CN114506346B - Speed control method for automatic driving and storage medium - Google Patents
Speed control method for automatic driving and storage medium Download PDFInfo
- Publication number
- CN114506346B CN114506346B CN202210296146.XA CN202210296146A CN114506346B CN 114506346 B CN114506346 B CN 114506346B CN 202210296146 A CN202210296146 A CN 202210296146A CN 114506346 B CN114506346 B CN 114506346B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- front vehicle
- speed
- following
- speed control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000011217 control strategy Methods 0.000 claims abstract description 17
- 238000004364 calculation method Methods 0.000 claims description 4
- 206010040007 Sense of oppression Diseases 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 abstract 1
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
-
- 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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4023—Type large-size vehicles, e.g. trucks
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a speed control method and a storage medium for automatic driving, comprising the following steps: 1) Detecting that a front vehicle of an adjacent lane is a large vehicle and the speed of the front vehicle is lower than that of the front vehicle; 2) Calculating the speed difference Vd between the front vehicle and the host vehicle, and controlling the speed of the host vehicle according to the speed difference Vd so that the running time of the host vehicle following the front vehicle is more than or equal to Tf; 3) Continuously tracking the front vehicle within the time Tf, and judging whether the front vehicle has a lane change trend or not; if yes, executing the step 4); if not, cruising running is carried out based on a cruising speed control strategy; 4) And selecting the front vehicle as a following target, and carrying out following running based on a following speed control strategy. According to the invention, aiming at the situation that the front vehicle of the adjacent lane is a large vehicle and needs to overtake, the speed of the vehicle is actively regulated according to the speed difference between the vehicle and the front vehicle, so that the sense of oppression caused by the too high speed of the vehicle when overtaking is reduced, the panic of a driver and passengers is avoided, and the safety and the comfort of automatic driving are improved.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a speed control method and a storage medium for automatic driving.
Background
With the rapid development of automobile intellectualization, more and more vehicles are equipped with an automatic driving system. In the automatic driving process, an automatic driving system automatically controls the speed of the vehicle according to the motion state of the vehicle and the surrounding environment conditions, and the control of the speed of the vehicle is generally divided into a following speed control strategy and a cruising speed control strategy according to whether the target vehicle exists or not. The automatic driving system selects and releases the target vehicle according to the movement trend state of the front vehicle, and the vehicle executes a cruise speed control strategy before selecting the target vehicle; after the target vehicle is selected, the host vehicle executes a following speed control strategy.
The vehicle speed control strategy is generally compared with the cruising speed set by the vehicle according to the speed of the target vehicle; if the speed of the target vehicle is greater than the set cruising speed of the vehicle, the vehicle accelerates to the set cruising speed according to a calibrated acceleration curve and then cruises; if the speed of the target vehicle is smaller than the cruising speed set by the vehicle, the vehicle runs at the speed of the target vehicle and detects the longitudinal time interval between the vehicle and the target vehicle in real time, and if the actual time interval is smaller than the set time interval, the vehicle is properly decelerated to pull the time interval apart; if the actual time interval is larger than the set time interval, the vehicle is properly accelerated to reduce the actual time interval, and finally the vehicle is controlled to follow the target vehicle to drive at the constant speed of the set time interval. The cruise speed control strategy is generally to compare the current speed of the vehicle with the set cruise speed in real time, and if the current speed is lower than the set cruise speed, accelerate according to the calibration amount to approach the set cruise speed; and if the current vehicle speed is higher than the set cruising speed, decelerating according to the calibrated quantity to approach the set cruising speed.
However, in the practical application scenario, the current automatic driving system has the following problems: when the front vehicle is a large vehicle, such as a large truck, a car and the like, the tire edge of the large truck is often very close to a lane line due to the large width of the vehicle, so that system misjudgment is easy to cause, and the front side is selected as a target vehicle on the premise that the front vehicle of an adjacent lane does not have a lane change trend, so that the vehicle is driven along with the vehicle, and user complaints are caused; when the front vehicle of the adjacent lane is not selected by mistake as the target vehicle, the vehicle completely exceeds the front vehicle of the adjacent lane according to the set cruising speed, and if the relative speed is high, the vehicle can generate strong pressing sense, so that drivers and passengers of the vehicle feel panic, and the safety and the comfort of automatic driving are poor.
Disclosure of Invention
The invention aims to solve the above-mentioned shortcomings of the prior art, and provides a speed control method and a storage medium for automatic driving, which solve the problem that the speed of the automobile is difficult to reasonably control under the condition that the front automobile is a large-sized automobile in the prior automatic driving, and achieve the effect of improving the safety and the comfort of the automatic driving.
In order to solve the technical problems, the invention adopts the following technical scheme:
a speed control method for automatic driving, comprising the steps of:
1) Detecting that a front vehicle of an adjacent lane is a large vehicle and the speed of the front vehicle is lower than that of the front vehicle;
2) Calculating the speed difference Vd between the front vehicle and the host vehicle, and controlling the speed of the host vehicle according to the speed difference Vd so that the running time of the host vehicle following the front vehicle is more than or equal to Tf;
3) Continuously tracking the front vehicle within the time Tf, and judging whether the front vehicle has a lane change trend or not; if yes, executing the step 4); if not, cruising running is carried out based on a cruising speed control strategy;
4) And selecting the front vehicle as a following target, and carrying out following running based on a following speed control strategy.
Further, the step 1) is realized based on a camera and a millimeter wave radar carried on the head of the vehicle.
Further, step 2) comprises the following sub-steps:
21 Acquiring the relative distance Dd between the front vehicle and the vehicle along the running direction and the vehicle speed Vt of the front vehicle through a camera and a millimeter wave radar, and calculating the speed difference Vd between the front vehicle and the vehicle;
22 According to the preset effective recognition distance of the camera is De and the effective recognition time is Tf, calculating the target vehicle speed Vc required by the vehicle to follow the front vehicle when the distance between the vehicle and the front vehicle is De;
23 The deceleration Va required for the host vehicle to travel following the preceding vehicle is calculated from the target vehicle speed.
Further, the calculation formula of the target vehicle speed Vc in step 22) is as follows:
Vc=De/Tf+Vt；
the formula for calculating the deceleration Va in step 23) is as follows:
Va=Vd+De/Tf。
further, in the step 3), tracking the preceding vehicle continuously in the Tf time, and determining whether the preceding vehicle has a lane change trend includes the following steps:
performing linear quadratic fit on the transverse speed of the front vehicle to obtain the estimated position of the front vehicle; if the estimated positions of the front vehicle all cross the lane line in the Tf time, judging that the front vehicle has a lane change trend; otherwise, judging that the front vehicle does not have the lane change trend.
The present invention also includes a storage medium having stored therein a computer readable program which, when called, performs the steps of a speed control method for autopilot as described above.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the speed control method for automatic driving, aiming at the condition that the front vehicle of the adjacent lane is a large-sized vehicle, the speed is actively reduced to increase the time for identifying and tracking the front vehicle by the sensor, and the accuracy for judging the lane change trend of the front vehicle is improved, so that the target false selection caused by inaccurate sensing identification is avoided, and the false braking rate and the leakage braking rate of the automatic driving under the condition of exceeding the front scene of the adjacent lane are effectively reduced.
2. According to the speed control method for automatic driving, aiming at the situation that the front vehicle of the adjacent lane is a large vehicle and needs to overtake, the speed of the vehicle is actively adjusted according to the speed difference between the vehicle and the front vehicle, so that the sense of oppression caused by the too high speed of the vehicle when overtaking is reduced, the panic of a driver and passengers is avoided, and the safety and the comfort of automatic driving are improved.
3. The speed control method for the automatic driving is performed based on hardware of an automatic driving system, does not need to be additionally provided with hardware, and has high applicability.
Drawings
Fig. 1 is a flowchart of a speed control method for automatic driving according to an embodiment.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
Examples:
referring to fig. 1, a speed control method for automatic driving includes the steps of:
1) Based on the fact that the sensor mounted on the vehicle detects that the front vehicle of the adjacent lane is a large-sized vehicle, the speed of the front vehicle is lower than that of the vehicle; the sensors in the embodiment are a camera, a laser radar and a millimeter wave radar which are carried on the head of the vehicle, a visual target type recognition algorithm commonly used in industry is adopted, the camera can detect the type of the front vehicle, and then a lane line equation is fused to judge whether the position of the front vehicle belongs to the lane or the adjacent lane; the method is carried out based on hardware of an automatic driving system, does not need to add extra hardware, and has strong applicability.
2) Calculating the speed difference Vd between the front vehicle and the host vehicle, and controlling the speed of the host vehicle according to the speed difference Vd so that the running time of the host vehicle following the front vehicle is more than or equal to Tf; the method comprises the following substeps:
21 Acquiring the relative distance Dd between the front vehicle and the vehicle along the running direction and the vehicle speed Vt of the front vehicle through a camera and a millimeter wave radar, and calculating the speed difference Vd between the front vehicle and the vehicle;
22 According to the preset effective recognition distance of the camera is De and the effective recognition time is Tf, calculating the target vehicle speed Vc required by the vehicle to follow the front vehicle when the distance between the vehicle and the front vehicle is De, wherein a calculation formula is Vc=De/Tf+Vt;
23 The deceleration Va required by the vehicle to travel along with the front vehicle is calculated according to the target vehicle speed, and the calculation formula is Va=Vd+De/Tf.
3) Continuously tracking the front vehicle within the time Tf, and judging whether the front vehicle has a lane change trend or not; if yes, executing the step 4); if not, cruising running is carried out based on a cruising speed control strategy;
in this embodiment, the specific operation of determining whether the preceding vehicle has a lane change trend is as follows: performing linear quadratic fit on the transverse speed of the front vehicle to obtain the estimated position of the front vehicle; if the estimated positions of the front vehicle all cross the lane line in the Tf time, judging that the front vehicle has a lane change trend; otherwise, judging that the front vehicle does not have a lane change trend; in the implementation, in order to reduce errors, the change of the lane line position can be included in the judgment of whether the front vehicle has a lane change trend.
4) Selecting a front vehicle as a following target, and carrying out following running based on a following speed control strategy; the following speed control strategy and the cruise speed control strategy are described in the background.
Based on the judgment result, adopting a conventional speed control strategy; if the front vehicle is judged to have the lane changing intention, actively selecting the front vehicle as a following target, and controlling the speed according to the speed of the front vehicle and the set following distance; if the front vehicle is judged to have no lane changing intention, the vehicle starts accelerating when passing through the front vehicle based on the cruising speed set by the vehicle, so that the time for accelerating to overtake the front vehicle and running in parallel with the front vehicle is reduced as much as possible.
According to the speed control method for automatic driving, aiming at the condition that the front vehicle of the adjacent lane is a large-sized vehicle, the speed is actively reduced to increase the time for identifying and tracking the front vehicle by the sensor, and the accuracy for judging the lane change trend of the front vehicle is improved, so that the target false selection caused by inaccurate sensing identification is avoided, and the false braking rate and the leakage braking rate of the automatic driving under the condition of exceeding the front scene of the adjacent lane are effectively reduced. The speed difference between the front vehicle and the front vehicle is used for actively adjusting the speed of the vehicle according to the situation that the front vehicle of the adjacent lane is a large-sized vehicle and needs to overtake, so that the oppression caused by too high speed when the vehicle overtakes is reduced, the panic of a driver and a passenger is avoided, and the safety and the comfort of automatic driving are improved.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (5)
1. A speed control method for automatic driving, characterized by: the method comprises the following steps:
1) Detecting that a front vehicle of an adjacent lane is a large vehicle based on a camera and a millimeter wave radar which are carried on the head of the vehicle, wherein the speed of the front vehicle is lower than that of the vehicle;
2) Calculating a speed difference Vd between a front vehicle and the host vehicle, and controlling the speed of the host vehicle according to the speed difference Vd so that the running time of the host vehicle following the front vehicle is more than or equal to Tf, wherein Tf is the preset effective identification time of the camera;
3) Continuously tracking the front vehicle within the time Tf, and judging whether the front vehicle has a lane change trend or not; if yes, executing the step 4); if not, cruising running is carried out based on a cruising speed control strategy;
4) And selecting the front vehicle as a following target, and carrying out following running based on a following speed control strategy.
2. A speed control method for automatic driving according to claim 1, characterized in that: step 2) comprises the following sub-steps:
21 Acquiring the relative distance Dd between the front vehicle and the vehicle along the running direction and the vehicle speed Vt of the front vehicle through a camera and a millimeter wave radar, and calculating the speed difference Vd between the front vehicle and the vehicle;
22 According to the preset effective recognition distance of the camera is De and the effective recognition time is Tf, calculating the target vehicle speed Vc required by the vehicle to follow the front vehicle when the distance between the vehicle and the front vehicle is De;
23 The deceleration Va required for the host vehicle to travel following the preceding vehicle is calculated from the target vehicle speed.
3. A speed control method for automatic driving according to claim 2, characterized in that: the calculation formula of the target vehicle speed Vc in step 22) is as follows:
Vc＝De/Tf+Vt；
the formula for calculating the deceleration Va in step 23) is as follows:
Va＝Vd+De/Tf。
4. a speed control method for automatic driving according to claim 3, characterized in that: and in the step 3), tracking the front vehicle continuously within the time Tf, and judging whether the front vehicle has a lane change trend or not comprises the following contents:
performing linear quadratic fit on the transverse speed of the front vehicle to obtain the estimated position of the front vehicle; if the estimated positions of the front vehicle all cross the lane line in the Tf time, judging that the front vehicle has a lane change trend; otherwise, judging that the front vehicle does not have the lane change trend.
5. A storage medium, characterized by: the storage medium has stored therein a computer readable program which, when called, performs the steps of a speed control method for automatic driving according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210296146.XA CN114506346B (en) | 2022-03-24 | 2022-03-24 | Speed control method for automatic driving and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210296146.XA CN114506346B (en) | 2022-03-24 | 2022-03-24 | Speed control method for automatic driving and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114506346A CN114506346A (en) | 2022-05-17 |
| CN114506346B true CN114506346B (en) | 2023-11-21 |
Family
ID=81555167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210296146.XA Active CN114506346B (en) | 2022-03-24 | 2022-03-24 | Speed control method for automatic driving and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114506346B (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05104993A (en) * | 1991-10-15 | 1993-04-27 | Toyota Motor Corp | Run control device for vehicle |
| JP2006335223A (en) * | 2005-06-02 | 2006-12-14 | Nissan Motor Co Ltd | Preceding vehicle detection device |
| JP2007148964A (en) * | 2005-11-30 | 2007-06-14 | Nissan Motor Co Ltd | Device and method for warning degree of potential risk |
| DE102013009995A1 (en) * | 2013-06-14 | 2013-12-19 | Daimler Ag | Method for distance regulation of vehicle, involves reducing spacing between vehicle and preceding vehicle at desired distance within time duration and delaying vehicle based on delay strategies |
| KR20180010487A (en) * | 2016-07-21 | 2018-01-31 | 현대자동차주식회사 | Automatic Driving control apparatus, vehicle having the same and method for controlling the same |
| CN109774707A (en) * | 2018-12-29 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Control method and device for automatic driving vehicle |
| CN110758392A (en) * | 2019-10-17 | 2020-02-07 | 中通客车控股股份有限公司 | Autonomous lane change control method for passenger car |
| JP2020067699A (en) * | 2018-10-22 | 2020-04-30 | 日産自動車株式会社 | Driving support method and driving support device |
| CN111942398A (en) * | 2019-05-17 | 2020-11-17 | 长城汽车股份有限公司 | Vehicle speed control method and system and vehicle |
| CN112389466A (en) * | 2020-12-03 | 2021-02-23 | 安徽江淮汽车集团股份有限公司 | Method, device and equipment for automatically avoiding vehicle and storage medium |
| CN112498351A (en) * | 2020-11-20 | 2021-03-16 | 东风汽车集团有限公司 | Automatic driving optimization system and method based on V2V |
| CN112712728A (en) * | 2019-10-24 | 2021-04-27 | 罗伯特·博世有限公司 | Control unit, method and system for highway driving assistance |
| CN113085853A (en) * | 2021-04-26 | 2021-07-09 | 中汽研（天津）汽车工程研究院有限公司 | Auxiliary driving system for actively dodging large-scale vehicle in lane |
| CN113165670A (en) * | 2021-03-01 | 2021-07-23 | 华为技术有限公司 | Intelligent driving method, device, storage medium and computer program |
| CN113548054A (en) * | 2021-07-07 | 2021-10-26 | 东风汽车集团股份有限公司 | Vehicle lane change intention prediction method and system based on time sequence |
| CN113815615A (en) * | 2021-09-14 | 2021-12-21 | 上汽通用五菱汽车股份有限公司 | Overtaking control method, vehicle-mounted terminal and computer readable storage medium |
| CN113815614A (en) * | 2020-06-18 | 2021-12-21 | 现代摩比斯株式会社 | Vehicle blind area avoiding device and method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109507997B (en) * | 2017-09-15 | 2021-11-12 | 现代摩比斯株式会社 | Apparatus, method and system for automatic driving |
-
2022
- 2022-03-24 CN CN202210296146.XA patent/CN114506346B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05104993A (en) * | 1991-10-15 | 1993-04-27 | Toyota Motor Corp | Run control device for vehicle |
| JP2006335223A (en) * | 2005-06-02 | 2006-12-14 | Nissan Motor Co Ltd | Preceding vehicle detection device |
| JP2007148964A (en) * | 2005-11-30 | 2007-06-14 | Nissan Motor Co Ltd | Device and method for warning degree of potential risk |
| DE102013009995A1 (en) * | 2013-06-14 | 2013-12-19 | Daimler Ag | Method for distance regulation of vehicle, involves reducing spacing between vehicle and preceding vehicle at desired distance within time duration and delaying vehicle based on delay strategies |
| KR20180010487A (en) * | 2016-07-21 | 2018-01-31 | 현대자동차주식회사 | Automatic Driving control apparatus, vehicle having the same and method for controlling the same |
| JP2020067699A (en) * | 2018-10-22 | 2020-04-30 | 日産自動車株式会社 | Driving support method and driving support device |
| CN109774707A (en) * | 2018-12-29 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Control method and device for automatic driving vehicle |
| CN111942398A (en) * | 2019-05-17 | 2020-11-17 | 长城汽车股份有限公司 | Vehicle speed control method and system and vehicle |
| CN110758392A (en) * | 2019-10-17 | 2020-02-07 | 中通客车控股股份有限公司 | Autonomous lane change control method for passenger car |
| CN112712728A (en) * | 2019-10-24 | 2021-04-27 | 罗伯特·博世有限公司 | Control unit, method and system for highway driving assistance |
| CN113815614A (en) * | 2020-06-18 | 2021-12-21 | 现代摩比斯株式会社 | Vehicle blind area avoiding device and method thereof |
| CN112498351A (en) * | 2020-11-20 | 2021-03-16 | 东风汽车集团有限公司 | Automatic driving optimization system and method based on V2V |
| CN112389466A (en) * | 2020-12-03 | 2021-02-23 | 安徽江淮汽车集团股份有限公司 | Method, device and equipment for automatically avoiding vehicle and storage medium |
| CN113165670A (en) * | 2021-03-01 | 2021-07-23 | 华为技术有限公司 | Intelligent driving method, device, storage medium and computer program |
| CN113085853A (en) * | 2021-04-26 | 2021-07-09 | 中汽研（天津）汽车工程研究院有限公司 | Auxiliary driving system for actively dodging large-scale vehicle in lane |
| CN113548054A (en) * | 2021-07-07 | 2021-10-26 | 东风汽车集团股份有限公司 | Vehicle lane change intention prediction method and system based on time sequence |
| CN113815615A (en) * | 2021-09-14 | 2021-12-21 | 上汽通用五菱汽车股份有限公司 | Overtaking control method, vehicle-mounted terminal and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114506346A (en) | 2022-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7266453B2 (en) | Vehicular object detection system, tracking control system, and vehicle control system | |
| US10365655B2 (en) | ECU, autonomous vehicle including ECU, and method of controlling lane change for the same | |
| CN108032858B (en) | Adaptive cruise control method and system based on bypass driving path prediction | |
| US7289017B2 (en) | Vehicular control object determination system and vehicle control system | |
| JP4104532B2 (en) | Vehicle control device | |
| EP2802496B1 (en) | Method and control unit for monitoring traffic | |
| CN113428141B (en) | Intelligent detection method and system for timely response of emergency cut-in of front vehicle | |
| US10875508B2 (en) | Vehicle traveling assistance method and vehicle traveling assistance device | |
| US11938924B2 (en) | Driving assistance control apparatus for vehicle, driving assistance control system for vehicle, and driving assistance control method for vehicle | |
| US11192547B2 (en) | Adaptive speed control system | |
| US10946860B2 (en) | Vehicle control apparatus | |
| US20200290618A1 (en) | Adaptive control of automated lane change in vehicle | |
| US20220080969A1 (en) | Method and Control Unit for Operating an Adaptive Cruise Controller | |
| CN115848372B (en) | Vehicle adaptive cruise control device and control method | |
| US6459983B1 (en) | Method and apparatus for controlling the speed and spacing of a motor vehicle | |
| KR102011665B1 (en) | Apparatus and method for evalutating adaptive cruise control system for vehicle | |
| EP3974277B1 (en) | Driving control apparatus for vehicle | |
| JP6481627B2 (en) | Vehicle travel control device | |
| CN114506346B (en) | Speed control method for automatic driving and storage medium | |
| CN113147766A (en) | Lane change prediction method and device for target vehicle | |
| US20240101154A1 (en) | Method for planning an at least partly automated driving process by means of a driver assistance system | |
| KR101659852B1 (en) | Preceding vehicle selection apparatus | |
| CN110562253B (en) | Automobile self-adaptive cruise curve following control device and control method | |
| CN116118720A (en) | AEB-P system based on vehicle working condition variable control strategy | |
| EP4011733A1 (en) | Method and device for driver assistance for determining habits of driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |