CN106740835B - Adaptive cruise control method, apparatus and vehicle - Google Patents
Adaptive cruise control method, apparatus and vehicle Download PDFInfo
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- CN106740835B CN106740835B CN201611028798.6A CN201611028798A CN106740835B CN 106740835 B CN106740835 B CN 106740835B CN 201611028798 A CN201611028798 A CN 201611028798A CN 106740835 B CN106740835 B CN 106740835B
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 123
- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000004888 barrier function Effects 0.000 claims abstract description 223
- 230000008859 change Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 9
- 238000011217 control strategy Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present disclosure proposes a kind of adaptive cruise control method, apparatus and vehicles, are related to vehicular field, this method comprises: detecting whether the vehicle front has barrier；When detecting that the vehicle front has barrier, the adaptive cruise of the vehicle is controlled according to the minimum distance of the lane line in lane where the absolute difference and the barrier of the movement velocity of spacing, the barrier between the barrier and the vehicle and the preset vehicle speed of the vehicle and the vehicle, a kind of effective control strategy thus is provided for the adaptive cruise of vehicle, has ensured traffic safety to a certain extent.
Description
Technical field
This disclosure relates to vehicular field, and in particular, to a kind of adaptive cruise control method, apparatus and vehicle.
Background technique
In the prior art, vehicle passes through a variety of sensings such as radar, camera and high-precision map in the case where unmanned
Device can be realized simple cruise or simple adaptive cruise function, but when barrier can not occur in this lane
It is effectively avoided, not the control strategy of relative efficiency, traffic safety cannot ensure.
Summary of the invention
It is vehicle adaptive purpose of this disclosure is to provide a kind of adaptive cruise control method, apparatus and vehicle
The case where encountering barrier during should cruising provides a kind of effective control strategy, has ensured driving peace to a certain extent
Entirely.
To achieve the goals above, the disclosure provides a kind of adaptive cruise control method, this method comprises:
Detect whether the vehicle front has barrier；
When detecting that the vehicle front has barrier, according to the spacing between the barrier and the vehicle, institute
Vehicle where stating the absolute difference and the barrier and the vehicle of the movement velocity of barrier and the preset vehicle speed of the vehicle
The minimum distance of the lane line in road controls the adaptive cruise of the vehicle.
Optionally, the spacing according between the barrier and the vehicle, the movement velocity of the barrier with
The minimum distance of the lane line in lane where the absolute difference of the preset vehicle speed of the vehicle and the barrier and the vehicle
To control the adaptive cruise of the vehicle, comprising:
When the spacing between the barrier and the vehicle is greater than or equal to the first preset threshold, according to the obstacle
The vehicle in lane where the absolute difference and the barrier and the vehicle of the movement velocity of object and the preset vehicle speed of the vehicle
The minimum distance of diatom controls the adaptive cruise of the vehicle.
Optionally, the spacing according between the barrier and the vehicle, the movement velocity of the barrier with
The minimum distance of the lane line in lane where the absolute difference of the preset vehicle speed of the vehicle and the barrier and the vehicle
To control the adaptive cruise of the vehicle, comprising:
When spacing between the barrier and the vehicle is less than the first preset threshold, the vehicle system is controlled
It is dynamic, so that the spacing adjusts to more than or equal to first preset threshold.
Optionally, the absolute difference and institute of the movement velocity according to the barrier and the preset vehicle speed of the vehicle
The minimum distance of the lane line in barrier and vehicle place lane is stated to control the adaptive cruise of the vehicle, comprising:
When the barrier movement velocity be less than the vehicle speed and the barrier movement velocity with it is described
When the absolute difference of the preset vehicle speed of vehicle is greater than or equal to the second preset threshold, according to where the barrier and the vehicle
The minimum distance of the lane line in lane controls the adaptive cruise of the vehicle.
Optionally, the absolute difference and institute of the movement velocity according to the barrier and the preset vehicle speed of the vehicle
The minimum distance of the lane line in barrier and vehicle place lane is stated to control the adaptive cruise of the vehicle, comprising:
The barrier movement velocity be less than the vehicle speed and the barrier movement velocity with it is described
When the absolute difference of the preset vehicle speed of vehicle is less than the second preset threshold, the speed of the vehicle is adjusted to the barrier
Movement velocity, so that the vehicle follows, the barrier is travelled and the distance between the vehicle and the barrier are predetermined
Distance.
Optionally, it is described according to the minimum distance of the lane line in lane where the barrier and the vehicle to control
State the adaptive cruise of vehicle, comprising:
When the minimum distance of the lane line in lane where the barrier and the vehicle is greater than third predetermined threshold, control
The vehicle is made to overtake other vehicles in lane where the vehicle.
Optionally, it is described according to the minimum distance of the lane line in lane where the barrier and the vehicle to control
State the adaptive cruise of vehicle, comprising:
The minimum distance of the lane line in lane is less than or equal to the predetermined threshold of third where the barrier and the vehicle
When value, controls the vehicle and execute lane change.
Optionally, this method further include:
When the vehicle front does not detect barrier, controls the vehicle and accelerate, so that the speed of the vehicle
Restore to the preset vehicle speed.
Optionally, this method further include:
The vehicle in bend when driving, control the vehicle with current vehicle speed adaptive cruise traveling.
Optionally, this method further include:
In the signal for receiving gas pedal, controls the vehicle and keep current state, and control sending prompt information.
According to another aspect of the present disclosure, a kind of adaptive cruise control device is also provided, which includes:
Detection of obstacles module, for detecting whether the vehicle front has barrier；
Control module, for when detecting that the vehicle front has barrier, according to the barrier and the vehicle
Between spacing, the preset vehicle speed of the movement velocity of the barrier and the vehicle absolute difference and the barrier and institute
The minimum distance of the lane line in vehicle place lane is stated to control the adaptive cruise of the vehicle.
Optionally, the control module is according to the fortune of spacing, the barrier between the barrier and the vehicle
The lane line in lane where the absolute difference and the barrier and the vehicle of dynamic speed and the preset vehicle speed of the vehicle
Minimum distance controls the adaptive cruise of the vehicle, comprising:
When the spacing is greater than or equal to the first preset threshold, according to the movement velocity of the barrier and the vehicle
Preset vehicle speed absolute difference and the barrier and the vehicle where lane lane line minimum distance to control
State the adaptive cruise of vehicle.
Optionally, the control module is according to the fortune of spacing, the barrier between the barrier and the vehicle
The lane line in lane where the absolute difference and the barrier and the vehicle of dynamic speed and the preset vehicle speed of the vehicle
Minimum distance controls the adaptive cruise of the vehicle, comprising:
When spacing between the barrier and the vehicle is less than the first preset threshold, the vehicle system is controlled
It is dynamic, so that the spacing adjusts to more than or equal to first preset threshold.
Optionally, the control module is according to the absolute of the movement velocity of the barrier and the preset vehicle speed of the vehicle
The minimum distance of difference and the barrier and the lane line in lane where the vehicle patrols to control the adaptive of the vehicle
Boat, comprising:
When the barrier movement velocity be less than the vehicle speed and the barrier movement velocity with it is described
When the absolute difference of the preset vehicle speed of vehicle is greater than or equal to the second preset threshold, according to where the barrier and the vehicle
The minimum distance of the lane line in lane controls the adaptive cruise of the vehicle.
Optionally, the control module is according to the absolute of the movement velocity of the barrier and the preset vehicle speed of the vehicle
The minimum distance of difference and the barrier and the lane line in lane where the vehicle patrols to control the adaptive of the vehicle
Boat, comprising:
The barrier movement velocity be less than the vehicle speed and the barrier movement velocity with it is described
When the absolute difference of the preset vehicle speed of vehicle is less than the second preset threshold, the speed of the vehicle is adjusted to the barrier
Movement velocity, so that the vehicle follows, the barrier is travelled and the distance between the vehicle and the barrier are predetermined
Distance.
Optionally, the control module is according to the minimum distance of the lane line in lane where the barrier and the vehicle
To control the adaptive cruise of the vehicle, comprising:
When the minimum distance of the lane line in lane where the barrier and the vehicle is greater than third predetermined threshold, control
The vehicle is made to overtake other vehicles in lane where the vehicle.
Optionally, the control module is according to the minimum distance of the lane line in lane where the barrier and the vehicle
To control the adaptive cruise of the vehicle, comprising:
The minimum distance of the lane line in lane is less than or equal to the predetermined threshold of third where the barrier and the vehicle
When value, controls the vehicle and execute lane change.
Optionally, the control module is also used to control the vehicle when the vehicle front does not detect barrier
Accelerate so that the speed of the vehicle is restored to the preset vehicle speed.
Optionally, the control module is also used in the vehicle in bend when driving, control the vehicle with current
Speed adaptive cruise traveling.
Optionally, the control module is also used in the signal for receiving gas pedal, is controlled the vehicle maintenance and is worked as
Preceding state, and control sending prompt information.
According to another aspect of the present disclosure, a kind of vehicle is also provided, which includes above-described control device.
Through the above technical solutions, detect whether the vehicle front has barrier during vehicle adaptive cruise,
When having detected barrier, according to the movement velocity of spacing, the barrier between the barrier and the vehicle with
The minimum distance of the lane line in lane where the absolute difference of the preset vehicle speed of the vehicle and the barrier and the vehicle
To be provided the case where controlling the adaptive cruise of the vehicle, thus encounter barrier during adaptive cruise for vehicle
A kind of effective control strategy, has ensured traffic safety to a certain extent.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the flow chart according to a kind of adaptive cruise control method of embodiment of the disclosure；
Fig. 2 is the flow chart according to the adaptive cruise control method of another embodiment of the disclosure；
Fig. 3 is the flow chart according to a kind of method for exiting vehicle adaptive cruise of embodiment of the disclosure；
Fig. 4 is the flow chart according to a kind of method into vehicle adaptive cruise of embodiment of the disclosure；
Fig. 5 is the schematic block diagram according to a kind of adaptive cruise control device of embodiment of the disclosure.
Description of symbols
10 detection of obstacles module, 20 control module
100 control devices
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
The embodiment of the present disclosure provides a kind of adaptive cruise control method, as shown in Figure 1, this method may include step
Rapid S101 and step S102.
In step s101, whether detection vehicle front has barrier.
Wherein, the method for detecting barrier can be through laser radar and/or millimetre-wave radar etc. to vehicle front one
Set a distance is detected.
In step s 102, when detecting that the vehicle front has barrier, according to the barrier and the vehicle
Between spacing, the preset vehicle speed of the movement velocity of the barrier and the vehicle absolute difference and the barrier and institute
The minimum distance of the lane line in vehicle place lane is stated to control the adaptive cruise of the vehicle.
Wherein, the absolute difference of the movement velocity of the barrier and the preset vehicle speed of the vehicle refers to the obstacle
The absolute value of the difference of the movement velocity of object and the preset vehicle speed of the vehicle.
Wherein, the minimum distance of the lane line in lane where the barrier and the vehicle refer to the barrier away from
The distance between a bit nearest from the lane line and the lane line.In this way, even if the barrier is irregularly shaped object,
Also can accurately judge whether remaining lane width can allow the vehicle to pass through in the lane.
Any of lane line described in the obstacle distance mentioned in step S102 recently is between the lane line
Distance can be obtained by vehicle-mounted binocular camera.The fortune of spacing, the barrier between the barrier and the vehicle
The absolute difference of dynamic speed and the preset vehicle speed of the vehicle can be obtained by laser radar and millimetre-wave radar etc..Wherein swash
Optical radar and millimetre-wave radar etc. are installed in vehicle front side.
It will be apparent to a skilled person that laser radar recited above, millimetre-wave radar and vehicle-mounted binocular phase
Machine and its acquisition modes are only examples.The embodiment of the present disclosure is to the spacing between the barrier and the vehicle, the barrier
Lane where hindering the absolute difference and the barrier and the vehicle of the movement velocity of object and the preset vehicle speed of the vehicle
The acquisition tool and mode of the minimum distance of lane line with no restrictions, as long as acquisition can be completed.
Through the above technical solutions, vehicle is encountered during adaptive cruise when having barrier, it can be according to the barrier
Hinder the preset vehicle speed of spacing between object and the vehicle, the movement velocity of the barrier and the vehicle absolute difference and
The minimum distance of the lane line in lane where the barrier and the vehicle controls the adaptive cruise of the vehicle, is vehicle
The case where encountering barrier during adaptive cruise provides a kind of effective control strategy, ensures to a certain extent
Traffic safety.And the fatigue driving of driver can be effectively relieved.
Fig. 2 shows the flow chart according to the adaptive cruise control method of the disclosure another embodiment, this method
It may include step S201 to step S210.
In step s 201, judge whether vehicle front has barrier, if nothing, go to step S202；If so, going to step
S203；
In step S202, control vehicle drives at a constant speed according to preset vehicle speed and projected route.Wherein, it is driving at a constant speed
In the process, vehicle-mounted binocular camera can ceaselessly detect lane line information, so that vehicle travels in lane always.
In step S203, it is default to judge whether the spacing between the barrier and the vehicle is greater than or equal to first
Otherwise threshold value, goes to step S204 if so, going to step S205.
In this step, the safety distance threshold in the first preset threshold, that is, vehicle adaptive cruise, this safe distance threshold
Value refers to the minimum distance kept in the case that adaptive cruise vehicle and other objects guarantee safety in normal driving process.
In step 204, control vehicle is braked, so that the spacing between barrier and adaptive cruise vehicle is adjusted
It is whole to more than or be equal to first preset threshold.
In this step, the process that control vehicle is braked can be the letter for sending and motor vehicle braking system being enabled to be braked
Number, wherein motor vehicle braking system can be automatic breaking system (Autonomous Emergency Braking, AEB) and come
At.
In addition, in this step, detecting barrier in the vehicle front lane or having detected other movements
In barrier when may cut this lane, adaptive cruise vehicle can be calculated with before according to the method for the embodiment of the present disclosure first
Possible collision time (Time-to-Collision, TTC) between square barrier is more than setting when the calculated TTC time
Secure threshold when, this also means that the distance between adaptive cruise vehicle and front obstacle be less than adaptive cruise vehicle
Start emergency braking function and bump against required distance threshold to avoid with front obstacle, adaptive cruise vehicle will be controlled at this time
Carry out emergency braking.And if the distance between adaptive cruise vehicle and front obstacle are greater than afore-mentioned distance threshold value but small
In first preset threshold, only needs to control adaptive cruise vehicle braking to realize deceleration purpose at this time, be just enough to avoid
Bump against with front obstacle.
In step S205, judge whether that the speed of barrier is less than the speed of vehicle and the movement velocity and vehicle of barrier
The absolute difference of preset vehicle speed be greater than or equal to the second preset threshold and if so, going to step S209 otherwise, go to step
Rapid S206.
In step S206, judge whether that the speed of barrier is less than the speed of vehicle and the movement velocity and vehicle of barrier
The absolute difference of preset vehicle speed be less than second preset threshold and if so, going to step S207 otherwise, go to step
S208。
In step S207, the speed of vehicle is adjusted to the speed of barrier so that vehicle follow barrier travel and
The distance between vehicle and barrier are preset distance.
In this step, to car speed carry out adjustment be the barrier movement velocity be less than vehicle speed
It, at this moment can be to vehicle and in the case that the preset vehicle speed of the vehicle and the movement velocity of front obstacle are not much different
Speed carries out adjustment appropriate, be allowed to be kept fixed with front obstacle at a distance from and identical speed, follow in the obstacle
It is synchronized in the same direction after object to travel.This makes it possible to avoid adaptive cruise vehicle and front obstacle from bumping against.
In step S208, control vehicle keeps current state.
In this step, it is to be greater than the vehicle in the movement velocity of front obstacle that control vehicle, which keeps current state traveling,
The adaptive cruise that processing method in the case where current vehicle speed, i.e. front obstacle will not influence the vehicle.
In step S209, it is pre- whether the minimum distance of disturbance in judgement object and the lane line in lane where vehicle is greater than third
Threshold value is determined, if so, step S211 is gone to, if not, going to step S210.
In this step, the third predetermined threshold is generally the vehicle width of the vehicle, when ensuring to overtake other vehicles in this lane
The vehicle can pass through.
In step S211, control vehicle is being overtaken other vehicles in lane where the vehicle.
In step S210, control vehicle executes lane change.
In step S211 and S210, control vehicle is overtaking other vehicles and is controlling vehicle execution lane change in lane where the vehicle
Method can be the prior art, such as obtain high-precision cartographic information (including lane route, curvature, slope using ground map sensor
Degree etc.) and high-precision location information (including vehicle location coordinate, course angle etc.), then recycle mobile unit to obtain
State the motion information of vehicle, such as the speed of the vehicle, longitudinal acceleration of the vehicle, vehicle lateral acceleration, vehicle yaw angle
Speed, steering wheel angle, steering wheel angle rate etc. carry out convergence analysis finally by the information obtained to these, to control
The vehicle is made overtake other vehicles in lane or lane change.
Wherein, vehicle location coordinate can pass through global positioning system (Global Positioning System, GPS)
It obtains, can also be obtained by being combined using carrier phase difference technology with global positioning system, it can also be by complete
Ball satellite navigation system (Global Navigation Satellite System, GLONASS), galileo satellite navigation system
(Galileo Satellite Navigation System) and Beidou satellite navigation system (BeiDou Navigation
Satellite System, BDS) etc. obtain.In addition, the speed of the vehicle can be obtained by wheel speed sensors, institute
Stating steering wheel angle can be obtained by torque sensor.
It will be apparent to a skilled person that above-mentioned control vehicle overtake other vehicles in lane or the mode and work of lane change
Tool is only example, the disclosure to the implementation of step S210 and step S211 with no restrictions, as long as can achieve the goal.
Through the above technical solutions, vehicle can be according to different situations when encountering barrier during adaptive cruise
Adaptive cruise is adjusted, possible risk of collision is efficiently avoided, ensure that the safety and essence of adaptive cruise
Parasexuality effectively alleviates the fatigue driving of driver.
In a kind of possible embodiment, had been carried out before adaptive cruise vehicle braking, deceleration, lane change,
Overtake other vehicles any one and lead to the present speed of the vehicle lower than in the case where preset vehicle speed, according to the embodiment of the present disclosure
Method can also include:
When the vehicle front does not detect barrier, controls the vehicle and accelerate, so that the speed of the vehicle
Restore to the preset vehicle speed.
There is a movement velocity to be less than the pre- of the vehicle for example, being previously detected front according to the method for the embodiment of the present disclosure
Determine speed and the absolute difference of its movement velocity and the preset vehicle speed of the vehicle is less than the barrier of the second preset threshold, then controls
The movement velocity of the vehicle deceleration to the barrier is made, and keeps certain distance in the same direction at the same speed at the rear of the barrier
Traveling；During vehicle follows traveling, lane change is had occurred in front obstacle, in this case, is implemented according to the disclosure
The method of example will detect vehicle front without barrier, will control the vehicle at this time and accelerate, so that the vehicle
Restore to preset vehicle speed.
Certainly, it can also be that vehicle is overtaken other vehicles in current lane the case where the vehicle front does not detect barrier
Afterwards, front is without front after barrier such case or vehicle lane change without barrier such case.Both of these case
Under, control process that the vehicle accelerates with it is previously described similar.
Through the above technical solutions, vehicle can be made to disappear during adaptive cruise in the barrier of vehicle front
When can restore the state of normal adaptive cruise at once, provide better guarantee for driving safety, effectively increase from
Adapt to the adaptability of cruise.
In a kind of possible embodiment, can also include: according to the method for the embodiment of the present disclosure
The vehicle in bend when driving, control the vehicle with current vehicle speed adaptive cruise traveling.
Since during negotiation of bends, the detection devices such as laser radar, millimetre-wave radar on vehicle may be lost
The tracking to the front obstacle in this lane is lost, and detects the front obstacle being not belonging in this lane, if at this time still
The adaptive cruise of vehicle is controlled according to method flow shown in Fig. 2, then vehicle can be made to deviate preset route and go with
With the front obstacle being not belonging in this lane, thus danger can be brought to adaptive cruise.And pass through above-mentioned technical side
Case then can make vehicle in the process of negotiation of bends, avoid the danger for deviateing default route, ensured driving safety.
The embodiment of the present disclosure also provides a kind of flow chart of method for exiting vehicle adaptive cruise, as shown in figure 3, the party
Method may include step S303 and step S305.
In step S303, judge whether the signal for receiving gas pedal, when receiving the signal of gas pedal, holds
Row step S305；
In step S305, control vehicle keeps current state, and controls sending prompt information.
Wherein, the mode for issuing prompt information may include any one following or more person: show screen display in the car
Such as the printed words of " to exit adaptive cruise mode, please first stopping stepping on the gas "；Voice prompting；Buzzing prompt；And instruction
Lamp flashing etc..
Through the above technical solution, when receiving the signal of gas pedal, the vehicle can be controlled and keep current
State, and control issue prompt information and it is indirect exit adaptive cruise, this makes it possible to avoid stepping on the gas in driver
In the case of exit vehicle caused by adaptive cruise and instantaneously accelerate, and then vehicle can be effectively prevented from and instantaneously accelerate the row caused
Vehicle safety and accident.
In a kind of possible embodiment, as shown in figure 3, exiting the process of the method for adaptive cruise control also
It may include step S301 and step S304.
In step S301, judges whether to detect that vehicle breaks down, when detecting that vehicle breaks down, execute step
Rapid S304.
In step s 304, it exits adaptive cruise and issues prompt information.
The mode of sending prompt information described in step S304 can be prompted with sending described in above-mentioned steps S305
The mode of information is identical, is also possible to different prompting modes to distinguish to both of these case, so that driver is easy to
Identification.
In a kind of possible embodiment, as shown in figure 3, the method for exiting adaptive cruise control can also wrap
Include step S302 and step S304.
In step s 302, it is pre- to judge whether to detect that steering wheel actual torque with target torque numerical value differs by more than third
If threshold value, and the case where the duration is more than four preset threshold and/or receive brake pedal signal, if it is, executing
Steps described above S304.
Wherein, described to detect that steering wheel actual torque and target torque numerical value differ by more than third predetermined threshold value, and hold
The case where continuous time is more than four preset thresholds thinks there is the case where artificial intervention steering wheel control.The third presets threshold
Value can be 10N.m；4th preset threshold can be 0.8s.
By process shown in Fig. 3, specific restriction is made that the process that exits of adaptive cruise control, effectively
The perfect control strategy of vehicle adaptive cruise in ground, for driving safety provides better guarantee.
In addition, in order to ensure the safety that adaptive cruise drives, the vehicle adaptive cruise of embodiment of the present disclosure offer
The enabling of control method is also conditional.For example, conditions for use may include:
(1) sight is good namely the weather conditions such as non-rain, snow, haze are descended and could be enabled, because only that in this weather feelings
Under condition, the testing result of millimetre-wave radar, laser radar, binocular camera etc. is just reliable；
(2) lane line is clear.If sunlight is excessively strong or light is excessively dim (such as the night of gauge without light source or gauge without light source
In tunnel), lane line possibly can not be detected, can the adaptive cruise safety to vehicle impact.
(3) vehicle location is more accurate.Because work as GPS positioning signal difference (non-RTK state) when, and lane line not by
In the case where detection, vehicle may deviate practical lanes.
The embodiment of the present disclosure also provides a kind of flow chart of method into adaptive cruise control, as shown in figure 4,
This method may include step S401 to S406.
In step S401, judge whether cruise switch state for unlatching and vehicle fault-free, if so, going to step
S402。
In step S402, judge whether parking braking releases, if releasing, goes to step S404；If not releasing,
Go to step S403.
In step S403, control issues the prompt undissolved information of parking braking, then goes to step S402.Wherein,
The prompt information can be various forms of prompt informations, be referred to hereinbefore described prompt information form.
In step s 404, whether current gear is judged at N grades, if going to step S406 at N grades, that is, is entered adaptive
It should cruise；If not going to step S405 at N grades.Wherein, the N grades of neutral gears for generally referring to vehicle.
In step S405, control issues prompt gear not in N grades of information, then goes to step S404.The prompt
The form of information is referred to prompt information form described in step S403.
Wherein, step S402 and the sequence of step S404 can be interchanged, i.e., cruise switch state is judged in step S401
To open and when vehicle fault-free, step S404 can be gone to, then judges that current gear, can at N grades in step s 404
To go to step S402, when finally judging that parking braking releases in step S402, step S406 can be gone to, that is, is entered adaptive
It should cruise.
Through the above technical solution, specific restriction is made that the entrance of vehicle adaptive cruise, it is effectively perfect
The control strategy of vehicle adaptive cruise, for driving safety provides better guarantee.
According to another aspect of the present disclosure, a kind of adaptive cruise control device 100 is also provided, as shown in figure 5, should
Device 100 includes:
Detection of obstacles module 10, for detecting whether the vehicle front has barrier；
Control module 20, for when detection of obstacles module 10 detects that the vehicle front has barrier, according to institute
State spacing, the absolute difference of the movement velocity of the barrier and the preset vehicle speed of the vehicle between barrier and the vehicle
The minimum distance of the lane line in lane where value and the barrier and the vehicle controls the adaptive cruise of the vehicle.
Through the above technical solutions, vehicle is during adaptive cruise, before detection of obstacles module 10 detects vehicle
When there is barrier in side, control module 20 can be according to the fortune of spacing, the barrier between the barrier and the vehicle
The lane line in lane where the absolute difference and the barrier and the vehicle of dynamic speed and the preset vehicle speed of the vehicle
Minimum distance controls the adaptive cruise of the vehicle, encounters the feelings of barrier during adaptive cruise for vehicle in this way
Condition provides a kind of effective control strategy, has ensured traffic safety to a certain extent.
In a kind of possible embodiment, control module 20 according between the barrier and the vehicle spacing,
Where the absolute difference and the barrier and the vehicle of the movement velocity of the barrier and the preset vehicle speed of the vehicle
The minimum distance of the lane line in lane includes: come the adaptive cruise for controlling the vehicle
When the spacing is greater than or equal to the first preset threshold, according to the movement velocity of the barrier and the vehicle
Preset vehicle speed absolute difference and the barrier and the vehicle where lane lane line minimum distance to control
State the adaptive cruise of vehicle.
In a kind of possible embodiment, the control module 20 is according between the barrier and the vehicle
The absolute difference and the barrier of the preset vehicle speed of movement velocity and the vehicle away from, the barrier and the vehicle institute
The adaptive cruise of the vehicle is controlled in the minimum distance of the lane line in lane, comprising:
When spacing between the barrier and the vehicle is less than the first preset threshold, the vehicle system is controlled
It is dynamic, so that the spacing adjusts to more than or equal to first preset threshold.
In a kind of possible embodiment, movement velocity and the vehicle of the control module 20 according to the barrier
The absolute difference of preset vehicle speed and the minimum distance of the barrier and the lane line in lane where the vehicle control
The adaptive cruise of the vehicle, comprising:
The barrier movement velocity be less than the vehicle speed and the barrier movement velocity with it is described
When the absolute difference of the preset vehicle speed of vehicle is greater than or equal to the second preset threshold, according to where the barrier and the vehicle
The minimum distance of the lane line in lane controls the adaptive cruise of the vehicle.
In a kind of possible embodiment, movement velocity and the vehicle of the control module 20 according to the barrier
The absolute difference of preset vehicle speed and the minimum distance of the barrier and the lane line in lane where the vehicle control
The adaptive cruise of the vehicle, comprising:
The barrier movement velocity be less than the vehicle speed and the barrier movement velocity with it is described
When the absolute difference of the preset vehicle speed of vehicle is less than the second preset threshold, the speed of the vehicle is adjusted to the barrier
Movement velocity, so that the vehicle follows, the barrier is travelled and the distance between the vehicle and the barrier are predetermined
Distance.
In a kind of possible embodiment, the control module 20 is according to lane where the barrier and the vehicle
The minimum distance of lane line control the adaptive cruise of the vehicle, comprising:
When the minimum distance of the lane line in lane where the barrier and the vehicle is greater than third predetermined threshold, control
The vehicle is made to overtake other vehicles in lane where the vehicle.
In a kind of possible embodiment, the control module 20 is according to lane where the barrier and the vehicle
The minimum distance of lane line control the adaptive cruise of the vehicle, comprising:
The minimum distance of the lane line in lane is less than or equal to the predetermined threshold of third where the barrier and the vehicle
When value, controls the vehicle and execute lane change.
In a kind of possible embodiment, had been carried out before adaptive cruise vehicle braking, deceleration, lane change,
Overtake other vehicles any one and lead to the present speed of the vehicle control module 20 also used lower than in the case where preset vehicle speed
Accelerate in when the vehicle front does not detect barrier, controlling the vehicle so that the speed of the vehicle restore to
The preset vehicle speed.
In a kind of possible embodiment, the control module 20 is also used in the vehicle in bend when driving,
The vehicle is controlled with current vehicle speed adaptive cruise traveling.
In a kind of possible embodiment, the control module 20 is also used in the signal for receiving gas pedal,
It controls the vehicle and maintains current state, and control sending prompt information.
In a kind of possible embodiment, the control module 20 can be also used for controlling the vehicle entrance and exit
Adaptive learning algorithms.
According to the specific embodiment of modules in the control device 100 of the embodiment of the present disclosure according to the disclosure
It is described in detail in the method for embodiment, details are not described herein again.It is logical
According to another aspect of the present disclosure, a kind of vehicle is also provided, which includes above-described control device 100.
Through the above technical solutions, detect whether the vehicle front has barrier during vehicle adaptive cruise,
When having detected barrier, according to the movement velocity of spacing, the barrier between the barrier and the vehicle with
The minimum distance of the lane line in lane where the absolute difference of the preset vehicle speed of the vehicle and the barrier and the vehicle
To be provided the case where controlling the adaptive cruise of the vehicle, thus encounter barrier during adaptive cruise for vehicle
A kind of effective control strategy, has ensured traffic safety to a certain extent.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (17)
1. a kind of adaptive cruise control method, which is characterized in that this method comprises:
Detect whether the vehicle front has barrier；
When detecting that the vehicle front has barrier, according to the spacing between the barrier and the vehicle, the barrier
Lane where hindering the absolute difference and the barrier and the vehicle of the movement velocity of object and the preset vehicle speed of the vehicle
The minimum distance of lane line controls the adaptive cruise of the vehicle；
Wherein, the spacing according between the barrier and the vehicle, the movement velocity of the barrier and the vehicle
The absolute difference of preset vehicle speed and the minimum distance of the barrier and the lane line in lane where the vehicle control
The adaptive cruise of the vehicle, comprising: preset when the spacing between the barrier and the vehicle is greater than or equal to first
When threshold value, according to the absolute difference and the barrier of the movement velocity of the barrier and the preset vehicle speed of the vehicle and institute
The minimum distance of the lane line in vehicle place lane is stated to control the adaptive cruise of the vehicle；
Wherein, the absolute difference and the obstacle of the movement velocity according to the barrier and the preset vehicle speed of the vehicle
The minimum distance of the lane line in lane where object and the vehicle controls the adaptive cruise of the vehicle, comprising: described
The movement velocity of barrier is less than the speed of the vehicle and the preset vehicle speed of the movement velocity of the barrier and the vehicle
Absolute difference less than the second preset threshold when, the speed of the vehicle is adjusted to the movement velocity of the barrier so that
The vehicle follows the barrier traveling and the distance between the vehicle and the barrier are preset distance.
2. the method according to claim 1, wherein described according between the barrier and the vehicle
The absolute difference and the barrier of the preset vehicle speed of movement velocity and the vehicle away from, the barrier and the vehicle institute
The adaptive cruise of the vehicle is controlled in the minimum distance of the lane line in lane, further includes:
When spacing between the barrier and the vehicle is less than the first preset threshold, controls the vehicle and is braked,
So that the spacing adjusts to more than or equal to first preset threshold.
3. the method according to claim 1, wherein the movement velocity according to the barrier and the vehicle
The absolute difference of preset vehicle speed and the minimum distance of the barrier and the lane line in lane where the vehicle control
The adaptive cruise of the vehicle, further includes:
It is less than the speed of the vehicle and movement velocity and the vehicle of the barrier when the movement velocity of the barrier
The absolute difference of preset vehicle speed when being greater than or equal to the second preset threshold, according to lane where the barrier and the vehicle
The minimum distance of lane line control the adaptive cruise of the vehicle.
4. according to the method described in claim 3, it is characterized in that, described according to lane where the barrier and the vehicle
The minimum distance of lane line control the adaptive cruise of the vehicle, comprising:
When the minimum distance of the lane line in lane where the barrier and the vehicle is greater than third predetermined threshold, institute is controlled
Vehicle is stated to overtake other vehicles in lane where the vehicle.
5. according to the method described in claim 3, it is characterized in that, described according to lane where the barrier and the vehicle
The minimum distance of lane line control the adaptive cruise of the vehicle, comprising:
When the minimum distance of the lane line in lane is less than or equal to third predetermined threshold where the barrier and the vehicle,
It controls the vehicle and executes lane change.
6. according to method described in any claim in claim 2,4 or 5, which is characterized in that this method further include:
When the vehicle front does not detect barrier, controls the vehicle and accelerate, so that the speed of the vehicle is restored
To the preset vehicle speed.
7. the method according to claim 1, which is characterized in that this method further include:
The vehicle in bend when driving, control the vehicle with current vehicle speed adaptive cruise traveling.
8. the method according to claim 1, which is characterized in that this method further include:
In the signal for receiving gas pedal, controls the vehicle and keep current state, and control sending prompt information.
9. a kind of adaptive cruise control device, which is characterized in that the device includes:
Detection of obstacles module, for detecting whether the vehicle front has barrier；
Control module, for when detecting that the vehicle front has barrier, according between the barrier and the vehicle
Spacing, the preset vehicle speed of the movement velocity of the barrier and the vehicle absolute difference and the barrier and the vehicle
The minimum distance of the lane line in lane where controls the adaptive cruise of the vehicle；
Wherein, the control module is according to the movement velocity of spacing, the barrier between the barrier and the vehicle
With the most low coverage of the lane line in lane where the absolute difference of the preset vehicle speed of the vehicle and the barrier and the vehicle
From come the adaptive cruise that controls the vehicle, comprising: when the spacing is greater than or equal to the first preset threshold, according to described
Lane where the absolute difference and the barrier and the vehicle of the movement velocity of barrier and the preset vehicle speed of the vehicle
The minimum distance of lane line control the adaptive cruise of the vehicle；
Wherein, the control module according to the absolute difference of the movement velocity of the barrier and the preset vehicle speed of the vehicle and
The minimum distance of the lane line in lane includes: where the barrier and the vehicle come the adaptive cruise for controlling the vehicle
It is less than the pre- of the speed of the vehicle and movement velocity and the vehicle of the barrier in the movement velocity of the barrier
When determining the absolute difference of speed less than the second preset threshold, the speed of the vehicle is adjusted to the movement speed of the barrier
Degree, so that the vehicle follows, the barrier is travelled and the distance between the vehicle and the barrier are preset distance.
10. device according to claim 9, which is characterized in that the control module is according to the barrier and the vehicle
The absolute difference and the barrier of the preset vehicle speed of the movement velocity and vehicle of spacing, the barrier between with
The minimum distance of the lane line in lane where the vehicle controls the adaptive cruise of the vehicle, further includes:
When spacing between the barrier and the vehicle is less than the first preset threshold, controls the vehicle and is braked,
So that the spacing adjusts to more than or equal to first preset threshold.
11. device according to claim 9, which is characterized in that the control module is fast according to the movement of the barrier
Degree and the absolute difference of the preset vehicle speed of the vehicle and the barrier are nearest with the lane line in vehicle place lane
Distance controls the adaptive cruise of the vehicle, further includes:
It is less than the speed of the vehicle and movement velocity and the vehicle of the barrier when the movement velocity of the barrier
The absolute difference of preset vehicle speed when being greater than or equal to the second preset threshold, according to lane where the barrier and the vehicle
The minimum distance of lane line control the adaptive cruise of the vehicle.
12. device according to claim 11, which is characterized in that the control module is according to the barrier and the vehicle
The minimum distance of the lane line in lane where controls the adaptive cruise of the vehicle, comprising:
When the minimum distance of the lane line in lane where the barrier and the vehicle is greater than third predetermined threshold, institute is controlled
Vehicle is stated to overtake other vehicles in lane where the vehicle.
13. device according to claim 11, which is characterized in that the control module is according to the barrier and the vehicle
The minimum distance of the lane line in lane where controls the adaptive cruise of the vehicle, further includes:
When the minimum distance of the lane line in lane is less than or equal to third predetermined threshold where the barrier and the vehicle,
It controls the vehicle and executes lane change.
14. device described in any claim in 0,12 or 13 according to claim 1, which is characterized in that the control module
It is also used to when the vehicle front does not detect barrier, controls the vehicle and accelerate, so that the speed of the vehicle is extensive
The multiple extremely preset vehicle speed.
15. the device according to any claim in claim 9 to 13, which is characterized in that the control module is also used
In the vehicle in bend when driving, control the vehicle with current vehicle speed adaptive cruise traveling.
16. the device according to any claim in claim 9 to 13, which is characterized in that the control module is also used
Current state is maintained in the signal for receiving gas pedal, controlling the vehicle, and controls sending prompt information.
17. a kind of vehicle, which is characterized in that the vehicle includes:
The control device according to any claim in claim 9 to 16.
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Address after: 102206 Beijing Changping District Shahe town Shayang Road, Niu Niu Wan Village North Applicant after: Beiqi Futian Automobile Co., Ltd. Address before: 102206, Beijing, Shahe Town, Changping District Road, sand Yang Applicant before: Beiqi Futian Automobile Co., Ltd. |
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