CN116373856A - Vehicle self-adaptive cruise control method and system - Google Patents
Vehicle self-adaptive cruise control method and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The invention discloses a vehicle self-adaptive cruise control method and a system, which are applied to a vehicle self-adaptive cruise controller, wherein the vehicle self-adaptive cruise controller is respectively in communication connection with a camera acquisition device, a millimeter wave radar, a steering wheel angle sensor and a gesture sensor which are arranged on a vehicle, and the method comprises the following steps: when the constant-speed cruising is detected to be started, receiving the front environmental signals acquired by the camera acquisition device and the millimeter wave radar; when no obstacle signal exists in the front environment signal, controlling the vehicle to accelerate to a preset target vehicle speed; and after the vehicle accelerates to a preset target vehicle speed, controlling the vehicle to carry out constant sailing according to the preset target vehicle speed. The invention solves the problem of low intelligent degree of the vehicle self-adaptive cruise control in the prior art.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle self-adaptive cruise control method and system.
Background
The self-adaptive cruise control system is a new system which is added with a function of keeping reasonable distance control with a front vehicle on the system for cruise control according to a set vehicle speed. When no vehicle is in front of the same lane, the vehicle runs at the set vehicle speed like a normal cruise control; when the vehicle appears in front, the vehicle runs at a speed lower than the set speed, and the reasonable distance between the vehicle and the vehicle in front is controlled.
Among these four typical functions of adaptive cruise include that when there is no vehicle in front, the ACC vehicle will be in a normal cruise driving state, and the driver only needs to control the direction (constant speed control) according to the vehicle speed set by the driver. When the target vehicle appears in front of the ACC vehicle, if the speed of the target vehicle is smaller than that of the ACC vehicle, the ACC vehicle automatically starts to perform deceleration control to ensure that the distance between the two vehicles is the set safe distance, and when the distance between the two vehicles is equal to the safe distance, follow control is adopted, namely the target vehicle and the target vehicle run at the same speed, the front target vehicle moves along a line, or the main vehicle moves along the line so that the main vehicle does not run in front of the main vehicle, the ACC system performs acceleration control on the main vehicle to enable the main vehicle to recover to the set running speed.
In the prior art, the adaptive cruise vehicle has no preset constant speed parameter setting and storage functions. The driver is required to step on the accelerator to reach the target vehicle speed, namely, the driver manually steps on the accelerator by foot and then enters the constant-speed cruising operation according to SET, so that the self-adaptive cruising has low intelligent degree.
Disclosure of Invention
In view of the above, the present invention aims to provide a vehicle adaptive cruise control method and system, which aims to solve the problem of low degree of intelligent in adaptive cruise in the prior art.
The embodiment of the invention is realized as follows:
a vehicle adaptive cruise control method applied to a vehicle adaptive cruise controller, wherein the vehicle adaptive cruise controller is respectively in communication connection with a camera acquisition device, a millimeter wave radar, a steering wheel angle sensor and a gesture sensor which are arranged on the vehicle, and the method comprises the following steps:
when the constant-speed cruising is detected to be started, receiving the front environmental signals acquired by the camera acquisition device and the millimeter wave radar;
when no obstacle signal exists in the front environment signal, controlling the vehicle to accelerate to a preset target vehicle speed;
and after the vehicle accelerates to a preset target vehicle speed, controlling the vehicle to carry out constant sailing according to the preset target vehicle speed.
Further, in the vehicle adaptive cruise control method, when the obstacle signal does not exist in the front environment signal, the step of controlling the vehicle to accelerate to a preset target vehicle speed further includes:
when an obstacle is detected to appear in front of the vehicle in the process that the vehicle accelerates to a preset target vehicle speed, keeping current cruising data and stopping accelerating the vehicle;
and when the vehicle meets a preset cruising starting condition, continuing to cruise at a constant speed according to the cruising data.
Further, the vehicle adaptive cruise control method, wherein the method further comprises:
judging whether the vehicle needs to turn or not according to the steering wheel angle and the vehicle posture information acquired by the steering wheel angle sensor and the posture sensor;
and when the vehicle is judged to need to turn, decelerating the vehicle according to a preset rule when the vehicle turns.
Further, in the vehicle adaptive cruise control method, when the vehicle is determined to need to turn, the step of decelerating the vehicle according to a preset rule when the vehicle turns includes:
when the vehicle is judged to need to turn, determining the turning amplitude of a lane where the vehicle is located and determining corresponding deceleration according to the turning amplitude;
and in the process of the vehicle running at constant speed cruising, the vehicle is subjected to deceleration control through the deceleration.
Further, the vehicle adaptive cruise control method, wherein the step of determining the turning amplitude of the vehicle includes:
acquiring initial aiming road curvature, positioning information and road historical curvature data of the vehicle pre-travelling road;
and obtaining a predicted road curvature according to the initial aiming road curvature, positioning information and road history curvature data of the pre-travelling road of the vehicle, and searching and determining turning amplitude corresponding to the predicted road curvature in a preset database according to the predicted road curvature.
Further, the vehicle adaptive cruise control method, wherein the method further comprises:
determining whether a deceleration strip exists in front of a vehicle according to image information acquired by a camera acquisition device arranged in front of the vehicle;
if yes, controlling the vehicle to decelerate, and controlling the vehicle to accelerate to the target vehicle speed after the vehicle completely passes through the deceleration strip.
Further, in the vehicle adaptive cruise control method, the step of judging that the vehicle completely passes through the deceleration strip includes:
when the vehicle passes through a deceleration strip, acquiring a current tire pressure value of the vehicle, and determining a corresponding current tire pressure value change amplitude according to the change of the current tire pressure value;
and when the tire pressure value of the vehicle does not change in the current tire pressure value change amplitude, judging that the vehicle completely passes through a deceleration strip.
Another object of the present invention is to provide a vehicle adaptive cruise control system applied to a vehicle adaptive cruise controller which is communicatively connected to a camera acquisition device, a millimeter wave radar, a steering wheel angle sensor, and an attitude sensor, respectively, disposed on the vehicle, the system comprising:
the detection module is used for receiving the front environment signals acquired by the camera acquisition device and the millimeter wave radar when the constant-speed cruising is detected to be started;
the acceleration module is used for controlling the vehicle to accelerate to a preset target vehicle speed when no obstacle signal exists in the front environment signal;
and the control module is used for controlling the vehicle to carry out constant sailing according to the preset target vehicle speed after the vehicle accelerates to the preset target vehicle speed.
It is a further object of an embodiment of the present invention to provide a readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method described above.
It is a further object of an embodiment of the invention to provide an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which processor implements the steps of the method described above when executing the program.
When the constant-speed cruising is detected to be started, the front environment signal acquired by the camera acquisition device and the millimeter wave radar is received; when no obstacle signal exists in the current environmental signal, controlling the vehicle to accelerate to a preset target vehicle speed; after the vehicle accelerates to a preset target vehicle speed, the vehicle is controlled to carry out constant sailing according to the preset target vehicle speed, and the constant-speed cruise controller is used for presetting and storing parameters of the constant-speed cruise, so that the ECU can automatically enter the target vehicle speed of the constant-speed cruise conveniently. Instead of manually stepping on the accelerator by foot and then entering into constant-speed cruising operation according to SET-, the controller, the front camera and the front millimeter wave radar realize more intelligent control of self-adaptive cruising, and solve the problem of low intelligent degree of self-adaptive cruising in the prior art.
Drawings
FIG. 1 is a flow chart of a method of vehicle adaptive cruise control in a first embodiment of the invention;
FIG. 2 is a schematic illustration of predicted road curvature determination in a vehicle adaptive cruise control method according to an embodiment of the present invention;
fig. 3 is a block diagram showing the construction of a vehicle adaptive cruise control system according to a fourth embodiment of the present invention.
The invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed types.
How to promote the intelligentization of the adaptive cruising of the vehicle will be described in detail below with reference to specific embodiments and accompanying drawings.
Example 1
Referring to fig. 1, a vehicle adaptive cruise control method according to a first embodiment of the present invention is applied to a vehicle adaptive cruise controller, which is communicatively connected to a camera acquisition device, a millimeter wave radar, a steering wheel angle sensor, and an attitude sensor disposed on the vehicle, respectively, and the method includes steps S10 to S12.
And step S10, when the constant-speed cruising is detected to be started, receiving the front environment signals acquired by the camera acquisition device and the millimeter wave radar.
Specifically, the constant-speed cruising function of the vehicle can be started through a predetermined switch, the vehicle can determine whether the constant-speed cruising of the vehicle is started or not by detecting the state of the constant-speed cruising switch, and when the constant-speed cruising is started, the camera shooting acquisition device and the millimeter wave radar are controlled to acquire the front environment in real time so as to acquire an environment signal containing the front environment information.
And S11, controlling the vehicle to accelerate to a preset target vehicle speed when no obstacle signal exists in the front environment signal.
The vehicle self-adaptive cruise controller can preset and store parameters of constant-speed cruise, and is convenient for the ECU to automatically enter the target speed of constant-speed cruise instead of manually stepping on an accelerator and then entering the constant-speed cruise according to SET.
Specifically, the target vehicle speed can be set to a preset constant-speed cruising vehicle speed, the vehicle speed is set according to personal habits of a vehicle owner, such as high-speed general speed limit 120km/h, and after the constant-speed cruising is detected to be started, the vehicle speed can be directly accelerated to the target vehicle speed according to acceleration.
Further, in some optional embodiments of the present invention, when no obstacle signal exists in the front environment signal, the step of controlling the vehicle to accelerate to a preset target vehicle speed further includes:
when an obstacle is detected to appear in front of the vehicle in the process that the vehicle accelerates to a preset target vehicle speed, keeping current cruising data and stopping accelerating the vehicle;
and when the vehicle meets preset cruising starting conditions, performing constant-speed cruising on the vehicle according to the cruising data.
Specifically, if an obstacle is suddenly detected in front, the cruise control device sends an instruction of exiting the acceleration state to the engine controller and returns to the waiting state of the cruise control device, and then the current speed of the vehicle can be controlled.
For example, a user encounters a special condition (the front vehicle is too close, or enters a ramp, front Fang Lukeng, deceleration strip) and needs to step on the brake to exit constant speed cruising. After the special working conditions are passed, the last constant-speed cruising can be recovered according to the set+. The last constant speed cruising parameter is stored by the controller.
And step S12, after the vehicle accelerates to a preset target vehicle speed, controlling the vehicle to carry out constant sailing according to the preset target vehicle speed.
Specifically, after the vehicle accelerates to a preset target vehicle speed, the vehicle is controlled to perform constant-speed cruising running according to the preset target vehicle speed.
In summary, in the vehicle adaptive cruise control method according to the above embodiment of the present invention, when the constant-speed cruise is detected to be on, the front environmental signal acquired by the image capturing and acquiring device and the millimeter wave radar is received; when no obstacle signal exists in the current environmental signal, controlling the vehicle to accelerate to a preset target vehicle speed; after the vehicle accelerates to a preset target vehicle speed, the vehicle is controlled to carry out constant sailing according to the preset target vehicle speed, and the constant-speed cruise controller is used for presetting and storing parameters of the constant-speed cruise, so that the ECU can automatically enter the target vehicle speed of the constant-speed cruise conveniently. Instead of manually stepping on the accelerator by foot and then entering into constant-speed cruising operation according to SET-, the controller, the front camera and the front millimeter wave radar realize more intelligent control of self-adaptive cruising, and solve the problem of low intelligent degree of self-adaptive cruising in the prior art.
Example two
The present embodiment also proposes a vehicle adaptive cruise control method, which differs from the vehicle adaptive cruise control method proposed in the first embodiment in that:
the method further comprises the steps of:
judging whether the vehicle needs to turn or not according to the steering wheel angle and the vehicle posture information acquired by the steering wheel angle sensor and the posture sensor;
and when the vehicle is judged to need to turn, decelerating the vehicle according to a preset rule when the vehicle turns.
Wherein, the constant speed cruising of prior art can't slow down when the vehicle turns. Giving the user an unsafe and uncomfortable feeling. When the vehicle performs ACC cruise control, the controller of the cruise control embodiment of the invention can judge whether the vehicle needs to turn according to the signals of the angle sensor and the vehicle speed posture sensor of the steering wheel, so that the controller can perform certain deceleration according to the signals of the angle sensor and the vehicle speed posture sensor of the steering wheel. When the vehicle resumes straight running, the vehicle accelerates to the target vehicle speed.
Specifically, when the vehicle is judged to need to turn, determining the turning amplitude of a lane where the vehicle is located and determining the corresponding deceleration according to the turning amplitude;
and in the process of the vehicle running at constant speed cruising, the vehicle is subjected to deceleration control through the deceleration.
The vehicle is decelerated by the deceleration according to the different deceleration, and specifically, the initial aiming road curvature, positioning information and road history curvature data of the pre-travelling road of the vehicle can be obtained;
and obtaining a predicted road curvature according to the initial aiming road curvature, positioning information and road history curvature data of the pre-travelling road of the vehicle, and searching and determining turning amplitude corresponding to the predicted road curvature in a preset database according to the predicted road curvature.
Specifically, the vehicle travels on the scene road surface as shown in the figure, the sensor or the image acquisition device arranged on the vehicle acquires information of the road ahead of the current vehicle travel, as shown in fig. 2, when the vehicle travels from the time t to the time t+Δt, the sensor acquires information of the vision pre-aiming area in the figure, and the image information is analyzed through a deep learning algorithm, namely, the road path information of the vision pre-aiming area is acquired from the image information to obtain the curvature of the initial aiming road. The vehicle is provided with a positioning system, such as a GPS or Beidou navigation system, and the positioning system acquires the positioning information of the vehicle in real time. Therefore, the road historical curvature data can be determined according to the positioning information of the vehicle, namely, the position of the curve is determined according to the positioning information, the road historical curvature data of the whole curve is determined according to the historical data, and after the pre-aiming road curvature, the positioning information and the road historical curvature data are obtained, the road curvature prediction that the front part is blocked (or the vision sensing is not detected) is realized by adopting methods such as curve fitting neural network approximation, namely, the predicted road curvature is obtained, so that the turning amplitude of the vehicle to enter can be determined according to the predicted road curvature, the corresponding real-time deceleration is determined, and the smooth self-adaptive cruising of the vehicle can be ensured.
In summary, in the vehicle adaptive cruise control method according to the above embodiment of the present invention, when the constant-speed cruise is detected to be on, the front environmental signal acquired by the image capturing and acquiring device and the millimeter wave radar is received; when no obstacle signal exists in the current environmental signal, controlling the vehicle to accelerate to a preset target vehicle speed; after the vehicle accelerates to a preset target vehicle speed, the vehicle is controlled to carry out constant sailing according to the preset target vehicle speed, and the constant-speed cruise controller is used for presetting and storing parameters of the constant-speed cruise, so that the ECU can automatically enter the target vehicle speed of the constant-speed cruise conveniently. Instead of manually stepping on the accelerator by foot and then entering into constant-speed cruising operation according to SET-, the controller, the front camera and the front millimeter wave radar realize more intelligent control of self-adaptive cruising, and solve the problem of low intelligent degree of self-adaptive cruising in the prior art.
Example III
The present embodiment also proposes a vehicle adaptive cruise control method, which differs from the vehicle adaptive cruise control method proposed in the first embodiment in that:
the method further comprises the steps of:
determining whether a deceleration strip exists in front of a vehicle according to image information acquired by a camera acquisition device arranged in front of the vehicle;
if yes, controlling the vehicle to decelerate, and controlling the vehicle to accelerate to the target vehicle speed after the vehicle completely passes through the deceleration strip.
Specifically, the target vehicle speed passes through the deceleration strip group during constant-speed cruising in the prior art, so that the vehicle jolts severely, and very bad user experience is brought to drivers and passengers. The ACC controller of the embodiment of the invention receives the signal condition of the front deceleration strip of the front camera and brakes and decelerates the vehicle in advance. And the vehicle speed is completely passed through the deceleration strip and is accelerated and restored to the target vehicle speed. Bringing very good driving convenience and riding experience.
More specifically, the step of determining that the vehicle completely passes through the deceleration strip includes:
when the vehicle passes through a deceleration strip, acquiring a current tire pressure value of the vehicle, and determining a corresponding current tire pressure value change amplitude according to the change of the current tire pressure value;
and when the tire pressure value of the vehicle does not change in the current tire pressure value change amplitude, judging that the vehicle completely passes through a deceleration strip.
The tire pressure change when the vehicle passes through the deceleration strip is adopted, so that whether the vehicle completely passes through the deceleration strip or not is accurately judged, specifically, the range value of the tire pressure change when the vehicle passes through the deceleration strip can be recorded, the tire pressure tends to be stable after the vehicle passes through the tire pressure change, and the fact that the current vehicle completely passes through the deceleration strip is indicated.
In summary, in the vehicle adaptive cruise control method according to the above embodiment of the present invention, when the constant-speed cruise is detected to be on, the front environmental signal acquired by the image capturing and acquiring device and the millimeter wave radar is received; when no obstacle signal exists in the current environmental signal, controlling the vehicle to accelerate to a preset target vehicle speed; after the vehicle accelerates to a preset target vehicle speed, the vehicle is controlled to carry out constant sailing according to the preset target vehicle speed, and the constant-speed cruise controller is used for presetting and storing parameters of the constant-speed cruise, so that the ECU can automatically enter the target vehicle speed of the constant-speed cruise conveniently. Instead of manually stepping on the accelerator by foot and then entering into constant-speed cruising operation according to SET-, the controller, the front camera and the front millimeter wave radar realize more intelligent control of self-adaptive cruising, and solve the problem of low intelligent degree of self-adaptive cruising in the prior art.
Example IV
Referring to fig. 3, a vehicle adaptive cruise control system according to a fourth embodiment of the present invention is applied to a vehicle adaptive cruise controller, where the vehicle adaptive cruise controller is communicatively connected with a camera acquisition device, a millimeter wave radar, a steering wheel angle sensor, and an attitude sensor, respectively, which are disposed on the vehicle, and the system includes:
the detection module 100 is used for receiving the front environment signals acquired by the camera acquisition device and the millimeter wave radar when the constant-speed cruising is detected to be started;
an acceleration module 200, configured to control the vehicle to accelerate to a preset target vehicle speed when no obstacle signal exists in the front environment signal;
and the control module 300 is used for controlling the vehicle to carry out constant sailing according to the preset target vehicle speed after the vehicle accelerates to the preset target vehicle speed.
Further, in some optional embodiments of the present invention, the system further comprises:
the stopping acceleration module is used for keeping current cruising data and stopping accelerating the vehicle when detecting that an obstacle appears in front of the vehicle in the process of accelerating the vehicle to a preset target vehicle speed;
and the continuous acceleration module is used for continuously carrying out constant-speed cruising on the vehicle according to the cruising data when the vehicle meets the preset cruising starting condition.
Further, in some optional embodiments of the present invention, the system further includes:
the judging module is used for judging whether the vehicle needs to turn or not according to the steering wheel angle acquired by the steering wheel angle sensor and the gesture sensor and the vehicle gesture information;
and the deceleration module is used for decelerating the vehicle according to a preset rule when the vehicle turns when judging that the vehicle needs to turn.
Further, the vehicle adaptive cruise control system described above, wherein the deceleration module includes:
the determining unit is used for determining the turning amplitude of the lane where the vehicle is located and determining the corresponding deceleration according to the turning amplitude when the vehicle is judged to need to turn;
and the deceleration unit is used for performing deceleration control on the vehicle through the deceleration in the process of performing constant-speed cruising running on the vehicle.
Further, in the vehicle adaptive cruise control system, the determining unit is specifically configured to:
acquiring initial aiming road curvature, positioning information and road historical curvature data of the vehicle pre-travelling road;
and obtaining a predicted road curvature according to the initial aiming road curvature, positioning information and road history curvature data of the pre-travelling road of the vehicle, and searching and determining turning amplitude corresponding to the predicted road curvature in a preset database according to the predicted road curvature.
Further, the vehicle adaptive cruise control system described above, wherein the system further includes:
the acquisition module is used for determining whether a deceleration strip exists in front of the vehicle according to image information acquired by a camera acquisition device arranged in front of the vehicle;
if yes, controlling the vehicle to decelerate, and controlling the vehicle to accelerate to the target vehicle speed after the vehicle completely passes through the deceleration strip.
Further, in the vehicle adaptive cruise control system, the step of determining that the vehicle completely passes through the deceleration strip in the acquisition module includes:
when the vehicle passes through a deceleration strip, acquiring a current tire pressure value of the vehicle, and determining a corresponding current tire pressure value change amplitude according to the change of the current tire pressure value;
and when the tire pressure value of the vehicle does not change in the current tire pressure value change amplitude, judging that the vehicle completely passes through a deceleration strip.
The functions or operation steps implemented when the above modules are executed are substantially the same as those in the above method embodiments, and are not described herein again.
Example five
Another aspect of the present invention also provides a readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of the above embodiments 1 to 3.
Example six
In another aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the method described in any of the above embodiments 1 to 3 when the program is executed.
The technical features of the above embodiments may be arbitrarily combined, and for brevity, all of the possible combinations of the technical features of the above embodiments are not described, however, they should be considered as the scope of the description of the present specification as long as there is no contradiction between the combinations of the technical features.
Those of skill in the art will appreciate that the logic and/or steps represented in the flow diagrams or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the storage medium include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the storage medium may even be paper or other suitable medium on which the program can be printed, as the program can be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A vehicle adaptive cruise control method applied to a vehicle adaptive cruise controller, wherein the vehicle adaptive cruise controller is respectively in communication connection with a camera acquisition device, a millimeter wave radar, a steering wheel angle sensor and a gesture sensor which are arranged on the vehicle, and the method comprises the following steps:
when the constant-speed cruising is detected to be started, receiving the front environmental signals acquired by the camera acquisition device and the millimeter wave radar;
when no obstacle signal exists in the front environment signal, controlling the vehicle to accelerate to a preset target vehicle speed;
and after the vehicle accelerates to a preset target vehicle speed, controlling the vehicle to carry out constant sailing according to the preset target vehicle speed.
2. The vehicle adaptive cruise control method according to claim 1, characterized in that the step of controlling the vehicle to accelerate to a preset target vehicle speed further includes, when there is no obstacle signal among the front environment signals:
when an obstacle is detected to appear in front of the vehicle in the process that the vehicle accelerates to a preset target vehicle speed, keeping current cruising data and stopping accelerating the vehicle;
and when the vehicle meets a preset cruising starting condition, continuing to cruise at a constant speed according to the cruising data.
3. The vehicle adaptive cruise control method according to claim 1, characterized in that the method further comprises:
judging whether the vehicle needs to turn or not according to the steering wheel angle and the vehicle posture information acquired by the steering wheel angle sensor and the posture sensor;
and when the vehicle is judged to need to turn, decelerating the vehicle according to a preset rule when the vehicle turns.
4. The vehicle adaptive cruise control method according to claim 3, characterized in that the step of decelerating the vehicle according to a preset rule when the vehicle makes a turn when it is determined that the vehicle needs to make a turn, includes:
when the vehicle is judged to need to turn, determining the turning amplitude of a lane where the vehicle is located and determining corresponding deceleration according to the turning amplitude;
and in the process of the vehicle running at constant speed cruising, the vehicle is subjected to deceleration control through the deceleration.
5. The vehicle adaptive cruise control method according to claim 4, characterized in that the step of determining the turning amplitude of the vehicle includes:
acquiring initial aiming road curvature, positioning information and road historical curvature data of the vehicle pre-travelling road;
and obtaining a predicted road curvature according to the initial aiming road curvature, positioning information and road history curvature data of the pre-travelling road of the vehicle, and searching and determining turning amplitude corresponding to the predicted road curvature in a preset database according to the predicted road curvature.
6. The vehicle adaptive cruise control method according to claim 1, characterized in that the method further comprises:
determining whether a deceleration strip exists in front of a vehicle according to image information acquired by a camera acquisition device arranged in front of the vehicle;
if yes, controlling the vehicle to decelerate, and controlling the vehicle to accelerate to the target vehicle speed after the vehicle completely passes through the deceleration strip.
7. The vehicle adaptive cruise control method according to claim 6, characterized in that the step of determining that the vehicle has completely passed through a deceleration strip includes:
when the vehicle passes through a deceleration strip, acquiring a current tire pressure value of the vehicle, and determining a corresponding current tire pressure value change amplitude according to the change of the current tire pressure value;
and when the tire pressure value of the vehicle does not change in the current tire pressure value change amplitude, judging that the vehicle completely passes through a deceleration strip.
8. A vehicle adaptive cruise control system, characterized by being applied to a vehicle adaptive cruise controller, which is communicatively connected with a camera acquisition device, a millimeter wave radar, a steering wheel angle sensor, and an attitude sensor, respectively, disposed on the vehicle, the system comprising:
the detection module is used for receiving the front environment signals acquired by the camera acquisition device and the millimeter wave radar when the constant-speed cruising is detected to be started;
the acceleration module is used for controlling the vehicle to accelerate to a preset target vehicle speed when no obstacle signal exists in the front environment signal;
and the control module is used for controlling the vehicle to carry out constant sailing according to the preset target vehicle speed after the vehicle accelerates to the preset target vehicle speed.
9. A readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 7 when the program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310296361.4A CN116373856A (en) | 2023-03-24 | 2023-03-24 | Vehicle self-adaptive cruise control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310296361.4A CN116373856A (en) | 2023-03-24 | 2023-03-24 | Vehicle self-adaptive cruise control method and system |
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| Publication Number | Publication Date |
|---|---|
| CN116373856A true CN116373856A (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310296361.4A Pending CN116373856A (en) | 2023-03-24 | 2023-03-24 | Vehicle self-adaptive cruise control method and system |
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| Country | Link |
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| CN (1) | CN116373856A (en) |
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2023
- 2023-03-24 CN CN202310296361.4A patent/CN116373856A/en active Pending
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