based on the smoothed vehicle speed and the set cruise speed. This eliminates the fluctuation of the vehicle speed used in adaptive cruise control, thereby improving the control accuracy of adaptive cruise control. Attached Figure Description

[0009] A further understanding of the nature and advantages of the embodiments described in this specification can be achieved by referring to the following accompanying drawings. In the drawings, similar components or features may have the same reference numerals.

[0010] Figure 1 An example block diagram of an adaptive cruise system according to an embodiment of this specification is shown.

[0011] Figure 2 An example flowchart of an adaptive cruise control method according to an embodiment of this specification is shown.

[0012] Figure 3 An example flowchart of a method for smoothing and filtering vehicle speed according to an embodiment of this specification is shown.

[0013] Figure 4 An example flowchart of the smoothing filter window determination process according to an embodiment of this specification is shown.

[0014] Figure 5 An example flowchart of an adaptive cruise control process according to an embodiment of this specification is shown.

[0015] Figure 6 An example block diagram of an adaptive cruise control device according to an embodiment of this specification is shown.

[0016] Figure 7 A block diagram of an adaptive cruise control device implemented using a computer system according to an embodiment of this specification is shown.

[0017] Attached text description

[0018] 100 Adaptive cruise control system; 110 Vehicle speed acquisition device; 120 Adaptive cruise control device.

[0019] 200 Adaptive Cruise Control Method

[0020] S210 Obtain the historical vehicle speed set of the vehicle. The historical vehicle speed set includes at least one historical vehicle speed continuously acquired before the acquisition time of the current vehicle speed.

[0021] S220 performs smoothing filtering on the current vehicle speed based on historical vehicle speed sets.

[0022] S230 performs adaptive cruise control based on the difference between the current vehicle speed (after smoothing and filtering) and the set cruise speed.

[0023] 300. A method for smoothing and filtering vehicle speed.

[0024] S310 determines the smoothing filter window based on the historical vehicle speed set and the current vehicle speed.

[0025] S320 uses historical vehicle speeds selected based on the determined smoothing filter window to perform smoothing filtering on the current vehicle speed.

[0026] 400 Smoothing Filter Window Determination Process

[0027] S410 Preset Smoothing Filter Window Set

[0028] S420 samples the vehicle speed based on each smoothing filter window to obtain the vehicle speed set corresponding to each smoothing filter window.

[0029] S430 determines the current vehicle speed after smoothing filtering based on each smoothing filter window, according to the sampled vehicle speed set.

[0030] S440 determines the mean of the squared differences of the filtered vehicle speeds corresponding to each smoothing filter window.

[0031] S450 determines the smoothing filter window based on the mean of the squared differences of filtered vehicle speeds.

[0032] 500 Adaptive Cruise Control Process

[0033] S510 determines the difference between the current vehicle speed after smoothing filtering and the set cruise speed.

[0034] Is the S520 difference within the expected range?

[0035] The S530 uses a PI control strategy for adaptive cruise control.

[0036] The S540 uses the P control strategy for adaptive cruise control of the vehicle.

[0037] 600 Adaptive cruise control device; 610 Vehicle speed acquisition unit; 620 Smoothing filter unit.

[0038] 630 Adaptive Cruise Control Unit

[0039] 700 Adaptive Cruise Control Unit; 710 Processor; 720 Memory

[0040] 730 Memory 740 Communication Interface 760 Bus Detailed Implementation

[0041] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed merely to enable those skilled in the art to better understand and implement the subject matter described herein, and are not intended to limit the scope, applicability, or examples set forth in the claims. The function and arrangement of the elements discussed may be changed without departing from the scope of this disclosure. Various processes or components may be omitted, substituted, or added as needed in the various examples. For example, the described methods may be performed in a different order than described, and steps may be added, omitted, or combined. Furthermore, features described in some examples may be combined in other examples.

[0042] As used herein, the term "comprising" and its variations are open terms meaning "including but not limited to". The term "based on" means "at least partially based on". The terms "one embodiment" and "an embodiment" mean "at least one embodiment". The term "another embodiment" means "at least one other embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other definitions, whether explicit or implicit, may be included below. Unless explicitly indicated by the context, the definition of a term shall remain consistent throughout the specification.

[0043] When a vehicle is driving autonomously, ADAS uses the vehicle speed displayed on the vehicle's HMI for adaptive cruise control. The displayed vehicle speed is typically mapped from the vehicle's speed sensed by onboard speed sensors (e.g., gyroscopes in the Electronic Stability Program (ESP)). However, there is a communication delay in transmitting the vehicle speed sensed by the speed sensors to the display device. This causes fluctuations in the displayed vehicle speed relative to the current real-time vehicle speed, and the displayed speed is only accurate to integer decimals, thus affecting the control accuracy of adaptive cruise control.

[0044] Considering that the vehicle speed sensing device (e.g., a gyroscope in an electronic stability control system) can detect vehicle speeds accurate to several decimal places (e.g., two decimal places), and since vehicle speed changes continuously under adaptive cruise control, using historical vehicle speeds immediately preceding the current speed for speed smoothing filtering can eliminate vehicle speed fluctuations. Therefore, an adaptive cruise control scheme is proposed according to embodiments of this specification. In this scheme, by using historical vehicle speeds to smooth the current vehicle speed, and performing adaptive cruise control based on the smoothed vehicle speed and the set cruise speed, the fluctuations in vehicle speed used during adaptive cruise control can be eliminated, thereby improving the control accuracy of adaptive cruise control.

[0045] The adaptive cruise system, adaptive cruise control method, and adaptive cruise control device according to embodiments of this specification are described below with reference to the accompanying drawings.

[0046] Figure 1 An example block diagram of an adaptive cruise system 100 according to an embodiment of this specification is shown. Figure 1 As shown, the adaptive cruise system 100 includes a vehicle speed acquisition device 110 and an adaptive cruise control device 120. The vehicle speed acquisition device 110 and the adaptive cruise control device 120 can communicate with each other via wireless or wired communication.

[0047] The vehicle speed acquisition device 110 is configured to acquire the current vehicle speed. For example, the vehicle speed acquisition device 110 can acquire the vehicle speed at given time intervals. The given time interval may be, for example, 50 milliseconds, 100 milliseconds, 1 second, etc. In some embodiments, the given time interval may be determined based on the vehicle's data processing capabilities, for example, according to the data processing capabilities of a processing chip configured on the vehicle. The vehicle speed acquisition device may be a device or system equipped with any sensor with speed sensing capabilities on the vehicle. For example, the vehicle speed acquisition device may be an Electronic Stability Program (ESP). The ESP includes a gyroscope. The vehicle speed sensed by the gyroscope can be accurate to two decimal places.

[0048] The adaptive cruise control device 120 is configured to obtain the current vehicle speed from the vehicle speed acquisition device 110 and perform adaptive cruise control based on the current vehicle speed.

[0049] Optionally, the adaptive cruise control system 100 may also include a speedometer display device. The speedometer display device is configured to display the speed obtained by mapping the current vehicle speed acquired by the vehicle speed acquisition device. For example, after acquiring the current vehicle speed via the electronic stability control system under adaptive cruise control, the current vehicle speed can be mapped and converted according to the mapping rules between the vehicle speed acquired by the electronic stability control system and the displayed vehicle speed. For example, the current vehicle speed with a precision of two decimal places can be converted into a displayed speed with an integer precision. The mapped and converted speed is then displayed on the speedometer display device. Examples of speedometer display devices may include, but are not limited to, head-up display (HUD), vehicle instrument panel, and central control screen.

[0050] Figure 2 An example flowchart of an adaptive cruise control method 200 according to an embodiment of this specification is shown.

[0051] like Figure 2 As shown, in S210, a set of historical vehicle speeds of the vehicle is acquired. The set of historical vehicle speeds may include at least one historical vehicle speed acquired consecutively before the acquisition time of the vehicle's current vehicle speed (e.g., within a given time period). The vehicle speeds acquired by the vehicle speed acquisition device may be stored in a vehicle speed database (e.g., a vehicle speed storage cache or a vehicle speed database device) in a time sequence, thereby forming the set of historical vehicle speeds.

[0052] In S220, the current speed of the vehicle is smoothed by a Moving Average Filter (MAF) based on the historical vehicle speed set.

[0053] The historical vehicle speed set used for smoothing filtering includes historical vehicle speeds acquired using a smoothing filter window within this set. The window size of the smoothing filter window can be characterized, for example, by the number of vehicle speeds acquired; a window size of 8 indicates that the smoothing filter process acquires 8 vehicle speeds. In this case, in addition to the current vehicle speed, seven consecutive historical vehicle speeds acquired immediately preceding the acquisition time of the current vehicle speed need to be selected from the historical vehicle speed set.

[0054] In some embodiments, a smoothing filter window of fixed size can be used for smoothing filtering. In some embodiments, a smoothing filter window of dynamically changing size can be used for smoothing filtering. For example, a suitable smoothing filter window can be dynamically selected from a set of smoothing filter windows with different window sizes for smoothing filtering.

[0055] Figure 3An example flowchart of a method 300 for smoothing and filtering vehicle speed according to an embodiment of this specification is shown.

[0056] like Figure 3 As shown, in S310, a smoothing filter window is determined based on the historical vehicle speed set and the current vehicle speed.

[0057] Figure 4 An example flowchart of a smoothing filter window determination process 400 according to an embodiment of this specification is shown.

[0058] like Figure 4 As shown in S410, a set of smoothing filter windows with different window sizes is preset. The window sizes of the smoothing filter windows in the set can be set continuously, according to a fixed size difference, or based on a given rule (e.g., a window size difference determined by a predetermined algorithm).

[0059] In S420, vehicle speed is collected based on each smoothing filter window in the smoothing filter window set to obtain the vehicle speed set corresponding to each smoothing filter window. Each vehicle speed set includes the current vehicle speed set and N consecutive historical vehicle speeds selected from the historical vehicle speed set immediately preceding the acquisition time of the current vehicle speed, where N is equal to the window size of the smoothing filter window minus the number of current vehicle speeds.

[0060] In S430, the current vehicle speed is determined based on the collected vehicle speed set and after smoothing filtering based on each smoothing filter window.

[0061] In some embodiments, the smoothing filter window can be determined based on the historical vehicle speed set and the current vehicle speed, using the mean of the squared differences of filtered vehicle speeds.

[0062] For each smoothing filter window, the current vehicle speed can be smoothed using the collected vehicle speed set to obtain the smoothed current vehicle speed.

[0063] For example, formula (1) can be used to calculate the current vehicle speed V. ego-cur Perform a smoothing filter to obtain the current vehicle speed V(i) after smoothing using the smoothing filter window i. ego-filt-cur :

[0064]

[0065] Where Num(i) represents the window size of the smoothing filter window, V ego-cur V represents the current speed of the vehicle. ego-history(i) This represents the i-th historical vehicle speed selected from the historical vehicle speed set based on the smoothing filter window i.

[0066] In S440, determine the mean of the squared differences of the filtered vehicle speeds under each smoothing filter window.

[0067] For example, the mean of the squared differences of filtered vehicle speeds, AveQuaDev(i), under the smoothing filter window i can be calculated using formula (2):

[0068]

[0069] In S450, a smoothing filter window is selected from the set of smoothing filter windows based on the mean of the squared differences of filtered vehicle speeds, AveQuaDev(i). For example, the smoothing filter window with the smallest mean of the squared differences of filtered vehicle speeds, AveQuaDev(i), can be selected from the set of smoothing filter windows.

[0070] After determining the smoothing filter window as described above, the current vehicle speed is smoothed using the historical vehicle speed selected based on the determined smoothing filter window. For example, the smoothing filter can be performed as shown in formula (1).

[0071] Back Figure 2 After the current vehicle speed is smoothed and filtered as described above, in S230, adaptive cruise control is performed on the vehicle based on the difference between the current vehicle speed after smoothing and filtering and the set cruise speed.

[0072] Figure 5 An example flowchart of an adaptive cruise control process 500 according to an embodiment of this specification is shown.

[0073] like Figure 5 As shown, in S510, the speed difference between the current vehicle speed after smoothing and filtering and the set cruise speed is determined.

[0074] In S520, it is determined whether the speed difference is within a predetermined range. For example, it is determined whether the speed difference is greater than or equal to a first threshold and less than or equal to a second threshold. The first and second thresholds can be set based on specific cruise control requirements.

[0075] In S530, if the speed difference is within a predetermined threshold range, a PI (proportional and integral) control strategy is used for adaptive cruise control. A speed difference within the predetermined threshold range indicates that the current vehicle speed is close to the set cruise speed, allowing for fine-grained control using the PI control strategy. For example, proportional control (P strategy) and integral control (I strategy) can be used separately, and the results of the two control strategies are weighted and averaged. This control strategy keeps the difference between the vehicle speed and the set cruise speed close to zero, with fluctuations not exceeding 1%.

[0076] In S540, if the speed difference is outside a predetermined threshold range, a P-control (proportional control) strategy is used to perform adaptive cruise control on the vehicle. This control strategy allows the vehicle's speed to quickly approach the set cruise speed, thereby shortening the cruise control response time.

[0077] In some embodiments, the current vehicle speed may be the vehicle speed obtained via the electronic stability control system. In this case, the adaptive cruise control method may further include: performing a precision conversion on the set cruise speed to maintain consistency with the precision of the current vehicle speed obtained by the electronic stability control system. In some examples, the precision mapping conversion of the set cruise speed may be based on a mapping rule between the vehicle speed obtained by the electronic stability control system and the displayed vehicle speed to maintain consistency with the precision of the current vehicle speed obtained by the electronic stability control system.

[0078] For example, the vehicle speed mapping (i.e., the mapping rule) between the vehicle speed obtained by the electronic stability system and the displayed vehicle speed can be performed according to formula (3):

[0079] V DIS =V ego +4*min(40,V ego ) / 40 (3),

[0080] Among them, V DIS V indicates the displayed vehicle speed. ego This indicates the vehicle speed as obtained by the electronic stability control system.

[0081] In some embodiments, the precision conversion can be performed according to formula (4):

[0082] V SET =V coversion +4*min(40,V ego ) / 40 (4),

[0083] Among them, V SET Indicates the set cruise speed, V coversionThis indicates the set cruise speed after value precision conversion.

[0084] In some embodiments, the precision conversion can be performed according to formula (5):

[0085] V SET =V coversion +4*min(40,V ego ) / 40-0.5 (5),

[0086] Among them, V SET Indicates the set cruise speed, V coversion This indicates the set cruise speed after value precision conversion.

[0087] By performing the aforementioned value accuracy conversion on the set cruise speed, the accuracy of the set cruise speed can be kept consistent with the actual sensed current vehicle speed, thereby further improving the control accuracy of adaptive cruise control.

[0088] After completing the above value accuracy conversion, adaptive cruise control can be performed on the vehicle based on the difference between the current vehicle speed after smoothing and filtering and the set cruise speed after value accuracy conversion.

[0089] By using the above-mentioned adaptive cruise control method, the current vehicle speed is smoothed by using historical vehicle speeds, and adaptive cruise control is performed based on the smoothed vehicle speed and the set cruise speed. This can eliminate the fluctuation of the vehicle speed used in adaptive cruise control, thereby improving the control accuracy of adaptive cruise control.

[0090] By using the adaptive cruise control method described above, the smoothing filter window size used in the smoothing filter processing can be dynamically selected, thereby improving the smoothing filter processing effect and further enhancing the control accuracy of adaptive cruise control.

[0091] By using the adaptive cruise control method described above, the accuracy of the set cruise speed can be further improved by converting the value of the cruise speed to match the accuracy of the actual sensed current vehicle speed.

[0092] Furthermore, after adaptive cruise control is implemented based on the aforementioned adaptive cruise control method, the current vehicle speed acquired by the vehicle speed acquisition device, such as that of the electronic stability control system, can be mapped to a speedometer display on a device such as a head-up display, instrument panel, or central control screen. Because the aforementioned adaptive cruise control method can improve the control accuracy of adaptive cruise control, it eliminates speed fluctuations in the current vehicle speed acquired by the vehicle speed acquisition device, thereby ensuring that the speedometer display maintains a small fluctuation range, thus improving the driver's user experience.

[0093] Figure 6 An example block diagram of an adaptive cruise control device 600 according to an embodiment of this specification is shown. Figure 6 As shown, the adaptive cruise control device 600 includes a vehicle speed acquisition unit 610, a smoothing filter unit 620, and an adaptive cruise control unit 630.

[0094] The vehicle speed acquisition unit 610 is configured to acquire a set of historical vehicle speeds of the vehicle, which includes at least one historical vehicle speed acquired consecutively prior to the acquisition time of the vehicle's current vehicle speed. The operation of the vehicle speed acquisition unit 610 can be referenced above. Figure 2 The operation described in S210.

[0095] The smoothing filter unit 620 is configured to perform smoothing filtering on the current vehicle speed based on the historical vehicle speed set. The operation of the smoothing filter unit 620 can be referenced above. Figure 2 The operation described in S220.

[0096] The adaptive cruise control unit 630 is configured to perform adaptive cruise control on the vehicle based on the difference between the current vehicle speed (after smoothing filtering) and the set cruise speed. The operation of the adaptive cruise control unit 630 can be referenced above. Figure 2 The operation described in S230.

[0097] In some embodiments, the adaptive cruise control device may further include a smoothing filter window determination unit (not shown). The smoothing filter window determination unit is configured to determine a smoothing filter window based on a historical set of vehicle speeds and the current vehicle speed. In some embodiments, the smoothing filter window determination unit may determine the smoothing filter window based on the historical set of vehicle speeds and the current vehicle speed using the mean of the squared differences of filtered vehicle speeds. After determining the smoothing filter window, the smoothing filter processing unit 620 performs smoothing filter processing on the current vehicle speed using historical vehicle speeds selected based on the determined smoothing filter window.

[0098] In some embodiments, the current vehicle speed may be the vehicle speed obtained via the electronic stability control system. Accordingly, the adaptive cruise control device may further include a value accuracy conversion unit (not shown). The value accuracy conversion unit is configured to perform value accuracy conversion on the set cruise speed to maintain consistency with the current vehicle speed. Then, the adaptive cruise control unit performs adaptive cruise control on the vehicle based on the difference between the smoothed and filtered vehicle speed and the value accuracy-converted set cruise speed.

[0099] In some embodiments, the value accuracy conversion unit can perform value accuracy mapping conversion on the set cruise speed based on the mapping rules between the vehicle speed obtained by the vehicle electronic stability system and the displayed vehicle speed to maintain the value accuracy consistent with the current vehicle speed.

[0100] In some embodiments, the adaptive cruise control device is a domain controller.

[0101] As referred above Figures 1 to 6 This specification describes an adaptive cruise control method, an adaptive cruise control device, and an adaptive cruise system according to embodiments thereof. The aforementioned adaptive cruise control device can be implemented in hardware, software, or a combination of both.

[0102] Figure 7 An example schematic diagram of an adaptive cruise control device 700 implemented using a computer system according to an embodiment of this specification is shown. Figure 7 As shown, the adaptive cruise control device 700 may include at least one processor 710, a memory (e.g., non-volatile memory) 720, a RAM 730, and a communication interface 740, and the at least one processor 710, memory 720, RAM 730, and communication interface 740 are connected together via a bus 760. The at least one processor 710 executes at least one computer-readable instruction (i.e., the elements implemented in software above) stored or encoded in the memory.

[0103] In one embodiment, computer-executable instructions are stored in memory that, when executed, cause at least one processor 710 to: acquire a set of historical vehicle speeds of the vehicle, the set of historical vehicle speeds including at least one historical vehicle speed acquired consecutively prior to the acquisition time of the vehicle's current vehicle speed; perform a smoothing filter on the vehicle's current vehicle speed based on the set of historical vehicle speeds; and perform adaptive cruise control on the vehicle based on the difference between the smoothed current vehicle speed and a set cruise speed.

[0104] It should be understood that the computer-executable instructions stored in memory, when executed, cause at least one processor 710 to perform the above-described combinations in the various embodiments of this specification. Figures 1-6 The description includes various operations and functions.

[0105] According to one embodiment, a computer program product is provided, the computer program product including a computer program, which, when executed by a processor, causes the processor to perform the above-described combinations of the various embodiments of this specification. Figures 1-6 The description includes various operations and functions.

[0106] It should be noted that not all steps and units in the above process and system structure diagrams are mandatory; some steps or units can be omitted according to actual needs. The execution order of each step is not fixed and can be determined as needed. The device structure described in the above embodiments can be a physical structure or a logical structure; that is, some units may be implemented by the same physical entity, or some units may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.

[0107] In the above embodiments, the hardware units or modules can be implemented mechanically or electrically. For example, a hardware unit, module, or processor may include permanent dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operation. The hardware unit or processor may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operation. The specific implementation method (mechanical, dedicated permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.

[0108] The specific embodiments described above with reference to the accompanying drawings are exemplary embodiments, but do not represent all embodiments that can be implemented or fall within the scope of the claims. The term "exemplary" as used throughout this specification means "serving as an example, instance, or illustration" and does not imply that it is "preferred" or "advantageous" compared to other embodiments. Specific details are included to provide an understanding of the described techniques. However, these techniques can be practiced without these specific details. In some instances, well-known structures and apparatuses are shown in block diagram form to avoid obscuring the concepts of the described embodiments.

[0109] The foregoing description of this disclosure is provided to enable any person skilled in the art to implement or use this disclosure. Various modifications to this disclosure will be apparent to those skilled in the art, and the general principles defined herein can be applied to other variations without departing from the scope of this disclosure. Therefore, this disclosure is not limited to the examples and designs described herein, but is consistent with the widest scope of the principles and novel features disclosed herein.

Claims

1. An adaptive cruise control method, comprising: Obtain a set of historical vehicle speeds for the vehicle, the set of historical vehicle speeds including at least one historical vehicle speed acquired consecutively before the current vehicle speed of the vehicle; The current vehicle speed is smoothed and filtered based on the historical vehicle speed set. as well as Adaptive cruise control is performed on the vehicle based on the difference between the current vehicle speed (after smoothing and filtering) and the set cruise speed.

2. The adaptive cruise control method as described in claim 1, further comprising: A smoothing filter window is determined based on the historical vehicle speed set and the current vehicle speed. Smoothing filtering of the current vehicle speed based on the historical vehicle speed set includes: The current vehicle speed is smoothed using historical vehicle speeds selected based on the determined smoothing filter window.

3. The adaptive cruise control method as described in claim 2, wherein, The smoothing filter window is determined based on the historical vehicle speed set and the current vehicle speed, including: Based on the historical vehicle speed set and the current vehicle speed, a smoothing filter window is determined according to the mean of the squared differences of filtered vehicle speeds.

4. The adaptive cruise control method as described in claim 1, wherein, The current vehicle speed is obtained via the vehicle electronic stability system, and the adaptive cruise control method further includes: The set cruise speed is converted to a higher precision value to ensure consistency with the current vehicle speed. Adaptive cruise control of the vehicle based on the difference between the current vehicle speed (after smoothing and filtering) and the set cruise speed includes: Adaptive cruise control is performed on the vehicle based on the difference between the current vehicle speed after smoothing and filtering and the set cruise speed after value precision conversion.

5. The adaptive cruise control method as described in claim 4, wherein, Converting the precision of the set cruise speed to match the precision of the current vehicle speed includes: Based on the mapping rules between the vehicle speed obtained by the electronic stability system and the displayed vehicle speed, the set cruise speed is mapped and converted to maintain the same accuracy as the current vehicle speed.

6. The adaptive cruise control method as described in claim 1, wherein, Adaptive cruise control of the vehicle based on the difference between the current vehicle speed (after smoothing and filtering) and the set cruise speed includes: Determine the speed difference between the current vehicle speed after smoothing and filtering and the set cruise speed; In response to the vehicle speed difference being within a predetermined threshold range, an adaptive cruise control strategy is used to control the vehicle. In response to the speed difference being outside a predetermined threshold range, the P control strategy is used to perform adaptive cruise control on the vehicle.

7. An adaptive cruise control device, comprising: One or more processors; as well as A memory storing computer-executable instructions that, when executed, cause the one or more processors to perform the adaptive cruise control method as described in any one of claims 1 to 6.

8. The adaptive control device as claimed in claim 7, wherein, The adaptive cruise control device is a domain controller.

9. An adaptive cruise system, comprising: The vehicle speed acquisition device is configured to acquire the vehicle speed of the vehicle. as well as The adaptive cruise control device as described in claim 7.

10. The adaptive cruise system as claimed in claim 9, wherein, The vehicle speed acquisition device includes a vehicle electronic stability system.

11. The adaptive cruise system of claim 10, further comprising: The speedometer display device is configured to display the speedometer obtained by mapping the current vehicle speed acquired by the electronic stability system.

12. The adaptive cruise system as claimed in claim 11, wherein, The speed display device includes a head-up display system, a car dashboard, or a central control screen.

13. A computer program product comprising a computer program that is executed by a processor to implement the adaptive cruise control method as described in any one of claims 1 to 6.

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