CN115848371A - ACC system control method, device, electronic equipment and storage medium - Google Patents
ACC system control method, device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses an ACC system control method, an ACC system control device, electronic equipment and a storage medium, wherein the method comprises the following steps: when the self-vehicle enters a vehicle following mode of an ACC system, determining a target vehicle following distance of the self-vehicle according to vehicle following states with different speeds; when the self vehicle enters a cut-in mode of the ACC system, determining the movement intention of other vehicles around according to the self vehicle information and other vehicles around; and controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around, and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition. Through this application, through simplifying the calculation of following the car distance from the car in the following mode to and reduce the vehicle collision risk when cutting into the mode, optimized vehicle ACC system control.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to an ACC system control method and apparatus, an electronic device, and a storage medium.
Background
Unmanned vehicles develop more and more rapidly, the intelligent level of the vehicles is higher and higher, and the carrying rate of automatic driving and auxiliary driving devices on the vehicles is higher and higher.
Adaptive Cruise Control (ACC) of a vehicle is an important component of an automatic driving system and a vehicle advanced driving assistance system, and mainly controls longitudinal movement of the vehicle. According to real-time changes of external environments during vehicle running, for example, a target vehicle is cut into the front of a vehicle lane in a short distance, and the distance between the target vehicle and a front vehicle and the current vehicle speed are automatically adjusted to ensure running safety.
In the related art, the following distance of the ACC system in the following mode is complex to calculate, and meanwhile, the ACC system cannot accurately judge the intention of the surrounding vehicles in the cut-in mode.
Disclosure of Invention
The embodiment of the application provides an ACC system control method and device, electronic equipment and a storage medium, so as to improve the identification and safety capabilities in different modes in an automatic driving ACC system.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides an ACC system control method, where the method includes:
when the self-vehicle enters a vehicle following mode of an ACC system, determining a target vehicle following distance of the self-vehicle according to vehicle following states with different speeds;
when the self vehicle enters a cut-in mode of the ACC system, determining the movement intention of other vehicles around according to the self vehicle information and other vehicles around;
and controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around, and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition.
In some embodiments, the determining the target following distance of the host vehicle according to the following states of different speeds when the host vehicle enters the following mode of the ACC system includes:
and when the self-vehicle enters a vehicle following mode of the ACC system, calculating a vehicle following distance between the self-vehicle and a nearest vehicle in front of a current lane according to the current vehicle speed of the self-vehicle and a first control strategy.
In some embodiments, before the host vehicle enters the cut-in mode of the ACC system, the method further includes:
acquiring other vehicle information and lane line information around the vehicle through a laser radar and/or a millimeter wave radar;
judging whether other vehicles around can be used as cut-in vehicles or not based on the own vehicle information according to the other vehicles around information and the lane line information;
if the vehicle is determined to be switched into, determining that the vehicle enters a switching-in mode of the ACC system.
In some embodiments, the method of determining to cut into a vehicle includes:
when the vehicle is in a cruising mode or the vehicle is in a following mode but the longitudinal distance between the vehicle to be cut into the lane of the vehicle and the vehicle is smaller than the distance between the vehicle and a target vehicle for following from the side, judging that the vehicle to be cut into is the cut-in vehicle.
In some embodiments, before determining that the host vehicle enters the cut-in mode of the ACC system, the method further comprises:
according to a transverse filtering rule, when other vehicles around enter as a cut-in vehicle, if the distance between the leftmost distance of the cut-in vehicle and the right lane line of the self vehicle or the distance between the rightmost distance of the cut-in vehicle and the left lane line of the self vehicle is greater than a preset multiple of the current driving lane width of the self vehicle, filtering the cut-in vehicles;
according to the longitudinal filtering rule, when other vehicles around enter as cut-in vehicles, if the foremost end of the cut-in vehicles is behind the foremost end of the self vehicle or the tail end of the cut-in vehicles is far away from the foremost end of the self vehicle by a distance larger than the limit braking distance of the speed limit of the current lane, the cut-in vehicles are filtered.
In some embodiments, after determining the movement intention of other vehicles around the self vehicle according to the self vehicle information and other vehicles around the self vehicle information when the self vehicle enters the cut-in mode of the ACC system, the method includes:
calculating collision time according to the longitudinal speed of the self vehicle and the longitudinal speed of the cut-in vehicle;
and if the collision time is less than a critical collision threshold value and/or the tail end distance of the cut-in vehicle is less than the head distance of the self vehicle, controlling the speed of the self vehicle by applying deceleration after the self vehicle enters the cut-in mode of the ACC system.
In some embodiments, controlling the speed of the host vehicle and controlling the host vehicle to enter the following mode of the ACC system after the other surrounding vehicles meet preset conditions according to the determination result of the movement intention of the other surrounding vehicles includes:
and when the distance between the rightmost edge of the cut-in vehicle and the rightmost edge of the lane line of the self vehicle or the distance between the leftmost edge of the cut-in vehicle and the leftmost edge of the lane line of the self vehicle is smaller than a preset distance value, the ACC system of the self vehicle is changed from the cut-in mode to the following mode, and the tracked target vehicle is the previous cut-in vehicle.
In some embodiments, the ACC system further includes a cruise mode, and the cut-in mode is an intermediate transition mode between the cruise mode and the heel-up mode.
In a second aspect, an embodiment of the present application further provides an ACC system control apparatus, where the apparatus includes:
the distance calculation module is used for determining the target following distance of the self-vehicle according to the following states at different speeds when the self-vehicle enters the following mode of the ACC system;
the intention determining module is used for determining the movement intention of other vehicles around according to the information of the self vehicle and the information of other vehicles around when the self vehicle enters the cut-in mode of the ACC system;
and the switching module is used for controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the above method.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device that includes a plurality of application programs, cause the electronic device to perform the above-described method.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: when the self-vehicle enters a following mode of an ACC system, the target following distance of the self-vehicle is determined according to the following states of different speeds, the calculation process is simplified through the calculation mode of optimizing the following distance of the self-vehicle, and the self-vehicle can have enough braking distance under the emergency condition of sudden braking of the front vehicle. When the self vehicle enters the cut-in mode of the ACC system, the movement intention of other vehicles around the self vehicle is determined according to the self vehicle information and other vehicles around the self vehicle, and the movement intention of the front vehicle around the self vehicle is predicted according to the movement state of the other vehicles around the self vehicle and the historical movement locus. Therefore, corresponding warning information is sent out before the obstacle vehicle changes the lane, corresponding deceleration action can be executed in the lane changing process, and the risk of vehicle collision is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a cruise mode 1 schematic of an ACC system in an embodiment of the present application;
FIG. 2 is a cruise mode 2 schematic of the ACC system of the embodiment of the present application;
FIG. 3 is a schematic diagram of a car following mode of an ACC system in an embodiment of the present application;
FIG. 4 is a schematic diagram of a cut-in mode of the ACC system in the embodiment of the present application;
FIG. 5 is a schematic flow chart of an ACC system control method according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of an ACC system control device according to an embodiment of the present application;
FIG. 7 is a following distance calculation chart according to an embodiment of the present invention;
fig. 8 is a logic diagram of the ACC mode in the ACC system control method according to the embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The inventor researches and discovers that some ACC control methods are to obtain weight values by using different parameters according to different vehicle speeds and then calculate the following distance according to the new parameters and the vehicle speed. The calculation process is complicated, and the calculation efficiency is relatively low. And because the segmentation strategy is adopted, the jump phenomenon is inevitable to occur at the segmentation point, and the control performance of the ACC system is influenced.
Some ACC control methods perform a segmentation judgment on confidence level according to the current distance between the current vehicle and the preceding vehicle target, and need to add confidence levels according to a plurality of information of the driving state to set a virtual target, a virtual state and the like. Although the consideration is comprehensive, the method is complicated and the use is inconvenient in the practical application process.
In addition, there are some ACC methods proposed by control methods for lane change of a vehicle ahead on the side, which predict lane change of a surrounding vehicle using an image ahead on the side of the vehicle and a radar sensor, depending on a state of a turn signal of the vehicle captured by the image sensor. However, the phenomenon that the driver of the surrounding vehicle often turns the lane without turning on the turn signal lamp or turns on the turn signal lamp for a relatively late time occurs when driving the vehicle at present, and thus the decision of controlling the ACC of the automatic driving vehicle is influenced.
To the problem that the ACC is complicated to set up with the car distance among the correlation technique, the ACC that the method in the embodiment of this application provided with the car distance computational process has comprehensively considered low-speed with the car state, intermediate speed with car state and high-speed with the car state with the car distance. The method adopts the same formula when calculating the following distance, and gives consideration to the following at full speed, thereby ensuring that the self vehicle can have enough braking distance under the emergency condition of sudden braking of the front vehicle.
Aiming at the problem of excessive dependence on surrounding vehicle steering lamps in an automobile side lane changing ACC method in the related art, the method in the embodiment of the application predicts the movement intention of a surrounding front vehicle for the movement state and the historical movement track departure of the surrounding vehicle, sends corresponding warning information before the vehicle belonging to an obstacle changes lanes, executes corresponding deceleration action in the lane changing process and reduces the risk of vehicle collision.
In addition, the method in the embodiment of the application mainly depends on the laser radar and the millimeter wave radar, and an image sensor is avoided.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the cruise modes in the ACC system in the embodiment of the present application are divided into cruise mode 1 and cruise mode 2, where cruise mode 1 is the same-lane cruise mode, and cruise mode 2 is the different-lane cruise mode. It is understood that the cruise mode is a general mode of the ACC system, and when there is no vehicle in the following distance ahead of the vehicle and there is no vehicle in the lateral front ready to cut into the current lane of the vehicle, the vehicle is in the cruise mode, and the (autonomous) vehicle automatically sets the maximum cruise speed according to the current road. Distance _ now > distance _ cal in fig. 1, there is no preceding vehicle within the current following distance.
As shown in fig. 3, the following mode in the ACC system in the embodiment of the present application is that when there are other vehicles in the following distance of the current lane of the (autonomous) vehicle, the ACC system automatically switches to the following mode, and in the following mode, the ACC system calculates the following distance to the nearest vehicle in front of the current lane according to the current speed of the own vehicle. Distance _ now < distance _ cal in fig. 3, and there is a preceding vehicle within the current following vehicle distance.
As shown in fig. 4, which is the cut-in mode in the ACC system in the embodiment of the present application, the cut-in mode is an intermediate transition mode between the cruise mode and the following mode, and when there is no other vehicle, i.e., the cruise mode, in the current lane following distance of the (autonomous) vehicle, or the (autonomous) vehicle is in the following mode but the longitudinal distance between the vehicle that is about to cut into the lane of the own vehicle from the side and the own vehicle is smaller than the distance between the own vehicle and the target vehicle of the following vehicle, the ACC system of the autonomous vehicle may switch to the cut-in mode if there is a side vehicle attempting to cut into the lane of the own vehicle.
An embodiment of the present application provides an ACC system control method, and as shown in fig. 5, provides a flowchart of the ACC system control method in the embodiment of the present application, where the method at least includes the following steps S510 to S540:
step S510, when the self-vehicle enters a vehicle following mode of the ACC system, determining the target vehicle following distance of the self-vehicle according to vehicle following states with different speeds.
The self vehicle can realize the control of different modes in the ACC system according to different driving states. That is, the cruise mode, the cut-in mode, and the following mode in the ACC system are changed according to circumstances, and the cut-in mode serves as an intermediate transition mode between the cruise mode and the following mode.
If other vehicles exist in the following distance of the current lane of the self-vehicle, the ACC system can be automatically switched to the following mode, and under the following mode, the ACC system can calculate the following distance between the ACC system and the nearest vehicle in front of the current lane according to the current speed of the self-vehicle.
And when the target following distance of the self vehicle is determined, determining according to the following states at different speeds. That is, the following speed of the host vehicle may be in a low speed, a medium speed or a high speed state, and the target following distance of the host vehicle may be affected to different degrees. Meanwhile, factors such as the maximum deceleration of the vehicle and the comfortable deceleration need to be considered. Maximum deceleration means that the maximum deceleration of the vehicle is generally 7.5-8 m/s in emergency braking in terms of the braking capability the vehicle should have, and the average deceleration of the vehicle should be 3-4 m/s in ordinary braking. Comfort deceleration is a parameter in the IDM Model, i.e. an Intelligent Driver Model (IDM), which describes the acceleration of the vehicle as a function of its own variables and the preceding vehicle variables, and will not be described further herein.
And step S520, when the self vehicle enters the cut-in mode of the ACC system, determining the movement intention of other vehicles around according to the self vehicle information and the other vehicles around.
When the vehicle is in the following mode but the longitudinal distance between the vehicle to be cut into the vehicle lane from the side and the vehicle is smaller than the distance between the vehicle and the target following vehicle, the ACC system of the vehicle may be switched to the cut-in mode if the vehicle tries to cut into the vehicle from the side.
When the self-vehicle enters the cut-in mode of the ACC system, the movement intentions of other vehicles around the self-vehicle, namely whether other vehicles around the self-vehicle cut into the current driving lane of the self-vehicle from the side or not, are determined according to the information of the self-vehicle and the information of other vehicles around the self-vehicle. In order to obtain accurate vehicle state information and judge the cut-in intention of the side vehicle, other sensors such as a laser radar and a millimeter wave radar are required to acquire information, the position, the speed and the course angle of the vehicle, the position, the speed, the course angle and the transverse speed information of other surrounding vehicles, road boundary information and the like. The speed information of surrounding vehicles is mainly acquired by a millimeter wave radar, and the position information is mainly acquired by a laser radar. The present invention can be divided into two cases, i.e., left hand cut and right hand cut, according to the direction of cut of the surrounding vehicle, and the trigger condition and the end condition of the left hand or right hand cut mode are the same.
Step S530, controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around, and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset conditions.
According to the judgment result of the movement intention of other vehicles around, the speed of the vehicle is controlled (kept or decelerated) and the vehicle is controlled to enter the following mode of the ACC system when the condition is satisfied. And when no other vehicles around the vehicle are within the following distance in front of the vehicle, controlling the vehicle to enter the cruise mode from the following mode.
In one embodiment of the present application, the ACC system further comprises a cruise mode, and the cut-in mode is an intermediate transition mode between the cruise mode and the heel mode.
Due to the fact that detection data of the laser radar and/or the millimeter wave radar are acquired before, real-time states of other vehicles around are determined through fusion of the data of the laser radar and/or the millimeter wave radar, including but not limited to positions, speeds and heading angles of other vehicles around. And then, calculating the following distance in real time according to the speed of the vehicle, judging whether the positions and the speeds of the surrounding vehicles form risks to the vehicle through a cut-in mode rule, and controlling the vehicle in time to avoid accidents.
According to the method, the low-speed car following state, the medium-speed car following state and the high-speed car following state are comprehensively considered by optimizing the calculation process of the target car following distance of the self car in the ACC system car following mode. The calculation method adopts the same formula, gives consideration to full-speed following, and ensures that the self vehicle can have enough braking distance under the emergency condition of sudden braking of the front vehicle. Compared with the prior art, the method has the advantages that the calculation process of the following distance is complicated, and the phenomenon of jumping is easy to occur in the segmentation.
The method predicts the movement intention of the front vehicle on the periphery side from the movement state of the vehicle on the periphery and the historical movement locus by optimizing the ACC system in the cut-in mode through the laser radar and the millimeter wave radar. Corresponding warning information is sent out before the obstacle vehicle changes the lane, and corresponding deceleration action can be executed in the lane changing process, so that the vehicle collision risk is reduced. Distinguished from the problem of excessive reliance on surrounding vehicle turn signals in the related art.
In an embodiment of the application, the determining the target following distance of the self-vehicle according to the following states of different speeds when the self-vehicle enters the following mode of the ACC system includes: and according to a first control strategy, calculating the following distance between the current vehicle and the nearest vehicle in front of the current lane according to the current speed of the current vehicle.
Specifically, when the self-vehicle enters a following mode of the ACC system, a following distance dis = a of a nearest vehicle in front of a current lane is calculated according to the current vehicle speed of the self-vehicle 1 v 2 +a 2 v + dis0+ Bufer0, where dis0 is a static following distance at which the vehicle speed is0 or close to 0, v is the current vehicle speed of the host vehicle, bufer0 is a buffer distance, a1 and a2 are coefficients obtained from the maximum deceleration and comfort deceleration of the host vehicle and fitting based on three following states of low speed, medium speed, and high speed, and a1 is a negative number and a2 is a positive number.
Following distance calculation formula dis = a 1 v 2 +a 2 v + dis0+ Bufer0, in the following mode, the ACC system calculates the following distance between the ACC system and the nearest vehicle in front of the current lane according to the current speed of the vehicle.
In the above calculation formula, dis0 is the static following distance at which the vehicle speed is0 or close to 0,
v is the current speed of the vehicle and can be obtained in real time.
Bufer0 is a buffer distance and can be set according to actual conditions.
a1 and a2 are coefficients obtained by fitting according to the maximum deceleration and the comfortable deceleration of the own vehicle and based on three following states of low speed, medium speed and high speed, and a1 is a negative number and a2 is a positive number.
The curves obtained by fitting the a1 and the a2 are shown in fig. 7, and the speed and the following distance have a quadratic function relationship. The fitting principle is based on a kinematic formula v 2 -v 0 2 Where =2ax, v0 is the current vehicle speed of the autonomous vehicle, and v is the deceleration to 0 considering the situation that the limit speed of the front vehicle is0, so v =0,a is the maximum comfortable deceleration of the autonomous vehicle, and x is the calculated initial following distance. Simplifying to obtain 2 purple cells a x = v 0 2 The maximum comfortable deceleration is a constant, and it can be seen that the following distance is proportional to the square of the velocity, so a quadratic function is used as the basis for the following distance calculation.
Illustratively, first, different speed regions are determined: taking a group of low speed at intervals of 0.1 in a low speed area of 4m/s-5 m/s; in the medium-speed region, 10-11 ms/s takes a group of medium-speed speeds at intervals of 0.1; the high speed region 15.5m/s-16.5m/s takes a set of high speed at intervals of 0.1.
Then, each speed is less than a red hair x = v according to formula 2 0 2 And calculating x as the initial following distance of the speed.
Finally, each speed and the corresponding preliminary following distance are used for solving a quadratic function dis = a by a least square method 1 v 2 +a 2 A1, a2, dis0 in v + dis0; meanwhile, in order to increase the security, a buffer distance of Bufer0 is added to the calculated dis.
Different from the tedious calculation in the related art, the following distance calculation process in the following mode of the ACC system is simple and easy to understand, and the following distance comprehensively considers a low-speed following state, a medium-speed following state and a high-speed following state. The calculation method adopts the same formula, gives consideration to full-speed following, and ensures that the self vehicle can have enough braking distance under the emergency condition of sudden braking of the front vehicle.
In an embodiment of the present application, before the self-vehicle enters the cut-in mode of the ACC system, the method further includes: obtaining other vehicle information and lane line information around the vehicle through a laser radar and/or a millimeter wave radar; judging whether other vehicles around can be used as cut-in vehicles or not based on the own vehicle information according to the other vehicles around information and the lane line information; if the vehicle is determined to be switched into, determining that the vehicle enters a switching-in mode of the ACC system.
The speed information of other vehicles around is mainly acquired by a millimeter wave radar, and the position information of other vehicles around is mainly acquired by a laser radar. The method for acquiring the lane line information through the laser radar can be based on the echo width of the laser radar or a gray scale map formed by the reflection intensity information of the laser radar, and can also adopt the cooperation of the laser radar SLAM and a high-precision map, so that the lane line is detected and the self-vehicle positioning is carried out.
When judging whether the other vehicle can be used as a cut-in vehicle or not based on the own vehicle information according to the other vehicle information and the lane line information, the distance relationship between the other vehicle and the own vehicle and the lane line (the own vehicle runs along the center of the lane and keeps equal to the distances between the lane lines on both sides) is mainly considered, and if the condition is met, the vehicle is judged to be cut-in.
Illustratively, the cut-in mode condition of the ACC system is considered to be satisfied when the distance of the leftmost end of the cut-in vehicle from the lane line on the right side of the own vehicle is less than a certain distance a, i.e., the lane a of the intruding own vehicle, and the lateral speed of the cut-in vehicle is to the left, and the speed value is greater than the critical speed.
In some embodiments, the other vehicles around the vehicle are filtered out according to a predetermined condition, and only the other vehicles around the vehicle meeting the predetermined condition after filtering out are considered.
Further, when the vehicle is in a cruising mode or the vehicle is in a following mode but the longitudinal distance between the vehicle to be cut into the lane of the vehicle and the vehicle is smaller than the distance between the vehicle and the target vehicle, the vehicle to be cut is judged to be the cut-in vehicle.
In one embodiment of the present application, before determining that the host vehicle enters the cut-in mode of the ACC system, the method further includes: according to a transverse filtering rule, when other vehicles around enter as a cut-in vehicle, if the distance between the leftmost distance of the cut-in vehicle and the right lane line of the self vehicle or the distance between the rightmost distance of the cut-in vehicle and the left lane line of the self vehicle is greater than a preset multiple of the current driving lane width of the self vehicle, filtering the cut-in vehicles; according to the longitudinal filtering rule, when other vehicles around enter as cut-in vehicles, if the foremost end of the cut-in vehicles is behind the foremost end of the self vehicle or the tail end of the cut-in vehicles is far away from the foremost end of the self vehicle by a distance larger than the limit braking distance of the speed limit of the current lane, the cut-in vehicles are filtered.
In order to accurately judge the vehicle to be cut, the surrounding vehicles are filtered according to the transverse filtering rule and the longitudinal filtering rule before the vehicle is determined to enter the cut-in mode of the ACC system, and the vehicle to be cut is obtained.
Illustratively, the lateral filtering rule is that the distance cut into the leftmost vehicle from the right lane line of the host vehicle is greater than 1.5 times the current lane width of the host vehicle. The left-hand cut-in and the right-hand cut-in can be divided into two cases according to the cutting-in direction of the surrounding vehicles, and the left-hand cut-in and the right-hand cut-in are almost identical except for different directions, so the cutting-in mode triggering condition and the cutting-out condition are mainly described by taking the way that the vehicles with the right lane change into the lanes of the self vehicle as an example in the embodiment of the application, and the left-hand cut-in is the same.
For example, the longitudinal filtering rule is that the cut-in vehicle is either behind the front-most end of the autonomous vehicle or that the distance from the end of the cut-in vehicle is greater than the limit braking distance for the speed limit for the current lane, at which time the cut-in vehicle is filtered out of consideration.
It should be noted that the speed limit of the current lane refers to the maximum speed that the host vehicle can reach in the current lane.
In one embodiment of the present application, after determining the movement intention of other vehicles around the vehicle according to the information of the vehicle and the information of other vehicles around the vehicle when the vehicle enters the cut-in mode of the ACC system, the method includes: calculating collision time according to the longitudinal speed of the self vehicle and the longitudinal speed of the cut-in vehicle; and if the collision time is less than a critical collision threshold value and/or the distance between the tail of the cut-in vehicle and the distance between the head of the cut-in vehicle is less than a threshold value, controlling the speed of the cut-in vehicle by applying deceleration after the cut-in vehicle enters the cut-in mode of the ACC system.
After the rule filtering, the other vehicles around the vehicle meeting the condition are screened as cut-in vehicles, and then the cut-in vehicles are subjected to danger judgment. That is, a danger judgment is made and a corresponding warning message is issued before the cut vehicle belonging to the obstacle makes the lane change.
For example, when the left-most end of the cut-in vehicle is more than-0.25 m (0.25 m on the left) and less than 0.25m away from the right lane line of the host vehicle, and the lateral velocity of the cut-in vehicle is to the left, the velocity value is greater than the critical velocity, and the vehicle is classified as a dangerous obstacle.
Further, when the distance from the leftmost end of the cut-in vehicle to the lane line on the right side of the self-vehicle is less than-0.25 m, namely the cut-in vehicle invades the self-lane 0.25m, and the lateral speed of the cut-in vehicle is leftward, the speed value is greater than the critical speed, and the cut-in mode condition of the ACC system is satisfied.
After the cut-in mode condition of the ACC system is met, time To Collision (TTC) is calculated according to the current longitudinal speed of the vehicle and the longitudinal speed of the cut-in vehicle, if the TTC is smaller than a critical TTC value or the distance between the tail of the cut-in vehicle and the head of the vehicle is too small (rear-end collision is easy to happen), the ACC system applies corresponding deceleration to the automatically-driven vehicle according to the value of the TTC and the distance between the tail and the head of the vehicle in the cut-in mode, and if the two conditions are met, the deceleration with a larger absolute value is selected.
In the above method, the movement intention of the surrounding side front vehicle is predicted from the surrounding vehicle movement state and the historical movement locus, unlike the problem of excessive dependence on the surrounding vehicle turn signal in the related art. Corresponding warning information is sent out before the obstacle vehicle changes the lane, corresponding deceleration action can be executed in the lane changing process, and the risk of vehicle collision is reduced. In addition, the use of image sensors is avoided or reduced by relying primarily on lidar and millimeter wave radar.
In one embodiment of the present application, controlling the speed of the vehicle and controlling the vehicle to enter the following mode of the ACC system after the other vehicle around meets the preset condition according to the result of the determination of the movement intention of the other vehicle around, includes: when the distance between the rightmost edge of the cut-in vehicle and the rightmost edge of the lane line of the self vehicle or the distance between the leftmost edge of the cut-in vehicle and the leftmost edge of the lane line of the self vehicle is smaller than a preset distance value, the ACC system of the self vehicle is changed from the cut-in mode to the following mode, and the tracked target vehicle is the previous cut-in vehicle.
When the distance between the rightmost side of the cut-in vehicle and the right end of the lane line of the self vehicle is smaller than a preset distance value, the ACC system of the self vehicle is changed into the following mode from the cut-in mode; and when the distance between the leftmost side of the cut-in vehicle and the left end of the lane line of the self vehicle is smaller than a preset distance value, the ACC system of the self vehicle is changed from the cut-in mode to the following mode.
Illustratively, when the distance between the rightmost edge of the cut-in vehicle and the right end of the lane line of the self vehicle is less than 0.3m, the cut-in mode is changed into a following mode, the tracked target vehicle is the vehicle which is just cut in, the following distance in the following mode is determined according to the real distance between the tail of the target vehicle and the head of the self vehicle and the following distance, and meanwhile, corresponding deceleration is applied.
An ACC system control apparatus 600 is further provided in the embodiment of the present application, and as shown in fig. 6, a schematic structural diagram of the ACC system control apparatus in the embodiment of the present application is provided, where the ACC system control apparatus 600 at least includes: a distance calculation module 610, an intent determination module 620, and a switching module 630, wherein:
in an embodiment of the present application, the distance calculating module 610 is specifically configured to: and when the self-vehicle enters a vehicle following mode of the ACC system, determining the target vehicle following distance of the self-vehicle according to the vehicle following states with different speeds.
The self vehicle can realize the control of different modes in the ACC system according to different driving states. That is, the cruise mode, the cut-in mode, and the following mode in the ACC system are changed according to circumstances, and the cut-in mode serves as an intermediate transition mode between the cruise mode and the following mode.
If other vehicles exist in the following distance of the current lane of the self-vehicle, the ACC system can automatically switch to the following mode, and under the following mode, the ACC system can calculate the following distance between the self-vehicle and the nearest vehicle in front of the current lane according to the current speed of the self-vehicle.
And when the target following distance of the self vehicle is determined, determining according to the following states at different speeds. That is, the following speed of the host vehicle may be in a low speed, a medium speed or a high speed state, and the target following distance of the host vehicle may be affected to different degrees. Meanwhile, factors such as the maximum deceleration of the own vehicle and the comfortable deceleration need to be considered. Maximum deceleration means that the maximum deceleration of the vehicle is generally 7.5-8 m/s in emergency braking in terms of the braking capability the vehicle should have, and the average deceleration of the vehicle should be 3-4 m/s in ordinary braking. Comfort deceleration is a parameter in the IDM Model, i.e. an Intelligent Driver Model (IDM), which describes the acceleration of the vehicle as a function of its own variables and the preceding vehicle variables, and will not be described further herein.
In an embodiment of the present application, the intent determination module 620 is specifically configured to: and when the self vehicle enters the cut-in mode of the ACC system, determining the movement intention of other vehicles around according to the self vehicle information and other vehicles around.
When the vehicle is in the following mode but the longitudinal distance between the vehicle which is about to cut into the vehicle lane from the side and the vehicle is smaller than the distance between the vehicle and the target vehicle, the ACC system of the vehicle may switch to the cut-in mode if the side vehicle tries to cut into the vehicle.
When the self-vehicle enters the cut-in mode of the ACC system, the movement intentions of other vehicles around the self-vehicle, namely whether other vehicles around the self-vehicle cut into the current driving lane of the self-vehicle from the side or not, are determined according to the information of the self-vehicle and the information of other vehicles around the self-vehicle. In order to obtain accurate vehicle state information and judge the cut-in intention of the side vehicle, other sensors such as a laser radar and a millimeter wave radar are required to acquire information, the position, the speed and the course angle of the vehicle, the position, the speed, the course angle and the transverse speed information of other surrounding vehicles, road boundary information and the like. The speed information of surrounding vehicles is mainly acquired by a millimeter wave radar, and the position information is mainly acquired by a laser radar. The present invention can be divided into two cases, i.e., left hand cut and right hand cut, according to the direction of cut of the surrounding vehicle, and the trigger condition and the end condition of the left hand or right hand cut mode are the same.
In an embodiment of the present application, the switching module 630 is specifically configured to: and controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around, and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition.
According to the judgment result of the movement intention of other vehicles around, the speed of the vehicle is controlled (kept or decelerated) and the vehicle is controlled to enter the following mode of the ACC system when the condition is satisfied. And when no other vehicles around the vehicle are within the following distance in front of the vehicle, controlling the vehicle to enter the cruise mode from the following mode.
It can be understood that, the ACC system control apparatus described above can implement the steps of the ACC system control method provided in the foregoing embodiments, and the explanations regarding the ACC system control method are applicable to the ACC system control apparatus, and are not repeated herein.
Fig. 8 is a logic diagram in a cut-in mode in the ACC system control method in the embodiment of the present application, which specifically includes the following steps:
step S1, the ACC system is started.
The ACC system comprises a following mode, a cut-in mode and a cruise mode.
And S2, acquiring the speed and position of the vehicle, the speed and position of surrounding vehicles, lane lines and other information.
In order to obtain accurate vehicle state information and judge the cut-in intention of the side vehicle, other sensors such as a laser radar and a millimeter wave radar are required to acquire information, the position, the speed and the course angle of the vehicle, the position, the speed, the course angle and the transverse speed information of other surrounding vehicles, road boundary information and the like.
Step S3 is to determine whether to perform left hand incision or right hand incision, taking right hand incision as an example.
And S4, the cut-in vehicle is far away from the current right lane line by (-0.25,0.25) m, the transverse speed exceeds the critical speed, and if the transverse speed exceeds the critical speed, the cut-in vehicle is listed as a dangerous to-be-cut-in vehicle.
First, other vehicles around the vehicle meeting the conditions are screened as cut-in vehicles, and then the cut-in vehicles are subjected to danger judgment. That is, before the cut-in vehicle belonging to the obstacle changes the lane, the danger determination is performed and the corresponding warning message is issued.
And step S5, limiting the cut-in vehicle to be-0.25 m away from the current right lane line, enabling the transverse speed to exceed the critical speed, and if the transverse speed exceeds the critical speed, switching to the cut-in mode.
And S6, calculating TTC, wherein the TTC is smaller than a critical value or the distance between the tail of the vehicle and the head of the vehicle is smaller than the critical value, if so, entering S7, and otherwise, entering S8.
After the cut-in mode condition of the ACC system is met, time To Collision (TTC) is calculated according to the current longitudinal speed of the vehicle and the longitudinal speed of the cut-in vehicle, if the TTC is smaller than a critical TTC value or the distance between the tail of the cut-in vehicle and the head of the vehicle is too small (rear-end collision is easy to happen), the ACC system applies corresponding deceleration to the automatically-driven vehicle according to the value of the TTC and the distance between the tail and the head of the vehicle in the cut-in mode, and if the two conditions are met, the deceleration with a larger absolute value is selected.
In step S7, a corresponding deceleration is applied.
And step S8, normal running.
And S9, cutting into the rightmost side of the vehicle, wherein the distance from the rightmost side of the vehicle to the right lane line is less than 0.3m.
And step S10, switching to the car following mode.
When the distance between the rightmost side of the cut-in vehicle and the right end of the lane line of the self vehicle is smaller than a preset distance value, the ACC system of the self vehicle is changed into the following mode from the cut-in mode; and when the distance between the leftmost side of the cut-in vehicle and the left end of the lane line of the self vehicle is smaller than a preset distance value, the ACC system of the self vehicle is changed into the following mode from the cut-in mode.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 9, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the ACC system control device on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
when the self-vehicle enters a vehicle following mode of an ACC system, determining a target vehicle following distance of the self-vehicle according to vehicle following states with different speeds;
when the self vehicle enters a cut-in mode of the ACC system, determining the movement intention of other vehicles around according to the self vehicle information and other vehicles around;
and controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around, and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition.
The method executed by the ACC system control device according to the embodiment shown in fig. 5 may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed by the ACC system control apparatus in fig. 5, and implement the functions of the ACC system control apparatus in the embodiment shown in fig. 5, which are not described herein again in this embodiment of the present application.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which, when executed by an electronic device including a plurality of application programs, enable the electronic device to perform the method performed by the ACC system control apparatus in the embodiment shown in fig. 5, and are specifically configured to perform:
when the self-vehicle enters a vehicle following mode of an ACC system, determining a target vehicle following distance of the self-vehicle according to vehicle following states of different speeds;
when the self vehicle enters a cut-in mode of the ACC system, determining the movement intention of other vehicles around according to the self vehicle information and other vehicles around;
and controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around, and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. An ACC system control method, the method comprising:
when the self-vehicle enters a vehicle following mode of an ACC system, determining a target vehicle following distance of the self-vehicle according to vehicle following states of different speeds;
when the self vehicle enters a cut-in mode of the ACC system, determining the movement intention of other vehicles around according to the self vehicle information and other vehicles around;
and controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around, and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition.
2. The method of claim 1, wherein the determining the target following distance of the host vehicle according to the following states of different speeds when the host vehicle enters the following mode of the ACC system comprises:
and when the self-vehicle enters a vehicle following mode of the ACC system, calculating a vehicle following distance between the self-vehicle and a nearest vehicle in front of a current lane according to the current speed of the self-vehicle according to a first control strategy.
3. The method of claim 1, wherein prior to the host vehicle entering the cut-in mode of the ACC system, further comprising:
acquiring the self-vehicle information, the surrounding other-vehicle information and lane line information through a laser radar and/or a millimeter wave radar;
judging whether other vehicles around can be used as cut-in vehicles or not based on the own vehicle information according to the other vehicles around information and the lane line information;
if the vehicle is determined to be switched into, determining that the vehicle enters a switching-in mode of the ACC system.
4. The method of claim 3, wherein the determining to cut into the vehicle comprises:
when the vehicle is in a cruising mode or the vehicle is in a following mode but the longitudinal distance between the vehicle to be cut into the lane of the vehicle and the vehicle is smaller than the distance between the vehicle and a target vehicle for following from the side, judging that the vehicle to be cut into is the cut-in vehicle.
5. The method of claim 3, wherein determining that the host vehicle entered the cut-in mode of the ACC system further comprises:
according to a transverse filtering rule, when other vehicles around enter as a cut-in vehicle, if the distance between the leftmost distance of the cut-in vehicle and the right lane line of the self vehicle or the distance between the rightmost distance of the cut-in vehicle and the left lane line of the self vehicle is greater than a preset multiple of the current driving lane width of the self vehicle, filtering the cut-in vehicles;
according to the longitudinal filtering rule, when other vehicles around enter as cut-in vehicles, if the foremost end of the cut-in vehicles is behind the foremost end of the self vehicle or the tail end of the cut-in vehicles is far away from the foremost end of the self vehicle by a distance larger than the limit braking distance of the speed limit of the current lane, the cut-in vehicles are filtered.
6. The method of claim 3, wherein the determining the movement intention of the other vehicles around the vehicle according to the information of the vehicle and the information of the other vehicles around the vehicle when the vehicle enters the cut-in mode of the ACC system comprises:
calculating collision time according to the longitudinal speed of the self vehicle and the longitudinal speed of the cut-in vehicle;
and if the collision time is less than a critical collision threshold value and/or the distance between the tail of the cut-in vehicle and the distance between the head of the cut-in vehicle is less than a threshold value, controlling the speed of the cut-in vehicle by applying deceleration after the cut-in vehicle enters the cut-in mode of the ACC system.
7. The method according to claim 6, wherein controlling the speed of the host vehicle and controlling the host vehicle to enter the following mode of the ACC system after the other peripheral vehicle satisfies a preset condition, according to the determination result of the movement intention of the other peripheral vehicle, comprises:
when the distance between the rightmost edge of the cut-in vehicle and the rightmost edge of the lane line of the self vehicle or the distance between the leftmost edge of the cut-in vehicle and the leftmost edge of the lane line of the self vehicle is smaller than a preset distance value, the ACC system of the self vehicle is changed from the cut-in mode to the following mode, and the tracked target vehicle is the previous cut-in vehicle.
8. An ACC system control apparatus, wherein the apparatus comprises:
the distance calculation module is used for determining the target following distance of the self-vehicle according to the following states at different speeds when the self-vehicle enters the following mode of the ACC system;
the intention determining module is used for determining the movement intention of other vehicles around according to the information of the self vehicle and the information of other vehicles around when the self vehicle enters the cut-in mode of the ACC system;
and the switching module is used for controlling the speed of the self vehicle according to the judgment result of the movement intentions of other vehicles around and controlling the self vehicle to enter the following mode of the ACC system after the other vehicles around meet the preset condition.
9. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method of any of the claims 1~7.
10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of applications, cause the electronic device to perform the method of any of claims 1~7.
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