CN110435661A - A kind of method for handover control and relevant apparatus of car travel mode - Google Patents
A kind of method for handover control and relevant apparatus of car travel mode Download PDFInfo
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- CN110435661A CN110435661A CN201910764854.XA CN201910764854A CN110435661A CN 110435661 A CN110435661 A CN 110435661A CN 201910764854 A CN201910764854 A CN 201910764854A CN 110435661 A CN110435661 A CN 110435661A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000003044 adaptive effect Effects 0.000 claims abstract description 22
- 238000004590 computer program Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 5
- 238000012549 training Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 235000008434 ginseng Nutrition 0.000 description 3
- WHGYBXFWUBPSRW-FOUAGVGXSA-N beta-cyclodextrin Chemical compound OC[C@H]([C@H]([C@@H]([C@H]1O)O)O[C@H]2O[C@@H]([C@@H](O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O3)[C@H](O)[C@H]2O)CO)O[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@@H]3O[C@@H]1CO WHGYBXFWUBPSRW-FOUAGVGXSA-N 0.000 description 2
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- 230000006872 improvement Effects 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
This application discloses a kind of method for handover control of car travel mode, determine corrected parameter including the group types according to belonging to from vehicle driver；There are when front truck for current lane, obtain under constant-speed traveling mode from vehicle setting speed, from vehicle actual travel speed, front truck speed of operation and practical spacing from vehicle and front truck, and according to it is described from vehicle setting speed, described be calculated from vehicle actual travel speed, the front truck speed of operation and the corrected parameter with reference to spacing；It is described with reference to spacing to judge whether the practical spacing is less than or equal to；If the practical spacing be less than or equal to it is described refer to spacing, by from the driving mode of vehicle by the constant-speed traveling pattern switching to adaptive follow the mode.The method for handover control can preferably adapt to front truck operating condition, meet being accustomed to speeding for different driving groups.Disclosed herein as well is a kind of switching control of car travel mode, equipment and computer readable storage mediums, all have above-mentioned technical effect.
Description
Technical field
This application involves technical field of vehicle control, in particular to a kind of method for handover control of car travel mode；Also
It is related to switching control, equipment and the computer readable storage medium of a kind of car travel mode.
Background technique
Currently, traditional vehicle mode switching mode is to preset a fixed spacing for semi-automatic driving vehicle,
When the spacing between vehicle and front truck, which reaches this, fixes spacing, just starting adaptively follows cruise mode.The operating condition of this method
Adaptability is limited, can not well adapt to light damped condition, deep damped condition and emergency braking operating condition, cannot be according to operating condition
Criticality come adaptively changing Following Car away from.In addition, traditional method, which is unable to satisfy the different groups that drive, follows habit.
Therefore, how front truck operating condition is preferably adapted to, meet different driving groups has become those skilled in the art urgently with habit of speeding
Technical problem to be solved.
Summary of the invention
The purpose of the application is to provide a kind of method for handover control of car travel mode, can preferably adapt to preceding turner
Condition meets being accustomed to speeding for different driving groups；The another object of the application is to provide a kind of switching control of car travel mode
Device, equipment and computer readable storage medium processed, all have above-mentioned technical effect.
In order to solve the above technical problems, this application provides a kind of method for handover control of car travel mode, comprising:
The group types according to belonging to from vehicle driver determine corrected parameter；
Current lane there are when front truck, obtain under constant-speed traveling mode from vehicle setting speed, from vehicle actual travel speed,
Front truck speed of operation and practical spacing from vehicle and front truck, and according to it is described from vehicle setting speed, it is described from vehicle actual travel
Speed, the front truck speed of operation and the corrected parameter are calculated with reference to spacing；
It is described with reference to spacing to judge whether the practical spacing is less than or equal to；
If the practical spacing be less than or equal to it is described refer to spacing, by from the driving mode of vehicle by the constant-speed traveling
Pattern switching is to adaptive follow the mode.
Optionally, it is described according to from vehicle setting speed, described from vehicle actual travel speed, the front truck speed of operation
And the corrected parameter is calculated with reference to spacing, comprising:
Based on d=η dtemp,λ=(2vset-vp)/vfIt obtains described with reference to spacing；
Wherein, d indicates described and refers to spacing, and η indicates that the corrected parameter, λ indicate correction factor, τhWhen indicating fixed
Away from vfIndicate described from vehicle actual travel speed, d0Indicate zero-speed spacing, vsetIt indicates described and sets speed, v from vehiclepIndicate institute
State front truck speed of operation.
Optionally, the group types include careful group, radical group and new hand group；And work as the group types
When for careful group, η=1；When the group types are radical group, the η < 1；When the group types are new
When hand group, the η > 1.
Optionally, further includes:
It acquires the driving parameters from vehicle and updates the group types according to the driving parameters.
Optionally, it is described by from the driving mode of vehicle by before the constant-speed traveling pattern switching to adaptive follow the mode also
Include:
Judge that the practical spacing is less than or equal to whether the number with reference to spacing reaches preset times；
If reaching the preset times, by from the driving mode of vehicle by the constant-speed traveling pattern switching to adaptively with
With mode.
Optionally, further includes:
Judge whether the practical spacing is less than limiting safe spacing；
If the practical spacing be less than the limiting safe spacing, by from the driving mode of vehicle by the constant-speed traveling mould
Formula or the adaptive follow the mode switch to automatic emergency brake mode.
In order to solve the above technical problems, present invention also provides a kind of switching controls of car travel mode, comprising:
Corrected parameter determining module determines corrected parameter for the group types according to belonging to from vehicle driver；
With reference to spacing computing module, for current lane, there are when front truck, obtain setting under constant-speed traveling mode from vehicle
Speed is set from vehicle actual travel speed, front truck speed of operation and practical spacing from vehicle and front truck, and according to described from vehicle
Speed described is calculated from vehicle actual travel speed, the front truck speed of operation and the corrected parameter with reference to spacing；
First judgment module, for judging it is described with reference to spacing whether the practical spacing is less than or equal to；
First switching module, if be equal to for the practical spacing it is described with reference to spacing, by from the driving mode of vehicle by
The constant-speed traveling pattern switching is to adaptive follow the mode.
Optionally, described to be specifically used for being based on reference to spacing computing moduledtemp=λ τh·vf+d0, λ
=(2vset-vp)/vfIt obtains described with reference to spacing；Wherein, d indicates described and refers to spacing, and η indicates that the corrected parameter, λ indicate
Correction factor, τhAway from v when indicating fixedfIndicate described from vehicle actual travel speed, d0Indicate zero-speed spacing, vsetDescribed in expression
Speed, v are set from vehiclepIndicate the front truck speed of operation.
In order to solve the above technical problems, present invention also provides a kind of switch devices of car travel mode, comprising:
Memory, for storing computer program；
Processor realizes the switching control side of car travel mode as described above when for executing the computer program
The step of method.
In order to solve the above technical problems, the computer can present invention also provides a kind of computer readable storage medium
It reads storage medium and is stored with computer program, the computer program realizes vehicle driving as described above when being executed by processor
The step of method for handover control of mode.
The method for handover control of car travel mode provided herein, including the group according to belonging to from vehicle driver
Type determines corrected parameter；Current lane there are when front truck, obtain under constant-speed traveling mode from vehicle setting speed, from vehicle reality
Speed of operation, front truck speed of operation and the practical spacing from vehicle and front truck, and according to described from vehicle setting speed, described from vehicle
Actual travel speed, the front truck speed of operation and the corrected parameter are calculated with reference to spacing；Judge the practical vehicle
Away from whether be less than or equal to it is described refer to spacing；If the practical spacing be less than or equal to it is described refer to spacing, will be from vehicle
Driving mode is by the constant-speed traveling pattern switching to adaptive follow the mode.
As it can be seen that the method for handover control of car travel mode provided herein, from vehicle driving process, synthesis is certainly
Vehicle actual travel speed, front truck speed of operation are calculated with from vehicle setting speed with reference to spacing, thus compared with using fixed vehicle
Away from conventional solution, method for handover control provided herein can preferably adapt to front truck operating condition.In addition, due to ginseng
The determination factor for examining spacing further includes corrected parameter corresponding with the group types belonging to the vehicle driver, and belonging to driver
Group types be according to driver with determined by speeding to be accustomed to, therefore, can preferably meet it is different drive groups with
It speeds to be accustomed to.
Switching control, equipment and the computer readable storage medium of car travel mode provided herein,
All have above-mentioned technical effect.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the application
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow diagram of the method for handover control of car travel mode provided by the embodiment of the present application；
Fig. 2 is a kind of schematic diagram of the switching control of car travel mode provided by the embodiment of the present application；
Fig. 3 is a kind of schematic diagram of the switching control of car travel mode provided by the embodiment of the present application.
Specific embodiment
The core of the application is to provide a kind of method for handover control of car travel mode, can preferably adapt to preceding turner
Condition meets being accustomed to speeding for different driving groups；Another core of the application is to provide a kind of switching control of car travel mode
Device, equipment and computer readable storage medium processed, all have above-mentioned technical effect.
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Referring to FIG. 1, Fig. 1 is a kind of stream of the method for handover control of car travel mode provided by the embodiment of the present application
Journey schematic diagram；Refering to what is shown in Fig. 1, the method for handover control includes:
S101: the group types according to belonging to from vehicle driver determine corrected parameter；
Specifically, can be acquired in advance from vehicle driver to meet being accustomed to speeding for different driving groups when driving vehicle
The driving parameters of vehicle obtain training sample set, and then carry out neural metwork training based on this training sample set, by training
The study of sample set and depth excavate training and obtain classifier and obtain group's class belonging to the vehicle driver based on this classifier
Type, so can the group types according to belonging to from vehicle driver determine corresponding corrected parameter.
Wherein, above-mentioned driving parameters may include the change rate that the driving parameters include accelerator open degree and accelerator open degree,
Brake depth and brake the change rate of depth, bring to a halt, it is anxious accelerate and the number of zig zag, the unit time is averaged electric consumption
Amount or oilconsumption.Group types can be divided into careful group, radical group and new hand group three classes.
In addition, in a kind of specific embodiment above-mentioned group types may include careful group, radical group and
New hand group.Specifically, according to different drivers follow habit by group types be divided into careful group, radical group and
New hand group three classes.The Following Car of careful group away from be less than the Following Car of new hand group away from, greater than radical group Following Car away from.
For example, the Following Car of group is away from being 6 meters with caution, the Following Car of radical group is away from being 4 meters, and the Following Car of new hand group is away from being 8 meters.
In addition, can also include acquisition from the driving parameters of vehicle and according to the row in a kind of specific embodiment
It sails parameter and updates the group types.
Specifically, follow habit that may change from vehicle driver, as a result, timely and effectively to adapt to drive from vehicle
Member's follows habit, also according to collectable actual driving parameters update from vehicle group types belonging to the vehicle driver,
For example, being updated to careful group by new hand group.
S102: current lane there are when front truck, obtain under constant-speed traveling mode from vehicle setting speed, from vehicle actual travel
Speed, front truck speed of operation and the practical spacing from vehicle and front truck, and according to it is described from vehicle setting speed, it is described from vehicle reality
Speed of operation, the front truck speed of operation and the corrected parameter are calculated with reference to spacing；
Specifically, in the process of moving from vehicle, it is sustainable from vehicle if current lane does not have front truck from lane where vehicle
Keep constant-speed traveling mode.And from lane where vehicle there are when front truck, the vehicle including neighboring track is cut from lane where vehicle
Situation, obtain constant-speed traveling mode under from vehicle setting speed, from vehicle actual travel speed, front truck speed of operation and from vehicle with
The practical spacing of front truck, and then on the basis of the group types according to belonging to from vehicle driver determine corrected parameter, according to certainly
Vehicle actual travel speed, front truck speed of operation are calculated from vehicle setting speed and corrected parameter with reference to spacing；
Wherein, described above to set speed from vehicle according to, is described from vehicle reality in a kind of specific embodiment
It may include based on d=η that speed of operation, the front truck speed of operation and the corrected parameter, which are calculated with reference to spacing,
dtemp,λ=(2vset-vp)/vfIt obtains described with reference to spacing；Wherein, d indicates described and refers to vehicle
Away from η indicates that the corrected parameter, λ indicate correction factor, τhAway from v when indicating fixedfIndicate described from vehicle actual travel speed,
D0 indicates zero-speed spacing, vsetIt indicates described and sets speed, v from vehiclepIndicate the front truck speed of operation.
In above formula, η indicates corrected parameter, and the corrected parameter is corresponding with group types, and different group types correspond to
Different corrected parameters.As a kind of specific embodiment, when group types are careful group, η=1；Work as group types
When for radical group, η < 1；When group types are new hand group, η > 1.
It is to be appreciated that the numerical value of the above-mentioned corrected parameter when group types are by careful group is only that the application mentions
A kind of embodiment supplied, and not exclusive restriction, can carry out adaptable setting according to actual needs.In addition, for group
The specific value of corrected parameter when type is radical group and the corrected parameter when group types are new hand group, this Shen
It does not do unique restriction equally please, otherness setting can be carried out in conjunction with actual needs.
S103: judge whether practical spacing is less than or equal to reference to spacing；
S104: if practical spacing be equal to refer to spacing, by from the driving mode of vehicle by constant-speed traveling pattern switching to from
Adapt to follow the mode.
Specifically, this step is further intended to judge the reality from vehicle and front truck on the basis of being calculated with reference to spacing
Whether border spacing is less than or equal to reference to spacing, will be from the driving mode of vehicle if the practical spacing of the two, which is equal to, refers to spacing
By constant-speed traveling pattern switching to adaptive follow the mode.If practical spacing, which is greater than, refers to spacing, can continue to keep from vehicle
Driving mode is constant-speed traveling mode.
Further, for prevent due to pattern switching it is frequent caused by vehicle jitter phenomenon, in a kind of specific embodiment party
In formula, it is above-mentioned by from the driving mode of vehicle by that can also include that judgement is real before constant-speed traveling pattern switching to adaptive follow the mode
Whether border spacing reaches preset times less than or equal to the number with reference to spacing；It, will be from the traveling of vehicle if reaching preset times
Mode is by constant-speed traveling pattern switching to adaptive follow the mode.
Specifically, a reference number of times, i.e. preset times can be preset, for example, 10 is inferior.In engineer application, determine
When reaching preset times less than or equal to the number with reference to spacing from the practical spacing of vehicle and front truck, just start switching control at this time
Device, will be from vehicle by constant-speed traveling pattern switching to adaptive follow the mode.Otherwise, it keeps from vehicle being constant-speed traveling mode.
Further, in a kind of specific embodiment, further includes: judge whether practical spacing is less than limiting safe vehicle
Away from；If practical spacing is less than limiting safe spacing, by from the driving mode of vehicle by constant-speed traveling pattern switching or adaptively with
With pattern switching to automatic emergency brake mode.
Specifically, from vehicle driving process, can also practical spacing of the real-time judge between vehicle and front truck whether be less than
Limiting safe spacing, the limiting safe spacing is close to above-mentioned zero-speed spacing, and as its specific value, setting according to actual needs is
It can.Once will can switch immediately from the driving mode of vehicle it was found that being less than limiting safe spacing from the practical spacing of vehicle and front truck
To automatic emergency brake mode, including by constant-speed traveling pattern switching to automatic emergency brake mode in by adaptive follow the mode
Switch to two kinds of situations of automatic emergency brake mode.
It further,, can if front truck sails out of or lane change after it will switch to adaptive follow the mode from the driving mode of vehicle
Constant-speed traveling mode will be reverted to from the driving mode of vehicle.And automatic emergency brake mould will be being switched to from the driving mode of vehicle
It, can also be when changing from the practical spacing of vehicle and front truck and be greater than limiting safe spacing after formula, it will be from the traveling mould of vehicle
Formula is switched to automatic emergency brake mode or constant-speed traveling mode.
It is comprehensive from vehicle driving process in conclusion the method for handover control of car travel mode provided herein
It closes from vehicle actual travel speed, front truck speed of operation and is calculated with from vehicle setting speed with reference to spacing, thus compared with using solid
Determine the conventional solution of spacing, method for handover control provided herein can preferably adapt to front truck operating condition.In addition, by
In the determination factor of reference spacing further include corrected parameter corresponding with the group types belonging to the vehicle driver, and driver
Affiliated group types are therefore, can preferably to meet different driving groups according to the identified with speeding to be accustomed to of driver
Be accustomed to speeding.
Present invention also provides a kind of switching control of car travel mode, the device described below can with it is upper
The method of text description corresponds to each other reference.It please refers to shown in Fig. 2, which includes:
Corrected parameter determining module 10 determines corrected parameter for the group types according to belonging to from vehicle driver；
Setting under constant-speed traveling mode from vehicle is obtained for current lane there are when front truck with reference to spacing computing module 20
Determine speed, from vehicle actual travel speed, front truck speed of operation and practical spacing from vehicle and front truck, and is set according to described from vehicle
Determine speed, described be calculated from vehicle actual travel speed, the front truck speed of operation and the corrected parameter with reference to spacing；
First judgment module 30, for judging it is described with reference to spacing whether the practical spacing is less than or equal to；
First switching module 40, if be less than or equal to for the practical spacing it is described with reference to spacing, will be from the row of vehicle
Mode is sailed by the constant-speed traveling pattern switching to adaptive follow the mode.
On the basis of the above embodiments, it as a kind of specific embodiment, can specifically be used with reference to spacing computing module
In based on d=η dtemp, dtemp=λ τh·vf+d0, λ=(2vset-vp)/vfIt obtains described with reference to spacing；Wherein, d is indicated
Described to refer to spacing, η indicates that the corrected parameter, λ indicate correction factor, τhAway from v when indicating fixedfIndicate described from vehicle reality
Speed of operation, d0Indicate zero-speed spacing, vsetIt indicates described and sets speed, v from vehiclepIndicate the front truck speed of operation.
On the basis of the above embodiments, as a kind of specific embodiment, can also include:
Update module, for acquiring the driving parameters from vehicle and updating the group types according to the driving parameters.
On the basis of the above embodiments, as a kind of specific embodiment, can also include:
Second judgment module, for judging that the practical spacing is less than or equal to whether the number with reference to spacing reaches
Preset times；If reaching the preset times, the first switching module 40 will be cut from the driving mode of vehicle by constant-speed traveling mode
Shift to adaptive follow the mode.
On the basis of the above embodiments, as a kind of specific embodiment, can also include:
Third judgment module, for judging whether the practical spacing is less than limiting safe spacing；
Second switching module, if for the practical spacing less than the limiting safe spacing, it will be from the traveling mould of vehicle
Formula switches to automatic emergency brake mode by the constant-speed traveling mode or the adaptive follow the mode.
It present invention also provides a kind of switch device of car travel mode, please refers to shown in Fig. 3, the equipment packet
It includes:
Memory 1, for storing computer program；
Processor 2 realizes following step when for executing the computer program:
The group types according to belonging to from vehicle driver determine corrected parameter；Current lane obtains constant speed there are when front truck
Under driving mode from vehicle setting speed, from vehicle actual travel speed, front truck speed of operation and practical vehicle from vehicle and front truck
Away from, and according to it is described from vehicle setting speed, it is described from vehicle actual travel speed, the front truck speed of operation and the amendment ginseng
Number is calculated with reference to spacing；It is described with reference to spacing to judge whether the practical spacing is less than or equal to；If the practical spacing
Spacing is referred to less than or equal to described, then will follow mould to adaptive by the constant-speed traveling pattern switching from the driving mode of vehicle
Formula.
The embodiment of the above method is please referred to for the introduction of equipment provided herein, the application does not do superfluous herein
It states.
Present invention also provides a kind of computer readable storage medium, calculating is stored on the computer readable storage medium
Machine program, the computer program realize following step when being executed by processor:
The group types according to belonging to from vehicle driver determine corrected parameter；Current lane obtains constant speed there are when front truck
Under driving mode from vehicle setting speed, from vehicle actual travel speed, front truck speed of operation and practical vehicle from vehicle and front truck
Away from, and according to it is described from vehicle setting speed, it is described from vehicle actual travel speed, the front truck speed of operation and the amendment ginseng
Number is calculated with reference to spacing；It is described with reference to spacing to judge whether the practical spacing is less than or equal to；If the practical spacing
Spacing is referred to less than or equal to described, then will follow mould to adaptive by the constant-speed traveling pattern switching from the driving mode of vehicle
Formula.
The computer readable storage medium may include: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Above method embodiment, the application are please referred to for the introduction of computer readable storage medium provided herein
This will not be repeated here.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment, set
For standby and computer readable storage medium, since it is corresponded to the methods disclosed in the examples, so the comparison of description is simple
Single, reference may be made to the description of the method.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond scope of the present application.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
It above can to the method for handover control of car travel mode provided herein, device, equipment and computer
Storage medium is read to be described in detail.Specific case used herein explains the principle and embodiment of the application
It states, the description of the example is only used to help understand the method for the present application and its core ideas.It should be pointed out that for this skill
For the those of ordinary skill in art field, under the premise of not departing from the application principle, several change can also be carried out to the application
Into and modification, these improvement and modification also fall into the protection scope of the claim of this application.
Claims (10)
1. a kind of method for handover control of car travel mode characterized by comprising
The group types according to belonging to from vehicle driver determine corrected parameter；
Current lane there are when front truck, obtain under constant-speed traveling mode from vehicle setting speed, from vehicle actual travel speed, front truck
Speed of operation and practical spacing from vehicle and front truck, and according to it is described from vehicle setting speed, it is described from vehicle actual travel speed,
The front truck speed of operation and the corrected parameter are calculated with reference to spacing；
It is described with reference to spacing to judge whether the practical spacing is less than or equal to；
If the practical spacing be less than or equal to it is described refer to spacing, by from the driving mode of vehicle by the constant-speed traveling mode
Switch to adaptive follow the mode.
2. method for handover control according to claim 1, which is characterized in that described to set speed, institute from vehicle according to
It states and is calculated from vehicle actual travel speed, the front truck speed of operation and the corrected parameter with reference to spacing, comprising:
Based on d=η dtemp, dtemp=λ τh·vf+d0, λ=(2vset-vp)/vfIt obtains described with reference to spacing；
Wherein, d indicates described and refers to spacing, and η indicates that the corrected parameter, λ indicate correction factor, τhAway from v when indicating fixedfTable
Show described from vehicle actual travel speed, d0Indicate zero-speed spacing, vsetIt indicates described and sets speed, v from vehiclepIndicate the preceding garage
Sail speed.
3. method for handover control according to claim 2, which is characterized in that the group types include careful group, swash
Into group and new hand group；And when the group types are careful group, η=1；When the group types are radical
When group, the η < 1；When the group types are new hand group, the η > 1.
4. method for handover control according to claim 3, which is characterized in that further include:
It acquires the driving parameters from vehicle and updates the group types according to the driving parameters.
5. method for handover control according to any one of claims 1 to 4, which is characterized in that it is described will be from the traveling mould of vehicle
Before formula is by the constant-speed traveling pattern switching to adaptive follow the mode further include:
Judge that the practical spacing is less than or equal to whether the number with reference to spacing reaches preset times；
If reaching the preset times, mould will be followed to adaptive by the constant-speed traveling pattern switching from the driving mode of vehicle
Formula.
6. method for handover control according to claim 5, which is characterized in that further include:
Judge whether the practical spacing is less than limiting safe spacing；
If the practical spacing is less than the limiting safe spacing, by from the driving mode of vehicle by the constant-speed traveling mode or
The adaptive follow the mode switches to automatic emergency brake mode.
7. a kind of switching control of car travel mode characterized by comprising
Corrected parameter determining module determines corrected parameter for the group types according to belonging to from vehicle driver；
With reference to spacing computing module, for current lane there are when front truck, obtain under constant-speed traveling mode from vehicle setting speed,
From vehicle actual travel speed, front truck speed of operation and practical spacing from vehicle and front truck, and according to it is described from vehicle setting speed,
It is described to be calculated from vehicle actual travel speed, the front truck speed of operation and the corrected parameter with reference to spacing；
First judgment module, for judging it is described with reference to spacing whether the practical spacing is less than or equal to；
First switching module, if be less than or equal to for the practical spacing it is described with reference to spacing, will be from the driving mode of vehicle
By the constant-speed traveling pattern switching to adaptive follow the mode.
8. switching control according to claim 7, which is characterized in that described specifically to be used with reference to spacing computing module
In: it is based on d=η dtemp, dtemp=λ τh·vf+d0, λ=(2vset-vp)/vfIt obtains described with reference to spacing；Wherein, d is indicated
Described to refer to spacing, η indicates that the corrected parameter, λ indicate correction factor, τhAway from v when indicating fixedfIndicate described from vehicle reality
Speed of operation, d0Indicate zero-speed spacing, vsetIt indicates described and sets speed, v from vehiclepIndicate the front truck speed of operation.
9. a kind of switch device of car travel mode characterized by comprising
Memory, for storing computer program；
Processor realizes such as car travel mode as claimed in any one of claims 1 to 6 when for executing the computer program
Method for handover control the step of.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer journey
Sequence realizes cutting such as car travel mode as claimed in any one of claims 1 to 6 when the computer program is executed by processor
The step of changing control method.
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