CN115848371B - ACC system control method and device, electronic equipment and storage medium - Google Patents
ACC system control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses an ACC system control method and device, electronic equipment and storage medium, wherein the method comprises the following steps: when a vehicle enters a following mode of an ACC system, determining a target following distance of the vehicle according to following states of different speeds; when the own vehicle enters a cut-in mode of the ACC system, determining the movement intention of the surrounding other vehicles according to the own vehicle information and the surrounding other vehicle information; and controlling the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles, and controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicles meet the preset condition. According to the vehicle ACC system control method and device, calculation of the vehicle following distance in the following mode is simplified, and the risk of vehicle collision in the cut-in mode is reduced, so that vehicle ACC system control is optimized.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to an ACC system control method and device, electronic equipment and storage medium.
Background
Unmanned vehicles are developing more and more rapidly, the intelligent level of the vehicles is higher and the carrying rate of automatic driving and auxiliary driving devices on the vehicles is higher and higher.
An adaptive cruise control (Adaptive Cruise Control, abbreviated as ACC) of a vehicle, which is an important component of an automatic driving system and a advanced driving assistance system of the vehicle, mainly controls longitudinal movement of the vehicle. According to the real-time change of the external environment during the running of the vehicle, for example, the target vehicle cuts into the front of the self-vehicle lane in a short distance, the distance between the target vehicle and the front vehicle and the current speed are adjusted autonomously to ensure the running safety.
In the related art, the following distance calculation of the ACC system in the following mode is complex, and meanwhile, the ACC system in the cut-in mode cannot accurately determine the intention of surrounding vehicles.
Disclosure of Invention
The embodiment of the application provides an ACC system control method and device, electronic equipment and storage medium, so as to improve recognition and safety capability under 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 a vehicle enters a following mode of an ACC system, determining a target following distance of the vehicle according to following states of different speeds;
when the own vehicle enters a cut-in mode of the ACC system, determining the movement intention of the surrounding other vehicles according to the own vehicle information and the surrounding other vehicle information;
And controlling the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles, and controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicles meet the preset condition.
In some embodiments, the determining the target following distance of the own vehicle according to the following states of different speeds when the own vehicle enters the following mode of the ACC system includes:
when the own vehicle enters a following mode of the ACC system, according to a first control strategy, calculating the following distance between the own vehicle and the nearest vehicle in front of the current lane according to the current speed of the own vehicle.
In some embodiments, before the self-vehicle enters the cut-in mode of the ACC system, further comprising:
acquiring surrounding other vehicle information and lane line information through a laser radar and/or a millimeter wave radar;
judging whether the surrounding other vehicles can be used as cut-in vehicles or not based on the own vehicle information according to the surrounding other vehicle information and the lane line information;
and if the cut-in vehicle is judged, determining that the own vehicle enters a cut-in mode of the ACC system.
In some embodiments, the method of determining that the vehicle is cut into comprises:
and judging that the vehicle to be cut into is the cut-in vehicle when the vehicle is in the cruise mode or the vehicle is in the following mode but the longitudinal distance between the vehicle to be cut into and the vehicle to be cut into a lane of the vehicle from the side is smaller than the distance between the vehicle and the following target vehicle.
In some embodiments, before determining that the host vehicle enters the cut-in mode of the ACC system, further comprising:
according to a transverse filtering rule, when the surrounding vehicles are cut into as cut-in vehicles, if the distance between the leftmost distance from the right lane line of the cut-in vehicle or the rightmost distance from the left lane line of the cut-in vehicle is larger than a preset multiple of the width of the current driving lane of the vehicle, filtering the cut-in vehicles;
and when the surrounding vehicles are cut into as cut-in vehicles according to a longitudinal filtering rule, if the forefront end of the cut-in vehicle is behind the forefront end of the own vehicle or the tail distance of the cut-in vehicle is greater than the limit braking distance of the speed limit of the current lane from the forefront end of the own vehicle, filtering the cut-in vehicles.
In some embodiments, when the own vehicle enters the cut-in mode of the ACC system, after determining the movement intention of the surrounding vehicle according to the own vehicle information and the surrounding vehicle information, the method includes:
calculating collision time according to the longitudinal speed of the vehicle and the longitudinal speed of the cut-in vehicle;
and if the collision time is smaller than a critical collision threshold value and/or the distance from the tail of the cut-in vehicle to the head of the self-vehicle is smaller than a threshold value, 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, according to the result of determining the movement intention of the surrounding other vehicle, controlling the speed of the own vehicle and controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicle meets a preset condition, including:
and when the distance between the rightmost edge of the cut-in vehicle and the rightmost edge of the cut-in vehicle or the leftmost edge of the cut-in vehicle and the leftmost edge of the cut-in 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 comprises a cruise mode and the cut-in mode is an intermediate transition mode between the cruise mode and the following mode.
In a second aspect, an embodiment of the present application further provides an ACC system control device, where the device includes:
the distance calculation module is used for determining the target following distance of the own vehicle according to the following states of different speeds when the own vehicle enters the following mode of the ACC system;
the intention determining module is used for determining the movement intention of surrounding vehicles according to the vehicle information and the surrounding vehicle information when the vehicle enters the cut-in mode of the ACC system;
And the switching module is used for controlling the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles and controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicles meet the preset condition.
In a third aspect, embodiments of the present application further provide 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 also provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the above-described method.
The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect: when the vehicle enters a following mode of the ACC system, the target following distance of the vehicle is determined according to the following states of different speeds, and the calculation process is simplified by optimizing the calculation mode of the following distance of the vehicle, so that the vehicle can have enough braking distance under the emergency condition of sudden braking of the front vehicle. When the own vehicle enters the cut-in mode of the ACC system, the movement intention of the surrounding other vehicle is determined according to the own vehicle information and the surrounding other vehicle information, and the movement intention of the surrounding front vehicle is predicted according to the surrounding vehicle movement state and the historical movement track. Therefore, corresponding warning information is sent out before the obstacle vehicle changes the lane, corresponding deceleration actions can be executed in the lane changing process, and the collision risk of the vehicle 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 embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic illustration of cruise mode 1 of an ACC system in an embodiment of the present application;
FIG. 2 is a schematic illustration of cruise mode 2 of the ACC system of an embodiment of the present application;
FIG. 3 is a schematic diagram of a 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 an ACC system in an embodiment of the present application;
FIG. 5 is a schematic flow chart of a control method of an ACC system in an embodiment of the 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 graph of calcaneus distance calculations in an embodiment of the present application;
FIG. 8 is a schematic diagram of a switch-in mode in the ACC system control method according to an 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
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
The inventor finds that some ACC control methods use different parameters to obtain weight values according to different vehicle speeds, and then calculate the following distance according to the new parameters in combination with the vehicle speeds. The calculation process is complicated, and the calculation efficiency is relatively low. And because a segmentation strategy is adopted, a jump phenomenon is inevitably generated at a segmentation point, and the control performance of the ACC system is affected.
Other ACC control methods perform segmentation judgment on confidence according to the current distance from a front vehicle target, and require that a virtual target, a virtual state and the like are set according to multiple pieces of information of a driving state to be added with the confidence. Although the consideration is comprehensive, the method is cumbersome and inconvenient to use in the practical application process.
In addition, some control methods proposed in the ACC method for lane change of a side-front vehicle use a side-front image of the vehicle and a radar sensor to predict lane change of surrounding vehicles, depending on the state of a vehicle turn signal captured by the image sensor. However, at present, when a surrounding vehicle driver drives a car, the phenomenon that the turning lamp is not turned on to change the lane or the turning lamp is turned on for a relatively long time often occurs, so that the decision of ACC control of an automatic driving vehicle can be influenced.
Aiming at the problem that the ACC following distance is set to be complicated in the related art, the ACC following distance calculation process provided by the method in the embodiment of the application comprehensively considers the low-speed following state, the medium-speed following state and the high-speed following state for the following 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 own vehicle can have enough braking distance under the emergency of sudden braking of the front vehicle.
Aiming at the problem that the turn lights of surrounding vehicles are excessively depended on in the automobile side lane change ACC method in the related art, the method in the embodiment of the application predicts the movement intention of the surrounding side front vehicles according to the movement state of the surrounding vehicles and the historical movement track, and sends out corresponding warning information before the lane change of the vehicles belonging to the obstacle, and the corresponding deceleration action is executed in the lane change process, so that the collision risk of the vehicles is reduced.
In addition, the method in the embodiment of the application mainly depends on a laser radar and a millimeter wave radar, and avoids using an image sensor.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, the cruise mode in the ACC system in the embodiment of the present application is divided into a cruise mode 1 and a cruise mode 2, where the cruise mode 1 is a same-lane cruise mode, and the cruise mode 2 is a different-lane cruise mode. It will be appreciated that the cruise mode is a general mode of the ACC system, when there is no vehicle in front of the vehicle in the following distance and there is no vehicle in front of the side ready to cut into the current lane of the host vehicle, and the vehicle is in the cruise mode at this time, the (autopilot) vehicle will automatically set 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, in the following mode in the ACC system according to the embodiment of the present application, when there are other vehicles in the following distance of the current lane of the (automatic driving) vehicle, the ACC system automatically switches to the following mode, and in the following mode, the ACC system calculates the following distance of the nearest vehicle in front of the current lane according to the current vehicle speed of the own vehicle. Distance_now < distance_cal in fig. 3, there is a preceding car in the current following distance.
As shown in fig. 4, the cut-in mode in the ACC system according to the embodiment of the present application is an intermediate transition mode between the cruise mode and the following mode, and the ACC system of the automatic driving vehicle may switch to the cut-in mode when there is no other vehicle within the following distance of the current lane of the (automatic driving) vehicle, i.e. the cruise mode, or the (automatic driving) vehicle is in the following mode but the longitudinal distance between the vehicle to be cut into the following lane from the side is smaller than the distance between the vehicle and the following target vehicle.
The embodiment of the application provides an ACC system control method, as shown in fig. 5, and provides a flowchart of the ACC system control method in the embodiment of the application, where the method at least includes steps S510 to S540 as follows:
Step S510, when the own vehicle enters the following mode of the ACC system, determining the target following distance of the own vehicle according to the following states of different speeds.
The own vehicle can realize the control of different modes in the ACC system according to different running states. That is, the cruise mode, the cut-in mode, and the following mode in the ACC system may be 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 own vehicle, the ACC system can automatically switch to a following mode, and in the following mode, the ACC system can calculate the following distance of the nearest vehicle in front of the current lane according to the current speed of the own vehicle.
And when the target following distance of the own vehicle is determined, determining according to the following states at different speeds. That is, the following speed of the own vehicle may be in a low speed, medium speed or high speed state, and the following distance of the own vehicle may be affected to different degrees. At the same time, the maximum deceleration of the vehicle, comfortable deceleration and other factors need to be considered. The maximum deceleration means that the maximum deceleration of the vehicle is generally 7.5-8 m/s in emergency braking and the average deceleration of the vehicle is 3-4 m/s in normal braking, in terms of the braking capability of the vehicle. Comfort deceleration is a parameter in the IDM model, i.e. the intelligent driver model (Intelligent Driver Model, IDM), which describes the acceleration of the vehicle as a function of its own variables and the preceding vehicle variables, and is not described in detail here.
Step S520, when the own vehicle enters the cut-in mode of the ACC system, determining the movement intention of the surrounding other vehicles according to the own vehicle information and the surrounding other vehicle information.
When there is no other vehicle in the following distance of the current lane of the own vehicle, i.e. the cruising mode, or the own vehicle is in the following mode but the longitudinal distance between the vehicle which 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 following target vehicle, the ACC system of the own vehicle may switch to the cut-in mode if there is a side vehicle attempting to cut into.
When the own vehicle enters the cut-in mode of the ACC system, the movement intention of the surrounding other vehicles is determined according to the own vehicle information and the surrounding other vehicle information, namely whether the surrounding other vehicles cut in from the side and enter the lane where the own vehicle is currently running. In order to obtain accurate vehicle state information and determine the intention of the lateral vehicle, it is necessary to acquire information from other sensors such as a laser radar and a millimeter wave radar, and to acquire the position, speed, heading angle of the host vehicle, position, speed, heading angle, lateral speed information of other surrounding vehicles, road boundary information, and the like. The speed information of surrounding vehicles is mainly acquired by millimeter wave radars, and the position information is mainly acquired by laser radars. The cutting direction of the surrounding vehicle can be classified into a left cutting direction and a right cutting direction, and the trigger condition and the end condition of the left or right cutting mode are identical.
And step S530, controlling the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles, and controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicles meet the preset condition.
According to the judgment result of the movement intention of the surrounding other vehicle, the speed of the own vehicle is controlled (kept or decelerated) and the own vehicle is controlled to enter a following mode of the ACC system when the condition is satisfied. And when no surrounding other vehicles exist in the following distance in front of the vehicle, controlling the own vehicle to enter a cruising mode from a following mode.
In one embodiment of the present application, the ACC system further includes a cruise mode and the cut-in mode is an intermediate transition mode between the cruise mode and the following mode.
Since the detection data of the laser radar and/or the millimeter wave radar are acquired before, the real-time state of other surrounding vehicles including but not limited to the position, the speed and the course angle of the other surrounding vehicles is determined by fusing the data of the laser radar and/or the millimeter wave radar. And then calculating the following distance in real time according to the speed of the own vehicle, judging whether the positions and the speeds of surrounding vehicles form risks for the own vehicle or not according to the cutting-in mode rule, and controlling the vehicles in time to avoid accidents.
According to the method, the low-speed following state, the medium-speed following state and the high-speed following state are comprehensively considered by optimizing the calculation process of the target following distance of the own vehicle in the following mode of the ACC system. The calculation method adopts the same formula, gives consideration to full-speed following, and ensures that the own vehicle can have enough braking distance under the emergency of sudden braking of the front vehicle. Compared with the prior art, the method has the advantages that the following distance calculation process is complex, and the jump phenomenon is easy to occur in the segmentation.
According to the method, in the cut-in mode of the ACC system, the movement intention of the front vehicle on the surrounding side is predicted by using the laser radar and the millimeter wave radar from the movement state of the surrounding vehicle and the historical movement track. Before the obstacle vehicle changes the lane, corresponding warning information is sent out, and corresponding deceleration actions can be executed in the lane changing process, so that the collision risk of the vehicle is reduced. Unlike the related art which relies too much on the surrounding vehicle turn signal problem.
In an embodiment of the present application, when the own vehicle enters a following mode of the ACC system, determining a target following distance of the own vehicle according to following states of different speeds includes: and according to the first control strategy, calculating the following distance between the vehicle and the nearest vehicle in front of the current lane according to the current speed of the vehicle.
Specifically, when the own vehicle enters the following mode of the ACC system, the following distance dis=a of the nearest vehicle ahead of the current lane is calculated from the current vehicle speed of the own vehicle 1 v 2 +a 2 v+dist0+bufer0, where dis0 is a static following distance where the vehicle speed is0 or the vehicle speed is close to 0, v is the current vehicle speed of the own vehicle, bufer0 is a buffer distance, a1 and a2 are coefficients obtained from maximum deceleration and comfortable deceleration of the own 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+dist0+bufer0 is that in the following mode, the ACC system calculates the following distance from the nearest vehicle in front of the current lane according to the current speed of the own vehicle.
In the above calculation formula, dis0 is the static following distance where the vehicle speed is0 or the vehicle speed is close to 0,
v is the current speed of the vehicle and can be obtained in real time.
Bufer0 is the buffer distance, which can be set according to practical situations.
a1 and a2 are coefficients obtained by fitting based on 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 curve obtained by fitting a1 and a2 is 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 V=2ax, v0 is the current speed of the autonomous vehicle, v is the maximum comfortable deceleration of the vehicle, and x is the calculated preliminary following distance, considering that the front limit speed is0 and the vehicle is also decelerated to 0. After simplification, 2|a|x=v is obtained 0 2 The maximum comfortable deceleration is a constant, and the following distance is directly proportional to the square of the speed, so that a quadratic function is used as the basis for calculating the following distance.
Illustratively, first, different speed regions are determined: taking a group of low-speed speeds at intervals of 0.1 in a low-speed area of 4m/s-5 m/s; taking a group of medium speed from 10m/s to 11ms/s of the medium speed region 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 according to the formula 2|a|x=v 0 2 And calculating x as the preliminary following distance of the speed.
Finally, using each speed and its corresponding preliminary following distance to find the quadratic function dis=a using least squares method 1 v 2 +a 2 A1, a2, dis0 in v+dis 0; meanwhile, in order to increase the safety, a buffer distance of bufer0 is increased in the calculated dis.
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 the low-speed following state, the medium-speed following state and the high-speed following state. The calculation method adopts the same formula, gives consideration to full-speed following, and ensures that the own vehicle can have enough braking distance under the emergency of sudden braking of the front vehicle.
In one embodiment of the present application, before the self-vehicle enters the cut-in mode of the ACC system, the method further includes: acquiring surrounding other vehicle information and lane line information through a laser radar and/or a millimeter wave radar; judging whether the surrounding other vehicles can be used as cut-in vehicles or not based on the own vehicle information according to the surrounding other vehicle information and the lane line information; and if the cut-in vehicle is judged, determining that the own vehicle enters a cut-in mode of the ACC system.
The speed information of the surrounding vehicles is mainly obtained by millimeter wave radars, and the position information of the surrounding vehicles is mainly obtained by laser radars. The method for acquiring the lane line information through the laser radar can be based on the laser radar echo width or a gray scale formed based on the laser radar reflection intensity information, and can also be matched with a high-precision map by adopting the laser radar SLAM, so that not only the lane line is detected, but also the vehicle positioning is carried out.
When judging whether the surrounding vehicle can be used as a cut-in vehicle based on the surrounding vehicle information and the lane line information, the distance relation between the surrounding vehicle and the lane line (the vehicle runs along the center of the lane and keeps equal distance with the lane lines at the two sides) is mainly considered, and if the condition is met, the cut-in vehicle is judged.
Illustratively, when the left-most end of the cut-in vehicle is less than a distance a from the right lane line of the host vehicle, i.e., the lane a of the host vehicle is invaded, and the lateral speed of the cut-in vehicle is leftward, the speed value is greater than the critical speed, the cut-in mode condition of the ACC system is considered to be satisfied.
In some embodiments, the surrounding vehicles are filtered by a precondition, and only the surrounding vehicles meeting the precondition after the filtering are considered.
Further, when the own vehicle is in the cruise mode or the own vehicle is in the following mode but a longitudinal distance between the to-be-cut vehicle which is about to cut into a lane of the own vehicle from the side and the own vehicle is smaller than a distance between the own vehicle and a following target vehicle, the to-be-cut vehicle is judged to be the cut-in vehicle.
In one embodiment of the present application, before determining that the own vehicle enters the cut-in mode of the ACC system, the method further includes: according to a transverse filtering rule, when the surrounding vehicles are cut into as cut-in vehicles, if the distance between the leftmost distance from the right lane line of the cut-in vehicle or the rightmost distance from the left lane line of the cut-in vehicle is larger than a preset multiple of the width of the current driving lane of the vehicle, filtering the cut-in vehicles; and when the surrounding vehicles are cut into as cut-in vehicles according to a longitudinal filtering rule, if the forefront end of the cut-in vehicle is behind the forefront end of the own vehicle or the tail distance of the cut-in vehicle is greater than the limit braking distance of the speed limit of the current lane from the forefront end of the own vehicle, filtering the cut-in vehicles.
In order to accurately judge the vehicle to be cut in, filtering surrounding vehicles according to a transverse filtering rule and a longitudinal filtering rule before determining that the own vehicle enters the cut-in mode of the ACC system, and obtaining the vehicle to be cut in.
Illustratively, the lateral filtering rule is that the distance cut into the far left of the vehicle is greater than 1.5 times the current lane width of the vehicle from the right lane line distance of the vehicle. The cutting direction of the surrounding vehicle can be divided into a left cutting direction and a right cutting direction, and the left cutting direction and the right cutting direction are almost identical except for the directions, so in the embodiment of the application, the cutting mode triggering condition and the ending condition are mainly described by taking the cutting of the lane of the vehicle with the lane of the right as an illustration, and the left cutting is the same.
The longitudinal filtering rule is, for example, that the cut-in vehicle is behind the front-most end of the autonomous vehicle or that the last cut-in vehicle is spaced from the front-most end by a limit braking distance greater than the speed limit of 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 own vehicle can reach in the current lane.
In one embodiment of the present application, when the own vehicle enters the cut-in mode of the ACC system, after determining the movement intention of the surrounding vehicle according to the own vehicle information and the surrounding vehicle information, the method includes: calculating collision time according to the longitudinal speed of the vehicle and the longitudinal speed of the cut-in vehicle; and if the collision time is smaller than a critical collision threshold value and/or the distance from the tail of the cut-in vehicle to the head of the self-vehicle is smaller than a threshold value, controlling the speed of the self-vehicle by applying deceleration after the self-vehicle enters the cut-in mode of the ACC system.
After the rule filtering, the cut vehicles are dangerous to judge after the surrounding other vehicles meeting the condition are screened as cut vehicles. That is, before the cut-in vehicle belonging to the obstacle changes lanes, the danger judgment is performed and the corresponding warning information is sent out.
Illustratively, when the left-most edge of the cut-in vehicle is greater than-0.25 m (0.25 m to the left) and less than 0.25m from the lane line on the right of the vehicle, and the lateral speed of the cut-in vehicle is to the left, the speed value is greater than the critical speed, at which point the vehicle is classified as a dangerous obstacle.
Further, when the distance from the left-most end of the cut-in vehicle to the lane line on the right side of the vehicle is smaller than-0.25 m, namely, the cut-in vehicle enters the lane 0.25m, and the transverse speed of the cut-in vehicle is leftward, the speed value is larger than the critical speed, and the cut-in mode condition of the ACC system is met.
After the cut-in mode condition of the ACC system is met, TTC collision time (time to color) 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 cut-in vehicle is too small in vehicle tail distance from the vehicle head (rear-end collision is easy to occur), the ACC system applies corresponding deceleration to the automatic driving vehicle according to the TTC value and the vehicle tail head distance in the cut-in mode, and if the two conditions are met, the deceleration with larger absolute value is selected.
Unlike the problem of over-reliance on surrounding vehicle turn lights in the related art, the above method predicts the movement intention of the surrounding-side front vehicle from the surrounding vehicle movement state and the historical movement locus. Before the obstacle vehicle changes the lane, corresponding warning information is sent out, and corresponding deceleration actions can be executed in the lane changing process, so that the collision risk of the vehicle is reduced. In addition, mainly relies on lidar and millimeter wave radar, avoiding or reducing the use of image sensors.
In an embodiment of the present application, according to a result of determining a movement intention of the surrounding vehicle, controlling a vehicle speed of the vehicle and controlling the vehicle to enter a following mode of the ACC system after the surrounding vehicle meets a preset condition, including: and when the distance between the rightmost edge of the cut-in vehicle and the rightmost edge of the cut-in vehicle or the leftmost edge of the cut-in vehicle and the leftmost edge of the cut-in 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 cut-in vehicle and the right end of the lane line of the own vehicle is smaller than a preset distance value, the ACC system of the own vehicle is changed from the cut-in mode to the following mode; and when the distance between the leftmost edge of the cut-in vehicle and the left end of the lane line of the own vehicle is smaller than a preset distance value, converting the ACC system of the own vehicle from the cut-in mode to the following mode.
For example, when the distance between the rightmost cut-in vehicle and the right end of the lane line of the vehicle is smaller than 0.3m, the cut-in mode is changed into the 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 vehicle and the following distance, and the corresponding deceleration is applied.
The embodiment of the application also provides an ACC system control device 600, as shown in fig. 6, and provides a schematic structural diagram of the ACC system control device in the embodiment of the application, where the ACC system control device 600 at least includes: a distance calculation module 610, an intent determination module 620, and a switching module 630, wherein:
in one embodiment of the present application, the distance calculating module 610 is specifically configured to: and when the own vehicle enters a following mode of the ACC system, determining the target following distance of the own vehicle according to the following states of different speeds.
The own vehicle can realize the control of different modes in the ACC system according to different running states. That is, the cruise mode, the cut-in mode, and the following mode in the ACC system may be 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 own vehicle, the ACC system can automatically switch to a following mode, and in the following mode, the ACC system can calculate the following distance of the nearest vehicle in front of the current lane according to the current speed of the own vehicle.
And when the target following distance of the own vehicle is determined, determining according to the following states at different speeds. That is, the following speed of the own vehicle may be in a low speed, medium speed or high speed state, and the following distance of the own vehicle may be affected to different degrees. At the same time, the maximum deceleration of the vehicle, comfortable deceleration and other factors need to be considered. The maximum deceleration means that the maximum deceleration of the vehicle is generally 7.5-8 m/s in emergency braking and the average deceleration of the vehicle is 3-4 m/s in normal braking, in terms of the braking capability of the vehicle. Comfort deceleration is a parameter in the IDM model, i.e. the intelligent driver model (Intelligent Driver Model, IDM), which describes the acceleration of the vehicle as a function of its own variables and the preceding vehicle variables, and is not described in detail here.
In one embodiment of the present application, the intent determination module 620 is specifically configured to: and when the own vehicle enters the cut-in mode of the ACC system, determining the movement intention of the surrounding other vehicles according to the own vehicle information and the surrounding other vehicle information.
When there is no other vehicle in the following distance of the current lane of the own vehicle, i.e. the cruising mode, or the own vehicle is in the following mode but the longitudinal distance between the vehicle which 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 following target vehicle, the ACC system of the own vehicle may switch to the cut-in mode if there is a side vehicle attempting to cut into.
When the own vehicle enters the cut-in mode of the ACC system, the movement intention of the surrounding other vehicles is determined according to the own vehicle information and the surrounding other vehicle information, namely whether the surrounding other vehicles cut in from the side and enter the lane where the own vehicle is currently running. In order to obtain accurate vehicle state information and determine the intention of the lateral vehicle, it is necessary to acquire information from other sensors such as a laser radar and a millimeter wave radar, and to acquire the position, speed, heading angle of the host vehicle, position, speed, heading angle, lateral speed information of other surrounding vehicles, road boundary information, and the like. The speed information of surrounding vehicles is mainly acquired by millimeter wave radars, and the position information is mainly acquired by laser radars. The cutting direction of the surrounding vehicle can be classified into a left cutting direction and a right cutting direction, and the trigger condition and the end condition of the left or right cutting mode are identical.
In one embodiment of the present application, the switching module 630 is specifically configured to: and controlling the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles, and controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicles meet the preset condition.
According to the judgment result of the movement intention of the surrounding other vehicle, the speed of the own vehicle is controlled (kept or decelerated) and the own vehicle is controlled to enter a following mode of the ACC system when the condition is satisfied. And when no surrounding other vehicles exist in the following distance in front of the vehicle, controlling the own vehicle to enter a cruising mode from a following mode.
It can be understood that the ACC system control device described above can implement each step of the ACC system control method provided in the foregoing embodiment, and the explanation about the ACC system control method is applicable to the ACC system control device, which is not repeated herein.
Fig. 8 is a logic diagram of a cut-in mode in the ACC system control method according to an embodiment of the present application, which specifically includes the following steps:
step S1, starting an ACC system.
The ACC system includes a following mode, a cut-in mode, and a cruise mode.
And S2, acquiring information such as the speed and the position of the self-vehicle, the speed and the position of surrounding vehicles, lane lines and the like.
In order to obtain accurate vehicle state information and determine the intention of the lateral vehicle, it is necessary to acquire information from other sensors such as a laser radar and a millimeter wave radar, and to acquire the position, speed, heading angle of the host vehicle, position, speed, heading angle, lateral speed information of other surrounding vehicles, road boundary information, and the like.
In step S3, it is determined whether left hand cut or right hand cut is performed, for example, right hand cut.
Step S4, cutting into the vehicle is distant from the current right lane line (-0.25, 0.25) m, and the transverse speed exceeds the critical speed, if so, the vehicle is listed as dangerous to be cut into.
First, surrounding vehicles meeting the conditions are screened as cut-in vehicles, and then risk judgment is carried out on the cut-in vehicles. That is, before the cut-in vehicle belonging to the obstacle changes lanes, the danger judgment is performed and the corresponding warning information is sent out.
Step S5, cutting into the vehicle is limited to-0.25 m from the current right lane line distance, and the transverse speed exceeds the critical speed, and if so, the cutting-in mode is switched.
And S6, calculating TTC, wherein the TTC is smaller than a critical value or the distance between the tail and the head of the vehicle is smaller than the critical value, if so, entering S7, and if not, entering S8.
After the cut-in mode condition of the ACC system is met, TTC collision time (time to color) 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 cut-in vehicle is too small in vehicle tail distance from the vehicle head (rear-end collision is easy to occur), the ACC system applies corresponding deceleration to the automatic driving vehicle according to the TTC value and the vehicle tail head distance in the cut-in mode, and if the two conditions are met, the deceleration with larger absolute value is selected.
Step S7, applying a corresponding deceleration.
Step S8, normal running is performed.
And S9, cutting into the vehicle, wherein the distance between the rightmost side of the vehicle and the right lane line is smaller than 0.3m.
Step S10, the following mode is changed.
When the distance between the rightmost cut-in vehicle and the right end of the lane line of the own vehicle is smaller than a preset distance value, the ACC system of the own vehicle is changed from the cut-in mode to the following mode; and when the distance between the leftmost edge of the cut-in vehicle and the left end of the lane line of the own vehicle is smaller than a preset distance value, converting the ACC system of the own vehicle from the cut-in mode to the following 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 the hardware level, the electronic device includes a processor, and optionally 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 (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, network interface, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in fig. 9, but not only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code including computer-operating instructions. The memory may include memory and non-volatile storage and provide instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory to the memory and then runs, and the ACC system control device is formed on a logic level. The processor is used for executing the programs stored in the memory and is specifically used for executing the following operations:
when a vehicle enters a following mode of an ACC system, determining a target following distance of the vehicle according to following states of different speeds;
when the own vehicle enters a cut-in mode of the ACC system, determining the movement intention of the surrounding other vehicles according to the own vehicle information and the surrounding other vehicle information;
and controlling the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles, and controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicles meet the preset condition.
The method executed by the ACC system control device disclosed in the embodiment shown in fig. 5 of the present application may be applied to a processor 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 by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks 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 a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
The electronic device may further execute the method executed by the ACC system control device in fig. 5, and implement the function of the ACC system control device in the embodiment shown in fig. 5, which is not described herein.
The embodiments of the present application also provide 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 that includes a plurality of application programs, enable the electronic device to perform a method performed by the ACC system control device in the embodiment shown in fig. 5, and specifically configured to perform:
when a vehicle enters a following mode of an ACC system, determining a target following distance of the vehicle according to following states of different speeds;
when the own vehicle enters a cut-in mode of the ACC system, determining the movement intention of the surrounding other vehicles according to the own vehicle information and the surrounding other vehicle information;
and controlling the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles, and controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicles meet the preset condition.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
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 storage media for a computer 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 Discs (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. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that 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 foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (7)
1. An ACC system control method, the method comprising:
when a vehicle enters a following mode of an ACC system, determining a target following distance of the vehicle according to following states of different speeds;
when the own vehicle enters a cut-in mode of the ACC system, determining the movement intention of the surrounding other vehicles according to the own vehicle information and the surrounding other vehicle information;
controlling the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles, controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicles meet the preset condition,
when the own vehicle enters a following mode of the ACC system, calculating a following distance dis=a of the nearest vehicle in front of the current lane according to the current speed of the own vehicle 1 v 2 +a 2 v+dis 0 +bufer0, where dis 0 Is the static following distance with the speed of 0 or the speed of the vehicle being close to 0, v is the current speed of the vehicle, bufer0 is the buffer distance, a 1 A) 2 Is a coefficient obtained by fitting according to the maximum deceleration and the comfortable deceleration of the vehicle and based on three following states of low speed, medium speed and high speed, and a 1 Negative, a 2 Is a positive number, and the number of the components is a positive number,
determining a cut-in mode of the own vehicle entering the ACC system when the surrounding other vehicles can be used as cut-in vehicles based on the own vehicle information;
When the self-vehicle is in a cruising mode or the self-vehicle is in a following mode but the longitudinal distance between the vehicle to be cut into a lane of the self-vehicle from the side and the self-vehicle is smaller than the distance between the self-vehicle and a following target vehicle, judging that the vehicle to be cut into is the cut-in vehicle;
the determining that the own vehicle enters the cut-in mode of the ACC system further includes:
according to a transverse filtering rule, when the surrounding vehicles are cut into as cut-in vehicles, if the distance between the leftmost distance from the right lane line of the cut-in vehicle or the rightmost distance from the left lane line of the cut-in vehicle is larger than a preset multiple of the width of the current driving lane of the vehicle, filtering the cut-in vehicles;
and when the surrounding vehicles are cut into as cut-in vehicles according to a longitudinal filtering rule, if the forefront end of the cut-in vehicle is behind the forefront end of the own vehicle or the tail distance of the cut-in vehicle is greater than the limit braking distance of the speed limit of the current lane from the forefront end of the own vehicle, filtering the cut-in vehicles.
2. The method of claim 1, wherein prior to the self-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;
and judging whether the surrounding other vehicle can be used as a cut-in vehicle or not based on the own vehicle information according to the surrounding other vehicle information and the lane line information.
3. The method of claim 2, wherein upon the autonomous vehicle entering the cut-in mode of the ACC system, after determining the intent of the movement of the surrounding vehicle from the autonomous vehicle information and the surrounding vehicle information, comprising:
calculating collision time according to the longitudinal speed of the vehicle and the longitudinal speed of the cut-in vehicle;
and if the collision time is smaller than a critical collision threshold value and/or the distance from the tail of the cut-in vehicle to the head of the self-vehicle is smaller than a threshold value, controlling the speed of the self-vehicle by applying deceleration after the self-vehicle enters the cut-in mode of the ACC system.
4. The method of claim 1, wherein controlling the own vehicle speed and controlling the own vehicle to enter a following mode of the ACC system after the surrounding vehicles meet a preset condition according to the determination result of the movement intention of the surrounding vehicles comprises:
and when the distance between the rightmost edge of the cut-in vehicle and the rightmost edge of the cut-in vehicle or the leftmost edge of the cut-in vehicle and the leftmost edge of the cut-in 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.
5. An ACC system control device, wherein the device comprises:
the distance calculation module is used for determining the target following distance of the own vehicle according to the following states of different speeds when the own vehicle enters the following mode of the ACC system;
the intention determining module is used for determining the movement intention of surrounding vehicles according to the vehicle information and the surrounding vehicle information when the vehicle enters the cut-in mode of the ACC system;
a switching module for controlling the speed of the own vehicle according to the judgment result of the movement intention of the surrounding other vehicles and controlling the own vehicle to enter a following mode of the ACC system after the surrounding other vehicles meet the preset condition,
when the own vehicle enters a following mode of the ACC system, calculating a following distance dis=a of the nearest vehicle in front of the current lane according to the current speed of the own vehicle 1 v 2 +a 2 v+dis 0 +bufer0, where dis 0 Is the static following distance with the speed of 0 or the speed of the vehicle being close to 0, v is the current speed of the vehicle, bufer0 is the buffer distance, a 1 A) 2 Is a coefficient obtained by fitting according to the maximum deceleration and the comfortable deceleration of the vehicle and based on three following states of low speed, medium speed and high speed, and a 1 Negative, a 2 Is a positive number, and the number of the components is a positive number,
determining a cut-in mode of the own vehicle entering the ACC system when the surrounding other vehicles can be used as cut-in vehicles based on the own vehicle information;
When the self-vehicle is in a cruising mode or the self-vehicle is in a following mode but the longitudinal distance between the vehicle to be cut into a lane of the self-vehicle from the side and the self-vehicle is smaller than the distance between the self-vehicle and a following target vehicle, judging that the vehicle to be cut into is the cut-in vehicle;
the determining that the own vehicle enters the cut-in mode of the ACC system further includes:
according to a transverse filtering rule, when the surrounding vehicles are cut into as cut-in vehicles, if the distance between the leftmost distance from the right lane line of the cut-in vehicle or the rightmost distance from the left lane line of the cut-in vehicle is larger than a preset multiple of the width of the current driving lane of the vehicle, filtering the cut-in vehicles;
and when the surrounding vehicles are cut into as cut-in vehicles according to a longitudinal filtering rule, if the forefront end of the cut-in vehicle is behind the forefront end of the own vehicle or the tail distance of the cut-in vehicle is greater than the limit braking distance of the speed limit of the current lane from the forefront end of the own vehicle, filtering the cut-in vehicles.
6. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 4.
7. A computer readable storage medium storing one or more programs, which when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-4.
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| CN112758093B (en) * | 2021-01-25 | 2022-05-03 | 北京罗克维尔斯科技有限公司 | ACC vehicle speed control method and device, ACC controller, storage medium and vehicle |
| CN113954830A (en) * | 2021-11-10 | 2022-01-21 | 江苏大学 | Vehicle self-adaptive cruise system and side vehicle merging line identification method thereof |
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