CN115503711A - Vehicle cruise control method and device - Google Patents

Abstract

The application discloses a vehicle cruise control method and a vehicle cruise control device, wherein the method comprises the following steps: and acquiring the road condition of the lane where the vehicle is located. And when the road working condition of the lane where the vehicle is located is a congestion working condition, calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located. And determining a vehicle following distance range according to the target vehicle following distance, and controlling the vehicle to run within the vehicle following distance range. Whether a traffic jam condition exists in a lane where a vehicle is located is judged. When a congestion working condition exists, calculating a target following distance under the congestion working condition and acquiring a following distance range based on the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located, and controlling the vehicle according to the following distance range so as to ensure the safe driving of the vehicle.

Description

Vehicle cruise control method and device

Technical Field

The application relates to the technical field of vehicle control, in particular to a vehicle cruise control method and device.

Background

The adaptive cruise system is an intelligent automatic control system installed on a vehicle. During the running process of the vehicle, if the distance between the vehicle and the vehicle in front of the lane where the vehicle is located is too small, the cruise control unit in the adaptive cruise system can coordinate with a brake system and an engine control system on the vehicle to enable the vehicle and the vehicle in front to keep a safe distance all the time.

The existing adaptive cruise control algorithm applied to the adaptive cruise system can meet the safe driving requirement of a driver only under the condition of good traffic road conditions. When the lane where the vehicle is located is in a congestion working condition, the vehicle following distance calculated based on the existing adaptive cruise control algorithm cannot realize accurate vehicle control, and a vehicle accident can be caused in severe cases.

Disclosure of Invention

In order to solve the technical problem, the application provides a vehicle cruise control method and device, which are used for determining a vehicle following distance range when a road where a vehicle is located has a congestion working condition so as to control the vehicle to safely run.

In order to achieve the above object, the embodiments of the present application provide the following technical solutions:

the embodiment of the application provides a vehicle cruise control method, which comprises the following steps:

acquiring the road condition of a lane where a vehicle is located;

when the road working condition of the lane where the vehicle is located is a congestion working condition, calculating a target vehicle following distance of the vehicle under the congestion working condition according to a vehicle operation parameter and a congestion parameter of the lane where the vehicle is located;

and determining a vehicle following distance range according to the target vehicle following distance, and controlling the vehicle to run within the vehicle following distance range.

Optionally, the acquiring the road condition of the lane in which the vehicle is located includes:

acquiring a perception target coefficient of the vehicle, a perception speed coefficient of the vehicle and a navigation congestion coefficient of the vehicle;

calculating a product of the perception target coefficient, the perception speed coefficient and the navigation congestion coefficient, and determining the product as the congestion coefficient of the lane where the vehicle is located;

and if the congestion coefficient of the lane where the vehicle is located meets the preset condition, acquiring the working condition of the lane where the vehicle is located as a congestion working condition.

Optionally, the obtaining the perception target coefficient of the vehicle includes:

acquiring a lane coefficient of a lane where the vehicle is located, the number of perception target vehicles of the lane where the vehicle is located, a basic target value of the lane where the vehicle is located and a target gain of the lane where the vehicle is located;

and calculating the perception target coefficient of the vehicle according to the lane coefficient of the lane in which the vehicle is positioned, the target vehicle number of the lane in which the vehicle is positioned, the basic target value of the lane in which the vehicle is positioned and the target gain of the lane in which the vehicle is positioned.

Optionally, the obtaining a perceived speed coefficient of the vehicle includes:

acquiring the number of perception target vehicles of a lane where the vehicle is located and the speed of the perception target vehicles of the lane where the vehicle is located;

calculating the perceived target uniform speed of the lane where the vehicle is located according to the number of perceived target vehicles of the lane where the vehicle is located and the speed of the perceived target vehicles of the lane where the vehicle is located;

and acquiring the perception speed coefficient of the vehicle according to the perception target uniform speed and the perception speed coefficient table of the lane where the vehicle is located.

Optionally, the obtaining the navigation congestion coefficient of the vehicle includes:

acquiring congestion distances of the vehicle and congestion points of a lane where the vehicle is located;

and acquiring the navigation congestion coefficient of the vehicle according to the congestion distance and the navigation congestion coefficient table.

Optionally, when the road condition of the lane where the vehicle is located is a congestion condition, calculating a target following distance of the vehicle under the congestion condition according to the vehicle operation parameter and the congestion parameter of the lane where the vehicle is located, including:

when the working condition of the lane where the vehicle is located is a congestion working condition, calculating a target vehicle following distance of the vehicle under the congestion working condition according to the vehicle speed of the vehicle, the set vehicle following distance of the vehicle, the vehicle following stopping distance of the vehicle and the congestion coefficient; the congestion parameter of the lane where the vehicle is located comprises the congestion coefficient.

Optionally, the method further comprises:

and when the working condition of the lane where the vehicle is located is a congestion working condition, the vehicle is controlled to perform braking pre-filling, the preset gap between the brake disc and the friction plate is reduced, and no braking force is applied.

Optionally, the method further comprises:

acquiring the working condition of the adjacent lane of the lane where the vehicle is located;

when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating a target starting acceleration of the vehicle according to the congestion parameter of the lane where the vehicle is located;

determining a following distance range according to the target following distance, and controlling the vehicle to run within the following distance range, including:

determining a following distance range according to the target following distance, controlling the vehicle to run in the following distance range, determining a starting acceleration range according to the target starting acceleration of the vehicle, and controlling the vehicle according to the starting acceleration range.

Optionally, when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating a target starting acceleration of the vehicle according to the congestion parameter of the lane where the vehicle is located, including:

when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating the target starting acceleration of the vehicle according to the relative distance between the vehicle and the target vehicle, the relative acceleration between the vehicle and the target vehicle, the relative speed between the vehicle and the target vehicle, the maximum allowable starting acceleration of the vehicle and the congestion coefficient.

Optionally, the method further comprises:

when the working condition of the lane where the vehicle is located is a normal condition and the working condition of the adjacent lane is the congestion working condition, calculating a target set speed and a target following distance of the vehicle;

determining a vehicle following distance range according to the target vehicle following distance;

and controlling the vehicle according to the vehicle following distance range and the target set speed.

Optionally, when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is the congestion working condition, calculating a target set speed of the vehicle includes:

when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is the congestion working condition, calculating the product of the congestion coefficient of the set target vehicle speed of the driver and the set speed, and determining the product as the target set speed of the vehicle; the set speed congestion coefficient is determined according to the current speed of the vehicle.

Optionally, the method further comprises:

and when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is the congestion working condition, controlling the vehicle to perform braking pre-filling, reducing the preset gap between the brake disc and the friction plate and not applying braking force.

An embodiment of the present application further provides a vehicle cruise control apparatus, which includes:

the first acquisition unit is used for acquiring the road condition of a lane where the vehicle is located;

the first calculation unit is used for calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located when the road working condition of the lane where the vehicle is located is the congestion working condition;

and the control unit is used for determining a vehicle following distance range according to the target vehicle following distance and controlling the vehicle to run in the vehicle following distance range.

According to the technical scheme, the method has the following beneficial effects:

the embodiment of the application provides a vehicle cruise control method and device, and the method comprises the following steps: and acquiring the road condition of the lane where the vehicle is located. And when the road working condition of the lane where the vehicle is located is a congestion working condition, calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located. And determining a vehicle following distance range according to the target vehicle following distance, and controlling the vehicle to run within the vehicle following distance range. Whether a traffic jam condition exists in a lane where a vehicle is located is judged. When a congestion working condition exists, calculating a target following distance under the congestion working condition and acquiring a following distance range based on the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located, and controlling the vehicle according to the following distance range so as to ensure the safe driving of the vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following descriptions are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flow chart of a vehicle cruise control method according to an embodiment of the present application;

FIG. 2 is a flow chart of another vehicle cruise control method provided by an embodiment of the present application;

FIG. 3 is a flow chart of another vehicle cruise control method provided by an embodiment of the present application;

fig. 4 is a schematic diagram of a vehicle cruise control apparatus according to an embodiment of the present application.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the drawings are described in detail below.

In order to facilitate understanding and explaining the technical solutions provided in the embodiments of the present application, a background of the technical solutions provided in the present application will be described first.

An Adaptive Cruise Control (ACC) system is an intelligent automatic Control system, which is an improvement from existing Cruise Control systems. During the running of the vehicle, environmental information, such as information of a vehicle, a pedestrian, a non-motor vehicle, a lane line, a traffic signboard, a bifurcation crossing, a guide line and the like, can be acquired through an environmental perception sensor, such as a radar or a camera, which is installed at the front part or the outside of the vehicle. ACC systems, like conventional cruise control systems, require the driver to set a target speed, select or default to a safe following distance. Wherein the safe following distance is related to the speed of the vehicle. The ACC controller can control a vehicle power system to output driving torque or dragging torque and control a vehicle braking system to output braking torque based on information such as target speed, vehicle following distance and relative speed and relative distance fed back by an environment sensing sensor set by a driver, so that the vehicle and a front vehicle can always keep a safe vehicle following distance, and feet of the driver can be further liberated.

Specifically, in practice, if there is no target vehicle in front of the vehicle, the driver may choose to turn on the adaptive cruise function, and under the adaptive cruise function, the vehicle may enter the constant-speed cruise mode. Wherein the target vehicle includes a vehicle directly in front of the vehicle.

When a target vehicle appears in front of the vehicle, the speed of the vehicle is lower than the set target vehicle speed of the driver, and the relative distance between the vehicle and the front vehicle is smaller than the safe following distance set by the driver, the ACC controller of the vehicle decides a deceleration request value, and the vehicle acts according to the deceleration so as to reach the same speed as the front vehicle and the safe following distance set by the driver. When the front vehicle gradually accelerates, the vehicle can accelerate along with the front vehicle, but the vehicle speed of the front vehicle does not exceed the set target vehicle speed of the driver.

The existing adaptive cruise technology is suitable for the traffic condition with good high-speed road condition, and can meet the safe and comfortable control of a driver. However, when the traffic of the lane where the vehicle is located is congested, dangerous situations such as slow running of the target vehicle followed by the vehicle, frequent cut-in and cut-out, and abrupt intersection of the lane targets, occur. The dangerous conditions expose the performance limitation of the traditional self-adaptive cruise algorithm, such as the problem that the distance between vehicles is too far and is easily blocked by targets of adjacent lanes under the congestion working condition; or when the vehicle has no effective target and the adjacent lanes are congested, the vehicle runs at a higher set speed to cause potential traffic accident risks; or the situation that the driver has insufficient functional confidence and the like is caused by weak braking request of the vehicle due to too slow braking of the target vehicle under the congestion working condition.

Based on this, the embodiment of the application provides a vehicle cruise control method and device, and the method comprises the following steps: and acquiring the road condition of the lane where the vehicle is located. And when the road working condition of the lane where the vehicle is located is a congestion working condition, calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located. And determining a vehicle following distance range according to the target vehicle following distance, and controlling the vehicle to run within the vehicle following distance range. Whether a traffic jam condition exists in a lane where a vehicle is located is judged. When the congestion working condition exists, calculating the target following distance under the congestion working condition, acquiring the expected following distance range under the congestion working condition, and controlling the vehicle according to the following distance range so as to ensure the safe driving of the vehicle.

Referring to fig. 1, fig. 1 is a flowchart of a vehicle cruise control method according to an embodiment of the present application. The method may be applied to an ACC controller, as shown in fig. 1, the method comprising S101-S103:

s101: and acquiring the road condition of the lane where the vehicle is located.

And acquiring the road condition of the lane where the vehicle is located, and performing subsequent vehicle control according to the road condition of the lane where the vehicle is located. The road working conditions of the lane where the vehicle is located comprise congestion working conditions and normal working conditions. In practice, a large truck on a road is slow to travel, a lane has a turnout, an accident occurs on the lane, and the like, which all can cause the congestion of the road where the vehicle is located. Normal operation may be understood as non-congested operation. For convenience of understanding and subsequent descriptions, the lane where the vehicle is located is the own lane, and the vehicle in the lane where the vehicle is located is the own vehicle.

When the concrete implementation, acquire the road condition in vehicle place lane, include:

acquiring a perception target coefficient of a vehicle, a perception speed coefficient of the vehicle and a navigation congestion coefficient of the vehicle;

calculating the product of the perception target coefficient, the perception speed coefficient and the navigation congestion coefficient, and determining the product as the congestion coefficient of the lane where the vehicle is located;

and if the congestion coefficient of the lane where the vehicle is located meets the preset condition, acquiring the working condition of the lane where the vehicle is located as a congestion working condition.

The congestion coefficient is a main parameter for judging whether the road where the vehicle is located is congested. Actually, the road condition of the lane where the vehicle is located is obtained by calculating the congestion coefficient of the lane where the vehicle is located.

In the embodiment of the application, the congestion coefficient of the lane where the vehicle is located = perceived target coefficient and perceived speed coefficient. As an example, the preset condition is that the congestion coefficients of the lanes in which the vehicles are located exceed a calibrated preset congestion coefficient threshold value within a preset time period.

In specific implementation, the obtaining of the perception target coefficient of the vehicle includes:

acquiring a lane coefficient of a lane where a vehicle is located, the number of perception target vehicles of the lane where the vehicle is located, a basic target value of the lane where the vehicle is located and a target gain of the lane where the vehicle is located;

and calculating the perception target coefficient of the vehicle according to the lane coefficient of the lane in which the vehicle is positioned, the target vehicle number of the lane in which the vehicle is positioned, the basic target value of the lane in which the vehicle is positioned and the target gain of the lane in which the vehicle is positioned.

As an example, information such as a lane coefficient of a lane in which the vehicle is located, the number of perceived target vehicles in the lane in which the vehicle is located, a basic target value of the lane in which the vehicle is located, and a target gain of the lane in which the vehicle is located is collected by an environment perception sensor such as a radar or a camera installed in front of the vehicle or outside the vehicle and transmitted to the ACC controller.

In the embodiment of the present application, the calculation formula of the perception target coefficient of the vehicle is:

X＝G*(R+jL)＝G*R(1+jL/R)

wherein, X is the perception target coefficient of the vehicle, and G is the lane coefficient of the lane where the vehicle is located. The lane coefficient G is different for different lanes. For example, the lane coefficient G of the lane where the vehicle is located is set to 1.1, and the lane coefficient G of the adjacent lane of the lane where the vehicle is located is set to 1, so that the influence of a low perception target coefficient caused by the fact that the target of the lane where the vehicle is located is shielded can be eliminated.

j is the number of perception target vehicles in the lane where the vehicle is located, and the perception target vehicles are vehicles which are possible to carry out dangerous operations such as vehicle jam and the like on the front vehicles followed by the vehicles in the lane where the vehicle is located or the adjacent lanes.

R and L are calibration parameters, R is a basic target value of a lane where a vehicle is located, and the initial setting can be 1; l is a target gain of the lane where the vehicle is located, and may be set to 0.03. If G is 1, L represents that the perception target coefficient is increased by 0.03 every time one target vehicle is added. It should be noted that, for the lane where the vehicle is located and the adjacent lane of the lane where the vehicle is located, the value of R is different, and the value of L is different.

Taking the lane where the vehicle is located as an example, if there are 3 perception target vehicles in the lane where the vehicle is located, the lane coefficient of the lane where the vehicle is located is set to be 1.1. The perceptual target coefficient of the lane where the vehicle is located is X = G (R + jL) =1.1 (1 +3 + 0.03) =1.199.

In specific implementation, obtaining a perceived speed coefficient of a vehicle includes:

acquiring the number of perception target vehicles of a lane where the vehicles are located and the speed of the perception target vehicles of the lane where the vehicles are located;

calculating the perceived target uniform speed of the lane in which the vehicle is located according to the number of perceived target vehicles of the lane in which the vehicle is located and the speed of the perceived target vehicles of the lane in which the vehicle is located;

and acquiring a perception speed coefficient of the vehicle according to the perception target average speed and the perception speed coefficient table of the lane where the vehicle is located.

The number of the perception target vehicles on the lane where the vehicle is located and the speed of the perception target vehicles on the lane where the vehicle is located can be collected by environment perception sensors such as radars or cameras arranged on the front portion and the outside of the vehicle and the like of the vehicle and transmitted to the ACC controller.

In the embodiment of the application, a calculation formula of the perceived target uniform speed of the lane where the vehicle is located is as follows:

the vehicle speed sensing method includes the steps that V is the speed equalizing speed of sensing targets of a lane where a vehicle is located, j is the number of the sensing target vehicles of the lane where the vehicle is located, V is the speed of the sensing target vehicles of the lane where the vehicle is located, n is one of the sensing target vehicles of the lane where the vehicle is located, n is a positive integer, and the value of n is 1-j.

In addition, after the sensing target uniform speed of the lane where the vehicle is located is obtained, the sensing speed coefficient of the vehicle corresponding to the sensing target uniform speed of the lane where the vehicle is located can be obtained by inquiring the sensing speed coefficient table. Referring to table 1, table 1 is a perceptual speed coefficient table. The table of the perceived speed coefficients of the vehicle may be obtained in advance by calibration. As shown in fig. 1, when the perceived average speed of the target is 8.33, the perceived speed coefficient of the lane where the vehicle is located is found to be 1.5.

TABLE 1 perception velocity coefficient Table

In specific implementation, the obtaining of the navigation congestion coefficient of the vehicle includes:

obtaining the congestion distance of a vehicle and a congestion point of a lane where the vehicle is located;

and acquiring the navigation congestion coefficient of the vehicle according to the congestion distance and the navigation congestion coefficient table.

It should be noted that the congestion distance between the vehicle and the congestion point on the lane where the vehicle is located may be collected by an environmental sensor such as a radar or a camera mounted in the front of the vehicle or outside the vehicle, and transmitted to the ACC controller.

After the congestion distance between the vehicle and the congestion point of the lane where the vehicle is located is obtained, the navigation congestion coefficient table can be inquired according to the obtained congestion distance, so that the navigation congestion coefficient of the vehicle corresponding to the congestion distance is obtained. Referring to table 2, table 2 is a navigation congestion coefficient table. As shown in table 2, if the traffic jam distance from the traffic jam point of the lane where the vehicle is located to the vehicle is 10, it can be found that the corresponding navigation traffic jam coefficient is 1.6.

TABLE 2 navigation Congestion coefficient Table

S102: and when the road working condition of the lane where the vehicle is located is a congestion working condition, calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located.

And when the road working condition of the lane where the vehicle is located is determined to be a congestion working condition, calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located.

The vehicle operation parameters comprise the speed of the vehicle, the set following distance of the vehicle and the following stopping distance of the vehicle, and the congestion parameters of the lane where the vehicle is located are the congestion coefficients of the lane where the vehicle is located.

In this application embodiment, when the road condition of the lane where the vehicle is located is a congestion condition, calculating a target following distance of the vehicle under the congestion condition according to the vehicle operation parameter and the congestion parameter of the lane where the vehicle is located, including:

when the working condition of the lane where the vehicle is located is a congestion working condition, calculating a target vehicle following distance of the vehicle under the congestion working condition according to the vehicle speed of the vehicle, the set vehicle following distance of the vehicle, the vehicle following stopping distance of the vehicle and the congestion coefficient; the congestion parameter of the lane where the vehicle is located comprises a congestion coefficient.

In specific implementation, the calculation formula of the target following distance of the vehicle under the congestion working condition is as follows:

S1＝vt/Z+d ₀

and S1 is the target following distance of the vehicle under the congestion working condition. S1 is the expected following distance of the vehicle under the congestion working condition, and the following distance is the safe following distance of the vehicle. v is the speed of the vehicle, t is the set following distance of the vehicle, d ₀ The following stopping distance of the vehicle is taken as Z, and the congestion coefficient of the lane where the vehicle is located is taken as Z.

In addition, it should be noted that, if the lane where the vehicle is located is a normal operating condition, the calculation formula of the expected following distance of the vehicle is as follows:

S＝vt+d ₀

and S is the expected following distance of the vehicle under the normal working condition. v is the speed of the vehicle, t is the set following distance of the vehicle, d ₀ The following stop distance of the vehicle.

S103: and determining a vehicle following distance range according to the target vehicle following distance, and controlling the vehicle to run within the vehicle following distance range.

And determining a following distance range according to the target following distance, wherein the following distance range is an expected following distance range when the lane where the vehicle is located is in a congestion working condition.

Therefore, the congestion coefficient is considered in the calculation of the target vehicle following distance, and the calculated vehicle target vehicle following distance under the congestion working condition is smaller than the vehicle following distance under the normal working condition. Under the congestion working condition, the vehicle is controlled to run within the expected following distance range, so that the vehicle can avoid the congestion phenomenon of the vehicles on the adjacent lanes.

It should be noted that, when the working condition of the lane where the vehicle is located is a congestion working condition, the ACC controller also needs to control the vehicle to perform braking pre-filling, so as to reduce the preset gap between the brake disc and the friction plate and not apply braking force. During specific implementation, the ACC controller sends a braking pre-filling command to the braking system, so that the braking system performs braking pre-filling, namely the braking system performs pre-pressure building in advance, a braking structure gap is eliminated, the vehicle can respond to a request for braking within a shorter time when a perception target vehicle of an adjacent lane arrives at a lane where the vehicle is located for emergency braking, and driving safety under a congestion working condition is guaranteed.

Therefore, when the working condition of the lane where the vehicle is located is a congestion working condition, the vehicle distance between the vehicle and the front vehicle is controlled within the following distance range of the vehicle, and the pressure is pre-built in advance of the vehicle control system, so that the phenomenon of vehicle congestion on the adjacent lane can be avoided, and the driving safety of the vehicle is ensured.

The vehicle cruise control method provided by the embodiment of the application comprises the following steps: and acquiring the road condition of the lane where the vehicle is located. And when the road working condition of the lane where the vehicle is located is a congestion working condition, calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located. And determining a vehicle following distance range according to the target vehicle following distance, and controlling the vehicle to run within the vehicle following distance range. Whether a traffic jam condition exists in a lane where a vehicle is located is judged. When the congestion working condition exists, calculating the target following distance under the congestion working condition and obtaining the following distance range, and controlling the vehicle according to the following distance range so as to ensure the safe driving of the vehicle.

When the lane where the vehicle is located is under a congestion condition, in order to control the vehicle more safely, whether the adjacent lane of the lane where the vehicle is located is congested or not needs to be considered, and the vehicle control parameters of the vehicle are acquired by combining the congestion condition of the adjacent lane. And the vehicle is controlled based on the control parameters, so that the safe running of the vehicle can be ensured. The vehicle control parameters comprise the target following distance of the vehicle, the target starting acceleration of the vehicle and the target set speed of the vehicle, which are described in the embodiment of the application. Referring to fig. 2, fig. 2 is a flowchart of another vehicle cruise control method according to an embodiment of the present application. As shown in fig. 2, the method includes S201-S203:

s201: and acquiring the working condition of the adjacent lane of the lane where the vehicle is located.

During specific implementation, the working condition of the adjacent lane is obtained by calculating the congestion coefficient of the adjacent lane of the lane where the vehicle is located. The working conditions of the adjacent lanes comprise a congestion working condition and a normal working condition. It should be noted that, reference may be made to S101 for a method of calculating a congestion coefficient of an adjacent lane, and details are not described here.

It is understood that, as shown in fig. 2, as an example, step S201 may be located after S102, but the execution order of S101 and S201 in the embodiment of the present application is not limited. The contents of S101-S102 are described in the previous embodiments and are not described herein.

S202: and when the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is a congestion working condition, calculating the target starting acceleration of the vehicle according to the congestion parameters of the lane where the vehicle is located.

When the working conditions of the lane where the vehicle is located and the adjacent lane are determined to be congestion working conditions, the target starting acceleration of the vehicle can be calculated according to the congestion parameters of the lane where the vehicle is located.

Specifically, when the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is a congestion working condition, calculating the target starting acceleration of the vehicle, including:

and when the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating the target starting acceleration of the vehicle according to the relative distance between the vehicle and the target vehicle, the relative acceleration between the vehicle and the target vehicle, the relative speed between the vehicle and the target vehicle, the maximum allowable starting acceleration of the vehicle and the congestion coefficient.

In the embodiment of the present application, the formula for calculating the target starting acceleration of the vehicle is as follows:

a1＝min[A，(2*Rel _S +m*Rela+n*Rel _V )*max(1，Z)]

wherein a1 is the target starting acceleration of the vehicle when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, A is the maximum allowable starting acceleration of the vehicle, rel _S Is the relative distance, rel, of the vehicle from the target vehicle _a Is the relative acceleration, rel, of the vehicle and the target vehicle _V Is the relative speed of the vehicle and the target vehicle, l, m, n are the variable calibration values corresponding thereto, and Z is the congestion coefficient. The target vehicle is a front vehicle which is followed by the vehicle in a lane where the vehicle is located, and belongs to the perception target vehicle.

In addition, it should be noted that, when at least one of the working condition of the lane where the vehicle is located and the working condition of the adjacent lane is a normal working condition, the calculation formula of the starting acceleration of the vehicle is as follows:

a＝l*Rel _S +m*Rel _a +n*Rel _V

wherein a is the starting acceleration of the vehicle when at least one of the working condition of the lane where the vehicle is located and the working condition of the adjacent lane is the normal working condition, rel _S Is the relative distance, rel, of the vehicle from the target vehicle _a Is the relative acceleration, rel, of the vehicle and the target vehicle _V Is the relative speed of the vehicle and the target vehicle, and l, m, n are variable calibration values corresponding thereto.

Therefore, when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, the congestion coefficient Z is considered, the target starting acceleration a1 of the vehicle is increased compared with a, the starting of the vehicle is faster, and the vehicle can avoid the vehicle congestion of the adjacent lane conveniently.

When the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is a congestion working condition, S103 includes the following S203:

s203: determining a following distance range according to the target following distance, controlling the vehicle to run in the following distance range, determining a starting acceleration range according to the target starting acceleration of the vehicle, and controlling the vehicle according to the starting acceleration range.

According to the descriptions in S101 to S103, when the lane where the vehicle is located is the congestion condition, the target following distance at that time needs to be calculated and the following distance range needs to be determined, where the following distance range is the expected following distance range when the condition of the lane where the vehicle is located is the congestion condition.

When the working condition of the adjacent lane is also the congestion working condition, the starting acceleration range of the vehicle needs to be calculated, wherein the starting acceleration range is the expected starting acceleration range when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition.

Therefore, under the condition that the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is the congestion working condition, the safe vehicle control of the vehicle is carried out by combining the calculated following distance range and the starting acceleration range.

In addition, when the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is the congestion working condition, the brake system still needs to build pressure in advance. And when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, controlling the vehicle based on the following distance range and the starting acceleration range of the vehicle, and pre-building the pressure of the control system in advance to ensure the running safety of the vehicle.

The vehicle cruise control method provided by the embodiment of the application comprises the following steps: and acquiring the road condition of the lane where the vehicle is located. And when the road working condition of the lane where the vehicle is located is a congestion working condition, calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located. And acquiring the working condition of the adjacent lane of the lane where the vehicle is located. And when the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is a congestion working condition, calculating the target starting acceleration of the vehicle according to the congestion parameters of the lane where the vehicle is located. Determining a following distance range according to the target following distance, controlling the vehicle to run in the following distance range, determining a starting acceleration range according to the target starting acceleration of the vehicle, and controlling the vehicle according to the starting acceleration range. When the working condition of the lane where the vehicle is located is a congestion working condition and the working condition of the adjacent lane is a congestion working condition, the starting acceleration is increased, the following distance is shortened, the following distance range and the starting acceleration range are combined to carry out comprehensive vehicle control, the jam of the adjacent lane is avoided, and the running safety of the vehicle is ensured.

In addition, the condition that the working condition of the lane where the vehicle is located is a normal condition and the working condition of the adjacent lane is a congestion condition can exist. At this time, due to congestion of the adjacent lanes, the drivers of the adjacent lanes may find a time to change lanes to the lanes where the host vehicle is located. Due to the fact that the timing of lane changing of adjacent lanes is uncertain, the vehicle may not have an effective braking distance space, and rear-end accidents are caused. Therefore, under the condition that the working condition of the lane where the vehicle is located is a normal condition and the working condition of the adjacent lane is a congestion working condition, the vehicle jam of the adjacent lane still needs to be avoided.

Specifically, when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition, calculating the target set speed and the target vehicle following distance of the vehicle;

determining a vehicle following distance range according to the target vehicle following distance;

and controlling the vehicle according to the vehicle following distance range and the target set speed.

When the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition, calculating the target set speed of the vehicle, wherein the method comprises the following steps:

when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition, calculating the product of the congestion coefficient of the set target vehicle speed of the driver and the set speed, and determining the product as the target set speed of the vehicle; the set speed congestion coefficient is determined based on a current speed of the vehicle.

The method comprises the steps that a driver sets a target speed to be preset, when the current speed of a vehicle is smaller than the target speed set by the driver, the vehicle is controlled to accelerate, and when the speed of the vehicle reaches the target speed set by the driver, the vehicle is controlled to keep the target speed set by the driver to run. It is to be understood that, when the working condition of the lane is a normal working condition and the working condition of the adjacent lane is a congestion working condition, the calculated target set speed of the vehicle is optimized for setting the target vehicle speed for the driver, when the current vehicle speed of the vehicle is less than the target set speed, the vehicle is controlled to accelerate, and when the speed of the vehicle reaches the target set speed, the vehicle is controlled to keep running at the target set speed.

In the embodiment of the present application, the target set speed of the vehicle is calculated as follows:

V _set1 ＝V _Drvrset *K _set

wherein, V _set1 Setting a speed V for a target of the vehicle when the working condition of the lane where the vehicle is located is a normal condition and the working condition of the adjacent lane is a congestion condition _Drvrset Setting a target vehicle speed for the driver, K _set To set the speed congestion coefficient, K _set Associated with the current speed of the vehicle. Setting a speed congestion coefficient K _set And obtaining according to the set speed congestion coefficient table. Setting a speed congestion coefficient K _set The relationship with the current speed of the vehicle is shown in table 3, and table 3 shows the set speedAnd (6) a block coefficient table. And when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition, the set speed congestion coefficient is considered, the target set speed is obtained, and the vehicle is controlled to run at the target set speed.

TABLE 3 set speed Congestion coefficient Table

In addition, when the condition that the working condition of the lane where the vehicle is located is a normal condition and the working condition of the adjacent lane is a congestion condition is not satisfied, the calculation formula of the target set speed of the vehicle is as follows:

V _set ＝V _Drvrset

wherein, V _set The set speed V is the set speed of the vehicle when the working condition of the lane where the vehicle is located is normal and the working condition of the adjacent lane is the condition of congestion _Drvrset A target vehicle speed is set for the driver.

When the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition, in order to avoid the rear-end collision risk caused by the fact that the vehicle in the congested adjacent lane suddenly cuts into the lane, the driver of the vehicle is limited to set the target vehicle speed as the target set speed V _set1 . Calculated target set speed V of vehicle _set1 Can be relatively reduced, and the driving safety is improved.

It should be noted that, when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition, the target following distance may be calculated according to the calculation formula of S1 in S102, which is not described herein again.

In addition, when the working condition of the lane where the vehicle is located is a normal condition and the working condition of the adjacent lane is a congestion working condition, the vehicle still needs to be controlled to brake for pre-filling, the preset gap between the brake disc and the friction plate is reduced, and no braking force is applied. When the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is a congestion working condition, the vehicle is controlled based on the target set speed and the following distance range of the vehicle, the control system is enabled to build pressure in advance, the vehicle jam of the adjacent lane is avoided, and the safe driving of the vehicle is ensured.

Referring to fig. 3, fig. 3 is a flowchart of another vehicle cruise control method according to an embodiment of the present application. As shown in fig. 3, the lane in which the vehicle is located is the own lane, and the adjacent lane to the lane in which the vehicle is located is the side lane. In the driving process of the vehicle, four conditions that the current lane is in a congestion condition, the side lanes are in a normal condition, the current lane is in a congestion condition, the side lanes are in a congestion condition, the current lane is in a normal condition, and the side lanes are in a normal condition may occur.

And controlling the vehicle to start a Prefill pre-build-up pressure mode and a vehicle following distance congestion mode under the condition that the current lane is in a congestion state and the side lanes are in normal conditions.

And under the condition that the current lane is in a congestion condition and the side lanes are in a congestion condition, controlling the vehicle to start a Prefill pre-build-up pressure mode, a following distance congestion mode and a starting acceleration congestion mode.

And controlling the vehicle to start a Prefill pre-build-up pressure mode, a vehicle following distance congestion mode and a set speed congestion mode under the normal condition of the lane and the congestion condition of the side lane.

And controlling the vehicle to start a non-congestion mode, namely a normal mode, under the condition that the current lane is in a normal condition and the side lanes are in a normal condition.

It should be noted that the Prefill pre-pressure-building mode is to pre-build pressure in advance for the system to be controlled. In the following distance congestion mode, the target following distance of the vehicle needs to be calculated, and the vehicle is controlled to travel within the following distance range determined based on the target following distance. In the starting acceleration congestion mode, the target starting acceleration of the vehicle needs to be calculated, and the vehicle is controlled within the starting acceleration range determined based on the target starting acceleration. In the set speed congestion mode, a target set speed of the vehicle needs to be calculated, and the vehicle needs to be controlled according to the target set speed.

According to the vehicle cruise control method provided by the embodiment of the application, different vehicle control modes are designed under the condition that the current lane and the adjacent lanes are in the congestion working condition or the normal working condition. When the lane or the adjacent lane is in a congestion working condition, the vehicle is controlled through the target set speed, the target vehicle following distance and the target starting acceleration which are obtained through calculation, the target vehicle speed, the target vehicle following distance and the target starting acceleration are set by a driver of the vehicle substantially, optimization of the vehicle starting acceleration is carried out, and the safety of vehicle control is improved.

Referring to fig. 4, fig. 4 is a schematic diagram of a vehicle cruise control apparatus according to an embodiment of the present application. As shown in fig. 4, the apparatus includes:

a first obtaining unit 401, configured to obtain a road condition of a lane where a vehicle is located;

a first calculating unit 402, configured to calculate a target following distance of the vehicle under a congestion condition according to a vehicle operation parameter and a congestion parameter of a lane where the vehicle is located when a road condition of the lane where the vehicle is located is the congestion condition;

and a control unit 403, configured to determine a following distance range according to the target following distance, and control the vehicle to travel within the following distance range.

Optionally, in some embodiments of the present application, the first obtaining unit 401 includes:

the first acquisition subunit is used for acquiring a perception target coefficient of the vehicle, a perception speed coefficient of the vehicle and a navigation congestion coefficient of the vehicle;

the first calculating subunit is used for calculating a product of the perception target coefficient, the perception speed coefficient and the navigation congestion coefficient, and determining the product as the congestion coefficient of the lane where the vehicle is located;

and the second obtaining subunit is used for obtaining the working condition of the lane where the vehicle is located as the congestion working condition if the congestion coefficient of the lane where the vehicle is located meets the preset condition.

Optionally, in some embodiments of the present application, the first obtaining subunit includes:

the third acquiring subunit is used for acquiring a lane coefficient of a lane where the vehicle is located, the number of perceived target vehicles in the lane where the vehicle is located, a basic target value of the lane where the vehicle is located and a target gain of the lane where the vehicle is located;

and the second calculating subunit is used for calculating the perception target coefficient of the vehicle according to the lane coefficient of the lane where the vehicle is located, the target vehicle number of the lane where the vehicle is located, the basic target value of the lane where the vehicle is located and the target gain of the lane where the vehicle is located.

Optionally, in some embodiments of the present application, the first obtaining subunit includes:

the fourth acquisition subunit is used for acquiring the number of perception target vehicles in the lane where the vehicle is located and the speed of the perception target vehicles in the lane where the vehicle is located;

the third calculation subunit is used for calculating the perceived target uniform speed of the lane where the vehicle is located according to the number of perceived target vehicles of the lane where the vehicle is located and the speed of the perceived target vehicles of the lane where the vehicle is located;

and the fifth acquisition subunit is used for acquiring the perception speed coefficient of the vehicle according to the perception target uniform speed and the perception speed coefficient table of the lane where the vehicle is located.

Optionally, in some embodiments of the present application, the first obtaining subunit includes:

the sixth acquiring subunit is configured to acquire the congestion distance between the vehicle and a congestion point of a lane where the vehicle is located;

and the seventh acquiring subunit is used for acquiring the navigation congestion coefficient of the vehicle according to the congestion distance and the navigation congestion coefficient table.

Optionally, in some embodiments of the present application, the first computing unit 402 includes:

the fourth calculating subunit is used for calculating a target vehicle following distance of the vehicle under the congestion working condition according to the vehicle speed of the vehicle, the set vehicle following distance of the vehicle, the vehicle following stopping distance of the vehicle and the congestion coefficient when the working condition of the lane where the vehicle is located is the congestion working condition; the congestion parameter of the lane where the vehicle is located comprises the congestion coefficient.

Optionally, in some embodiments of the present application, the apparatus further comprises:

the first brake pre-filling unit is used for controlling the vehicle to perform brake pre-filling when the working condition of the lane where the vehicle is located is a congestion working condition, reducing the preset gap between the brake disc and the friction plate and applying no braking force.

Optionally, in some embodiments of the present application, the apparatus further comprises:

the second acquisition unit is used for acquiring the working condition of the lane adjacent to the lane where the vehicle is located;

the second calculation unit is used for calculating the target starting acceleration of the vehicle according to the congestion parameters of the lane where the vehicle is located when the working condition of the lane where the vehicle is located is the congestion condition and the working condition of the adjacent lane is the congestion working condition;

the control unit 403 is specifically configured to: determining a following distance range according to the target following distance, controlling the vehicle to run in the following distance range, determining a starting acceleration range according to the target starting acceleration of the vehicle, and controlling the vehicle according to the starting acceleration range.

Optionally, in some embodiments of the present application, the second calculating unit is specifically configured to: when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating the target starting acceleration of the vehicle according to the relative distance between the vehicle and the target vehicle, the relative acceleration between the vehicle and the target vehicle, the relative speed between the vehicle and the target vehicle, the maximum allowable starting acceleration of the vehicle and the congestion coefficient.

Optionally, in some embodiments of the present application, the apparatus further comprises:

the third calculating unit is used for calculating the target set speed and the target following distance of the vehicle when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is the congestion working condition;

the determining unit is used for determining a vehicle following distance range according to the target vehicle following distance;

and the vehicle control unit is used for controlling the vehicle according to the vehicle following distance range and the target set speed.

Optionally, in some embodiments of the present application, the third calculating unit is specifically configured to: when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is the congestion working condition, calculating the product of the congestion coefficient of the set target vehicle speed of the driver and the set speed, and determining the product as the target set speed of the vehicle; the set speed congestion coefficient is determined according to the current speed of the vehicle.

Optionally, in some embodiments of the present application, the apparatus further comprises:

and the second brake pre-filling unit is used for controlling the vehicle to perform brake pre-filling when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is the congestion working condition, so that the preset gap between the brake disc and the friction plate is reduced and no braking force is applied.

Through the vehicle cruise control device that this application embodiment provided, acquire the road condition in lane that the vehicle is located. And when the road working condition of the lane where the vehicle is located is a congestion working condition, calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located. And determining a vehicle following distance range according to the target vehicle following distance, and controlling the vehicle to run within the vehicle following distance range. Whether a traffic jam condition exists in a lane where a vehicle is located is judged. And when the congestion working condition exists, calculating the target following distance under the congestion working condition and acquiring the following distance range, and controlling the vehicle according to the following distance range so as to ensure the safe driving of the vehicle.

As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.

It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The method disclosed by the embodiment corresponds to the system disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the system part for description.

It should also be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (13)

1. A vehicle cruise control method, characterized by comprising:

acquiring the road condition of a lane where a vehicle is located;

when the road working condition of the lane where the vehicle is located is a congestion working condition, calculating a target vehicle following distance of the vehicle under the congestion working condition according to a vehicle operation parameter and a congestion parameter of the lane where the vehicle is located;

and determining a vehicle following distance range according to the target vehicle following distance, and controlling the vehicle to run within the vehicle following distance range.

2. The method of claim 1, wherein the obtaining the road condition of the lane in which the vehicle is located comprises:

acquiring a perception target coefficient of the vehicle, a perception speed coefficient of the vehicle and a navigation congestion coefficient of the vehicle;

calculating a product of the perception target coefficient, the perception speed coefficient and the navigation congestion coefficient, and determining the product as the congestion coefficient of the lane where the vehicle is located;

and when the congestion coefficient of the lane where the vehicle is located meets a preset condition, acquiring the working condition of the lane where the vehicle is located as a congestion working condition.

3. The method of claim 2, wherein the obtaining the perceptual target coefficients of the vehicle comprises:

acquiring a lane coefficient of a lane where the vehicle is located, the number of perception target vehicles of the lane where the vehicle is located, a basic target value of the lane where the vehicle is located and a target gain of the lane where the vehicle is located;

and calculating the perception target coefficient of the vehicle according to the lane coefficient of the lane in which the vehicle is positioned, the target vehicle number of the lane in which the vehicle is positioned, the basic target value of the lane in which the vehicle is positioned and the target gain of the lane in which the vehicle is positioned.

4. The method of claim 2, wherein the obtaining a perceived speed coefficient of the vehicle comprises:

acquiring the number of perception target vehicles of a lane where the vehicle is located and the speed of the perception target vehicles of the lane where the vehicle is located;

calculating the perceived target uniform speed of the lane where the vehicle is located according to the number of perceived target vehicles of the lane where the vehicle is located and the speed of the perceived target vehicles of the lane where the vehicle is located;

and acquiring the perception speed coefficient of the vehicle according to the perception target uniform speed and the perception speed coefficient table of the lane where the vehicle is located.

5. The method according to claim 2, wherein the obtaining the navigation congestion coefficient of the vehicle comprises:

acquiring congestion distances of the vehicle and congestion points of a lane where the vehicle is located;

and acquiring the navigation congestion coefficient of the vehicle according to the congestion distance and the navigation congestion coefficient table.

6. The method according to claim 2, wherein when the road condition of the lane where the vehicle is located is a congestion condition, calculating the target following distance of the vehicle under the congestion condition according to the vehicle operation parameter and the congestion parameter of the lane where the vehicle is located comprises:

when the working condition of the lane where the vehicle is located is a congestion working condition, calculating a target vehicle following distance of the vehicle under the congestion working condition according to the vehicle speed of the vehicle, the set vehicle following distance of the vehicle, the vehicle following stopping distance of the vehicle and the congestion coefficient; the congestion parameter of the lane where the vehicle is located comprises the congestion coefficient.

7. The method of claim 1, further comprising:

and when the working condition of the lane where the vehicle is located is a congestion working condition, the vehicle is controlled to perform braking pre-filling, the preset gap between the brake disc and the friction plate is reduced, and no braking force is applied.

8. The method according to any one of claims 1-7, further comprising:

acquiring the working condition of the adjacent lane of the lane where the vehicle is located;

when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating a target starting acceleration of the vehicle according to the congestion parameter of the lane where the vehicle is located;

determining a following distance range according to the target following distance, and controlling the vehicle to run within the following distance range, including:

determining a following distance range according to the target following distance, controlling the vehicle to run in the following distance range, determining a starting acceleration range according to the target starting acceleration of the vehicle, and controlling the vehicle according to the starting acceleration range.

9. The method according to claim 8, wherein when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating the target starting acceleration of the vehicle according to the congestion parameter of the lane where the vehicle is located comprises:

when the working condition of the lane where the vehicle is located is the congestion working condition and the working condition of the adjacent lane is the congestion working condition, calculating the target starting acceleration of the vehicle according to the relative distance between the vehicle and the target vehicle, the relative acceleration between the vehicle and the target vehicle, the relative speed between the vehicle and the target vehicle, the maximum allowable starting acceleration of the vehicle and the congestion coefficient.

10. The method of claim 8, further comprising:

when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is the congestion working condition, calculating a target set speed and a target vehicle following distance of the vehicle;

determining a vehicle following distance range according to the target vehicle following distance;

and controlling the vehicle according to the vehicle following distance range and the target set speed.

11. The method of claim 10, wherein calculating the target set-speed of the vehicle when the operating condition of the lane in which the vehicle is located is a normal operating condition and the operating condition of the adjacent lane is the congestion operating condition comprises:

when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is the congestion working condition, calculating the product of the congestion coefficient of the set target vehicle speed of the driver and the set speed, and determining the product as the target set speed of the vehicle; the set speed congestion coefficient is determined according to the current speed of the vehicle.

12. The method of claim 8, further comprising:

and when the working condition of the lane where the vehicle is located is a normal working condition and the working condition of the adjacent lane is the congestion working condition, controlling the vehicle to perform braking pre-filling, reducing the preset gap between the brake disc and the friction plate and not applying braking force.

13. A vehicle cruise control apparatus, characterized by comprising:

the first acquisition unit is used for acquiring the road condition of a lane where the vehicle is located;

the first calculation unit is used for calculating the target vehicle following distance of the vehicle under the congestion working condition according to the vehicle operation parameters and the congestion parameters of the lane where the vehicle is located when the road working condition of the lane where the vehicle is located is the congestion working condition;

and the control unit is used for determining a vehicle following distance range according to the target vehicle following distance and controlling the vehicle to run in the vehicle following distance range.

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