CN111114539A - Vehicle and safe driving method and device of vehicle - Google Patents
Vehicle and safe driving method and device of vehicle Download PDFInfo
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- CN111114539A CN111114539A CN201811270437.1A CN201811270437A CN111114539A CN 111114539 A CN111114539 A CN 111114539A CN 201811270437 A CN201811270437 A CN 201811270437A CN 111114539 A CN111114539 A CN 111114539A
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- 230000008859 change Effects 0.000 claims abstract description 58
- 238000001514 detection method Methods 0.000 claims description 17
- 238000012544 monitoring process Methods 0.000 claims description 10
- 238000000926 separation method Methods 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 description 20
- 230000008569 process Effects 0.000 description 20
- 230000006399 behavior Effects 0.000 description 9
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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
- 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
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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
- 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
- B60W30/162—Speed limiting therefor
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Abstract
The invention discloses a vehicle and a safe driving method and a safe driving device of the vehicle, wherein a first vehicle runs in an automatic cruise mode, and the method comprises the following steps: controlling a first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes; when the second vehicle is detected to be changing lanes, controlling to acquire the minimum inter-vehicle distance between the second vehicle and the first vehicle in the target direction; wherein the target direction is a direction perpendicular to a direction of travel of the first vehicle; identifying whether a driving risk exists between the second vehicle and the first vehicle according to the minimum inter-vehicle distance; and if the driving risk exists, performing deceleration control on the first vehicle so as to enable the second vehicle to complete lane change. The method can be used for carrying out deceleration control on the vehicle when the vehicle has driving risks, so that collision or friction of the vehicle is avoided, the safety of the vehicle is improved, and the safety of a user is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle and a safe driving method and device of the vehicle.
Background
With the development of vehicle intelligence, more and more driving assistance functions are applied to a vehicle, for example, in the driving process of the vehicle, there are generally assistance functions such as Adaptive Cruise Control (ACC), Lane departure warning (Lane departure Aid, LKA), Blind Spot Detection (BSD), and the like; in the process of backing a vehicle, there are generally backing assistance functions such as a backing Side warning (RSDS) and an Automatic Parking Assistance (APA). Currently, the ACC has enabled automatic start-stop functionality of the vehicle.
However, when traffic jams occur, if vehicles in adjacent lanes are forced to change lanes and drivers of current vehicles cannot brake or decelerate in time, collision or friction is easy to happen, safety accidents are caused, safety of the vehicles is greatly reduced, and urgent solution is needed.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a safe driving method for a vehicle, which can perform active deceleration control on a vehicle when the vehicle is traveling in an auto-cruise mode and there is a driving risk between the vehicle and a lane-change vehicle, so as to avoid collision or friction of the vehicle, improve the safety of the vehicle, and improve the safety of a user.
A second object of the present invention is to provide a safe driving apparatus for a vehicle.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose an electronic device.
A fifth object of the invention is to propose a non-transitory computer-readable storage medium.
In order to achieve the above object, a first aspect of the present invention provides a safe driving method for a vehicle, where a first vehicle runs in an auto cruise mode, the method including: controlling the first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes; when the second vehicle is detected to be changing lanes, controlling to acquire a minimum inter-vehicle distance between the second vehicle and the first vehicle in a target direction; a direction in which the target direction is perpendicular to a traveling direction of the first vehicle; identifying whether a driving risk exists between the second vehicle and the first vehicle according to the minimum inter-vehicle distance; and if the driving risk exists, performing deceleration control on the first vehicle so as to enable the second vehicle to complete lane change.
According to an embodiment of the present invention, the identifying whether there is a driving risk between the second vehicle and the first vehicle according to the vehicle speed of the second vehicle and the minimum inter-vehicle distance includes: judging whether the minimum vehicle distance is smaller than a preset safety distance or not; identifying that a first level of driving risk exists between the first vehicle and the second vehicle if the minimum vehicle separation is less than the safe separation; if the minimum vehicle distance is larger than or equal to the safe distance, acquiring a first vehicle speed of the first vehicle and a second vehicle speed of the second vehicle; identifying that a second level of driving risk exists between the first vehicle and the second vehicle if the first vehicle speed is greater than the second vehicle speed.
According to an embodiment of the present invention, the safe driving method of a vehicle further includes: identifying that there is no driving risk between the first vehicle and the second vehicle if the first vehicle speed is less than or equal to the second vehicle speed; controlling the first vehicle to maintain the first vehicle speed for driving; monitoring and acquiring real-time lane change information of the second vehicle, and controlling and displaying the real-time lane change information; and when the second vehicle is detected to be successfully lane-changed, controlling the first vehicle to follow the second vehicle as a vehicle following target.
According to an embodiment of the present invention, the deceleration control of the first vehicle includes: when the driving risk is the first level of driving risk, controlling the first vehicle to brake emergently to stop the first vehicle; and when the driving risk is the driving risk of the second level, controlling the first vehicle to run at a reduced speed.
According to an embodiment of the present invention, the safe driving method of a vehicle further includes: controlling to detect whether the lane change of the second vehicle is successful or not during the deceleration of the first vehicle; when the second vehicle is detected to be successful in lane changing, controlling the first vehicle to follow the second vehicle as a vehicle following target; and when the second vehicle is detected to be still changing the lane, controlling the first vehicle to continue decelerating.
According to an embodiment of the present invention, after controlling the first vehicle to continue decelerating after detecting that the second vehicle is still changing lanes, the method further includes: when the first vehicle speed of the first vehicle is zero, the first vehicle is controlled to enter an automatic start-stop mode, the following vehicle distance between the first vehicle and the second vehicle is updated in real time, and when the following vehicle distance is larger than the vehicle distance threshold value, the first vehicle is controlled to recover to the automatic cruise mode.
According to one embodiment of the invention, the controlling the first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes comprises: acquiring a first vehicle speed of the first vehicle and a vehicle following distance of the first vehicle; judging whether the first vehicle speed is less than a preset vehicle speed threshold value or not; judging whether the following vehicle distance is smaller than a preset vehicle distance threshold value or not; and if the first vehicle speed is less than the vehicle speed threshold value and the following vehicle distance is less than the vehicle distance threshold value, controlling the first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes.
According to an embodiment of the present invention, the safe driving method of a vehicle further includes: if the first vehicle speed is greater than or equal to the vehicle speed threshold value and the following vehicle distance is smaller than the vehicle distance threshold value, controlling the first vehicle to be braked emergently; if the first vehicle speed is greater than or equal to the vehicle speed threshold value, and the following vehicle distance is greater than or equal to the vehicle distance threshold value, or if the first vehicle speed is less than the vehicle speed threshold value, and the following vehicle distance is greater than or equal to the vehicle distance threshold value, the first vehicle is controlled to maintain the self-adaptive cruise mode to run.
According to the safe driving method of the vehicle, the first vehicle can be controlled to detect whether a second vehicle in an adjacent lane is changing lanes or not, when the second vehicle is detected to be changing lanes, the minimum vehicle-to-vehicle distance between the second vehicle and the first vehicle in the target direction is controlled to be obtained, and whether a driving risk exists between the second vehicle and the first vehicle or not is identified according to the minimum vehicle-to-vehicle distance; and if the driving risk exists, performing deceleration control on the first vehicle so as to enable the second vehicle to complete lane change. Therefore, the vehicle does not need to be adjusted in hardware architecture, the vehicle can be driven in an automatic cruise mode, when the driving risk between the vehicle and a lane-changing vehicle is identified, the vehicle is subjected to active deceleration control, the collision or friction of the vehicle is avoided, the collision accident caused by the forced lane-changing non-civilized driving behavior of a congested road section when the vehicle is in an adaptive cruise mode is avoided, the safety of the vehicle is improved, and the safety of a user is improved.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a safe driving apparatus for a vehicle, including: the lane change detection module is used for controlling the first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes; the acquisition module is used for controlling and acquiring the minimum vehicle-to-vehicle distance between the second vehicle and the first vehicle in the target direction when the second vehicle is detected to be changing lanes; a direction in which the target direction is perpendicular to a traveling direction of the first vehicle; the risk identification module is used for identifying whether a driving risk exists between the second vehicle and the first vehicle according to the minimum inter-vehicle distance; and the control module is used for performing deceleration control on the first vehicle if the driving risk exists.
According to an embodiment of the present invention, the risk identification module 300 is specifically configured to: judging whether the minimum vehicle distance is smaller than a preset safety distance or not; identifying that a first level of driving risk exists between the first vehicle and the second vehicle if the minimum vehicle separation is less than the safe separation; if the minimum vehicle distance is larger than or equal to the safe distance, acquiring a first vehicle speed of the first vehicle and a second vehicle speed of the second vehicle; identifying that a second level of driving risk exists between the first vehicle and the second vehicle if the first vehicle speed is greater than the second vehicle speed.
According to an embodiment of the present invention, the risk identification module 300 is further configured to: identifying that there is no driving risk between the first vehicle and the second vehicle if the first vehicle speed is less than or equal to the second vehicle speed; the control module 400 is further configured to control the first vehicle to maintain the first vehicle speed, and control the first vehicle to follow the second vehicle as a vehicle following target when the second vehicle lane change is detected to be successful; the lane change detection module 100 is further configured to acquire real-time lane change information of the second vehicle, and control and display the real-time lane change information.
According to an embodiment of the present invention, the control module 400 is specifically configured to: when the driving risk is the first level of driving risk, controlling the first vehicle to brake emergently to stop the first vehicle; and when the driving risk is the driving risk of the second level, controlling the first vehicle to run at a reduced speed.
According to an embodiment of the present invention, the lane change detection module 100 is further configured to: controlling to detect whether the lane change of the second vehicle is successful or not during the deceleration of the first vehicle; the control module 400 is further configured to control the first vehicle to follow the second vehicle as a following target after detecting that the lane change of the second vehicle is successful, and control the first vehicle to continue to run at a reduced speed after detecting that the second vehicle is still changing lanes.
According to an embodiment of the invention, the control module 400 is further configured to: after the second vehicle is taken as a vehicle following target to follow, when the second vehicle speed of the second vehicle is zero, controlling the first vehicle to enter an automatic starting mode, updating a vehicle following distance between the first vehicle and the second vehicle in real time, and when the vehicle following distance is larger than the vehicle following distance threshold value, controlling the first vehicle to return to an automatic cruise mode.
According to an embodiment of the present invention, the lane change detection module 100 is specifically configured to: acquiring a first vehicle speed of the first vehicle and a vehicle following distance of the first vehicle; judging whether the first vehicle speed is less than a preset vehicle speed threshold value or not; judging whether the following vehicle distance is smaller than a preset vehicle distance threshold value or not; and if the first vehicle speed is less than the vehicle speed threshold value and the following vehicle distance is less than the vehicle distance threshold value, controlling the first vehicle to go out to detect whether a second vehicle in an adjacent lane is changing lanes.
According to an embodiment of the present invention, the lane change detection module 100 is further configured to: if the first vehicle speed is greater than or equal to the vehicle speed threshold value and the following vehicle distance is smaller than the vehicle distance threshold value, controlling the first vehicle to be braked emergently; if the first vehicle speed is greater than or equal to the vehicle speed threshold value, and the following vehicle distance is greater than or equal to the vehicle distance threshold value, or if the first vehicle speed is less than the vehicle speed threshold value, and the following vehicle distance is greater than or equal to the vehicle distance threshold value, the first vehicle is controlled to maintain the self-adaptive cruise mode to run.
According to the safe driving device of the vehicle, the lane change detection module can be improved to control the first vehicle to detect whether the second vehicle in the adjacent lane is changing the lane or not, the acquisition module is used for controlling to acquire the minimum vehicle-to-vehicle distance between the second vehicle and the first vehicle in the target direction when the second vehicle is detected to be changing the lane, the risk identification module is used for identifying whether the driving risk exists between the second vehicle and the first vehicle or not according to the minimum vehicle-to-vehicle distance, and the control module is used for carrying out deceleration control on the first vehicle when the driving risk exists so as to enable the second vehicle to complete lane change. Therefore, hardware architecture adjustment is not needed to be carried out on the vehicle, when the vehicle runs in an automatic cruise mode and the running risk between the vehicle and the lane-changing vehicle is identified, the vehicle is subjected to active deceleration control, collision or friction of the vehicle is avoided, collision accidents caused by the fact that the vehicle is in an adaptive cruise mode and forced lane-changing non-civilized driving behaviors of congested road sections are avoided, the safety of the vehicle is improved, and the safety of users is improved.
In order to achieve the above object, a third aspect of the present invention provides a vehicle including the safe driving apparatus for a vehicle described above.
According to the vehicle provided by the embodiment of the invention, through the safe driving device of the vehicle, hardware architecture adjustment is not required to be carried out on the vehicle, when the vehicle runs in the automatic cruise mode and the running risk between the vehicle and the lane-changing vehicle is identified, the vehicle is subjected to active deceleration control, the collision or friction of the vehicle is avoided, the collision accident caused by the forced lane-changing unconscious driving behavior of a congested road section when the vehicle is in the adaptive cruise mode is avoided, the safety of the vehicle is improved, and the safety of a user is improved.
In order to achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory, a processor; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for implementing the above-mentioned safe driving method of the vehicle.
According to the electronic device of the embodiment of the invention, by executing the safe driving method of the vehicle, hardware architecture adjustment is not required to be carried out on the vehicle, when the vehicle runs in the automatic cruise mode and the driving risk between the vehicle and the lane-changing vehicle is identified, the vehicle is subjected to active deceleration control, collision or friction of the vehicle is avoided, collision accidents caused by the compulsory lane-changing non-civilized driving behavior of a congested road section when the vehicle is in the adaptive cruise mode are avoided, the safety of the vehicle is improved, and the safety of a user is improved.
To achieve the above object, a fifth embodiment of the present invention proposes a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned safe driving method of the vehicle.
According to the non-transitory computer readable storage medium of the embodiment of the invention, by executing the safe driving method of the vehicle, the hardware architecture adjustment of the vehicle is not needed, when the vehicle runs in the automatic cruise mode and the driving risk between the vehicle and the lane change vehicle is identified, the vehicle can be subjected to active deceleration control, so that the collision or friction of the vehicle is avoided, the collision accident caused by the compulsory lane change unconscious driving behavior of the congested road section when the vehicle is in the adaptive cruise mode is avoided, the safety of the vehicle is improved, and the safety of a user is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a safe driving method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a forced lane change of a vehicle on both sides of an adaptive cruise process according to an embodiment of the present invention;
FIG. 3 is a block diagram of hardware for lane change monitoring of vehicles in adjacent lanes in adaptive cruise, according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle lane change in an adjacent lane according to one embodiment of the present invention;
FIG. 5 is a flow chart of a method of safe driving of a vehicle according to one embodiment of the present invention;
fig. 6 is a block schematic diagram of a safe driving apparatus of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In actual life, when a vehicle is driven on an urban road, traffic congestion is often encountered, self-adaptive cruise can realize automatic starting and stopping of the vehicle according to starting and stopping of the vehicle ahead, but the vehicle is forced to change lanes when the vehicle encounters an adjacent lane in the cruise process, a driver needs to be prompted in an alarm mode, and if the driver does not reflect timely or has misoperation, collision or scratch easily occurs.
The following describes a vehicle and a safe driving method and device of the vehicle according to an embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a safe driving method of a vehicle according to an embodiment of the present invention.
And S1, controlling the first vehicle to detect whether the second vehicle in the adjacent lane is changing lanes.
In one embodiment of the invention, a first vehicle can run in an automatic cruise mode, and with reference to fig. 2 and 3, fig. 2 shows a scene that other vehicles forcibly change lanes on the left side and the right side of the vehicle during a vehicle-starting adaptive cruise process and during a low-speed following process. The application scenario is used with two restrictions: (1) clear lane lines are necessary; (2) bidirectional road conditions with an isolation belt in the middle. FIG. 3 is a hardware basis for implementing a lane change monitoring function for vehicles in adjacent lanes in adaptive cruise, wherein the ACC is used to detect whether the vehicle is in a cruise state; an Anti-lock braking system (ABS for short) can be used for acquiring and calculating vehicle speed information; the APA is used for identifying an effective parking space by utilizing a vehicle-mounted sensor (generally an ultrasonic radar or a camera), controlling a vehicle to park through a control unit, and can be used for monitoring the position and the speed of the detected vehicle; IFC may be used to detect whether a vehicle in an adjacent lane crosses a lane line; an Electronic Stability Program (ESP) can be used as a controller for braking and decelerating the vehicle; the IP is a controller for displaying the lane changing process of the vehicle and executing the acousto-optic alarm device; the controller A is a controller for realizing the lane change monitoring of vehicles in adjacent lanes.
It should be noted that the controller a may be a stand-alone control unit, or may be integrated into other electronic control units, such as IFC, ACC, etc.; the hardware CAN be flexibly connected, for example, the connection CAN be realized through a Controller Area Network (CAN)/CAN fd (CAN with Flexible Data-Rate, CAN fd for short) bus, or through an ethernet; the IP Display controller may be an IP, or may be an onboard Display such as a Head Up Display (HUD) or a HUT.
Specifically, when the vehicle runs in the automatic cruise mode, the controller A can update the following target through the ACC, and can acquire the speed state in real time through the ABS; after the detection function is activated, the speed and the distance of the target vehicle can be acquired through the APA, whether the vehicles in the adjacent lanes cross lane lines is detected through the IFC, an ESP braking request can be sent, and a display request is sent to the IIP to display the lane changing process of the vehicles in real time.
According to one embodiment of the present invention, controlling a first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes comprises: acquiring a first vehicle speed of a first vehicle and a vehicle following distance of the first vehicle; judging whether the first vehicle speed is less than a preset vehicle speed threshold value or not; judging whether the following vehicle distance is smaller than a preset vehicle distance threshold value or not; and if the first vehicle speed is less than the vehicle speed threshold value and the following vehicle distance is less than the vehicle distance threshold value, controlling the first vehicle to detect whether a second vehicle in the adjacent lane is changing the lane.
Specifically, a first vehicle speed of a first vehicle can be acquired in real time through a vehicle ABS, and whether the first vehicle speed is smaller than a preset vehicle speed threshold value is judged; and acquiring a first vehicle speed of the first vehicle and a vehicle following distance of the first vehicle in real time (such as the vehicle following distance L1 in fig. 4), and judging the magnitude of the vehicle following distance and a preset vehicle distance threshold, if the first vehicle speed is smaller than the preset vehicle speed threshold and the vehicle following distance is smaller than the preset vehicle distance threshold, controlling the first vehicle to detect whether a second vehicle in an adjacent lane is changing the lane, and monitoring the lane line condition in real time, and if it is not monitored that a vehicle in the adjacent lane crosses a stop line, the first vehicle is in the adaptive cruise mode.
That is, when the first vehicle speed is equal to or greater than the preset vehicle speed threshold, or the following vehicle distance is equal to or greater than the vehicle distance threshold, it is not detected whether the second vehicle in the adjacent lane is changing lanes. The preset vehicle speed threshold and the preset vehicle distance threshold may be set by a person skilled in the art according to actual conditions, and are not specifically limited herein.
S2, when detecting that the second vehicle is changing lane, controlling to obtain the minimum vehicle-to-vehicle distance between the second vehicle and the first vehicle in the target direction; wherein the target direction is a direction perpendicular to a traveling direction of the first vehicle.
It will be appreciated that when a second vehicle is detected crossing the lane line in an adjacent lane, the vehicle detection function of the APA may be activated to obtain the speed of the second vehicle and the minimum separation of the second vehicle from the first vehicle.
Specifically, as shown in fig. 4, the ground is taken as a horizontal plane, the traveling direction of the first vehicle is taken as a longitudinal direction, and the vertical direction of the traveling direction is taken as a lateral direction, i.e., a target direction; the minimum inter-vehicle distance L refers to the minimum distance between the rightmost or leftmost side of the first vehicle and the leftmost or rightmost side of the second vehicle in the lateral direction. For example, in scenario 1, the L value is an actual measurement value, i.e., a minimum inter-vehicle distance between the first vehicle and the second vehicle, in scenario 2, the L value is a distance between the first vehicle and a third vehicle in an adjacent lane, and in scenario 3, the L value is a distance between the first vehicle and a lateral extension line of the second vehicle, and if the second vehicle merges into the lane, the L value may be infinite.
And S3, identifying whether the traveling risk exists between the second vehicle and the first vehicle according to the minimum inter-vehicle distance.
According to one embodiment of the invention, identifying whether there is a driving risk between the second vehicle and the first vehicle according to the vehicle speed and the minimum inter-vehicle distance of the second vehicle comprises: judging whether the minimum vehicle distance is smaller than a preset safety distance or not; identifying that a first level of driving risk exists between the first vehicle and the second vehicle if the minimum inter-vehicle distance is less than the safe distance; if the minimum vehicle distance is larger than or equal to the safe distance, acquiring a first vehicle speed of the first vehicle and a second vehicle speed of the second vehicle; if the first vehicle speed is greater than the second vehicle speed, a second level of driving risk between the first vehicle and the second vehicle is identified.
It can be understood that when the vehicle runs on the road, a minimum vehicle-to-vehicle distance exists between the vehicles, and if the minimum vehicle-to-vehicle distance is smaller than a preset safety distance, it indicates that there is a risk of collision between the first vehicle and the second vehicle, i.e. a first level of driving risk; if the minimum vehicle-to-vehicle distance is greater than or equal to the preset safety distance, it is indicated that the first vehicle and the second vehicle are in the safety period at present, a first vehicle speed of the first vehicle and a second vehicle speed of the second vehicle can be further judged, and if the first vehicle speed is greater than the second vehicle speed, the minimum safety distance between the first vehicle and the second vehicle is smaller and smaller, and the risk of friction or collision, namely the driving risk of the second level, also occurs.
And S4, if the driving risk exists, performing deceleration control on the first vehicle so as to enable the second vehicle to complete lane change.
According to one embodiment of the present invention, deceleration control of a first vehicle includes: when the driving risk is a driving risk of a first grade, controlling the first vehicle to brake emergently so as to stop the first vehicle; and when the driving risk is the driving risk of the second level, controlling the first vehicle to drive at a reduced speed.
Specifically, if the driving risk between the second vehicle and the first vehicle is a first level of driving risk, since the second vehicle is in front of the first vehicle, the first vehicle can be controlled to brake urgently, and friction or collision is avoided; if the driving risk between the second vehicle and the first vehicle is the driving risk of the second level, and the minimum inter-vehicle distance between the second vehicle and the first vehicle is greater than the preset safe distance, the safety accident can be avoided by controlling the speed of the first vehicle, for example, controlling the first vehicle to run at a reduced speed, and the safety of the vehicle is improved.
According to an embodiment of the present invention, the safe driving method of a vehicle further includes: identifying that there is no driving risk between the first vehicle and the second vehicle if the first vehicle speed is less than or equal to the second vehicle speed; controlling a first vehicle to maintain the first vehicle speed for running; monitoring and acquiring real-time lane change information of a second vehicle, and controlling and displaying the real-time lane change information; and when the second vehicle lane change is detected to be successful, controlling the first vehicle to follow the second vehicle as a vehicle following target.
It can be understood that if the first vehicle speed is less than or equal to the second vehicle speed, the vehicle-to-vehicle distance between the first vehicle and the second vehicle is larger and larger, so that there is no driving risk between the second vehicle and the first vehicle, and the first vehicle can be controlled to maintain the first vehicle speed for driving, or the first vehicle can be controlled to drive at a reduced speed; in addition, the lane changing process of the second vehicle is monitored in real time, the lane changing process of the second vehicle is displayed through the IP, and after the lane changing of the second vehicle is successful, a control command for updating the following target can be sent, and the second vehicle is taken as the following target to follow.
According to an embodiment of the present invention, the safe driving method of a vehicle further includes: controlling to detect whether the lane change of the second vehicle is successful or not in the process of decelerating the first vehicle; when the second vehicle lane change is detected to be successful, controlling the first vehicle to follow the second vehicle as a vehicle following target; and when the second vehicle is detected to be still in the lane change, controlling the first vehicle to continue decelerating.
Specifically, when the driving risk is the driving risk of the second level, the risk of vehicle collision or friction can be effectively avoided by controlling the first vehicle to decelerate, the second vehicle is continuously detected in the deceleration process of the first vehicle, and after the second vehicle is successfully changed, a control command for updating the following target can be sent and the second vehicle is taken as the following target to follow; if the second vehicle is still in the lane change, the first vehicle may be controlled to continue decelerating.
According to an embodiment of the present invention, after detecting that the second vehicle is still changing lanes, controlling the first vehicle to continue decelerating and driving further includes: when the first vehicle speed of the first vehicle is zero, the first vehicle is controlled to enter an automatic start-stop mode, the vehicle following distance between the first vehicle and the second vehicle is updated in real time, and when the vehicle following distance is larger than a vehicle following distance threshold value, the first vehicle is controlled to be recovered to an automatic cruise mode.
The automatic start-stop mode refers to that when the vehicle is temporarily stopped (for example, waiting for a red light) in the running process, the engine is automatically shut off, and when the vehicle needs to go forward continuously, the system automatically restarts the engine. Therefore, after the first vehicle is controlled to continue to run at a reduced speed, if the first vehicle speed of the first vehicle is zero, the vehicle can be controlled to enter the automatic start-stop mode, so that the vehicle can be started quickly and energy can be saved after the second vehicle is detected to successfully change the lane, and when the following vehicle distance between the first vehicle and the second vehicle is greater than the vehicle distance threshold value, the first vehicle can be controlled to return to the automatic cruise mode.
According to an embodiment of the present invention, the safe driving method of a vehicle further includes: if the first vehicle speed is greater than or equal to the vehicle speed threshold value and the following vehicle distance is smaller than the vehicle distance threshold value, controlling the first vehicle to brake emergently; and controlling the first vehicle to maintain the adaptive cruise mode to run if the first vehicle speed is greater than or equal to a vehicle speed threshold value and the following vehicle distance is greater than or equal to a vehicle distance threshold value, or if the first vehicle speed is less than the vehicle speed threshold value and the following vehicle distance is greater than or equal to a vehicle distance threshold value.
Specifically, when the vehicle is in the self-adaptive cruise process, a lane change monitoring function of the vehicle in the adjacent lane is started by default, if it is monitored that the vehicle in the adjacent lane crosses a stop line, when the first vehicle speed is detected to be greater than or equal to a vehicle speed threshold value and the following vehicle distance is smaller than a vehicle distance threshold value, the first vehicle can be controlled to trigger emergency braking; and when the first vehicle speed is greater than or equal to the vehicle speed threshold value and the following vehicle distance is greater than or equal to the vehicle distance threshold value, or if the first vehicle speed is less than the vehicle speed threshold value and the following vehicle distance is greater than or equal to the vehicle distance threshold value, controlling the first vehicle to maintain the self-adaptive cruise mode to run. In addition, the embodiment of the invention can also monitor the lane line condition in real time, and if no vehicle in the adjacent lane crosses the lane line, the vehicle is in the self-adaptive cruise mode.
In an embodiment of the present invention, as shown in fig. 5, the safe driving method of the vehicle includes the following steps:
s501, the vehicle enters an adaptive cruise mode.
S502, judging whether the first vehicle speed of the first vehicle is smaller than a preset vehicle speed threshold value or not and whether the following vehicle distance is smaller than a preset vehicle distance threshold value or not, if so, executing a step S503, otherwise, executing a step S501.
S503, judging whether the second vehicle in the adjacent lane is changing the lane, if so, executing the step S504, otherwise, executing the step S501
S504, acquiring the minimum distance between the second vehicle and the first vehicle in the target direction.
And S505, judging whether the minimum vehicle-to-vehicle distance is smaller than a preset safety distance, if so, executing the step S506, otherwise, executing the step S507.
S506, a parking request is sent, and step S509 is executed.
And S507, judging whether the first vehicle speed is greater than the second vehicle speed, if so, executing the step S508, otherwise, executing the step S509.
S508, a deceleration request is sent, and step S504 is executed.
And S509, controlling the first vehicle to keep running at the first vehicle speed, and monitoring real-time lane change information of the second vehicle.
And S510, when the second vehicle is detected to be successfully changed into the lane, controlling the first vehicle to follow the second vehicle as a vehicle following target, and when the second vehicle is detected to be still changed into the lane, controlling the first vehicle to continue to decelerate.
S511, judging whether the first vehicle speed of the first vehicle is zero, if so, executing the step S512, otherwise, executing the step S
And S512, controlling the first vehicle to enter an automatic start-stop mode.
And S513, judging whether the following distance between the first vehicle and the second vehicle is larger than a preset following threshold value, if so, executing the step S514, and otherwise, executing the step S503.
And S514, controlling the first vehicle to return to the automatic cruise mode.
That is to say, the embodiment of the present invention may determine, by the controller a, whether the following vehicle distance is smaller than the vehicle distance threshold.
(1) If the following vehicle distance is smaller than the vehicle distance threshold value, a braking and stopping request is sent to an ESP to control a first vehicle to trigger emergency braking and wait for a second vehicle to converge into the lane;
(2) and if the following vehicle distance is not smaller than the vehicle distance threshold value, the controller A continuously judges the second vehicle speed of the second vehicle and the first vehicle speed of the first vehicle.
(2.1) if the first vehicle speed is greater than the second vehicle speed, the controller A sends a deceleration request to the ESP, waits for the second vehicle to converge into the lane, detects the following vehicle distance in real time in the deceleration process, avoids the following vehicle distance being smaller than a vehicle distance threshold value, controls the first vehicle to follow the second vehicle as a following vehicle target after the second vehicle successfully changes the lane in the vehicle deceleration process, and enables the vehicle to recover the self-adaptive cruise state; if the first vehicle speed of the first vehicle is zero, controlling the first vehicle to enter an automatic start-stop mode, updating the following vehicle distance between the first vehicle and the second vehicle in real time, and controlling the first vehicle to return to an automatic cruise mode when the following vehicle distance is larger than a vehicle distance threshold value;
(2.2) if the first vehicle speed is less than or equal to the second vehicle speed, the controller A sends information of keeping the current vehicle speed to the ACC, monitors the second vehicle lane changing process, displays the second vehicle lane changing process through IP, controls the first vehicle to follow the second vehicle as a vehicle following target after the second vehicle lane changing process is successful, and the vehicle restores to the self-adaptive cruise state
In addition, the controller a may restore the adaptive cruise state after determining that the second vehicle returns to the original lane during deceleration or brake stop waiting of the first vehicle.
According to the safe driving method of the vehicle, provided by the embodiment of the invention, the first vehicle can be controlled to detect whether the second vehicle in the adjacent lane is changing lanes, and when the second vehicle is detected to be changing lanes, the minimum vehicle-to-vehicle distance between the second vehicle and the first vehicle in the target direction is controlled to be acquired, and whether the driving risk exists between the second vehicle and the first vehicle is identified according to the minimum vehicle-to-vehicle distance; and if the driving risk exists, performing deceleration control on the first vehicle so as to enable the second vehicle to complete lane change. Therefore, hardware architecture adjustment is not needed to be carried out on the vehicle, when the vehicle runs in an automatic cruise mode and the running risk between the vehicle and the lane-changing vehicle is identified, the vehicle is subjected to active deceleration control, collision or friction of the vehicle is avoided, collision accidents caused by the fact that the vehicle is in an adaptive cruise mode and forced lane-changing non-civilized driving behaviors of congested road sections are avoided, the safety of the vehicle is improved, and the safety of users is improved.
Fig. 6 is a block schematic diagram of a safe driving apparatus of a vehicle according to an embodiment of the present invention. As shown in fig. 6, the safe driving apparatus of the vehicle includes: lane change detection module 100, acquisition module 200, risk identification module 300, and control module 400.
The lane change detection module 100 is configured to control a first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes. The obtaining module 200 is configured to control to obtain a minimum inter-vehicle distance between the second vehicle and the first vehicle in the target direction when the second vehicle is detected to be changing lanes; wherein the target direction is a direction perpendicular to a traveling direction of the first vehicle. The risk identification module 300 is configured to identify whether there is a driving risk between the second vehicle and the first vehicle according to the minimum inter-vehicle distance. The control module 400 is configured to perform deceleration control on a first vehicle if a driving risk exists.
According to an embodiment of the present invention, the risk identification module 300 is specifically configured to: judging whether the minimum vehicle distance is smaller than a preset safety distance or not; identifying that a first level of driving risk exists between the first vehicle and the second vehicle if the minimum inter-vehicle distance is less than the safe distance; if the minimum vehicle distance is larger than or equal to the safe distance, acquiring a first vehicle speed of the first vehicle and a second vehicle speed of the second vehicle; if the first vehicle speed is greater than the second vehicle speed, a second level of driving risk between the first vehicle and the second vehicle is identified.
According to an embodiment of the invention, the risk identification module 300 is further configured to: identifying that there is no driving risk between the first vehicle and the second vehicle if the first vehicle speed is less than or equal to the second vehicle speed; the control module 400 is further configured to control the first vehicle to maintain the first speed, and when it is detected that the second vehicle changes lane successfully, control the first vehicle to follow the second vehicle as a vehicle following target; the lane change detection module 100 is further configured to acquire real-time lane change information of a second vehicle, and control and display the real-time lane change information.
According to an embodiment of the present invention, the control module 400 is specifically configured to: when the driving risk is a driving risk of a first grade, controlling the first vehicle to brake emergently so as to stop the first vehicle; and when the driving risk is the driving risk of the second level, controlling the first vehicle to drive at a reduced speed.
According to an embodiment of the present invention, the lane change detection module 100 is further configured to: controlling to detect whether the lane change of the second vehicle is successful or not in the process of decelerating the first vehicle; the control module 400 is further configured to control the first vehicle to follow the second vehicle as a following target after detecting that the lane change of the second vehicle is successful, and to control the first vehicle to continue to decelerate after detecting that the second vehicle is still in the lane change.
According to an embodiment of the invention, the control module 400 is further configured to: after the second vehicle is used as a vehicle following target to follow, when the second vehicle speed of the second vehicle is zero, the first vehicle is controlled to enter an automatic starting mode, the vehicle following distance between the first vehicle and the second vehicle is updated in real time, and when the vehicle following distance is larger than a vehicle distance threshold value, the first vehicle is controlled to return to an automatic cruise mode.
According to an embodiment of the present invention, the lane change detection module 100 is specifically configured to: acquiring a first vehicle speed of a first vehicle and a vehicle following distance of the first vehicle; judging whether the first vehicle speed is less than a preset vehicle speed threshold value or not; judging whether the following vehicle distance is smaller than a preset vehicle distance threshold value or not; and if the first vehicle speed is less than the vehicle speed threshold value and the following vehicle distance is less than the vehicle distance threshold value, controlling the first vehicle to go out to detect whether a second vehicle in the adjacent lane is changing the lane.
According to an embodiment of the present invention, the lane change detection module 100 is further configured to: if the first vehicle speed is greater than or equal to the vehicle speed threshold value and the following vehicle distance is smaller than the vehicle distance threshold value, controlling the first vehicle to brake emergently; and controlling the first vehicle to maintain the adaptive cruise mode to run if the first vehicle speed is greater than or equal to a vehicle speed threshold value and the following vehicle distance is greater than or equal to a vehicle distance threshold value, or if the first vehicle speed is less than the vehicle speed threshold value and the following vehicle distance is greater than or equal to a vehicle distance threshold value.
It should be noted that the foregoing explanation of the embodiment of the safe driving method for a vehicle is also applicable to the safe driving device for a vehicle of this embodiment, and is not repeated here.
According to the safe driving device of the vehicle, provided by the embodiment of the invention, the lane change detection module can be improved to control the first vehicle to detect whether the second vehicle in the adjacent lane is changing the lane or not, the acquisition module is used for controlling to acquire the minimum vehicle-to-vehicle distance between the second vehicle and the first vehicle in the target direction when the second vehicle is detected to be changing the lane, the risk identification module is used for identifying whether the driving risk exists between the second vehicle and the first vehicle or not according to the minimum vehicle-to-vehicle distance, and the control module is used for carrying out deceleration control on the first vehicle to enable the second vehicle to complete lane change when the driving risk exists. Therefore, hardware architecture adjustment is not needed to be carried out on the vehicle, when the vehicle runs in an automatic cruise mode and the running risk between the vehicle and the lane-changing vehicle is identified, the vehicle is subjected to active deceleration control, collision or friction of the vehicle is avoided, collision accidents caused by the fact that the vehicle is in an adaptive cruise mode and forced lane-changing non-civilized driving behaviors of congested road sections are avoided, the safety of the vehicle is improved, and the safety of users is improved.
The embodiment of the invention provides a vehicle, which comprises the safe driving device of the vehicle.
According to the vehicle provided by the embodiment of the invention, through the safe driving device of the vehicle, hardware architecture adjustment is not required to be carried out on the vehicle, when the vehicle runs in the automatic cruise mode and the running risk between the vehicle and the lane-changing vehicle is identified, the vehicle is subjected to active deceleration control, collision or friction of the vehicle is avoided, collision accidents caused by the fact that the vehicle is in the adaptive cruise mode and the lane-changing is forced to be undeveloped in a congested road section are avoided, the safety of the vehicle is improved, and the safety of users is improved.
The embodiment of the invention provides electronic equipment, which comprises a memory and a processor; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to realize the safe driving method of the vehicle.
According to the electronic device provided by the embodiment of the invention, by executing the safe driving method of the vehicle, hardware architecture adjustment is not required to be performed on the vehicle, when the vehicle runs in the automatic cruise mode and the driving risk between the vehicle and the lane-changing vehicle is identified, the vehicle is subjected to active deceleration control, so that collision or friction of the vehicle is avoided, collision accidents caused by the unconventional driving behavior of forced lane changing of a congested road section when the vehicle is in the adaptive cruise mode are avoided, the safety of the vehicle is improved, and the safety of a user is improved.
An embodiment of the invention proposes a non-transitory computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the above-mentioned method of safe driving of a vehicle.
According to the non-transitory computer-readable storage medium provided by the embodiment of the invention, by executing the safe driving method of the vehicle, the vehicle does not need to be subjected to hardware architecture adjustment, when the vehicle runs in the automatic cruise mode and the driving risk between the vehicle and the lane-changing vehicle is identified, the vehicle can be subjected to active deceleration control, so that the collision or friction of the vehicle is avoided, the collision accident caused by the non-civilized driving behavior of forced lane-changing of the congested road section when the vehicle is in the adaptive cruise mode is avoided, the safety of the vehicle is improved, and the safety of a user is improved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A safe driving method of a vehicle, characterized in that a first vehicle runs in an auto cruise mode, the method comprising the steps of:
controlling the first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes;
when the second vehicle is detected to be changing lanes, controlling to acquire a minimum inter-vehicle distance between the second vehicle and the first vehicle in a target direction; a direction in which the target direction is perpendicular to a traveling direction of the first vehicle;
identifying whether a driving risk exists between the second vehicle and the first vehicle according to the minimum inter-vehicle distance;
and if the driving risk exists, performing deceleration control on the first vehicle so as to enable the second vehicle to complete lane change.
2. The method of claim 1, wherein the identifying whether there is a driving risk between the second vehicle and the first vehicle based on the vehicle speed of the second vehicle and the minimum inter-vehicle distance comprises:
judging whether the minimum vehicle distance is smaller than a preset safety distance or not;
identifying that a first level of driving risk exists between the first vehicle and the second vehicle if the minimum vehicle separation is less than the safe separation;
if the minimum vehicle distance is larger than or equal to the safe distance, acquiring a first vehicle speed of the first vehicle and a second vehicle speed of the second vehicle;
identifying that a second level of driving risk exists between the first vehicle and the second vehicle if the first vehicle speed is greater than the second vehicle speed.
3. The safe driving method of a vehicle according to claim 2, characterized by further comprising:
identifying that there is no driving risk between the first vehicle and the second vehicle if the first vehicle speed is less than or equal to the second vehicle speed;
controlling the first vehicle to maintain the first vehicle speed for driving;
monitoring and acquiring real-time lane change information of the second vehicle, and controlling and displaying the real-time lane change information;
and when the second vehicle is detected to be successfully lane-changed, controlling the first vehicle to follow the second vehicle as a vehicle following target.
4. The safe driving method of a vehicle according to claim 2, wherein the deceleration control of the first vehicle includes:
when the driving risk is the first level of driving risk, controlling the first vehicle to brake emergently to stop the first vehicle;
and when the driving risk is the driving risk of the second level, controlling the first vehicle to run at a reduced speed.
5. The safe driving method of a vehicle according to any one of claims 1 to 4, characterized by further comprising:
controlling to detect whether the lane change of the second vehicle is successful or not during the deceleration of the first vehicle;
when the second vehicle is detected to be successful in lane changing, controlling the first vehicle to follow the second vehicle as a vehicle following target;
and when the second vehicle is detected to be still changing the lane, controlling the first vehicle to continue decelerating.
6. The safe driving method of a vehicle according to claim 5, wherein after controlling the first vehicle to continue decelerating after detecting that the second vehicle is still changing lanes, further comprising:
when the first vehicle speed of the first vehicle is zero, the first vehicle is controlled to enter an automatic start-stop mode, the following vehicle distance between the first vehicle and the second vehicle is updated in real time, and when the following vehicle distance is larger than the vehicle distance threshold value, the first vehicle is controlled to recover to the automatic cruise mode.
7. The safe driving method of a vehicle according to any one of claims 1 to 4, wherein the controlling the first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes, includes:
acquiring a first vehicle speed of the first vehicle and a vehicle following distance of the first vehicle;
judging whether the first vehicle speed is less than a preset vehicle speed threshold value or not;
judging whether the following vehicle distance is smaller than a preset vehicle distance threshold value or not;
and if the first vehicle speed is less than the vehicle speed threshold value and the following vehicle distance is less than the vehicle distance threshold value, controlling the first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes.
8. The safe driving method of a vehicle according to claim 7, characterized by further comprising:
if the first vehicle speed is greater than or equal to the vehicle speed threshold value and the following vehicle distance is smaller than the vehicle distance threshold value, controlling the first vehicle to be braked emergently;
if the first vehicle speed is greater than or equal to the vehicle speed threshold value, and the following vehicle distance is greater than or equal to the vehicle distance threshold value, or if the first vehicle speed is less than the vehicle speed threshold value, and the following vehicle distance is greater than or equal to the vehicle distance threshold value, the first vehicle is controlled to maintain the self-adaptive cruise mode to run.
9. A safe driving apparatus of a vehicle, characterized by comprising:
the lane change detection module is used for controlling the first vehicle to detect whether a second vehicle in an adjacent lane is changing lanes;
the acquisition module is used for controlling and acquiring the minimum vehicle-to-vehicle distance between the second vehicle and the first vehicle in the target direction when the second vehicle is detected to be changing lanes; a direction in which the target direction is perpendicular to a traveling direction of the first vehicle;
the risk identification module is used for identifying whether a driving risk exists between the second vehicle and the first vehicle according to the minimum inter-vehicle distance;
and the control module is used for performing deceleration control on the first vehicle if the driving risk exists.
10. A vehicle, characterized by comprising: the safe driving apparatus of a vehicle according to claim 9.
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