CN-121973779-A - Control method, device and equipment for accelerating and separating parallel cart

CN121973779ACN 121973779 ACN121973779 ACN 121973779ACN-121973779-A

Abstract

The invention discloses a control method, a device and equipment for accelerating and separating from a parallel cart, which are applied to a target vehicle, wherein the control method comprises the steps of determining a cart target to be separated from the target vehicle; if the target vehicle is in a preset state currently, the duration time of the overlapped quantization index larger than the preset index threshold is larger than a first time threshold, the speed difference between the set speed of the target vehicle and the current speed of the large vehicle target is smaller than a first difference threshold, the current acceleration of the large vehicle target is smaller than an acceleration threshold, and the accelerating and disengaging function of the target vehicle is activated according to the target cooling time and is used for controlling the target vehicle to accelerate and disengage the large vehicle target. The invention solves the technical problems of low safety, high energy consumption and low driving experience of a mode of accelerating vehicles to separate from parallel buses.

Inventors

JIANG HUI
HOU MINGYANG
CHEN SHAOJIA
LIU BEN
SUN BIAO

Assignees

岚图汽车科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260212

Claims (10)

1. A control method for accelerating out of parallel trolleys, which is applied to a target vehicle, the control method comprising: determining at least one cart target from which the target vehicle is to be disengaged; Acquiring the self-vehicle state information of the target vehicle, the current speed and the current acceleration of the cart target and an overlapping quantization index representing the overlapping size of the target vehicle and the cart target; Determining whether the target vehicle is in a preset state currently according to the vehicle state information; If the target vehicle is in the preset state currently, the duration of the overlapping quantization index being greater than the preset index threshold is greater than a first time threshold, the speed difference between the set speed of the target vehicle and the current speed of the cart target is smaller than a first difference threshold, the current acceleration of the cart target is smaller than an acceleration threshold, and a speed-up disengaging function of the target vehicle is activated according to the target cooling time and is used for controlling the target vehicle to be in speed-up disengaging from the cart target.
2. The control method for a speed-up break-away parallel cart according to claim 1, wherein the own vehicle state information includes a current driving mode of the target vehicle, a set vehicle speed, a current vehicle speed, and whether or not the target vehicle is in a lane change state, the control method further comprising: and if the current driving mode of the target vehicle is a NOA mode, the set vehicle speed is larger than a first vehicle speed threshold value, the current vehicle speed of the target vehicle reaches the set vehicle speed, and the target vehicle is not in a lane change state, determining that the target vehicle is currently in a preset state.
3. The control method for a speed-up break-away parallel cart according to claim 1, further comprising: Acquiring an M maintenance positive factor in a preset time window; Performing fusion processing on the M maintenance positive factors based on the M-dimensional weight coefficients to obtain fusion correction factors; and adjusting the basic cooling time based on the fusion correction factor to obtain the target cooling time.
4. A control method for a speed-up off-parallel cart as defined in claim 3, wherein the M repair positive factors include a first correction factor, a second correction factor, a third correction factor, and a fourth correction factor; the obtaining the M maintenance positive factors within the preset time window includes: Acquiring the activation times or activation frequency of the target vehicle on the accelerating and disengaging function in the preset time window, and determining the first correction factor based on the activation times or the activation frequency, wherein the first correction factor is positively related to the activation times or the activation frequency; acquiring the working state of the windscreen wiper of the target vehicle in the preset time window, and determining the second correction factor based on the working state, wherein the second correction factor is positively related to the speed of the windscreen wiper; Acquiring the operation frequency or the operation frequency of the positive intervention operation performed by the driver on the target vehicle under the condition that the accelerating and disengaging function is in the exit state for the latest times, and determining the third correction factor based on the operation frequency or the operation frequency of the positive intervention operation, wherein the third correction factor is inversely related to the operation frequency or the operation frequency of the positive intervention operation; and under the condition that the accelerating and disengaging function is in an activated state for the last times, the operating frequency or the operating frequency of the negative intervention operation of the target vehicle by the driver is obtained, and the fourth correction factor is determined based on the operating frequency or the operating frequency of the negative intervention operation and is positively related to the operating frequency or the operating frequency of the negative intervention operation.
5. The method for controlling a speed-up off-parallel cart according to claim 3, wherein the adjusting the basic cooling time based on the fusion correction factor to obtain the target cooling time includes: if the fusion correction factor is larger than a preset correction threshold, the basic cooling time is prolonged, and the target cooling time is obtained; And if the fusion correction factor is smaller than the preset correction threshold, shortening the basic cooling time to obtain the target cooling time.
6. The method for controlling a speed-up break-away parallel cart according to claim 5, wherein, The extending the basic cooling time to obtain the target cooling time includes: inputting the fusion correction factor into a first nonlinear self-adaptive mapping function to obtain the target cooling time, wherein the first nonlinear self-adaptive mapping function is related to the basic cooling time and the fusion correction factor; the step of shortening the basic cooling time to obtain the target cooling time includes: And inputting the fusion correction factor into a second nonlinear self-adaptive mapping function to obtain the target cooling time, wherein the second nonlinear self-adaptive mapping function is related to the basic cooling time and the fusion correction factor.
7. The method for controlling a speed-up break-away parallel cart according to claim 6, wherein, The first nonlinear adaptive mapping function is as follows: Wherein, the For the said basic cooling time it is provided that, For the target cooling time of the cooling device, A correction factor is fused; the second nonlinear adaptive mapping function is as follows: Wherein, the For the said basic cooling time it is provided that, For the target cooling time of the cooling device, For the purpose of the fusion correction factor, Is the attenuation coefficient.
8. The control method of a speed-up break-away parallel cart according to claim 1, characterized in that, after the speed-up break-away function of the target vehicle is activated according to a target cooling time, the target vehicle is controlled to exit the speed-up break-away function when any one of the following release conditions is satisfied: The target vehicle exits NOA mode; The target vehicle enters a lane change state; The target vehicle is separated from the cart target, and the distance between the tail of the target vehicle and the cart head of the cart target is greater than a preset distance; the current speed of the target vehicle is smaller than a second vehicle speed threshold value, and the second vehicle speed threshold value is smaller than the set vehicle speed; The current speed of the cart target is greater than the set speed, and the duration time of the difference between the current speed of the cart target and the set speed is greater than a second difference threshold is greater than a second duration threshold; the duration of the body overlapping of the target vehicle and the cart target is longer than a third duration threshold.
9. A control device for accelerating out of parallel trolleys, applied to a target vehicle, comprising: A target determining unit configured to determine at least one cart target from which the target vehicle is to be disengaged, in a case where the target vehicle is in an automatic driving mode; The data acquisition unit is used for acquiring the vehicle state information of the target vehicle, the current speed and the current acceleration of the large vehicle target and an overlapping quantization index representing the overlapping size of the target vehicle and the large vehicle target; The judging unit is used for determining whether the target vehicle is in a preset state currently according to the vehicle state information; And the separation execution unit is used for activating a speed-increasing separation function of the target vehicle according to the target cooling time if the duration time of the overlapped quantitative index larger than the preset index threshold is larger than a first time threshold and the speed difference between the set speed of the target vehicle and the current speed of the large vehicle target is smaller than a first difference threshold, wherein the current acceleration of the large vehicle target is smaller than an acceleration threshold, and the speed-increasing separation function is used for controlling the target vehicle to accelerate and separate from the large vehicle target.
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 method of controlling a speed-raising off-parallel cart according to any one of claims 1-8 when the program is executed.

Description

Control method, device and equipment for accelerating and separating parallel cart Technical Field The invention belongs to the field of vehicle control, and particularly relates to a control method, a device and equipment for accelerating and disengaging parallel carts. Background With the development of intelligent driving technology, vehicle safety control in a scenario parallel to a large vehicle has become an important research direction. In the related art, the parallel large vehicles are driven away through active acceleration, but the high-frequency triggering of the parallel large vehicles is used for leading the self-vehicle to be separated from one large vehicle and quickly catch up with the other large vehicle, and then the self-vehicle is triggered again to accelerate to drive away from the other large vehicle. The vehicle is caused to enter a cycle of frequently accelerating and driving away from the large vehicle, so that the mode of accelerating and separating the vehicle from the parallel large vehicle in the related technology is low in safety, high in energy consumption and low in driving experience. Disclosure of Invention The embodiment of the invention provides a control method, a control device and control equipment for a speed-increasing and parallel-disengaging cart, which are used for solving the technical problems of low safety, high energy consumption and low driving experience of a mode of vehicle speed-increasing and parallel-disengaging cart in the related art. According to a first aspect of the invention, a control method for a speed-increasing and disengaging parallel cart is provided and applied to a target vehicle, the control method comprises the steps of determining at least one cart target to be disengaged from the target vehicle, obtaining own vehicle state information of the target vehicle, current speed and current acceleration of the cart target, and an overlapping quantification index representing the overlapping degree of the target vehicle and a cart body of the cart target, determining whether the target vehicle is in a preset state according to the own vehicle state information, if the target vehicle is in the preset state currently, enabling the duration time of the overlapping quantification index larger than the preset index threshold to be larger than a first time length threshold, enabling the speed difference between the set speed of the target vehicle and the current speed of the cart target to be smaller than a first difference threshold, enabling the speed-increasing and disengaging function of the target vehicle to be activated according to target cooling time, and enabling the speed-increasing and disengaging function to control the target vehicle to accelerate and disengage from the cart target. In combination with the first aspect, in some embodiments, the vehicle state information includes a current driving mode of the target vehicle, a set vehicle speed, a current vehicle speed, and whether the target vehicle is in a lane change state, and the control method further includes determining that the target vehicle is currently in a preset state if the current driving mode of the target vehicle is a NOA mode, the set vehicle speed is greater than a first vehicle speed threshold, the current vehicle speed of the target vehicle reaches the set vehicle speed, and the target vehicle is not in the lane change state. In combination with the first aspect, in some embodiments, the control method further includes obtaining an M maintenance positive factor within a preset time window, performing fusion processing on the M maintenance positive factor based on an M-dimensional weight coefficient to obtain a fusion correction factor, and adjusting a basic cooling time based on the fusion correction factor to obtain the target cooling time. With reference to the first aspect, in some embodiments, the M repair positive factors include a first correction factor, a second correction factor, a third correction factor, and a fourth correction factor, and the obtaining the M repair positive factors in a preset time window includes obtaining the activation times or activation frequencies of the target vehicle to the speed-up release function in the preset time window, determining the first correction factor based on the activation times or the activation frequencies, and the first correction factor is positively correlated with the activation times or the activation frequencies; The method comprises the steps of acquiring a working state of a wiper of a target vehicle in a preset time window, determining a second correction factor based on the working state, wherein the second correction factor is positively related to the speed of the wiper, acquiring the operating frequency or the operating frequency of positive intervention operation of a driver on the target vehicle when the accelerating and disengaging function is in an exiting state for the last time, determining a