CN110606086A - Follow-up parking protection method and device, vehicle and storage medium - Google Patents
Follow-up parking protection method and device, vehicle and storage medium Download PDFInfo
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- CN110606086A CN110606086A CN201910906830.3A CN201910906830A CN110606086A CN 110606086 A CN110606086 A CN 110606086A CN 201910906830 A CN201910906830 A CN 201910906830A CN 110606086 A CN110606086 A CN 110606086A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 238000004590 computer program Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000003213 activating effect Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- 231100000817 safety factor Toxicity 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
Abstract
The embodiment of the invention discloses a follow-up parking protection method, a follow-up parking protection device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring a follow-up stop protection signal; if the vehicle follows the stop based on the cruise system, judging whether the vehicle meets a preset following stop protection condition, wherein the following stop protection condition is set based on at least one of a vehicle real-time state, a monitoring system or a vehicle safety state; if it is determined that the vehicle is in a full heel stop protection condition, the electric brake system is activated and the cruise system is exited to control the vehicle to remain stopped. According to the technical scheme provided by the embodiment of the invention, through the arrangement of the follow-up parking protection condition, after the vehicle is in follow-up parking and before the cruise system is quitted, the vehicle can be controlled to be in a stop state continuously through the braking system of the vehicle, so that the vehicle is prevented from sliding, and the driving safety in the follow-up parking state during automatic cruise is further improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle cruise control, in particular to a follow-up stop protection method, a follow-up stop protection device, a vehicle and a storage medium.
Background
With the development of science and technology and the progress of automobile industry, automobiles become necessary transportation tools for each family, and the adaptive cruise control function in the advanced driving assistance function is gradually accepted by the public. In the self-adaptive cruise control, a driver can separate feet from the control of a brake pedal and an accelerator pedal, the self-adaptive cruise control system is in full charge of longitudinal acceleration and deceleration of a vehicle, and when a front vehicle stops, the system can control the vehicle to stop following the front vehicle, so that the driving fatigue of the driver is relieved, and the driving comfort and the entertainment are enhanced.
In the existing adaptive cruise technical scheme, the processes of perception identification, path planning, execution control and the like are mostly embodied in the vehicle running process, and when relevant safety conditions and system conditions are not met, the cruise can be quitted and a driver takes over the vehicle. However, after the vehicle is stopped, if the relevant system fails or the driver and the passengers trigger relevant signals by mistake, the vehicle can directly exit the adaptive cruise system, so that the problem of vehicle sliding can occur, traffic accidents are caused, and potential safety hazards exist.
Disclosure of Invention
The embodiment of the invention provides a follow-up parking protection method, a follow-up parking protection device, a vehicle and a storage medium, which are used for optimizing a follow-up parking protection scheme in a vehicle cruise control process and realizing vehicle slipping avoidance in a follow-up parking state.
In a first aspect, an embodiment of the present invention provides a follow-up stop protection method, including:
acquiring a follow-up stop protection signal;
if the vehicle follows the stop based on the cruise system, judging whether the vehicle meets a preset following stop protection condition, wherein the following stop protection condition is set based on at least one of a vehicle real-time state, a monitoring system or a vehicle safety state;
and if the vehicle is determined to meet the follow-up stop protection condition, activating an electronic braking system and quitting the cruise system so as to control the vehicle to keep stopped.
In a second aspect, an embodiment of the present invention further provides a follow-up stop protection device, including:
the signal acquisition module is used for acquiring a follow-up stop protection signal;
the follow-up stop protection judging module is used for judging whether the vehicle meets a preset follow-up stop protection condition or not if the vehicle follows the stop based on a cruise system, wherein the follow-up stop protection condition is set based on at least one of a vehicle real-time state, a monitoring system or a vehicle safety state;
and the follow-up stop protection module is used for starting an electronic braking system and quitting the cruise system to control the vehicle to keep stopping if the vehicle is determined to meet the follow-up stop protection condition.
Further, the signal acquisition module is specifically configured to:
and if the target vehicle in front of the vehicle is determined to stop moving, acquiring the follow-up stop protection signal.
Further, the device also comprises;
and the follow-up stop control module is used for controlling the vehicle based on the stop time of the target vehicle in front of the vehicle after the vehicle is followed and stopped based on the cruise system.
Further, the follow-up stop control module is specifically configured to:
if the stop time of the target vehicle in front of the vehicle is less than or equal to a first set time, controlling the vehicle to follow forward when the target vehicle moves forward;
and if the stop time is longer than the first set time and shorter than or equal to a second set time, sending forward prompt information when the target vehicle moves forward.
Further, the follow-up and stop protection module is specifically configured to:
and if the stopping time is greater than the second set time, determining that the follow-up stop protection condition is met.
Further, the follow-up and stop protection module is specifically configured to:
and if the vehicle meets any one of the follow-up stop protection conditions, determining that the vehicle meets the follow-up stop protection conditions.
Further, the follow-up stop protection condition includes at least one of a state of the vehicle being a rolling state, a failure of the monitoring system, and an abnormal state of the vehicle safety element.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the stall protection method as described above.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the tracking protection method described above.
According to the embodiment of the invention, the follow-up stop protection signal is obtained, if the vehicle follows the stop based on the cruise system, whether the vehicle meets the preset follow-up stop protection condition is judged, and if the vehicle is determined to be full of the heel stop protection condition, the electronic braking system is started and the cruise system is quitted, so that the vehicle is controlled to keep stopping. According to the technical scheme provided by the embodiment of the invention, the follow-up parking protection condition can be set based on at least one of the real-time state of the vehicle, the state of a monitoring system or a safety part of the vehicle, and through the setting of the follow-up parking protection condition, after the vehicle is followed and stopped and before the cruise system is withdrawn, the vehicle can be controlled to be continuously in the stop state through the braking system of the vehicle, the vehicle sliding is avoided, and the driving safety in the follow-up parking state during automatic cruise is further improved.
Drawings
Fig. 1 is a flowchart of a follow-up stop protection method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a follow-stop protection method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a follow-up stop protection device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a following stop protection method according to a first embodiment of the present invention, where the present embodiment is applicable to a situation where a vehicle is protected in a following stop state during an automatic cruise, and the method may be executed by a following stop protection device, which may be implemented in software and/or hardware, and the following stop protection device may be configured in the vehicle. As shown in fig. 1, the method may specifically include:
and S110, acquiring a follow-stop protection signal.
The follow-up stop protection signal is an instruction for protecting the vehicle in the follow-up stop state.
Specifically, when the vehicle is in a starting state of a cruise system, a plurality of front targets are identified through a built-in intelligent monocular camera, and the motion information of the front target vehicle of the vehicle is determined through identification and judgment, wherein the motion information can comprise information such as vehicle speed, acceleration and distance between the vehicle and the vehicle; if it is determined that the target vehicle in front of the vehicle stops moving, that is, the speed of the target vehicle continuously decreases until the speed is zero, the current vehicle may also decelerate under the control of the cruise system and keep a safe distance with the target vehicle until the vehicle stops, and it is determined that the follow-up and stop protection signal is acquired.
And S120, if the vehicle is stopped based on the cruise system, judging whether the vehicle meets a preset follow-up stop protection condition.
The cruise system is a system which is arranged in the vehicle and can realize acceleration and deceleration control of a brake and an accelerator and transverse control of a steering wheel, the vehicle can automatically finish running along with a front vehicle in the lane under the control of the cruise system, the frequent control of a control movable pedal and an accelerator pedal and the light lap of two hands of a driver can be realized by separating the feet of the driver from the steering wheel, and the short separation of the two hands from the steering wheel can also be realized.
The follow-up parking protection condition can be set based on at least one of vehicle safety factors such as a vehicle real-time state, a monitoring system or a vehicle safety member state, and the condition content included by the specific follow-up parking protection condition can be set according to actual conditions, so that the flexibility is improved. In this embodiment, the follow-up stop protection condition includes at least one of a vehicle slipping state, a failure of the monitoring system, and an abnormal state of the vehicle safety element.
Specifically, if the vehicle is stopped based on the cruise system, all devices and systems of the vehicle are detected, and whether the vehicle meets the preset follow-up stop protection condition or not is judged according to the returned detection information.
And S130, if the condition that the heel of the vehicle is full is determined, starting the electronic braking system and quitting the cruise system so as to control the vehicle to keep stopping.
Wherein determining the full heel stop protection condition of the vehicle may include: and if any one of the vehicle full heel stop protection conditions is met, determining the vehicle full heel stop protection condition, or if the stop time of the target vehicle in front of the vehicle is greater than a second set time, determining the full heel stop protection condition. Since the follow-up stop protection condition may include a plurality of conditions, when any one of the conditions is satisfied, that is, any safety condition of the vehicle is not satisfied, it is determined that the vehicle needs follow-up stop protection. And the second set time is set for the target vehicle, when the stop time of the target vehicle is greater than the second set time, the target vehicle is determined to need to be stopped for a long time and not to be started in a short time, and at the moment, the full heel stop protection condition is determined. It is understood that the specific value of the second setting time can be set according to the actual situation, for example, the second setting time can be 3 minutes.
Specifically, if a vehicle full heel stop protection condition is determined, an Electronic braking system (EPB) is activated by an Electronic Stability Control (ESC) in the vehicle to keep the vehicle at a stop to prevent rolling, and then the cruise system is exited and the vehicle is manually controlled by the driver until the target vehicle ahead begins to move.
For example, when the intelligent forward-looking camera system identifies a fault of a related system, the system may light the limited indicator lamp to remind a user, or when the intelligent forward-looking camera system identifies that a related safety condition is not satisfied, such as a door of a driver is opened or a safety belt of the driver is unfastened, or when the intelligent forward-looking camera system identifies that the related safety condition is not satisfied and a normal state is not recovered within a third set time, such as conditions that other three doors except a main driving door are opened, a cabin cover is opened, an ESC is closed or a driving mode selects a non-cruise function mode, an instruction may be sent to the ESC to execute electronic parking control, so as to ensure that the whole vehicle does not roll, and the cruise function exits. The third setting time may be set according to actual conditions, and for example, the third setting time is 3 minutes. Further, if the vehicle does not return to the normal state within the third set time, the driver can also operate the accelerator to drive the vehicle forward and exit the cruise system. In addition, when the vehicle detects backward slope sliding after following parking, the cruise system can control the vehicle to maintain a static state after the whole vehicle is braked, the ESC continuously maintains pressure to avoid vehicle sliding, and at the moment, when a driver stops cruising by stepping on the brake or stepping on the accelerator to drive the vehicle forwards, the cruise system is stopped, and the vehicle is forbidden to be used in the driving cycle.
In addition, in the following and stopping process of the vehicle, when the intelligent forward-looking camera system identifies that the subjective intention of the driver actively controls the vehicle, such as stepping on a brake, pressing a cruise cancel switch and the like, the driver can quit the cruise system and take over the vehicle.
According to the technical scheme, the follow-up stop protection signal is obtained, if the vehicle is in follow-up stop based on the cruise system, whether the vehicle meets the preset follow-up stop protection condition or not is judged, and if the vehicle is determined to be full of the heel stop protection condition, the electronic braking system is started and the cruise system is quitted, so that the vehicle is controlled to keep stopping. According to the technical scheme provided by the embodiment of the invention, the follow-up parking protection condition can be set based on at least one of the real-time state of the vehicle, the state of a monitoring system or a safety part of the vehicle, and through the setting of the follow-up parking protection condition, after the vehicle is followed and stopped and before the cruise system is withdrawn, the vehicle can be controlled to be continuously in the stop state through the braking system of the vehicle, the vehicle sliding is avoided, and the driving safety in the follow-up parking state during automatic cruise is further improved.
Example two
Fig. 2 is a flowchart of a follow-stop protection method according to a second embodiment of the present invention. On the basis of the above embodiments, the present embodiment further optimizes the follow-up stop protection method. Correspondingly, as shown in fig. 2, the method of the embodiment specifically includes:
and S210, acquiring a follow-stop protection signal.
And S220, determining that the vehicle is stopped based on the cruise system.
Specifically, when the preceding vehicle stops moving, the vehicle may stop following the preceding vehicle under the control of the cruise system. Thereafter, S230 and S260 may be simultaneously performed, that is, continuously determining whether the vehicle needs the follow-up stop protection while controlling the vehicle based on the stop time of the target vehicle in front of the vehicle after the follow-up stop of the vehicle.
And S230, judging whether the vehicle meets a preset follow-up stop protection condition.
Wherein the follow-up stop protection condition is set based on at least one of a vehicle real-time state, a monitoring system or a vehicle safety member state. Further, the follow-up stop protection condition may include at least one of a state of the vehicle being a rolling state, a malfunction of the monitoring system, and a state of the vehicle safety member being abnormal.
Specifically, if any one of the vehicle full heel stop protection conditions or the stop time of the target vehicle in front of the vehicle is greater than the second set time, it is determined that the vehicle full heel stop protection condition requires the follow-up stop protection, and S240 is executed, otherwise, S250 is executed.
And S240, starting the electronic braking system and exiting the cruise system to control the vehicle to keep stopped.
And S250, keeping the vehicle in a stop state.
And if the vehicle is not full of the heel stop protection condition, namely when the vehicle does not need the heel stop protection and the cruise system does not need to exit, keeping the vehicle in a stop state by the cruise system until the front target vehicle starts to move.
And S260, controlling the vehicle based on the stop time of the target vehicle in front of the vehicle.
Specifically, determining a stop time of a target vehicle ahead of the vehicle, controlling the vehicle based on the stop time of the target vehicle ahead of the vehicle, may include: if the stop time of the target vehicle in front of the vehicle is less than or equal to the first set time, controlling the vehicle to follow forward when the target vehicle moves forward; and if the stop time is longer than the first set time and shorter than or equal to the second set time, sending forward prompt information when the target vehicle moves forward. And when the target vehicle stopping time is longer than the second set time, determining that the target vehicle needs to stop for a long time and cannot start in a short time, determining that the heel stop protection condition is met, and returning to the step S240.
The first setting time is far shorter than the second setting time, and both the first setting time and the second setting time can be set according to actual conditions, for example, the first setting time can be set to 3 seconds, and the second setting time can be set to 3 minutes. The forward prompt message may be presented to the user in the form of voice or text, for example, the forward prompt message may be "need to lightly step on the accelerator or press the RESUME key to RESUME cruise", and the forward prompt message may prompt the driver to activate the cruise system again to RESUME the cruise function.
According to the technical scheme, the follow-up stop protection signal is obtained, the follow-up stop of the vehicle based on the cruise system is determined, whether the vehicle meets the preset follow-up stop protection condition or not is continuously judged in the process of controlling the vehicle based on the stop time of the target vehicle in front of the vehicle, if yes, the electronic braking system is started and the cruise system is quitted, so that the vehicle is controlled to keep stopping, and if not, the vehicle keeps a stop state. According to the technical scheme provided by the embodiment of the invention, the follow-up parking protection condition can be set based on at least one of the real-time state of the vehicle, the state of a monitoring system or a safety part of the vehicle, and through the setting of the follow-up parking protection condition, after the vehicle is followed and stopped and before the cruise system is withdrawn, the vehicle can be controlled to be continuously in the stop state through the braking system of the vehicle, the vehicle sliding is avoided, and the driving safety in the follow-up parking state during automatic cruise is further improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a follow-up stop protection device according to a third embodiment of the present invention, which is applicable to a situation where a vehicle is protected in a follow-up stop state during automatic cruise. The follow-up stop protection device provided by the embodiment of the invention can execute the follow-up stop protection method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
The device specifically includes a signal acquisition module 310, a following-stopping protection judgment module 320 and a following-stopping protection module 330, wherein:
a signal obtaining module 310, configured to obtain a follow-stop protection signal;
the follow-up stop protection judging module 320 is used for judging whether the vehicle meets a preset follow-up stop protection condition if the vehicle follows the stop based on the cruise system, wherein the follow-up stop protection condition is set based on at least one of a vehicle real-time state, a monitoring system or a vehicle safety piece state;
and a heel-stop protection module 330 for activating the electric brake system and exiting the cruise system to control the vehicle to remain stopped if it is determined that the vehicle is in a heel-stop protection condition.
According to the embodiment of the invention, the follow-up stop protection signal is obtained, if the vehicle follows the stop based on the cruise system, whether the vehicle meets the preset follow-up stop protection condition is judged, and if the vehicle is determined to be full of the heel stop protection condition, the electronic braking system is started and the cruise system is quitted, so that the vehicle is controlled to keep stopping. According to the technical scheme provided by the embodiment of the invention, the follow-up parking protection condition can be set based on at least one of the real-time state of the vehicle, the state of a monitoring system or a safety part of the vehicle, and through the setting of the follow-up parking protection condition, after the vehicle is followed and stopped and before the cruise system is withdrawn, the vehicle can be controlled to be continuously in the stop state through the braking system of the vehicle, the vehicle sliding is avoided, and the driving safety in the follow-up parking state during automatic cruise is further improved.
Further, the signal obtaining module 310 is specifically configured to:
and if the target vehicle in front of the vehicle is determined to stop moving, acquiring a follow-up stop protection signal.
Further, the device also comprises;
and the follow-up stop control module is used for controlling the vehicle based on the stop time of the target vehicle in front of the vehicle after the vehicle is followed and stopped based on the cruise system.
Further, the follow-stop control module is specifically configured to:
if the stop time of the target vehicle in front of the vehicle is less than or equal to the first set time, controlling the vehicle to follow forward when the target vehicle moves forward;
and if the stop time is longer than the first set time and shorter than or equal to the second set time, sending forward prompt information when the target vehicle moves forward.
Further, the follow-up/stop protection module 330 is specifically configured to:
and if the stopping time is greater than the second set time, determining a full heel stopping protection condition.
Further, the follow-up/stop protection module 330 is specifically configured to:
and if any one of the vehicle full heel stop protection conditions, determining the vehicle full heel stop protection condition.
Further, the follow-up stop protection condition includes at least one of a state of the vehicle being a rolling state, a failure of the monitoring system, and a state of the vehicle safety member being abnormal.
The follow-up stop protection device provided by the embodiment of the invention can execute the follow-up stop protection method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary vehicle 412 suitable for use in implementing embodiments of the present invention. The vehicle 412 shown in fig. 4 is only an example and should not impose any limitation on the functionality and scope of use of embodiments of the present invention.
As shown in fig. 4, the vehicle 412 is in the form of a general-purpose vehicle. The components of the vehicle 412 may include, but are not limited to: a vehicle body (not shown), one or more processors 416, a memory device 428, and a bus 418 that connects the various system components (including the memory device 428 and the processors 416).
Bus 418 represents one or more of any of several types of bus structures, including a memory device bus or memory device controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
The vehicle 412 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by vehicle 412 and includes both volatile and nonvolatile media, removable and non-removable media.
Storage 428 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 430 and/or cache Memory 432. The vehicle 412 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 434 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk such as a Compact disk Read-Only Memory (CD-ROM), Digital Video disk Read-Only Memory (DVD-ROM) or other optical media may be provided. In these cases, each drive may be connected to bus 418 by one or more data media interfaces. Storage 428 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 440 having a set (at least one) of program modules 442 may be stored, for instance, in storage 428, such program modules 442 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 442 generally perform the functions and/or methodologies of the described embodiments of the invention.
The vehicle 412 may also communicate with one or more external devices 414 (e.g., keyboard, pointing terminal, display 424, etc.), with one or more terminals that enable a user to interact with the vehicle 412, and/or with any terminals (e.g., network card, modem, etc.) that enable the vehicle 412 to communicate with one or more other computing terminals. Such communication may occur via input/output (I/O) interfaces 422. Also, the vehicle 412 may communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), and/or a public Network, such as the internet) via the Network adapter 420. As shown in FIG. 4, the network adapter 420 communicates with the other modules of the vehicle 412 over the bus 418. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the vehicle 412, including but not limited to: microcode, end drives, Redundant processors, external disk drive Arrays, RAID (Redundant Arrays of Independent Disks) systems, tape drives, and data backup storage systems, among others.
The processor 416 executes various functional applications and data processing by executing programs stored in the storage device 428, for example, implementing the follow-up protection method provided by the embodiment of the present invention, the method includes:
acquiring a follow-up stop protection signal;
if the vehicle follows the stop based on the cruise system, judging whether the vehicle meets a preset following stop protection condition, wherein the following stop protection condition is set based on at least one of a vehicle real-time state, a monitoring system or a vehicle safety state;
if it is determined that the vehicle is in a full heel stop protection condition, the electric brake system is activated and the cruise system is exited to control the vehicle to remain stopped.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a follow-up parking protection method provided in an embodiment of the present invention, where the method includes:
acquiring a follow-up stop protection signal;
if the vehicle follows the stop based on the cruise system, judging whether the vehicle meets a preset following stop protection condition, wherein the following stop protection condition is set based on at least one of a vehicle real-time state, a monitoring system or a vehicle safety state;
if it is determined that the vehicle is in a full heel stop protection condition, the electric brake system is activated and the cruise system is exited to control the vehicle to remain stopped.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or terminal. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A follow-up stop protection method, comprising:
acquiring a follow-up stop protection signal;
if the vehicle follows the stop based on the cruise system, judging whether the vehicle meets a preset following stop protection condition, wherein the following stop protection condition is set based on at least one of a vehicle real-time state, a monitoring system or a vehicle safety state;
and if the vehicle is determined to meet the follow-up stop protection condition, activating an electronic braking system and quitting the cruise system so as to control the vehicle to keep stopped.
2. The method of claim 1, wherein the obtaining the follow-stop protection signal comprises:
and if the target vehicle in front of the vehicle is determined to stop moving, acquiring the follow-up stop protection signal.
3. The method of claim 1, wherein the vehicle follows a stop based cruise system, further comprising:
controlling the vehicle based on a stop time of a target vehicle ahead of the vehicle.
4. The method of claim 3, wherein controlling the vehicle based on a stop time of a target vehicle ahead of the vehicle comprises:
if the stop time of the target vehicle in front of the vehicle is less than or equal to a first set time, controlling the vehicle to follow forward when the target vehicle moves forward;
and if the stop time is longer than the first set time and shorter than or equal to a second set time, sending forward prompt information when the target vehicle moves forward.
5. The method of claim 4, wherein determining that the vehicle satisfies the follow-up protection condition comprises:
and if the stopping time is greater than the second set time, determining that the follow-up stop protection condition is met.
6. The method of claim 1, wherein determining that the vehicle satisfies the follow-up protection condition comprises:
and if the vehicle meets any one of the follow-up stop protection conditions, determining that the vehicle meets the follow-up stop protection conditions.
7. The method of claim 1, wherein the follow-up stop protection condition comprises at least one of a state of the vehicle being a rolling state, the monitoring system being malfunctioning, and the vehicle safety feature being in an abnormal state.
8. A follow-stop protection device, comprising:
the signal acquisition module is used for acquiring a follow-up stop protection signal;
the follow-up stop protection judging module is used for judging whether the vehicle meets a preset follow-up stop protection condition or not if the vehicle follows the stop based on a cruise system, wherein the follow-up stop protection condition is set based on at least one of a vehicle real-time state, a monitoring system or a vehicle safety state;
and the follow-up stop protection module is used for starting an electronic braking system and quitting the cruise system to control the vehicle to keep stopping if the vehicle is determined to meet the follow-up stop protection condition.
9. A vehicle, characterized in that the vehicle comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the follow-stop protection method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the follow-up stop protection method according to any one of claims 1 to 7.
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