CN111038504A - Vehicle adaptive cruise control method, device, vehicle and storage medium - Google Patents
Vehicle adaptive cruise control method, device, vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The embodiment of the specification provides a vehicle adaptive cruise control method and device, a vehicle and a storage medium. The method comprises the following steps: obtaining decision-making elements when a vehicle runs, wherein the decision-making elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle; determining the current driving scene of the vehicle according to the decision-making elements; and controlling the running of the vehicle by using the cruise strategy in the running scene. The vehicle adaptive cruise control method provided by the embodiment of the specification divides the vehicle adaptive cruise into multiple driving scenes, and controls the driving of the vehicle by using different cruise strategies under different driving scenes, so that the accuracy of the vehicle adaptive cruise control is higher.
Description
Technical Field
The embodiment of the specification relates to the technical field of vehicle control, in particular to a vehicle adaptive cruise control method and device, a vehicle and a storage medium.
Background
The intelligent control method is one of the important trends in the development of the automobile industry at present, and the self-adaptive cruise control is taken as a very important function in the technical field of automobile intelligence, so that the control of a driver on an accelerator pedal and a brake pedal can be replaced under specific conditions, the fatigue problem of long-term driving of the driver is effectively relieved, and the driving comfort is greatly improved. The adaptive cruise technology is based on active safety configuration, and needs radar, ultrasonic wave and infrared sensors to sense obstacles, pedestrians, vehicles and the like in front, and the adaptive cruise technology has to have an automatic braking function to ensure accurate vehicle distance control. In the application process of the adaptive cruise control, the situations of stable vehicle following, lane change and insertion of a front vehicle, lane change and departure of the front vehicle, far approach of the front vehicle, emergency braking of the front vehicle and the like are mainly met. However, with the continuous development of economy, more and more automobiles are provided on the road, so that the actual road condition is more and more complicated, and the technology of automatic cruise control also needs to improve the accuracy to adapt to the increasingly complicated road condition.
At present, the technology of self-adaptive cruise control is mainly applied to common cars, and can effectively realize the driving control of constant speed and timing distance. The application of this technique to trucks is complicated, and as shown in fig. 1, the truck structure is divided into two parts, a tractor 1 and a trailer 2. Usually, the weight of the full load of the vehicle is 20-25 times that of the common car, the length of the truck is 4-5 times that of the common car, and the structure of the truck is not a uniform whole (comprising the tractor 1 and the trailer 2). Because the weight of the truck is different under the states of no load, half load and full load, the inertia of the brake is different, if the brake is not operated properly, the dangerous accident that the trailer 2 turns on the side or the trailer 2 collides with the tractor 1 is easily caused. Therefore, a method is urgently needed to make the adaptive cruise control process of the truck more stable and avoid the dangerous accidents that the trailer 2 turns over or the trailer 2 collides with the tractor 1.
Disclosure of Invention
An object of the embodiments of the present specification is to provide a vehicle adaptive cruise control method, apparatus, vehicle, and storage medium to improve accuracy of vehicle adaptive cruise control.
In order to solve the above problem, embodiments of the present specification provide a vehicle adaptive cruise control method, a device, a vehicle, and a storage medium.
A vehicle adaptive cruise control method, the method comprising: obtaining decision-making elements when a vehicle runs, wherein the decision-making elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle; determining the current driving scene of the vehicle according to the decision-making elements; and controlling the running of the vehicle by using the cruise strategy in the running scene.
A vehicle adaptive cruise control apparatus, the apparatus comprising: the system comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring decision elements when a vehicle runs, and the decision elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle; the determining module is used for determining the current driving scene of the vehicle according to the decision-making elements; and the control module is used for controlling the running of the vehicle by using the cruise strategy in the running scene.
A vehicle is provided with the vehicle adaptive cruise control device.
A computer readable storage medium having computer program instructions stored thereon that when executed implement: obtaining decision-making elements when a vehicle runs, wherein the decision-making elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle; determining the current driving scene of the vehicle according to the decision-making elements; and controlling the running of the vehicle by using the cruise strategy in the running scene.
As can be seen from the technical solutions provided by the embodiments of the present specification, the embodiments of the present specification may obtain a decision-making element when a vehicle is running, where the decision-making element at least includes a running speed of the vehicle, a running speed of a preceding vehicle, and a distance between the vehicle and the preceding vehicle; determining the current driving scene of the vehicle according to the decision-making elements; and controlling the running of the vehicle by using the cruise strategy in the running scene. The vehicle adaptive cruise control method provided by the embodiment of the specification divides the vehicle adaptive cruise into multiple driving scenes, and performs different cruise strategies on different driving scenes, so that the accuracy of the vehicle adaptive cruise control is higher.
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In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the specification, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of a truck;
FIG. 2 is a flow chart of a method for adaptive cruise control of a vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic view of a vehicle running state in a second running scenario according to the embodiment of the present specification;
fig. 4 is a schematic diagram of a vehicle running state in a third running scenario in the embodiment of the present specification;
FIG. 5 is a schematic diagram illustrating a training process of a cruise control model according to an embodiment of the present disclosure;
FIG. 6 is a diagram illustrating an example scenario in an embodiment of the present disclosure;
fig. 7 is a functional block diagram of an adaptive cruise control apparatus for a vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort shall fall within the protection scope of the present specification.
In the embodiment of the present specification, the adaptive cruise control (adaptive cruise control) system may also be referred to as an intelligent cruise control system, which is an ACC system for short, and is a new generation of driver assistance system for automobiles developed on the basis of the conventional cruise control. The system organically combines an automobile automatic cruise control system CCS and a vehicle forward collision warning system FCWS. The ACC not only has all functions of automatic cruising, but also can monitor the road traffic environment in front of the automobile through sensors such as a vehicle-mounted radar and the like. Once other vehicles ahead of the current driving lane are found, the longitudinal speed of the vehicle can be controlled by controlling the accelerator and the brake of the vehicle according to the information such as the relative distance and the relative speed between the vehicle and the vehicle ahead, so that the vehicle and the vehicle ahead can keep a proper safe distance. The system can reduce the workload of a driver, improve the active safety of the automobile and enlarge the cruising driving range.
In the embodiment of the present disclosure, as the retention degree of the automobile is continuously increased, the actual road condition is more and more complicated, and the automatic cruise control system also needs to improve the accuracy to adapt to the increasingly complicated road condition. Considering that if the driving scenes are divided according to different road conditions, and then the automatic cruise control system determines different self-adaptive cruise strategies according to the different driving scenes so as to control the driving speed of the vehicle, the problem that the accuracy of the automatic cruise control system is not high enough under the condition that the road conditions are increasingly complicated is expected to be solved.
Fig. 2 is a flowchart of a vehicle adaptive cruise control method according to an embodiment of the present disclosure. As shown in fig. 2, the vehicle adaptive cruise control method may include the following steps.
S210: obtaining decision elements when a vehicle runs, wherein the decision elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle.
In the embodiment of the present specification, the decision element may be data of a vehicle during driving, which is used in the adaptive cruise control. For example, data such as the traveling speed of the vehicle, the traveling speed of the preceding vehicle, the distance between the vehicle and the preceding vehicle, and the like may be included. But may also include data such as the weight of the vehicle itself, the cruising speed of the vehicle, etc.
In the embodiment of the present specification, the preceding vehicle refers to another vehicle which is ahead of the lane where the vehicle is located and is closest to the vehicle.
In some embodiments, as shown in fig. 3, the vehicle may be a truck, the truck may include a tractor 1 and a trailer 2, the tractor 1 and trailer 2 are not a unitary whole, and tension or compression may be generated between the tractor 1 and trailer 2. The vehicle has different weights and different brake inertia under the states of no load, half load and full load, and if the brake is not operated properly, the dangerous accidents that the trailer 2 turns on the side or the trailer 2 collides with the tractor 1 are easily caused. In consideration of the fact that in the automatic cruise control process, the relative position and the relative speed between the vehicle and the front vehicle can be used as decision elements of the automatic cruise control, and the relative position between the tractor and the trailer can be used as decision elements of the automatic cruise control, the risk that the trailer turns over or collides with the tractor can be effectively reduced, and the control strategy of the adaptive cruise is more reliable and stable.
In some embodiments, in case the vehicle is a truck, the decision element may also comprise the distance between the tractor 1 and the trailer 2. Wherein the distance between the tractor 1 and the trailer 2 can be acquired by real-time data collected by the ranging sensors.
In some embodiments, the driving speed of the vehicle can be obtained according to real-time data collected by a speed measurement sensor in the vehicle. The test sensor can comprise a magnetoelectric vehicle speed sensor, a Hall vehicle speed sensor, a photoelectric vehicle speed sensor and the like.
In some embodiments, a vehicle ahead of the lane where the vehicle is located and closest to the vehicle may be detected by a distance measuring sensor such as a millimeter wave radar, a laser radar, and an ultrasonic radar, and the driving speed of the vehicle ahead and the distance between the vehicle and the vehicle ahead may be obtained through data collected by the distance measuring sensor in real time. In the embodiment of the specification, a vehicle in front of a lane where the vehicle is located and closest to the vehicle can be detected through the visual camera, and the running speed of the vehicle in front and the distance between the vehicle and the vehicle in front can be acquired through data collected by the visual camera in real time.
S220: and determining the current driving scene of the vehicle according to the decision-making elements.
In the embodiment of the present specification, the vehicle may encounter different traffic scenes, such as a steady following, a lane change and insertion of a preceding vehicle, a lane change and departure of a preceding vehicle, a far approaching of a preceding vehicle, and a sudden braking of a preceding vehicle, during a driving process, or encounter a traffic scene formed by combining the above scenes. When different traffic scenes are met, the driving scene of the vehicle can be determined according to the driving speed of the vehicle, the driving speed of the front vehicle, the distance between the vehicle and the front vehicle, the cruising speed of the vehicle and the safe distance.
In some embodiments, the safe distance is greater than or equal to a minimum braking distance of the vehicle. The minimum braking distance is the distance which is obtained by calculating the current speed of the vehicle and the total weight of the vehicle and is driven when the current speed of the vehicle is reduced to 0. If the vehicle is less than the minimum braking distance from the leading vehicle, a collision hazard may occur.
In some embodiments, determining the driving scene in which the vehicle is currently located according to the decision element may include: and determining the driving scene of the vehicle as a first driving scene under the condition that no front vehicle is detected or the front vehicle is detected but the driving speed of the front vehicle is greater than the cruising speed.
In the embodiment of the present specification, the cruising speed of the vehicle may be a running speed of the vehicle during constant-speed cruising. In the embodiment of the present specification, the cruise speed of the vehicle may be a maximum travel speed during the vehicle adaptive cruise control.
In some embodiments, determining the driving scene in which the vehicle is currently located according to the decision element may include: and under the condition that the running speed of the front vehicle is less than the running speed of the vehicle and less than the cruising speed of the vehicle, determining that the running scene of the vehicle is a second running scene. For example, during the constant-speed cruising process of the vehicle, the preceding vehicle on the same lane decelerates to a speed lower than the running speed of the vehicle, or the preceding vehicle changes lane to be inserted into the current lane of the vehicle and the speed is lower than the running speed of the vehicle, and the running scene of the vehicle may be the second running scene.
In some embodiments, determining the driving scene in which the vehicle is currently located according to the decision element may include: determining that the driving scene of the vehicle is a third driving scene in the case that the driving speed of a preceding vehicle is equal to the driving speed of the vehicle and the distance between the vehicle and the preceding vehicle is greater than or equal to a safe distance. For example, when the speed of the preceding vehicle in the same lane is reduced to be less than the traveling speed of the vehicle, or the preceding vehicle is switched into the current lane of the vehicle and the speed is less than the traveling speed of the vehicle, the vehicle is also reduced and the traveling speed is reduced to be the same as the traveling speed of the preceding vehicle, and the traveling scene of the vehicle may be a third traveling scene.
S230: and controlling the running of the vehicle by using the cruise strategy in the running scene.
In the embodiment of the present specification, in the case where the driving scene of the vehicle is the first driving scene, since the driving speed of the vehicle ahead of the same lane is greater than the driving speed of the vehicle, or there is no other vehicle in the same lane, the vehicle may enter the constant-speed cruise mode. And therefore, in the case where the driving scenario of the vehicle is the first driving scenario, it may be determined that the cruise policy is cruise control.
In the embodiment of the present disclosure, in the case that the driving scene of the vehicle is the second driving scene, since the vehicle decelerates the preceding vehicle in the same lane during the constant-speed cruising process, the speed decreases to be less than the driving speed of the vehicle, or the preceding vehicle changes lane to be inserted into the current lane of the vehicle, and the speed is less than the driving speed of the vehicle, at this time, the vehicle may avoid a traffic accident by decelerating. Therefore, in the case where the travel scenario is the second travel scenario, the cruise policy is adaptive cruise. The adaptive cruise may include: and reducing the running speed of the vehicle and keeping the distance between the vehicle and the front vehicle to be greater than or equal to the safe distance. In case the vehicle is a truck, the adaptive cruise may also keep the distance between the tractor and the trailer within a certain range. Specifically, the self-adaptive cruise can be realized through a cruise control model: inputting the decision element into a cruise control model to obtain a first output result; and determining the acceleration of the vehicle during deceleration according to the first output result.
In the embodiment of the present specification, in the case where the travel scene of the vehicle is the third travel scene, since the travel speed of the preceding vehicle is equal to the travel speed of the vehicle, the travel speed of the vehicle is less than the cruising speed of the vehicle, and the distance between the vehicle and the preceding vehicle is greater than or equal to the safe distance, the vehicle can keep traveling at the same travel speed as the preceding vehicle at this time. For example, the vehicle is decelerated, the vehicle is also decelerated, the vehicle is accelerated, and the vehicle is also accelerated. Thus, in the case where the driving scenario of the vehicle is the third driving scenario, the cruise policy is adaptive cruise; the adaptive cruise may include: when the speed of the front vehicle is less than or equal to the cruising speed of the vehicle, keeping the running speed of the vehicle equal to the running speed of the front vehicle; when the preceding vehicle speed is greater than the cruising speed of the vehicle, the running speed of the vehicle is increased to the cruising speed. In case the vehicle is a truck, the adaptive cruise may also keep the distance between the tractor and the trailer within a certain range. For example, keeping the vehicle running within a safe distance following the preceding vehicle, the preceding vehicle decelerating, the vehicle also decelerating, the preceding vehicle accelerating, the vehicle also accelerating; the vehicle may increase the travel speed to the cruising speed if the preceding vehicle changes lanes or accelerates and the preceding vehicle speed is greater than the cruising speed of the vehicle. Specifically, the self-adaptive cruise can be realized through a cruise control model: and inputting the decision-making element into a cruise control model to obtain a second output result, and determining the acceleration of the vehicle following according to the first output result.
In some embodiments, taking the vehicle as a truck for example, the cruise control model may be trained by:
s231: receiving the decision element.
In the embodiment of the present specification, the decision-making elements may include a driving speed of a tractor, a driving speed of a front vehicle which is located in a lane where the tractor is located and is closest to the tractor, a distance between the tractor and the front vehicle, and a distance between the tractor and a trailer.
S232: and giving a random cruise strategy, and predicting a predicted decision element after the random cruise strategy is executed according to the decision element.
In some embodiments, a random cruise strategy may be given. The random cruise strategy can comprise a deceleration strategy with random acceleration magnitude and can also comprise a following strategy with random acceleration magnitude.
In some embodiments, given a stochastic cruise strategy, the decision elements after execution of the cruise strategy may also be predicted from the decision elements. For example, if the random cruise policy is a deceleration policy with a random acceleration, the decision element after the cruise policy is executed may be obtained through physical calculation according to the decision element.
S233: determining the size of an enhanced signal according to the prediction decision element; and judging whether the random cruise strategy is accurate or not according to the magnitude of the enhanced signal.
In some embodiments, the boost signal may be used to determine whether the stochastic cruise strategy is accurate. Specifically, the enhancement signal size may be set in the interval [ -1,0 ]. When the enhancement signal is equal to-1, it may be judged that the stochastic cruise strategy is inaccurate; when the boost signal is not equal to-1, the stochastic cruise strategy may be judged to be accurate. Furthermore, the accuracy of the random cruise strategy can be judged according to the enhancement signal. Specifically, when the boost signal is equal to 0, it may be determined that the accuracy of the random cruise strategy is the highest, and the random cruise strategy is the optimal choice; the accuracy of the stochastic cruise strategy can be judged to be higher the closer the boost signal is to 0.
In some embodiments, the enhancement signal may be determined from the prediction decision element. Specifically, it can be determined in the following manner.
In the case where the driving scenario is the second driving scenario, the distance between the tractor and the trailer and the distance between the tractor and the front vehicle after the random cruise maneuver is executed may be as shown in fig. 3. In fig. 3, the front vehicle 5 is another vehicle appearing in front of the same lane as the tractor; d1Is the current distance between the physical center 3 of the tractor 1 and the tail of the front vehicle 5, d2The minimum braking distance is the maximum deceleration of the tractor 1 at the position, the distance traveled by the tractor 1 reduced from the current speed to 0 is calculated according to the current speed of the tractor 1 and the total weight of the tractor 1 and the trailer 2, and d is the minimum braking distance3For the collision risk distance, the collision risk distance is the distance which is driven by the tractor braking at 1/k (k is more than 0) of the maximum deceleration at the position, and the distance which is reduced from the current speed to 0 is calculated according to the current speed of the tractor 1 and the total weight of the tractor 1 and the trailer 2. d4Is the current distance, d, of the physical center 2 of the tractor 1 from the physical center 4 of the trailer 25Is the minimum distance between the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 which can be compressed, and is less than the minimum distance, accidents such as collision, rollover and the like can easily occur, d6The maximum distance that the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 can be compressed is larger than the distance, and accidents such as collision, rollover and the like are easy to happen.
In some embodiments, in the case where the driving scenario is the second driving scenario, the enhanced signal may be determined according to the following rule.
When d is4≤d5Or d4≥d6When, the enhancement signal r is-1. In this case, the distance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24Less than or equal to the smallest distance d between the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 that can be compressed5Or the distance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24Greater than or equal to the maximum distance d that the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 can be compressed6Regardless of the distance between the front vehicles of the tractor, after the random cruise strategy is executed, the tractor and the trailer are easy to collide, roll over and other accidents. It may be determined that the random cruise strategy is inaccurate.
When d is5＜d4＜d6When d is greater than d1≥d3The enhancement signal r is 0. In this case, the distance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24At a minimum distance d between the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 that can be compressed5And the maximum distance d at which the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 can be compressed6The distance d between the tractor 1 and the front vehicle 5 means that the tractor and the trailer are not easy to collide and turn over1Greater than the collision risk distance d3Thus, after the random cruise strategy is executed, the tractor 1 can be safely driven. It may be determined that the stochastic cruise strategy is accurate with the highest accuracy.
When d is5＜d4＜d6When d is greater than d1≤d2The enhancement signal r is-1. In this case, the distance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24At a minimum distance d between the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 that can be compressed5And the maximum distance d at which the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 can be compressed6In the description, the distance d between the tractor 1 and the front vehicle 5 means that the tractor and the trailer are unlikely to collide or roll over1Less than or equal to the minimum braking distance d2Thus, in executing the random cruise strategySlightly later, the tractor 1 is about to collide with the front vehicle 5. It may be determined that the random cruise strategy is inaccurate.
When d is5＜d4＜d6When d is greater than d2＜d1＜d3The enhancement signal is:
wherein α is the artificial deceleration weight of the tractor 1 (0 < α < 1) and 1- α is the deceleration weight of the trailer 2, in which case the distance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24At a minimum distance d between the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 that can be compressed5And the maximum distance d at which the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 can be compressed6Distance d between the tractor 1 and the front vehicle 51At a minimum braking distance d2And a collision risk distance d3Meanwhile, a collision accident may occur between the tractor 1 and the front vehicle 5. The enhancement signal can be calculated according to the deceleration weight of the tractor 1 and the deceleration weight of the trailer 2, and whether the random cruise strategy is accurate or not can be judged according to the enhancement signal.
In the case where the driving scenario is the third driving scenario, the distance between the tractor and the trailer and the distance between the tractor and the leading vehicle after the random cruise maneuver is executed may be as shown in fig. 4. In FIG. 4, d1Is the current distance between the physical center 3 of the tractor 1 and the tail of the front vehicle 5, d7Is the minimum following distance (d)2＜d7＜d3) Accidents such as collision and rollover easily occur when the distance is less than the predetermined distance, d8And if the maximum following distance is greater than the maximum following distance, the self-adaptive cruise control process is invalid.
In some embodiments, in the case where the driving scenario is a third driving scenario, the boost signal may be determined according to the following rule.
When d is4≤d5Or d4≥d6When, the enhancement signal r is-1. In this caseDistance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24Less than or equal to the smallest distance d between the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 that can be compressed5Or the distance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24Greater than or equal to the maximum distance d that the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 can be compressed6Regardless of the distance between the front vehicles of the tractor, after the random cruise strategy is executed, the tractor and the trailer are easy to collide, roll over and other accidents. It may be determined that the random cruise strategy is inaccurate.
When d is5＜d4＜d6When d is greater than d1≥d8The enhancement signal r is-1. In this case, the distance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24At a minimum distance d between the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 that can be compressed5And the maximum distance d at which the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 can be compressed6In the description, the distance d between the tractor 1 and the front vehicle 5 means that the tractor and the trailer are unlikely to collide or roll over1Greater than the maximum following distance d8The adaptive cruise control process is disabled. It may be determined that the random cruise strategy is inaccurate.
When d is5＜d4＜d6When d is greater than d1≤d7The enhancement signal r is-1. In this case, the distance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24At a minimum distance d between the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 that can be compressed5And the maximum distance d at which the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 can be compressed6In the description, the distance d between the tractor 1 and the front vehicle 5 means that the tractor and the trailer are unlikely to collide or roll over1Less than the minimum following distance d7The tractor 1 is liable to have a collision accident with the front vehicle 5. It may be determined that the random cruise strategy is inaccurate.
When d is5＜d4＜d6When d is greater than d7＜d1＜d8The enhancement signal is:
in this case, the distance d between the physical center 2 of the tractor 1 and the physical center 4 of the trailer 24At a minimum distance d between the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 that can be compressed5And the maximum distance d at which the physical center 3 of the tractor 1 and the physical center 4 of the trailer 2 can be compressed6Distance d between the tractor 1 and the front vehicle 51At a minimum following distance d7And a maximum following distance d8In the meantime. The enhancement signal can be calculated according to the deceleration weight of the tractor 1 and the deceleration weight of the trailer 2, and whether the random cruise strategy is accurate or not can be judged according to the enhancement signal.
S234: and if so, outputting the random cruise strategy as an output result.
In an embodiment of the present description, the random cruise strategy may be output as an output if it is determined that the random cruise strategy is accurate.
In some embodiments, the random cruise strategy is reassigned if the random cruise strategy is determined to be inaccurate, and the reassigned random cruise strategy is output as an output if the reassigned random cruise strategy is determined to be accurate.
In some embodiments, under the condition that the random cruise strategy is judged to be accurate, the prediction decision element after the random cruise strategy is executed can be used as input, a new random cruise strategy is given again, whether the random cruise strategy is accurate or not is judged, and if the random cruise strategy is not accurate, the random cruise strategy which is accurate last time is output as an output result, or the random cruise strategy is given again; and if the cruise control strategy is accurate, comparing the accuracy of the previous random cruise strategy and the accuracy of the random cruise strategy, and outputting the random cruise strategy with high accuracy as an output result.
In some embodiments, under the condition that the random cruise strategy is judged to be accurate or inaccurate, multiple times of random cruise strategies can be given, the accuracy of each time of random cruise strategies is finally compared, and the random cruise strategy with the highest accuracy is output as an output result, so that the adaptive cruise control is more adaptive.
Specifically, the number of times the cruise control model is given a random cruise strategy may be preset, for example, the cruise control model may be given n (n > 0) times a random cruise strategy. An initial decision element is obtained first, and a random cruise strategy is given on the basis of the initial decision element. Under the condition that the random cruise strategy is judged to be accurate, the prediction decision element after the random cruise strategy is executed can be used as input, a new random cruise strategy is given again, and whether the new random cruise strategy is accurate or not is judged. In the case that the random cruise strategy is judged to be inaccurate, the initial decision element can be used as input, the random cruise strategy is given again, and whether the random cruise strategy given again is accurate or not is judged. Before the random cruise strategy is given every time, whether the total number of times of executing the random cruise strategy is larger than or equal to n is judged, if yes, the accuracy of the random cruise strategy is compared, and the random cruise strategy with high accuracy is output as an output result. In particular, reference may be made to fig. 5, and is performed according to the following steps.
S1: and inputting an initial decision element. The initial decision elements may include an initial driving speed of the tractor, a driving speed of a preceding vehicle in a lane where the tractor is located and closest to the tractor, a distance between the tractor and the preceding vehicle, a distance between the tractor and the trailer, and the like.
S2: whether the number of executions is less than n. In this step, it may be determined whether the number of times the random cruise strategy is executed is less than n, and if so, step S3 is entered, otherwise step S8 is entered.
S3: a random cruise strategy is given.
S4: whether the enhancement signal is equal to-1. In this step, a decision element after the random cruise strategy is executed may be calculated from the initial decision element. The enhancement signal is determined in different ways depending on the different driving scenarios. And if the driving scene of the tractor is a second driving scene, determining an enhanced signal according to the second driving scene, and if the driving scene of the tractor is a third driving scene, determining the enhanced signal according to the third driving scene. After determining the boost signal, determining whether the boost signal is equal to-1, if so, determining that the random cruise strategy is inaccurate, and performing S6; if the boost signal is not equal to-1, then it may be determined that this random cruise strategy is accurate and S5 may be performed.
S5: the decision elements after execution are taken as input. In this step, the decision element after the random cruise maneuver is executed may be input, for example, the driving speed of the tractor after the random cruise maneuver is executed, the driving speed of the preceding vehicle closest to the tractor in the lane where the tractor is located, the distance between the tractor and the preceding vehicle, the distance between the tractor and the trailer, and the driving scene of the tractor. After performing S5, S7 may be entered.
S6: an initial decision element is taken as input. In this step, the initial decision element is required to be used as input again because the random cruise strategy is inaccurate, and then a new random cruise strategy is given again. After performing S6, S7 may be entered.
S7: the number of executions + 1. In this step, the random cruise strategy may be incremented once, regardless of whether it is accurate every time, as long as it is executed.
S8: and outputting the random cruise strategy with the highest accuracy. When the number of times of executing the random cruise strategy is equal to n, the random cruise strategy with the highest accuracy may be determined from the boost signal after each execution of the random cruise strategy and output as an output result.
In some embodiments, the cruise strategy in the driving scenario may be used to control the driving of the vehicle. For example, a control command may be sent to a brake device or an accelerator of an automobile according to a cruise strategy in order to control the running of the vehicle according to an increase or decrease in the running speed of the vehicle by controlling the braking force of the brake device or controlling the opening and closing degree of the accelerator.
The method comprises the steps that decision-making elements when a vehicle runs can be obtained, wherein the decision-making elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle; determining the current driving scene of the vehicle according to the decision-making elements; and controlling the running of the vehicle by using the cruise strategy in the running scene. The vehicle adaptive cruise control method provided by the embodiment of the specification divides the vehicle adaptive cruise into multiple driving scenes, and controls the driving of the vehicle by using different cruise strategies under different driving scenes, so that the accuracy of the vehicle adaptive cruise control is higher. The vehicle adaptive cruise control method provided by the embodiment of the description considers the relative positions of the tractor and the trailer in addition to the relative positions of the tractor and the front vehicle, so that the control strategy of the adaptive cruise is more reliable and stable. The vehicle adaptive cruise control method provided by the embodiment of the specification does not need to set a control mode manually, and can automatically learn an adaptive cruise control strategy through a cruise control model, learn the optimal corresponding relation between the relative speed of the tractor and the front vehicle, the distance between the tractor and the front vehicle, and the relative position of the tractor and the trailer, so that the adaptive cruise control is more adaptive.
The present embodiment provides an example of a scenario, and as shown in fig. 6, fig. 6 is a schematic diagram of an example of a scenario provided by the present embodiment.
In the present scenario example, the driving scenarios of the vehicle may include a first driving scenario, a second driving scenario, and a third driving scenario. The second driving scenario may be a next driving scenario of the first driving scenario, the third driving scenario may be a next driving scenario of the second driving scenario, and the first driving scenario may be a next driving scenario of the third driving scenario. For example, during the driving process of the adaptive cruise control, due to the change of the road condition and the adjustment of the cruise strategy, the driving scene can be changed from a first driving scene to a next driving scene, that is, from the first driving scene to a second driving scene; the second driving scene can be changed into the next driving scene, namely, the second driving scene is changed into the third driving scene; it is also possible to change from the third driving scenario to the next driving scenario, i.e. from the third driving scenario to the first driving scenario.
In the present scenario example, the vehicle may change from any one of the driving scenarios to the next driving scenario during the driving under the adaptive cruise control. For example, starting from a first driving scene, the cruise strategy is constant-speed cruise, the driving speed of the vehicle is equal to the cruising speed of the vehicle, the driving speed of the vehicle is greater than the driving speed of the vehicle, or no other vehicle is in front of the same lane, at the moment, the other vehicle is detected in front of the same lane, the driving speed of the vehicle is less than the driving speed of the vehicle, and the driving scene of the vehicle is changed from the first driving scene to a second driving scene; when the driving scene of the vehicle is a second driving scene, the vehicle decelerates according to the cruise strategy, and the driving scene of the vehicle is changed from the second driving scene to a third driving scene under the condition that the driving speed of the vehicle is reduced to be the same as the driving speed of the front vehicle and the distance between the vehicle and the front vehicle is greater than or equal to the safe distance; when the driving scene of the vehicle is the third driving scene, the vehicle performs following driving according to the cruise strategy, the vehicle decelerates, the vehicle also decelerates, the vehicle accelerates, and the vehicle also accelerates, and when the vehicle accelerates to a driving speed exceeding the cruising speed of the vehicle or the vehicle changes the lane, the driving speed of the vehicle is increased to the cruising speed of the vehicle, and at the moment, the driving scene of the vehicle is changed from the third driving scene to the first driving scene.
In the present scenario example, the vehicle may start from a first driving scenario during driving under adaptive cruise control. As shown in fig. 6, the running speed of the vehicle is equal to the cruising speed of the vehicle, and the running speed of the preceding vehicle is greater than the running speed of the vehicle or no other vehicle is ahead of the same lane. In the first driving scene, if other vehicles appear in front of the same lane, whether the driving speed of the front vehicle is smaller than the driving speed of the vehicle can be judged, and if so, the driving scene of the tractor is changed from the first driving scene to the second driving scene; otherwise, the vehicle continues to travel at the cruising speed in the first travel scenario.
In the present scenario example, when the travel scenario of the tractor changes from the first travel scenario to the second travel scenario, deceleration may be performed according to the cruise strategy determined from the output result of the cruise control model. During the deceleration, whether the running speed of the vehicle is reduced to be the same as that of the front vehicle or not can be judged, namely whether the relative speed of the vehicle and the front vehicle is 0 or not is judged, and if yes, the running scene of the vehicle is changed from the second running scene to the third running scene; otherwise, the driving of the vehicle is continuously controlled according to the cruise strategy determined by the output result of the cruise control in the second driving scene.
In the present scenario example, when the travel scenario of the tractor changes from the second travel scenario to the third travel scenario, the cruise strategy determined according to the output result of the cruise control follows the vehicle, i.e., the preceding vehicle decelerates, the vehicle also decelerates, the preceding vehicle accelerates, and the vehicle also accelerates. During the following vehicle running process, whether the running speed of the front vehicle exceeds the cruising speed of the vehicle or whether the front vehicle changes the lane can be judged, if so, the running speed of the vehicle is increased to the cruising speed of the vehicle, and the running scene of the vehicle can be changed from a third running scene to a first running scene; and otherwise, continuing to control the running of the vehicle according to the cruise strategy determined according to the output result of the cruise control model in the second running scene.
Embodiments of the present specification also provide a computer-readable storage medium of a vehicle adaptive cruise control method, the computer-readable storage medium storing computer program instructions that, when executed, implement: obtaining decision-making elements when a vehicle runs, wherein the decision-making elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle; determining the current driving scene of the vehicle according to the decision-making elements; and controlling the running of the vehicle by using the cruise strategy in the running scene.
In the present embodiment, the storage medium includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), a Cache (Cache), a Hard disk (HDD), or a Memory Card (Memory Card). The memory may be used to store computer program instructions. In this embodiment, the functions and effects specifically realized by the program instructions stored in the computer-readable storage medium can be explained by comparing with other embodiments, and are not described herein again.
Referring to fig. 7, on a software level, the embodiment of the present specification further provides a vehicle adaptive cruise control apparatus, which may specifically include the following structural modules.
An obtaining module 710, configured to obtain a decision-making element when a vehicle runs, where the decision-making element at least includes a running speed of the vehicle, a running speed of a preceding vehicle, and a distance between the vehicle and the preceding vehicle;
a determining module 720, configured to determine, according to the decision-making element, a current driving scene of the vehicle;
and the control module 730 is used for controlling the running of the vehicle by using the cruise strategy in the running scene.
In some embodiments, the determining module comprises: the first determination submodule is used for determining the driving scene of the vehicle to be a first driving scene under the condition that no front vehicle is detected or the front vehicle is detected but the driving speed of the front vehicle is greater than the cruising speed.
In some embodiments, the determining module comprises: and the second determination submodule is used for determining the driving scene of the vehicle as a second driving scene under the condition that the driving speed of the front vehicle is less than the driving speed of the vehicle and less than the cruising speed of the vehicle.
In some embodiments, the determining module comprises: and the third determination submodule is used for determining that the driving scene of the vehicle is a third driving scene under the condition that the driving speed of a front vehicle is equal to the driving speed of the vehicle and the distance between the vehicle and the front vehicle is greater than or equal to a safe distance.
The embodiment of the specification further provides a vehicle, and any vehicle adaptive cruise control device in the embodiment of the specification is arranged in the vehicle.
It should be noted that, in the present specification, each embodiment is described in a progressive manner, and the same or similar parts in each embodiment may be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, as for the apparatus embodiment and the apparatus embodiment, since they are substantially similar to the method embodiment, the description is relatively simple, and reference may be made to some descriptions of the method embodiment for relevant points.
After reading this specification, persons skilled in the art will appreciate that any combination of some or all of the embodiments set forth herein, without inventive faculty, is within the scope of the disclosure and protection of this specification.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Language Description Language), traffic, pl (core unified Programming Language), HDCal, JHDL (Java Hardware Description Language), langue, Lola, HDL, laspam, hardsradware (Hardware Description Language), vhjhd (Hardware Description Language), and vhigh-Language, which are currently used in most popular applications. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
From the above description of the embodiments, it is clear to those skilled in the art that the present specification can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present specification may be essentially or partially implemented in the form of software products, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and include instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments of the present specification.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The description is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
While the specification has been described with examples, those skilled in the art will appreciate that there are numerous variations and permutations of the specification that do not depart from the spirit of the specification, and it is intended that the appended claims include such variations and modifications that do not depart from the spirit of the specification.
Claims (16)
1. A vehicle adaptive cruise control method, characterized by comprising:
obtaining decision-making elements when a vehicle runs, wherein the decision-making elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle;
determining the current driving scene of the vehicle according to the decision-making elements;
and controlling the running of the vehicle by using the cruise strategy in the running scene.
2. The method of claim 1, wherein the determining the current driving scenario of the vehicle according to the decision element comprises:
and determining the driving scene of the vehicle as a first driving scene under the condition that no front vehicle is detected or the front vehicle is detected but the driving speed of the front vehicle is greater than the cruising speed.
3. The method of claim 1, wherein the determining the current driving scenario of the vehicle according to the decision element comprises:
and under the condition that the running speed of the front vehicle is less than the running speed of the vehicle and less than the cruising speed of the vehicle, determining that the running scene of the vehicle is a second running scene.
4. The method of claim 1, wherein the determining the current driving scenario of the vehicle according to the decision element comprises:
determining that the driving scene of the vehicle is a third driving scene in the case that the driving speed of a preceding vehicle is equal to the driving speed of the vehicle and the distance between the vehicle and the preceding vehicle is greater than or equal to a safe distance.
5. The method according to claim 1, characterized in that the cruise strategy is cruise control in case the driving scenario is a first driving scenario.
6. The method according to claim 1, characterized in that the cruise policy is adaptive cruise, in case the driving scenario is a second driving scenario; the adaptive cruise comprises: inputting the decision element into a cruise control model to obtain a first output result; and determining the acceleration of the vehicle during deceleration according to the first output result.
7. The method according to claim 1, characterized in that the cruise policy is adaptive cruise, in case the driving scenario is a second driving scenario; the adaptive cruise comprises: and inputting the decision-making element into a cruise control model to obtain a second output result, and determining the acceleration of acceleration or deceleration when the vehicle follows the vehicle according to the second output result.
8. Method according to claim 6 or 7, characterized in that the cruise control model is trained by:
receiving the decision element;
giving a random cruise strategy, and predicting a prediction decision element after the random cruise strategy is executed according to the decision element;
determining the size of an enhanced signal according to the prediction decision element; judging whether the random cruise strategy is accurate or not according to the magnitude of the enhanced signal;
and if so, outputting the random cruise strategy as an output result.
9. The method according to claim 8, wherein if not, the random cruise strategy is re-assigned, and the re-assigned random cruise strategy is output as an output if it is determined that the re-assigned random cruise strategy is accurate.
10. The method of claim 1, wherein the vehicle is a truck, the truck comprising a trailer and a tractor; correspondingly, the decision element also comprises the distance between the trailer and the tractor.
11. A vehicle adaptive cruise control apparatus, characterized in that the apparatus comprises:
the system comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring decision elements when a vehicle runs, and the decision elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle;
the determining module is used for determining the current driving scene of the vehicle according to the decision-making elements;
and the control module is used for controlling the running of the vehicle by using the cruise strategy in the running scene.
12. The apparatus of claim 11, wherein the determining module comprises:
the first determination submodule is used for determining the driving scene of the vehicle to be a first driving scene under the condition that no front vehicle is detected or the front vehicle is detected but the driving speed of the front vehicle is greater than the cruising speed.
13. The apparatus of claim 11, wherein the determining module comprises:
and the second determination submodule is used for determining the driving scene of the vehicle as a second driving scene under the condition that the driving speed of the front vehicle is less than the driving speed of the vehicle and less than the cruising speed of the vehicle.
14. The apparatus of claim 11, wherein the determining module comprises:
and the third determination submodule is used for determining that the driving scene of the vehicle is a third driving scene under the condition that the driving speed of a front vehicle is equal to the driving speed of the vehicle and the distance between the vehicle and the front vehicle is greater than or equal to a safe distance.
15. A vehicle, characterized in that the vehicle is provided with an arrangement according to any of claims 11-14.
16. A computer readable storage medium having computer program instructions stored thereon that when executed implement: obtaining decision-making elements when a vehicle runs, wherein the decision-making elements at least comprise the running speed of the vehicle, the running speed of a front vehicle and the distance between the vehicle and the front vehicle; determining the current driving scene of the vehicle according to the decision-making elements; and controlling the running of the vehicle by using the cruise strategy in the running scene.
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