The invention discloses a vehicle following control method and device for automatic driving, a vehicle and a storage medium. The method comprises the steps that when it is determined that a car following control condition is met currently, a control mode of a congestion car following working condition is entered; according to the current position of the vehicle and the driving environment information, identifying and screening the target to be cut in; after the to-be-cut-in target is identified and screened, when the to-be-cut-in target meets a braking early warning judgment condition, a vehicle braking system is controlled to enter a braking early warning preparation state; and when the to-be-cut-in target meets the dangerous obstacle screening condition, the vehicle braking system is controlled to enter first-stage speed reduction control from the braking early warning preparation state. The early warning preparation state is started in the mode that whether the to-be-cut-in target screened out according to the current position of the vehicle and the driving environment information meets the braking early warning judgment condition or not, early warning preparation for vehicle braking is achieved in advance, rapid braking can be achieved, timely deceleration or braking is ensured, and safety during automatic driving is guaranteed.

    本发明公开了一种自动驾驶的跟车控制方法、装置、车辆及存储介质。该方法包括:确定当前满足跟车控制条件时,进入拥堵跟车工况的控制模式;根据车辆当前位置以及行车环境信息,进行待切入目标的识别筛选;在识别筛选到待切入目标后,当所述待切入目标满足制动预警判定条件时,控制车辆制动系统进入制动预警准备状态;当所述待切入目标满足危险障碍物筛选条件时,控制所述车辆制动系统由所述制动预警准备状态进入一级减速控制。通过根据车辆当前位置以及行车环境信息筛选出的待切入目标是否满足制动预警判定条件的方式,启动预警准备状态,实现了对车辆制动的提前预警准备,可以快速的制动,确保及时减速或刹车,保障自动驾驶时的安全。


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    Title :

    Vehicle following control method and device for automatic driving, vehicle and storage medium


    Additional title:

    自动驾驶的跟车控制方法、装置、车辆及存储介质


    Contributors:
    BAI TIANSHENG (author) / SUN LIANMING (author) / LENG DELONG (author)

    Publication date :

    2022-07-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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