Technical field

The present invention relates to a method and to a device for adaptive cruise control of a vehicle. The present invention further relates to a controller for a vehicle. The present invention further relates to a vehicle having the device or controller. The present invention further relates to a computer-readable storage medium.

Background art

Currently, common adaptive cruise control functions based on radar cannot realize an automatic stop as expected in some cases. For example, before a vehicle passes a crossing, the traffic light at the crossing turns red. However, there are no other vehicles in front of the vehicle, or the vehicles in front of the vehicle have passed the crossing just before the traffic light turns red at this time. In this case, the vehicle cannot realize an (automatic) stop according to the traffic rules. This undoubtedly increases the burden of the driver or even leads to a traffic hazard.

To solve the problem, an extra sensor (for example, a camera) can be used to detect the state of the traffic light and the specific position of the stop line at the crossing. However, not only is the hardware cost increased, but also the algorithms of common adaptive cruise control functions need to be changed greatly or complex control policies need to be deployed.

Summary of the invention

The object of the present invention is to provide a method for adaptive cruise control of a vehicle and a device for adaptive cruise control of a vehicle. The method and device for adaptive cruise control of a vehicle according to the present invention can realize safer and more reliable adaptive cruise control of a vehicle in a crossing scenario, without any necessity of increasing the hardware cost or greatly changing the algorithms of common adaptive cruise control functions or deploying new complex control policies.

For this purpose, according to a first aspect of the present invention, a method for adaptive cruise control of a vehicle is provided, and the method comprises the following steps: receiving (or acquiring) a real radar object especially detected by a radar device and located in front of the vehicle; generating a virtual radar object based on information about a traffic signal in front of the vehicle; and sending a control signal for implementing the adaptive cruise control based on the real radar object and/or the virtual radar object.

The solution according to the present invention is especially based on the following consideration: generating a virtual radar object based on information about a traffic signal in front of the vehicle. In addition, not only the real radar object but also the virtual radar object is considered in the adaptive cruise control of the vehicle. For example, both the real radar object and the virtual radar object are considered as "radar object" and are added to the object list of the adaptive cruise control (algorithm) of the vehicle. Thus, an automatic stop at a crossing is safely and reliably realized based on the traffic rules for crossings in adaptive cruise control of vehicles, without increasing the hardware cost or greatly changing the adaptive cruise control algorithm for vehicles.

In a preferred implementation mode of the first aspect of the present invention, when no real radar object exists between the vehicle and the virtual radar object, a control signal for implementing the adaptive cruise control is sent out based on the virtual radar object. For example, when no real radar object is detected by the radar device, a control signal for implementing the adaptive cruise control is sent out based on the virtual radar object. For example, when the distance between the real radar object and the vehicle detected by the radar device is greater than the distance between the virtual radar object and the vehicle, a control signal for implementing the adaptive cruise control is sent out based on the virtual radar object.

In a preferred implementation mode of the first aspect of the present invention, the radar device may be a millimeter-wave radar device.

In a preferred implementation mode of the first aspect of the present invention, information about the traffic signal includes status information about a traffic light and/or position information about a stop line at the traffic light.

In a preferred implementation mode of the first aspect of the present invention, the virtual radar object is generated based on information about a traffic signal especially received through radio communication from an infrastructure. Preferably, radio communication may be realized based on any suitable V2X communication protocol. The infrastructure may be, for example, a roadside unit (RSU) or any other suitable infrastructure.

In a preferred implementation mode of the first aspect of the present invention, the virtual radar object is generated based on information about a traffic signal acquired from a digital map. Preferably, the digital map is especially stored in a mobile device, a cloud server or a storage device located on the vehicle.

In a preferred implementation mode of the first aspect of the present invention, the real radar object is other vehicles traveling in front of the vehicle, especially other vehicles the vehicle follows during adaptive cruise control.

In a preferred implementation mode of the first aspect of the present invention, a virtual radar object is generated only when a traffic light turns red. Additionally, a virtual radar object is generated only when the distance between the vehicle and a traffic light is less than a predetermined distance threshold.

In a preferred implementation mode of the first aspect of the present invention, for a generated virtual radar object, the distance of the virtual radar object and/or the speed of the virtual radar object is determined. Here, the real-time distance between the vehicle and a stop line is determined or calculated as the distance of the virtual radar object. The speed of the virtual radar object relative to the ground is 0. The size of the relative speed of the virtual radar object relative to the vehicle is equal to the size of the running speed of the vehicle, and the direction of the relative speed of the virtual radar object relative to the vehicle is opposite to the direction of the running speed of the vehicle.

Here, the control signal can especially control or trigger a corresponding actuator to realize adaptive cruise control.

In addition, according to a second aspect of the present invention, a device for adaptive cruise control of a vehicle is provided, and the device comprises at least a real object receiving module, a virtual object generating module and an adaptive cruise control module. The real object receiving module is configured to receive (or acquire) a real radar object especially detected by a radar device and located in front of the vehicle. The virtual object generating module is configured to generate a virtual radar object based on information about a traffic signal in front of the vehicle. The adaptive cruise control module is configured to send out a control signal for implementing the adaptive cruise control based on the real radar object and/or the virtual radar object.

In a preferred implementation mode of the second aspect of the present invention, when the real radar object does not exist between the vehicle and the virtual radar object, the adaptive cruise control module is configured to send out a control signal for implementing the adaptive cruise control based on the virtual radar object. For example, when no real radar object is detected, the adaptive cruise control module is configured to send out a control signal for implementing the adaptive cruise control based on the virtual radar object. For example, when the detected distance between the real radar object and the vehicle is greater than the distance between the virtual radar object and the vehicle, the adaptive cruise control module is configured to send out a control signal for implementing the adaptive cruise control based on the virtual radar object.

In a preferred implementation mode of the second aspect of the present invention, information about the traffic signal includes status information about a traffic light and/or position information about a stop line at the traffic light.

In a preferred implementation mode of the second aspect of the present invention, the virtual object generating module is configured to generate the virtual radar object based on information about a traffic signal especially received through radio communication from an infrastructure.

Preferably, radio communication may be realized based on any suitable V2X communication protocol. The infrastructure may be, for example, a roadside unit (RSU) or any other suitable infrastructure.

In a preferred implementation mode of the second aspect of the present invention, the virtual object generating module is configured to generate the virtual radar object based on information about a traffic signal acquired from a digital map. Preferably, the digital map is especially stored in a mobile device, a cloud server or a storage device located on the vehicle. In a preferred implementation mode of the second aspect of the present invention, the real radar object is other vehicles traveling in front of the vehicle, especially other vehicles the vehicle follows during adaptive cruise control.

In a preferred implementation mode of the second aspect of the present invention, the virtual object generating module is configured to generate a virtual radar object only when a traffic light turns red. Additionally, the virtual object generating module is configured to generate a virtual radar object only when the distance between the vehicle and a traffic light is less than a predetermined distance threshold.

In a preferred implementation mode of the second aspect of the present invention, for a generated virtual radar object, the virtual object generating module is configured to determine the distance of the virtual radar object and/or the speed of the virtual radar object. Here, the real-time distance between the vehicle and a stop line is determined or calculated as the distance of the virtual radar object. The speed of the virtual radar object relative to the ground is 0. The size of the relative speed of the virtual radar object relative to the vehicle is equal to the size of the running speed of the vehicle, and the direction of the relative speed of the virtual radar object relative to the vehicle is opposite to the direction of the running speed of the vehicle.

Here, the control signal can especially control or trigger a corresponding actuator to realize adaptive cruise control.

The above-described corresponding technical characteristics and technical effects of the method for adaptive cruise control of a vehicle according to the first aspect of the present invention are equally applicable to the device for adaptive cruise control of a vehicle according to the second aspect of the present invention.

The device for adaptive cruise control of a vehicle according to the second aspect of the present invention may be implemented in the form of software or hardware or both.

In addition, according to a third aspect of the present invention, a controller for a vehicle is provided. The controller can especially realize adaptive cruise control of the vehicle. Here, the controller for a vehicle comprises: a processor; and a memory, wherein a computer program is stored in the memory and the computer program implements the steps of the method for adaptive cruise control of a vehicle according to the first aspect of the present invention when executed by a processor.

In addition, according to a fourth aspect of the present invention, a vehicle is provided. The vehicle comprises the device for adaptive cruise control of a vehicle according to the second aspect of the present invention or the controller according to the third aspect of the present invention. The vehicle further comprises a radar device, especially a millimeter-wave radar device. The vehicle may further comprise an actuator implementing adaptive cruise control.

In addition, according to a fifth aspect of the present invention, a computer-readable storage medium is provided and a computer program is stored therein, wherein the computer program implements the steps of the method for adaptive cruise control of a vehicle according to the first aspect of the present invention when executed by a processor.

The technical solution according to the present invention has the following advantages:

1. The technical solution according to the present invention realizes safer and more reliable adaptive cruise control of a vehicle in a crossing scenario, especially an automatic stop at a crossing according to the traffic rules for crossings.

2. The technical solution according to the present invention can basically work based on the common adaptive cruise control functions (algorithms), without greatly changing the prior algorithms or deploying new complex control policies.

3. The technical solution according to the present invention requires no additional hardware cost.

4. The technical solution according to the present invention can easily be combined with other aided driving functions or driving safety functions.

Brief description of the drawings

Preferred embodiments of the present invention are described in detail below in combination with the drawings. Those skilled in the art should understand that these preferred embodiments are only exemplary and are not intended to constitute any restriction on the present invention.

Fig. 1 shows a flowchart of the method for adaptive cruise control of a vehicle according to the present invention.

Fig. 2 shows a block diagram of the device for adaptive cruise control of a vehicle according to the present invention.

Detailed description of the invention

Fig. 1 shows a flowchart of the method for adaptive cruise control of a vehicle according to the present invention. The method can especially realize safer and more reliable adaptive cruise control of a vehicle in a crossing scenario.

In the first step 101 of the method, a real radar object especially detected by a radar device and located in front of the vehicle is received or acquired.

Here, the radar device may be a millimeter-wave radar device, for example.

Here, the detection of a real radar object in front of the vehicle by a radar device can be realized, for example, based on the algorithm of detecting an object in front of the vehicle in common adaptive cruise control functions.

Here, the real radar object is other vehicles traveling in front of the vehicle, especially other vehicles the vehicle follows during adaptive cruise control.

Here, the real-time distance between the vehicle and the real radar object is detected (or calculated) by a radar device. The relative speed of the real radar object relative to the vehicle can especially be considered.

In the second step 102 of the method, a virtual radar object is generated based on information about a traffic signal in front of the vehicle.

Here, information about the traffic signal at least includes status information about a traffic light and/or position information about a stop line at the traffic light.

Here, information about the traffic signal may be received, for example, through radio communication, from an infrastructure. Radio communication may be realized based on any suitable V2X communication protocol. The infrastructure may be a roadside unit (RSU), for example. Alternatively and/or additionally, information about the traffic signal can be acquired from a digital map, for example. The digital map is especially stored in a storage device located on the vehicle. The digital map may be stored in a mobile device or cloud server.

Preferably, a virtual radar object is generated only when a traffic light turns red. Additionally, a virtual radar object is generated only when the distance between the vehicle and a traffic light is less than a predetermined distance threshold.

Here, for generating a virtual radar object, the distance of the virtual radar object and/or the speed of the virtual radar object is determined. Here, for example, the real-time distance between the vehicle and a stop line is determined or calculated as the distance of the virtual radar object. Here, the speed of the virtual radar object relative to the ground is, for example, 0. The size of the relative speed of the virtual radar object relative to the vehicle is, for example, equal to the size of the running speed of the vehicle, and the direction of the relative speed of the virtual radar object relative to the vehicle is, for example, opposite to the direction of the running speed of the vehicle.

In the third step 103 of the method, a control signal for implementing the adaptive cruise control is sent out based on the real radar object and/or the virtual radar object.

Here, according to the present invention, not only the real radar object but also the virtual radar object is considered in the adaptive cruise control of a vehicle. In other words, both the real radar object and the virtual radar object are considered as "radar object" and are added to the object list of the adaptive cruise control (algorithm) of the vehicle. Thus, an automatic stop at a crossing based on the traffic rules for crossings can be cleverly integrated into the adaptive cruise control (algorithm) of the vehicle, and the functionality and reliability of the adaptive cruise control (algorithm) of the vehicle are significantly improved, without no great changes to the adaptive cruise control (algorithm) of the vehicle.

Preferably, when no real radar object exists between the vehicle and the virtual radar object, a control signal for implementing the adaptive cruise control is sent out based on the virtual radar object. For example, when no real radar object is detected, a control signal for implementing the adaptive cruise control is sent out based on the virtual radar object. For example, when the detected distance between the real radar object and the vehicle is greater than the distance between the virtual radar object and the vehicle, a control signal for implementing the adaptive cruise control is sent out based on the virtual radar object (this usually means that the vehicles traveling in front of the vehicle have passed a crossing just before the traffic light turns red, and the vehicle itself needs to stop at the stop line at the crossing according to the traffic rules because the traffic light has turned red).

Here, the control signal can especially control or trigger a corresponding actuator to realize adaptive cruise control.

The sequence of the steps of the method according to the present invention is only exemplary, and the sequence can be adjusted without departing from the general technical conception of the present invention.

Fig. 2 shows a block diagram of the device 2 for adaptive cruise control of a vehicle according to the present invention.

Here, the device 2 for adaptive cruise control of a vehicle according to the present invention comprises at least a real object receiving module 201, a virtual object generating module 202 and an adaptive cruise control module 203. Here, the real object receiving module 201 is configured to receive or acquire a real radar object especially detected by a radar device and located in front of the vehicle. The virtual object generating module 202 is configured to generate a virtual radar object based on information about a traffic signal in front of the vehicle. The adaptive cruise control module 203 is configured to send out a control signal for implementing the adaptive cruise control based on the real radar object and/or the virtual radar object.

Preferably, information about the traffic signal includes status information about a traffic light and/or position information about a stop line at the traffic light.

Preferably, the virtual object generating module is configured to generate the virtual radar object based on information about a traffic signal especially received through radio communication from an infrastructure. Here, radio communication may be realized based on any suitable V2X communication protocol. The infrastructure may be a roadside unit (RSU), for example.

Alternatively or additionally, the virtual object generating module is configured to generate the virtual radar object based on information about the traffic signal acquired from a digital map. Here, the digital map is especially stored in a mobile device, a cloud server or a storage device located on the vehicle.

Preferably, the virtual object generating module is configured to generate a virtual radar object only when a traffic light turns red. Preferably and additionally, the virtual object generating module is configured to generate a virtual radar object only when the distance between the vehicle and a traffic light is less than a predetermined distance threshold.

Here, for generating a virtual radar object, the distance of the virtual radar object and/or the speed of the virtual radar object, for example, is determined. Here, for example, the real-time distance between the vehicle and a stop line is determined or calculated as the distance of the virtual radar object. Here, the speed of the virtual radar object relative to the ground is, for example, 0. The size of the relative speed of the virtual radar object relative to the vehicle is, for example, equal to the size of the running speed of the vehicle, and the direction of the relative speed of the virtual radar object relative to the vehicle is, for example, opposite to the direction of the running speed of the vehicle.

Preferably, the adaptive cruise control module is configured to send out a control signal for implementing the adaptive cruise control based on the virtual radar object when the real radar object does not exist between the vehicle and the virtual radar object. For example, when no real radar object is detected, the adaptive cruise control module is configured to send out a control signal for implementing the adaptive cruise control based on the virtual radar object. For example, when the distance between the real radar object received by the real object receiving module and the vehicle is greater than the distance between the virtual radar object generated by the virtual object generating module and the vehicle, the adaptive cruise control module is configured to send out a control signal for implementing the adaptive cruise control based on the virtual radar object.

Here, the control signal can especially control or trigger a corresponding actuator to realize adaptive cruise control.

The device 2 for adaptive cruise control of a vehicle according to the present invention may be implemented in the form of software or hardware or both.

Those skilled in the art can make various changes or modifications to the preferred embodiments, without departing from the spirit of the present invention, and all these changes or modifications fall within the scope of the present invention.