Self-adaptive car following method, device and equipment of automatic driving car and storage medium

Abstract

The invention belongs to the technical field of automatic driving vehicles, and discloses a self-adaptive vehicle following method, device and equipment of an automatic driving vehicle and a storage medium. The method comprises the following steps: when an obstacle exists in a current driving path, acquiring an obstacle distance with the obstacle; obtaining an emergency braking distance corresponding to the current vehicle speed according to the emergency braking distance curve, and comparing the obstacle distance with the emergency braking distance; when the obstacle distance is greater thanthe emergency braking distance, acquiring a preset vehicle following safety distance corresponding to the current vehicle speed; determining an expected vehicle speed according to a preset vehicle following safety distance and a preset vehicle following safety distance formula; and carrying out segmented braking according to the difference value between the expected vehicle speed and the current vehicle speed so as to realize self-adaptive vehicle following. According to the method, the expected vehicle speed under the preset vehicle following safety distance is deduced through a formula, segmented braking is conducted based on the difference value between the expected vehicle speed and the current vehicle speed, dependence on the number of sensor signals and signal quality is reduced, andthe self-adaptive vehicle following function is achieved.

Description

technical field [0001] The present invention relates to the technical field of self-driving cars, and in particular to an adaptive following method, device, equipment and storage medium for self-driving cars. Background technique [0002] At present, the car-following method adopted by self-driving vehicles is mainly to detect the speed of the target vehicle in the front lane and the following distance through sensing devices, such as cameras and millimeter-wave radars, and then calculate the self-driving car based on the speed of the vehicle and the information of the vehicle in front (vehicle speed or distance). The vehicle will accelerate or decelerate to the target speed, and finally keep a certain safe distance to follow the vehicle in front. However, the current sensing equipment has the problem of inaccurate detection of the speed and distance of the vehicle in front. There are certain errors, and it is impossible to detect the speed and distance of the vehicle under ...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to provide an adaptive car following method, device, equipment and storage medium for an automatic driving vehicle, aiming to solve the prior art's high dependence on the detection information of the preceding vehicle and the high dependence on the single signal of the preceding vehicle detection. Quality requirements lead to costly technical issues

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