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CN-113071488-B - Vehicle speed control method and device

CN113071488BCN 113071488 BCN113071488 BCN 113071488BCN-113071488-B

Abstract

The invention relates to a vehicle speed control method, which comprises the steps of determining the drivable distances in different directions in front of a current vehicle through a vehicle-mounted sensor, obtaining the drivable area in front of the current vehicle at least according to the target types in the different directions, determining a safety degree result in a current driving scene based on the drivable area and the current vehicle speed, and controlling the vehicle speed of the current vehicle based on the safety degree result. The invention also relates to a vehicle control apparatus, a computer storage medium, and a vehicle.

Inventors

  • SUN SICHEN

Assignees

  • 蔚来汽车科技(安徽)有限公司
  • 蔚来汽车科技(安徽)有限公司

Dates

Publication Date
20260421
Application Date
20210429
Priority Date
20210429

Claims (14)

  1. 1. A vehicle speed control method, characterized by comprising: Determining a target and a drivable distance in different directions in front of a current vehicle through an on-board sensor of the current vehicle, wherein the target is a nearest obstacle in different directions in front of the current vehicle, the drivable distance is a distance from the current vehicle to the target, and correcting the drivable distance at least according to target types in the different directions to obtain corrected drivable distances in all directions, wherein the correcting the drivable distance comprises correcting the drivable distance D i in a direction as follows in response to a safe driving distance corresponding to a direction in which the drivable distance is smaller than the current vehicle speed and the target type in the direction is a fixed road structure or other vehicles with speeds far greater than the current vehicle speed , wherein, K is a correction proportion, d thres is a safe driving distance corresponding to the current vehicle speed, and the area of a driving area in front of the current vehicle is obtained based on the corrected driving distances in all directions; determining the safety degree result under the current running scene based on the area of the drivable area and the current vehicle speed, and And controlling the speed of the current vehicle based on the safety degree result.
  2. 2. The method of claim 1, wherein determining, by an onboard sensor, the travelable distance in different directions ahead of the current vehicle comprises: acquiring different directions of the current vehicle through the vehicle-mounted sensor Target distance R i , target height H i , target type T i , and Will be in different directions The target distance R i on the same plane is converted into a travelable distance D i in the same plane, wherein, 。
  3. 3. The method of claim 1, wherein calculating the current vehicle-ahead travelable region area based on the corrected travelable distances in the respective directions comprises: The area a of the drivable area in front of the current vehicle is calculated according to the following formula: , where N represents the number of measurable directions, Indicating direction And (3) with Angle difference between them.
  4. 4. The method of claim 1, wherein determining a safety level result in a current driving scenario based on the drivable area and the current vehicle speed comprises: And comparing the area of the drivable area with threshold values of the drivable area under different safety levels corresponding to the current vehicle speed, and determining a safety degree result under the current driving scene.
  5. 5. The method of claim 1, wherein controlling the vehicle speed of the current vehicle based on the safety level result comprises: And according to the safety degree result, combining the current vehicle speed, and outputting the recommended speed of the current running of the vehicle.
  6. 6. The method according to claim 5, wherein a recommended speed lower than the current vehicle speed is output when the safety degree result indicates that running safety is lowered.
  7. 7. A vehicle speed control apparatus, characterized by comprising: A first determination device, wherein the first determination device comprises a determination unit for determining targets and drivable distances in different directions in front of a current vehicle through an on-vehicle sensor, wherein the targets are closest obstacles in different directions in front of the current vehicle, the drivable distances are distances from the current vehicle to the targets, a correction unit for correcting the drivable distances at least according to target types in different directions to obtain corrected drivable distances in all directions, wherein the correction of the drivable distances comprises correcting the drivable distances D i in a direction in response to a safe driving distance corresponding to a direction in which the drivable distance is smaller than the current vehicle speed and the target type in the direction is a fixed road structure or other vehicles with speeds far greater than the current vehicle speed, by correcting the drivable distance D i in the direction to be , wherein, The vehicle comprises a correction proportion, a calculation unit and a control unit, wherein k is the correction proportion, d thres is a safe driving distance corresponding to the current vehicle speed, and the calculation unit is used for calculating the area of a driving area in front of the current vehicle based on the corrected driving distances in all directions; A second determining device for determining the safety degree result in the current driving scene based on the area of the driving area and the current vehicle speed, and And a control device for controlling the speed of the current vehicle based on the safety degree result.
  8. 8. The apparatus of claim 7, wherein the determination unit is configured to: acquiring different directions of the current vehicle through a vehicle-mounted sensor Target distance R i , target height H i , target type T i , and Will be in different directions The target distance R i on the same plane is converted into a travelable distance D i in the same plane, wherein, 。
  9. 9. The device of claim 7, wherein the computing unit is configured to: The area a of the drivable area in front of the current vehicle is calculated according to the following formula: , where N represents the number of measurable directions, Indicating direction And (3) with Angle difference between them.
  10. 10. The apparatus of claim 7, wherein the second determining means is configured to: And comparing the area of the drivable area with the area threshold values of the drivable area under different safety levels corresponding to the current vehicle speed, and determining a safety degree result under the current driving scene.
  11. 11. The apparatus according to claim 7, wherein the control device is configured to output a recommended speed at which the vehicle is currently traveling in conjunction with the current vehicle speed based on the safety degree result.
  12. 12. The apparatus according to claim 11, wherein the control device is configured to output a recommended speed lower than the current vehicle speed when the safety degree result indicates that running safety is reduced.
  13. 13. A computer storage medium comprising instructions which, when executed, perform the method of any one of claims 1 to 6.
  14. 14. A vehicle comprising the apparatus of any one of claims 7 to 12.

Description

Vehicle speed control method and device Technical Field The present invention relates to the field of vehicle control, and more particularly, to a vehicle speed control method and apparatus, a computer storage medium, and a vehicle. Background In the field of auxiliary driving, the functional performance is made to be closer to the driving mode of a real driver, so that the realization of 'anthropomorphic' driving is an important development direction. The "anthropomorphic" functional performance is also beneficial to the understanding of the vehicle auxiliary driving function by the driver, and the unsafe feeling and the tension emotion of the driver when the function is started are reduced. In the conventional vehicle adaptive cruise control, speed control is generally performed with respect to a target in front of the host vehicle. Specifically, the existing vehicle self-adaptive cruise function mainly considers the target in front of the driving route of the vehicle, and controls the speed of the vehicle on the premise of ensuring the safety distance from the front vehicle. When the control logic encounters that the front vehicles respectively run in the left lane, the middle lane and the right lane in a 'delta' shape, the vehicles on two sides can not enter the surrounding area, so that the driving unsafe feeling of a driver is increased, and the trust feeling of functions is reduced. On the other hand, in the road, an object that can form a "surrounding" for the host vehicle is not only other vehicles but also fixed road structures such as a road isolation belt, a road edge, and the like. These objectives together affect the driver's judgment as to whether the current driving environment is safe or not. Accordingly, an improved vehicle speed control method and apparatus are desired. Disclosure of Invention According to one aspect of the invention, a vehicle speed control method is provided, and the method comprises the steps of determining the drivable distances in different directions in front of a current vehicle through an on-board sensor, obtaining the drivable area in front of the current vehicle at least according to the target types in the different directions, determining a safety degree result under a current driving scene based on the drivable area and the current vehicle speed, and controlling the vehicle speed of the current vehicle based on the safety degree result. In addition or alternatively, in the method, determining the drivable distances in different directions in front of the current vehicle by the vehicle-mounted sensor, and obtaining the drivable area in front of the current vehicle at least according to the target types in the different directions comprises determining the drivable distances in different directions in front of the current vehicle by the vehicle-mounted sensor; correcting the travelable distance at least according to the target types in different directions to obtain corrected travelable distances in all directions; and calculating a drivable area in front of the current vehicle based on the corrected drivable distances in the respective directions. Additionally or alternatively to the above, in the above method, determining the drivable distance in the different directions ahead of the current vehicle by the in-vehicle sensor includes obtaining, by the in-vehicle sensor, a target distance R i, a target height H i, and a target type T i in the different directions θ i of the current vehicle, and converting the target distance R i in the different directions θ i into the drivable distance D i in the same plane, wherein, In addition or alternatively, in the method, the method at least corrects the travelable distance according to the target types in different directions, and obtaining the corrected travelable distance in each direction includes correcting the travelable distance D i to D 'i when the travelable distance is smaller than a safe travel distance corresponding to a current vehicle speed and the target in the direction is a fixed road structure or other vehicles with a speed far greater than the current vehicle speed, wherein D' i＝(1-k)·Di+k·dthres and k are correction ratios and D thres is the safe travel distance corresponding to the current vehicle speed. In addition or alternatively, in the method, at least according to the target types of different directions, corrects the travelable distance, and obtaining the corrected travelable distance in each direction comprises correcting the travelable distance of the vehicle according to the safe driving area, wherein the correction considers psychological feeling of the driver and the relative distance of the lane-changing vehicle. Additionally or alternatively to the above, in the above method, calculating the current vehicle-ahead drivable area based on the corrected drivable distances in the respective directions includes calculating the current vehicle-ahead drivable area A according to the following f