CN112622901A - Vehicle control method, device and equipment - Google Patents

Vehicle control method, device and equipment Download PDF

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Publication number
CN112622901A
CN112622901A CN202110031649.XA CN202110031649A CN112622901A CN 112622901 A CN112622901 A CN 112622901A CN 202110031649 A CN202110031649 A CN 202110031649A CN 112622901 A CN112622901 A CN 112622901A
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China
Prior art keywords
vehicle
driver
control
cruise mode
active cruise
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Granted
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CN202110031649.XA
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Chinese (zh)
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CN112622901B (en
Inventor
殷祥珍
白志刚
张建振
魏韬
谷京哲
袁晶
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FAW Jiefang Automotive Co Ltd
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FAW Jiefang Automotive Co Ltd
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Priority to CN202110031649.XA priority Critical patent/CN112622901B/en
Publication of CN112622901A publication Critical patent/CN112622901A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • 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
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a vehicle control method, a device and equipment, wherein the method comprises the following steps: after the vehicle enters the expressway, if preset conditions are met, entering an active cruise mode; in the active cruise mode, longitudinal control and transverse control are carried out on the vehicle, and early warning prompt is carried out according to working conditions; determining whether to continue executing the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver; the longitudinal control comprises the steps of controlling the vehicle to cruise at a constant speed or run along with a front vehicle in a current lane; the lateral control includes correcting the traveling direction when the vehicle is traveling to turn, the current lane being the lane where the vehicle is currently located. The automatic cruise control system has the advantages that the automatic cruise control system can reasonably enter and exit the active cruise mode, automatic driving is achieved through longitudinal control and transverse control in the active cruise mode, reasonable utilization of automatic driving is achieved, automatic driving efficiency is improved, workload of a driver is reduced, fatigue speed of the driver is reduced, and traffic accident rate is reduced.

Description

Vehicle control method, device and equipment
Technical Field
The embodiment of the invention relates to an automatic driving technology, in particular to a vehicle control method, device and equipment.
Background
Trucks, as a major tool for road freight, are an important link in the logistics supply chain. At present, vehicles running on roads in China are almost all traditional trucks, and drivers need to continuously concentrate on driving the vehicles in the whole process. When the driver drives for a long time, the driver is tired, and traffic accidents are easy to happen.
At present, the automatic driving mode is single, such as a single constant-speed cruising function, a single lane changing function, a single auxiliary braking function and the like, and the road driving is still controlled and driven by the driver dominance. Particularly, in the case of simple highway conditions, when a driver drives on an open highway for a long time, the driver needs to keep high attention in the whole course due to low automatic driving degree, and the driver is easy to be tired. How to reduce the workload of the driver and slow down the fatigue speed of the driver becomes a problem to be solved urgently.
Disclosure of Invention
The invention provides a vehicle control method, a vehicle control device and vehicle control equipment, which are used for realizing reasonable utilization of automatic driving, improving the automatic driving efficiency, reducing the workload of a driver, slowing down the fatigue speed of the driver and reducing the occurrence rate of traffic accidents.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
after the vehicle enters the expressway, if preset conditions are met, entering an active cruise mode;
in the active cruise mode, longitudinal control and transverse control are carried out on the vehicle, and early warning prompt is carried out according to working conditions;
determining whether to continue executing the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver;
the longitudinal control comprises the steps of controlling the vehicle to cruise at a constant speed or run along with a front vehicle in a current lane; the lateral control includes correcting the traveling direction when the vehicle is traveling to turn, the current lane being the lane where the vehicle is currently located.
In a second aspect, an embodiment of the present invention further provides a vehicle control apparatus, including:
the active cruise mode starting control module is used for entering an active cruise mode if preset conditions are met after a vehicle enters a highway;
the active cruise mode execution module is used for longitudinally and transversely controlling the vehicle in the active cruise mode and giving early warning prompts according to working conditions;
the active cruise mode starting control module is also used for determining whether to continuously execute the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver;
the longitudinal control comprises the steps of controlling the vehicle to cruise at a constant speed or run along with a front vehicle in a current lane; the lateral control includes correcting the traveling direction when the vehicle is traveling to turn, the current lane being the lane where the vehicle is currently located.
In a third aspect, an embodiment of the present invention also provides a vehicle control apparatus, including: the system comprises a gateway, a vehicle control unit VCU, an all-liquid crystal instrument IC, an electronic control brake system EBS, an electro-hydraulic steering system EPS, a steering wheel hand-off system HOD, an intelligent forward-looking CAMERA CAMERA, a forward-looking millimeter wave RADAR RADAR, a fatigue monitoring system DMS and a remote information processor T-BOX;
the VCU and the IC are connected to the gateway through a first bus;
an electric control brake system EBS, an electric hydraulic steering system EPS, a steering wheel hand-off system HOD, an intelligent forward-looking CAMERA CAMERA and a forward-looking millimeter wave RADAR RADAR are accessed to the gateway through a second bus;
the VCU is also connected with a second bus;
the fatigue monitoring system DMS and the remote information processor T-BOX are accessed to the gateway through a third bus;
the intelligent forward-looking CAMERA CAMERA, the forward-looking millimeter wave RADAR RADAR and the remote information processor T-BOX are connected through a fourth bus;
the telematics processor T-BOX accesses the second bus through a fifth bus.
According to the vehicle control method provided by the embodiment of the application, after a vehicle enters a highway, if a preset condition is met, an active cruise mode is entered; in the active cruise mode, longitudinal control and transverse control are carried out on the vehicle, and early warning prompt is carried out according to working conditions; and determining whether to continue to execute the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver. Compared with the existing problem that the automatic driving degree is low because the driver needs to drive manually. The vehicle control method provided by the embodiment of the application can enter the active cruise mode after the vehicle enters the expressway. The active cruise mode provides longitudinal control and transverse control, wherein the longitudinal control comprises the control of the vehicle to carry out constant-speed cruise in a current lane or follow a front vehicle; the lateral control includes correcting the traveling direction when the vehicle is traveling in a turn. The active cruise mode can provide automatic running of the vehicle, a driver does not need to keep high concentration degree in the whole process, and the fatigue speed of the driver is reduced. In addition, whether the active cruise mode is continuously executed or not can be determined according to the running condition of the front vehicle and the operation state of the driver, so that the intelligent handover of the control right of the vehicle is realized, the driver can switch back to manual driving at any time, and the safety is improved. The automatic cruise control system has the advantages that the automatic cruise control system can reasonably enter and exit the active cruise mode, automatic driving is achieved through longitudinal control and transverse control in the active cruise mode, reasonable utilization of automatic driving is achieved, automatic driving efficiency is improved, workload of a driver is reduced, fatigue speed of the driver is reduced, and traffic accident rate is reduced.
Drawings
Fig. 1 is a structural view of a vehicle control apparatus in a first embodiment of the invention;
FIG. 2 is a flowchart of a vehicle control method according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle control device according to a first 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 schematic structural diagram of a vehicle control device according to a first embodiment of the present invention, where the device is located in a vehicle, and includes: a gateway 101, a Vehicle Control Unit (VCU) 102, an all-liquid-crystal instrument IC103, an electronic Control Braking System (EBS) 104, an electro-hydraulic Steering System (EPS) 105, a hand-Off System (HOD) 106, an intelligent front-view CAMERA107, a front-view millimeter wave RADAR108, a fatigue Monitoring System (Driver Monitoring System, DMS)109, and a remote information processor (Telematics, T-BOX) 110;
the VCU102 and the full-liquid crystal instrument IC103 of the whole vehicle controller are connected to the gateway 101 through a first bus 11;
an electronic control brake system EBS104, an electro-hydraulic steering system EPS105, a steering wheel hand-off system HOD106, an intelligent forward-looking CAMERA CAMERA107 and a forward-looking millimeter wave RADAR RADAR108 are connected to the gateway 101 through a second bus 12;
the vehicle control unit VCU102 is also connected to the second bus 12;
the fatigue monitoring system DMS109 and the telematics T-BOX110 access the gateway 101 through a third bus 13;
the intelligent forward-looking CAMERA CAMERA107, the forward-looking millimeter wave RADAR RADAR108 and the remote information processor T-BOX110 are connected through a fourth bus 14;
the telematics processor T-BOX110 accesses the second bus 12 through a fifth bus 15.
The gateway 101 is used to convert communication protocols of different systems so that modules connected to the respective buses can communicate with each other. The gateway 101 receives data transmitted from the first bus 11, the second bus 12, and the third bus 13, respectively, and realizes interaction of data on different buses through conversion of communication protocols.
The vehicle control unit VCU102 and the all-liquid-crystal instrument IC103 are connected to the gateway 101 through the first bus 11. Meanwhile, the vehicle control unit VCU102 is connected to the second bus 12. The vehicle control unit VCU102 is configured to cooperate with the transmission priority order of different signals in the second bus 12 to control the corresponding modules to work. The all-liquid crystal meter IC103 is used to output driving information so that the driver can view it. The driving information comprises working condition information of the vehicle, prompting contents of different levels and the like.
The electric control brake system EBS104, the electro-hydraulic steering system EPS105, the steering wheel hand-off system HOD106, the intelligent forward-looking CAMERA CAMERA107 and the forward-looking millimeter wave RADAR RADAR108 are connected to the gateway 101 through the second bus 12. The electronic control brake system EBS104 may realize automatic braking of the vehicle by receiving a brake signal sent by the vehicle control unit VCU 102. The main components of the electro-hydraulic steering system EPS105 include an electro-hydraulic steering engine. When the electric hydraulic steering system EPS105 receives a steering signal sent by the VCU102 of the vehicle control unit, the electric hydraulic steering engine works, and the vehicle can automatically steer. The steering wheel hands-off system HOD106 is used for reminding the driver to take over the vehicle through sound, light and vibration signals when the driver is judged to be required to take over the vehicle. The steering wheel hand-off system HOD106 is integrated in the steering wheel, detects the hand state of the driver through pressure sensors on the upper and lower surfaces of the rim of the steering wheel, and determines that the driver takes over the vehicle when detecting that the driver triggers the hand-held steering wheel to rotate or holds the steering wheel. The intelligent front-view CAMERA CAMERA107 is arranged below the front windshield glass, and the shooting direction of the intelligent front-view CAMERA CAMERA107 is the front of the vehicle. The forward looking millimeter wave RADAR108 is disposed on a front bumper of the vehicle. The intelligent forward-looking CAMERA107 and the forward-looking millimeter wave RADAR108 are used for sensing the environment in front of the vehicle, such as assisting the VCU102 of the vehicle control unit to identify lane lines, identify a front vehicle or an obstacle, identify traffic signs, and the like. The intelligent forward-looking CAMERA107 and the forward-looking millimeter wave RADAR108 transmit the acquired images to the vehicle control unit VCU102, and the vehicle control unit VCU102 can determine whether the preceding vehicle cuts into the current road or cuts out the current road according to the images.
The intelligent forward looking CAMERA CAMERA107 and the forward looking millimeter wave RADAR RADAR108 are connected with the remote information processor T-BOX110 through the fourth bus 14. Telematics T-BOX110 is used to implement both the electronic fence function as well as the navigation function. By combining the intelligent forward-looking CAMERA CAMERA107 and the forward-looking millimeter wave RADAR108, whether the electronic fence passes through the positions of landmarks such as a gas station or not can be identified more accurately so as to assist in realizing the function of the electronic fence. Meanwhile, images provided by the intelligent forward-looking CAMERA CAMERA107 and the forward-looking millimeter wave RADAR108 can be used as auxiliary information for accurate positioning and navigation, so that the vehicle can automatically run in the middle of a road.
The telematics T-BOX110 accesses the second bus 12 via the fifth bus 15 and is able to collect and record chassis information.
The telematics T-BOX110 and the fatigue monitoring system DMS109 access the gateway 101 via the third bus 13. The fatigue monitoring system DMS109 is configured to monitor the fatigue degree of the driver, and provide reference data for determining whether the driver needs to be reminded to take over the vehicle.
The high-precision map built in the telematics T-BOX110 can supplement road condition information, can determine urban roads, national roads, ramps, tunnels, toll stations, service areas, overrun curves, overrun ramps and the like as the operating conditions of the active cruise mode, and improves the operation convenience of a driver.
The fatigue monitoring system DMS109, the steering wheel hands-off system HOD106 system can support the active cruise mode well, and the fatigue monitoring system DMS109 can allow the driver to hold the steering wheel for a long time under the condition of concentration, thereby reducing fatigue caused by intentionally reducing the hand force following the steering wheel. The steering wheel hands are away from the HOD106, so that the action of taking over the vehicle by the driver can be judged quickly and accurately, and the false alarm rate is reduced.
The vehicle control device provided by the embodiment of the invention can acquire the vehicle working condition information required by a Single Lane Cruise (SLC) mode through the module, can complete the corresponding vehicle control function, and provides hardware support for vehicle control in the SLC mode. The active cruise mode is specifically described below by way of example.
Fig. 2 is a flowchart of a vehicle control method according to an embodiment of the present invention, where the embodiment is applicable to a case where a vehicle runs on a highway, and the method may be executed by a vehicle central controller, and specifically includes the following steps:
and step 210, after the vehicle enters the expressway, if preset conditions are met, entering an active cruise mode.
The Vehicle is preferably a truck, and may be a passenger car (salon car), Sport Utility Vehicle (SUV), pickup truck, bus, midbus, or the like.
When the vehicle passes through the highway toll station, the toll station of the highway can be identified through the electronic fence function provided by the T-BOX. The electronic fence can mark the expressway area, and after the vehicle enters the expressway area, the speed is gradually increased to the speed interval required by the expressway. After the vehicle passes through the toll station and the speed is increased to the speed interval required by the highway, the user can activate the active cruise mode through the prompt in the full liquid crystal instrument IC. And if the user activates the active cruise mode according to the prompt, determining that the preset condition is met, and entering the active cruise mode.
And step 220, in the active cruise mode, longitudinally controlling and transversely controlling the vehicle, and performing early warning prompt according to working conditions.
The longitudinal control comprises the steps of controlling the vehicle to cruise at a constant speed or run along with a front vehicle in a current lane; the lateral control includes correcting the traveling direction when the vehicle is traveling to turn, the current lane being the lane where the vehicle is currently located.
The active cruise mode includes longitudinal control and lateral control. After the driver activates the active cruise mode, if no vehicle exists in front, the vehicle keeps in the center of the current lane to carry out constant-speed cruise. After the driver activates the active cruise mode, if a vehicle exists in front, namely a front vehicle exists, the driver keeps following the front vehicle at the center of the lane of the current lane. The above two processes are referred to as longitudinal control of the vehicle. When the vehicle runs to a curve or the vehicle needs to switch lanes, the electric hydraulic steering system EPS provides an automatic steering function. The vehicle driving direction can be corrected at any time, and the vehicle can be kept to run in the center of the lane. The above process is referred to as lateral control of the vehicle.
After the active cruise mode is entered, the driver can be prompted in real time according to the working conditions. Under the working condition of the expressway, prompts of a plurality of safety levels can be provided, namely a first-level prompt, a second-level prompt and a third-level prompt, and the prompt degree from the first-level prompt to the third-level prompt is increased progressively. Illustratively, the primary prompt is presented in an audible form, the secondary prompt is presented in an audible form and an optical form, and the tertiary prompt is presented in an audible form, an optical form, and a vibratory travel. The following embodiments provide a prompting mode in various scenarios.
On the basis of the above embodiment, the longitudinal control and the transverse control are performed on the vehicle; carry out early warning suggestion according to the operating mode, include:
the first implementation mode comprises the following steps: and if an event influencing the longitudinal control is detected, exiting the longitudinal control and the transverse control, and performing three-level prompt.
And detecting whether the data fed back by the VCU, the electronic control brake system EBS, the intelligent forward-looking CAMERA CAMERA, the forward-looking millimeter wave RADAR RADAR and the like are abnormal or not. And if the abnormity happens, determining that the event influencing the longitudinal control is detected. The feedback data abnormity comprises that the feedback data is not fed back according to a preset frequency, the feedback data exceeds a data rated value range and the like.
The event affecting the longitudinal control may cause that the vehicle cannot automatically advance or the road condition ahead the vehicle can not be identified, so that the driver needs to take over the vehicle, quit the longitudinal control and the transverse control at the moment, and perform three-level prompt.
According to the embodiment, when an event influencing longitudinal control is detected, the driver can be prompted step by step through multiple levels of prompts, longitudinal control and transverse control are started and quitted according to feedback of the driver, and safety is improved.
The second embodiment: when an event influencing the transverse control is detected, the transverse control is quitted, and the longitudinal control is kept; performing secondary prompting; and if the duration of the secondary prompt exceeds the second preset time and the driver does not respond, performing the tertiary prompt.
And detecting whether the feedback data of the electro-hydraulic steering system EPS, the fatigue monitoring system DMS, the remote information processor T-BOX and the like are abnormal or not. If an abnormality occurs, it is determined that an event affecting the lateral control is detected. The data anomaly of the above-mentioned module will affect the lateral control. At this time, the lateral control is exited, the longitudinal control is maintained, and the second prompt is output. And if the second prompt duration time exceeds the second preset time, the driver throws the unmanaged vehicle, the prompt level is improved, and a third prompt is output.
According to the embodiment, when an event influencing the transverse control is detected, the driver can be prompted step by step through the prompts of multiple levels, the opening and the exiting of the longitudinal control and the transverse control are carried out according to the feedback of the driver, and the safety is improved.
The third embodiment is as follows: if an event causing that the working condition of the vehicle cannot meet the preset condition is detected, exiting the transverse control, keeping the longitudinal control, and performing secondary prompt; if the driver takes over the control, the transverse control is continuously withdrawn, and the longitudinal control is kept; if the duration of the secondary prompt exceeds the second preset time, the driver does not respond, the driver exits from the longitudinal control, and the tertiary prompt is carried out; if the driver does not take over continuously, controlling the vehicle to decelerate and stop in the current lane; and shielding and starting the active cruise mode in a preset vehicle starting period.
When the events that a GPS does not have signals, the outside of an electronic fence, a lane line is fuzzy, the radius of a curve exceeds a limit and the like are detected, the event that the working condition of the vehicle cannot meet the preset condition is determined to be detected. At this time, the horizontal control is exited, the vertical control is maintained, the second prompt is output, and the timing of the output time of the second prompt is started. And if the output time of the second prompt is less than the second preset time and the hand-off system HOD of the steering wheel detects that the driver takes over the vehicle, the transverse control is continuously quitted and the longitudinal control is kept. And if the output time of the second prompt is longer than the second preset time and the driver taking over the vehicle is not detected by the hand-off system HOD of the steering wheel in the period, quitting the longitudinal control on the basis of quitting the transverse control, and performing three-level prompt. After the third-level prompt is output, if the user does not take over the vehicle continuously, for example, the user does not take over the vehicle within a third preset time when the third-level prompt is output, the vehicle is controlled to decelerate and stop in the current lane. And shielding and starting the active cruise mode in a preset vehicle starting period. The preset vehicle start cycle is the time for the user to restart the engine after the engine is turned off. For example, after decelerating and stopping, the user needs to perform a transmitter shutdown once and restart the vehicle, and then unlock the active cruise mode.
According to the embodiment, when the abnormity related to navigation positioning is detected, the driver can be prompted step by step through the prompts in multiple levels, and longitudinal control and transverse control are started and quitted according to the feedback of the driver, so that the safety is improved.
The fourth embodiment: if the driver is detected to be inattentive, performing primary prompt; if the attention of the driver is recovered, the active cruise mode is kept; if the attention of the driver is not recovered, performing secondary prompt; when the secondary prompt is carried out, if the driver takes over, the transverse control is quitted, and the longitudinal control is kept; if the secondary prompting time length exceeds a second preset time and the attention of the driver is not recovered, performing tertiary prompting; if the driver does not take over continuously, controlling the vehicle to decelerate and stop in the current lane; and shielding and starting the active cruise mode in a preset vehicle starting period.
When the fatigue monitoring system HOD detects that the driver is inattentive, a primary prompt is first output while maintaining lateral and longitudinal control. If the driver's attention is restored, the lateral control and the longitudinal control are continued. And if the attention of the driver is not recovered within a certain time after the first-level prompt is output, outputting a second-level prompt. And if the driver takes over the vehicle according to the secondary prompt, the driver quits the transverse control and keeps the longitudinal control. And if the driver still does not take over the vehicle within a certain time after the second prompt is output, the transverse control and the longitudinal control are both quitted, and a third prompt is output. If the driver does not take over continuously, controlling the vehicle to decelerate and stop in the current lane; and shielding and starting the active cruise mode in a preset vehicle starting period.
The above-described embodiment enables the longitudinal control or the lateral control to be maintained or exited according to the driver's attention, and if the driver has not taken over the vehicle after outputting the third prompt, the vehicle is stopped. The driver is prompted step by step through multiple levels of prompts, and longitudinal control and transverse control are started and quit according to the feedback of the driver, so that the safety is improved.
And step 230, determining whether to continue executing the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver.
During the driving process of the vehicle on the expressway, different road conditions may be encountered. Such as the leading vehicle cutting into or out of the current lane, the leading vehicle traveling slowly, the leading vehicle slowing down to a stop, the driver actively exiting the active cruise mode, etc. The processing method of the above case will be described below.
On the basis of the above embodiment, the step 230 of determining whether to continue to execute the active cruise mode according to the driving condition of the preceding vehicle and the operation state of the driver includes:
optionally, if the front vehicle cuts into or cuts out from the current lane, and the vehicle is not influenced to run, the active cruise mode is kept.
Whether the front vehicle cuts in or cuts out from the current lane can be detected through the intelligent forward-looking CAMERA CAMERA and the forward-looking millimeter wave RADAR RADAR. And if the front vehicle cuts into or cuts out from the current lane and does not influence the running of the vehicle, keeping the active cruise mode. The non-influence on the vehicle running comprises the fact that the vehicle cuts into or cuts out the current lane from the front vehicle, and the running speed and the running route of the vehicle are not influenced.
Optionally, if the situation that the preceding vehicle is blocked by a slow vehicle is detected and the driver operates the steering wheel to change lanes, the active cruise mode is in a standby state; and after lane changing, if a preset condition is met, entering an active cruise mode.
If there is a slow vehicle ahead, the driver can operate the steering wheel to change lanes. At this time, the steering wheel hands-off system HOD may detect the operation of the steering wheel by the driver. The active cruise mode is in a standby state when the driver operates the steering wheel to change lanes. After lane changing is finished, a driver can activate the active cruise mode in a standby state through the all-liquid crystal instrument IC, and the vehicle returns to the active cruise mode.
On the basis of the above embodiment, the step 230 of determining whether to continue to execute the active cruise mode according to the driving condition of the preceding vehicle and the operation state of the driver includes: if the front vehicle decelerates and stops, the vehicle automatically decelerates and follows until stopping; if the parking time is less than the first preset time, outputting a first-level prompt; temporarily stopping the vehicle and waiting to respond to the operation of the driver; if the driver does not execute the operation, performing secondary prompting when the parking time is longer than the first preset time, wherein the prompting degree of the secondary prompting is higher than that of the primary prompting; waiting for a response to a driver action; if the duration of the secondary prompt exceeds the second preset time and the driver does not respond, the longitudinal control and the transverse control of the vehicle in the active cruise mode are cancelled, the tertiary prompt is carried out, the vehicle keeps parking, and the prompt degree of the tertiary prompt is higher than that of the secondary prompt; when waiting to respond to the operation of a driver, if the driver steps on the accelerator, the vehicle is started, enters an active cruise mode to follow the front vehicle, and accelerates to a preset cruise speed.
On the basis of the above embodiment, after determining whether to continue to execute the active cruise mode according to the driving condition of the front vehicle and the manipulation state of the driver in step 230, the method further includes:
if the driver actively triggers the cruise mode to quit the operation, the driver quits the transverse control and keeps the longitudinal control;
and if the driver steps on the brake or actively triggers to quit the longitudinal control operation, the driver quits the longitudinal control.
If the driver triggers the cruise mode exit operation, the transverse control is firstly exited. And if the driver steps on the brake or actively triggers to quit the longitudinal control operation, the driver quits the longitudinal control on the basis of quitting the transverse control. When both the lateral control and the longitudinal control are exited, the vehicle is operated by the driver.
According to the vehicle control method provided by the embodiment of the application, after a vehicle enters a highway, if a preset condition is met, an active cruise mode is entered; in the active cruise mode, longitudinal control and transverse control are carried out on the vehicle, and early warning prompt is carried out according to working conditions; and determining whether to continue to execute the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver. Compared with the existing problem that the automatic driving degree is low because the driver needs to drive manually. The vehicle control method provided by the embodiment of the application can enter the active cruise mode after the vehicle enters the expressway. The active cruise mode provides longitudinal control and transverse control, wherein the longitudinal control comprises the control of the vehicle to carry out constant-speed cruise in a current lane or follow a front vehicle; the lateral control includes correcting the traveling direction when the vehicle is traveling in a turn. The active cruise mode can provide automatic running of the vehicle, a driver does not need to keep high concentration degree in the whole process, and the fatigue speed of the driver is reduced. In addition, whether the active cruise mode is continuously executed or not can be determined according to the running condition of the front vehicle and the operation state of the driver, so that the intelligent handover of the control right of the vehicle is realized, the driver can switch back to manual driving at any time, and the safety is improved. The automatic cruise control system has the advantages that the automatic cruise control system can reasonably enter and exit the active cruise mode, automatic driving is achieved through longitudinal control and transverse control in the active cruise mode, reasonable utilization of automatic driving is achieved, automatic driving efficiency is improved, workload of a driver is reduced, fatigue speed of the driver is reduced, and traffic accident rate is reduced.
Example two
Fig. 3 is a schematic structural diagram of a vehicle control device according to a second embodiment of the present invention, where the device is located in a vehicle, and includes: an active cruise mode enable control module 310 and an active cruise mode execution module 320.
The active cruise mode starting control module 310 is used for entering an active cruise mode if preset conditions are met after a vehicle enters a highway;
the active cruise mode execution module 320 is used for performing longitudinal control and transverse control on the vehicle in the active cruise mode and performing early warning prompt according to working conditions;
the active cruise mode activation control module 310 is further configured to determine whether to continue to execute the active cruise mode according to the driving condition of the preceding vehicle and the operation state of the driver;
the longitudinal control comprises the steps of controlling the vehicle to cruise at a constant speed or run along with a front vehicle in a current lane; the lateral control includes correcting the traveling direction when the vehicle is traveling to turn, the current lane being the lane where the vehicle is currently located.
Based on the above embodiments, the active cruise mode activation control module 310 is configured to:
if the front vehicle is cut into or cut out of the current lane and the vehicle is not influenced to run, keeping the active cruise mode; or,
if the situation that the slow vehicle blocks the front vehicle and the driver operates the steering wheel to change lanes is detected, the active cruise mode is in a standby state; and after lane changing, if a preset condition is met, entering an active cruise mode.
Based on the above embodiments, the active cruise mode activation control module 310 is configured to:
if the front vehicle decelerates and stops, the vehicle automatically decelerates and follows until stopping;
if the parking time is less than the first preset time, outputting a first-level prompt;
temporarily stopping the vehicle and waiting to respond to the operation of the driver; if the driver does not execute the operation, performing secondary prompting when the parking time is longer than the first preset time, wherein the prompting degree of the secondary prompting is higher than that of the primary prompting;
waiting for a response to a driver action; if the duration of the secondary prompt exceeds the second preset time and the driver does not respond, the longitudinal control and the transverse control of the vehicle in the active cruise mode are cancelled, the tertiary prompt is carried out, the vehicle keeps parking, and the prompt degree of the tertiary prompt is higher than that of the secondary prompt;
when waiting to respond to the operation of a driver, if the driver steps on the accelerator, the vehicle is started, enters an active cruise mode to follow the front vehicle, and accelerates to a preset cruise speed.
Based on the above embodiments, the active cruise mode activation control module 310 is further configured to:
if the driver actively triggers the cruise mode to quit the operation, the driver quits the transverse control and keeps the longitudinal control;
and if the driver steps on the brake or actively triggers to quit the longitudinal control operation, the driver quits the longitudinal control.
Based on the above embodiments, the active cruise mode execution module 320 is configured to:
and if an event influencing the longitudinal control is detected, exiting the longitudinal control and the transverse control, and performing three-level prompt.
Based on the above embodiments, the active cruise mode execution module 320 is configured to:
when an event influencing the transverse control is detected, the transverse control is quitted, and the longitudinal control is kept; performing secondary prompting;
and if the duration of the secondary prompt exceeds the second preset time and the driver does not respond, performing the tertiary prompt.
Based on the above embodiments, the active cruise mode execution module 320 is configured to:
if an event causing that the working condition of the vehicle cannot meet the preset condition is detected, exiting the transverse control, keeping the longitudinal control, and performing secondary prompt;
if the driver takes over the control, the transverse control is continuously withdrawn, and the longitudinal control is kept;
if the duration of the secondary prompt exceeds the second preset time, the driver does not respond, the driver exits from the longitudinal control, and the tertiary prompt is carried out;
if the driver does not take over continuously, controlling the vehicle to decelerate and stop in the current lane;
and shielding and starting the active cruise mode in a preset vehicle starting period.
Based on the above embodiments, the active cruise mode execution module 320 is configured to:
if the driver is detected to be inattentive, performing primary prompt;
if the attention of the driver is recovered, the active cruise mode is kept; if the attention of the driver is not recovered, performing secondary prompt;
when the secondary prompt is carried out, if the driver takes over, the transverse control is quitted, and the longitudinal control is kept; if the secondary prompting time length exceeds a second preset time and the attention of the driver is not recovered, performing tertiary prompting;
if the driver does not take over continuously, controlling the vehicle to decelerate and stop in the current lane;
and shielding and starting the active cruise mode in a preset vehicle starting period.
In the vehicle control device provided in the embodiment of the application, the active cruise mode start control module 310 enters the active cruise mode if a preset condition is met after the vehicle enters the expressway; the active cruise mode execution module 320 performs longitudinal control and transverse control on the vehicle in the active cruise mode, and performs early warning prompt according to working conditions; the active cruise mode activation control module 310 determines whether to continue to execute the active cruise mode based on the vehicle ahead driving conditions and the driver handling state. Compared with the existing problem that the automatic driving degree is low because the driver needs to drive manually. The vehicle control method provided by the embodiment of the application can enter the active cruise mode after the vehicle enters the expressway. The active cruise mode provides longitudinal control and transverse control, wherein the longitudinal control comprises the control of the vehicle to carry out constant-speed cruise in a current lane or follow a front vehicle; the lateral control includes correcting the traveling direction when the vehicle is traveling in a turn. The active cruise mode can provide automatic running of the vehicle, a driver does not need to keep high concentration degree in the whole process, and the fatigue speed of the driver is reduced. In addition, whether the active cruise mode is continuously executed or not can be determined according to the running condition of the front vehicle and the operation state of the driver, so that the intelligent handover of the control right of the vehicle is realized, the driver can switch back to manual driving at any time, and the safety is improved. The automatic cruise control system has the advantages that the automatic cruise control system can reasonably enter and exit the active cruise mode, automatic driving is achieved through longitudinal control and transverse control in the active cruise mode, reasonable utilization of automatic driving is achieved, automatic driving efficiency is improved, workload of a driver is reduced, fatigue speed of the driver is reduced, and traffic accident rate is reduced.
The vehicle control device provided by the embodiment of the invention can execute the vehicle control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
A third embodiment of the present invention further provides a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a vehicle control method, the method comprising:
after the vehicle enters the expressway, if preset conditions are met, entering an active cruise mode;
in the active cruise mode, longitudinal control and transverse control are carried out on the vehicle, and early warning prompt is carried out according to working conditions;
determining whether to continue executing the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver;
the longitudinal control comprises the steps of controlling the vehicle to cruise at a constant speed or run along with a front vehicle in a current lane; the lateral control includes correcting the traveling direction when the vehicle is traveling to turn, the current lane being the lane where the vehicle is currently located.
On the basis of the embodiment, the method for determining whether to continue to execute the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver comprises the following steps:
if the front vehicle is cut into or cut out of the current lane and the vehicle is not influenced to run, keeping the active cruise mode; or,
if the situation that the slow vehicle blocks the front vehicle and the driver operates the steering wheel to change lanes is detected, the active cruise mode is in a standby state; and after lane changing, if a preset condition is met, entering an active cruise mode.
On the basis of the embodiment, the method for determining whether to continue to execute the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver comprises the following steps:
if the front vehicle decelerates and stops, the vehicle automatically decelerates and follows until stopping;
if the parking time is less than the first preset time, outputting a first-level prompt;
temporarily stopping the vehicle and waiting to respond to the operation of the driver; if the driver does not execute the operation, performing secondary prompting when the parking time is longer than the first preset time, wherein the prompting degree of the secondary prompting is higher than that of the primary prompting;
waiting for a response to a driver action; if the duration of the secondary prompt exceeds the second preset time and the driver does not respond, the longitudinal control and the transverse control of the vehicle in the active cruise mode are cancelled, the tertiary prompt is carried out, the vehicle keeps parking, and the prompt degree of the tertiary prompt is higher than that of the secondary prompt;
when waiting to respond to the operation of a driver, if the driver steps on the accelerator, the vehicle is started, enters an active cruise mode to follow the front vehicle, and accelerates to a preset cruise speed.
On the basis of the above embodiment, after determining whether to continue to execute the active cruise mode according to the driving condition of the front vehicle and the manipulation state of the driver, the method further comprises the following steps:
if the driver actively triggers the cruise mode to quit the operation, the driver quits the transverse control and keeps the longitudinal control;
and if the driver steps on the brake or actively triggers to quit the longitudinal control operation, the driver quits the longitudinal control.
On the basis of the above embodiment, the longitudinal control and the transverse control are performed on the vehicle; carry out early warning suggestion according to the operating mode, include:
and if an event influencing the longitudinal control is detected, exiting the longitudinal control and the transverse control, and performing three-level prompt.
On the basis of the above embodiment, the longitudinal control and the transverse control are performed on the vehicle; carry out early warning suggestion according to the operating mode, include:
when an event influencing the transverse control is detected, the transverse control is quitted, and the longitudinal control is kept; performing secondary prompting;
and if the duration of the secondary prompt exceeds the second preset time and the driver does not respond, performing the tertiary prompt.
On the basis of the above embodiment, the longitudinal control and the transverse control are performed on the vehicle; carry out early warning suggestion according to the operating mode, include:
if an event causing that the working condition of the vehicle cannot meet the preset condition is detected, exiting the transverse control, keeping the longitudinal control, and performing secondary prompt;
if the driver takes over the control, the transverse control is continuously withdrawn, and the longitudinal control is kept;
if the duration of the secondary prompt exceeds the second preset time, the driver does not respond, the driver exits from the longitudinal control, and the tertiary prompt is carried out;
if the driver does not take over continuously, controlling the vehicle to decelerate and stop in the current lane;
and shielding and starting the active cruise mode in a preset vehicle starting period.
On the basis of the above embodiment, the longitudinal control and the transverse control are performed on the vehicle; carry out early warning suggestion according to the operating mode, include:
if the driver is detected to be inattentive, performing primary prompt;
if the attention of the driver is recovered, the active cruise mode is kept; if the attention of the driver is not recovered, performing secondary prompt;
when the secondary prompt is carried out, if the driver takes over, the transverse control is quitted, and the longitudinal control is kept; if the secondary prompting time length exceeds a second preset time and the attention of the driver is not recovered, performing tertiary prompting;
if the driver does not take over continuously, controlling the vehicle to decelerate and stop in the current lane;
and shielding and starting the active cruise mode in a preset vehicle starting period.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the above method operations, and may also perform related operations in the vehicle control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
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 vehicle control method characterized by comprising:
after the vehicle enters the expressway, if preset conditions are met, entering an active cruise mode;
in the active cruise mode, longitudinal control and transverse control are carried out on the vehicle, and early warning prompt is carried out according to working conditions;
determining whether to continue executing the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver;
the longitudinal control comprises controlling the vehicle to cruise at a constant speed or run along with a front vehicle in a current lane; the transverse control comprises the step of correcting the traveling direction when the vehicle travels and turns, wherein the current lane is the lane where the vehicle is located currently.
2. The method of claim 1, wherein said determining whether to continue to execute the active cruise mode based on a preceding vehicle driving condition and a driver handling state comprises:
if the front vehicle is cut into or cut out of the current lane and the vehicle does not influence the running, keeping the active cruise mode; or,
if the situation that the slow vehicle blocks the front vehicle and the driver operates the steering wheel to change lanes is detected, the active cruise mode is in a standby state; and after lane changing, if a preset condition is met, entering the active cruise mode.
3. The method of claim 1, wherein said determining whether to continue to execute the active cruise mode based on a preceding vehicle driving condition and a driver handling state comprises:
if the front vehicle decelerates and stops, the vehicle automatically decelerates and follows until the vehicle stops;
if the parking time is less than the first preset time, outputting a first-level prompt;
temporarily stopping the vehicle and waiting to respond to the operation of the driver; if the driver does not execute the operation, performing secondary prompting when the parking time is longer than a first preset time, wherein the prompting degree of the secondary prompting is higher than that of the primary prompting;
waiting for a response to a driver action; if the duration of the secondary prompt exceeds second preset time and the driver does not respond, canceling the longitudinal control and the transverse control of the vehicle in the active cruise mode, and performing tertiary prompt, wherein the vehicle keeps parking, and the prompt degree of the tertiary prompt is higher than that of the secondary prompt;
when waiting to respond to the operation of a driver, if the driver steps on the accelerator, the vehicle is started, enters the active cruise mode to follow the front vehicle, and accelerates to the preset cruise speed.
4. The method of claim 1, further comprising, after determining whether to continue to execute the active cruise mode based on a preceding vehicle driving condition and a driver handling state:
if the driver actively triggers the cruise mode exit operation, the driver exits the transverse control and keeps the longitudinal control;
and if the driver steps on the brake or actively triggers to quit the longitudinal control operation, quitting the longitudinal control.
5. The method of claim 1, wherein the vehicle is controlled longitudinally and laterally; carry out early warning suggestion according to the operating mode, include:
and if an event influencing the longitudinal control is detected, exiting the longitudinal control and the transverse control, and performing three-level prompt.
6. The method of claim 1, wherein the vehicle is controlled longitudinally and laterally; carry out early warning suggestion according to the operating mode, include:
when an event influencing the transverse control is detected, the transverse control is exited, and the longitudinal control is maintained; performing secondary prompting;
and if the duration of the secondary prompt exceeds the second preset time and the driver does not respond, performing the tertiary prompt.
7. The method of claim 1, wherein the vehicle is controlled longitudinally and laterally; carry out early warning suggestion according to the operating mode, include:
if an event causing that the vehicle working condition cannot meet the preset condition is detected, the transverse control is quitted, the longitudinal control is kept, and secondary prompt is carried out;
if the driver takes over, the transverse control is continuously withdrawn, and the longitudinal control is kept;
if the duration of the secondary prompt exceeds second preset time, the driver does not respond, the driver quits the longitudinal control, and the third-level prompt is carried out;
if the driver does not take over continuously, controlling the vehicle to decelerate and stop in the current lane;
and shielding and starting the active cruise mode within a preset vehicle starting period.
8. The method of claim 1, wherein the vehicle is controlled longitudinally and laterally; carry out early warning suggestion according to the operating mode, include:
if the driver is detected to be inattentive, performing primary prompt;
if the attention of the driver is recovered, the active cruise mode is kept; if the attention of the driver is not recovered, performing secondary prompt;
when the secondary prompt is carried out, if the driver takes over, the transverse control is quitted, and the longitudinal control is kept; if the secondary prompting time length exceeds a second preset time and the attention of the driver is not recovered, performing tertiary prompting;
if the driver does not take over continuously, controlling the vehicle to decelerate and stop in the current lane;
and shielding and starting the active cruise mode within a preset vehicle starting period.
9. A vehicle control apparatus characterized by comprising:
the active cruise mode starting control module is used for entering an active cruise mode if preset conditions are met after a vehicle enters a highway;
the active cruise mode execution module is used for longitudinally and transversely controlling the vehicle in the active cruise mode and giving early warning prompts according to working conditions;
the active cruise mode starting control module is also used for determining whether to continuously execute the active cruise mode according to the driving condition of the front vehicle and the operation state of the driver;
the longitudinal control comprises controlling the vehicle to cruise at a constant speed or run along with a front vehicle in a current lane; the transverse control comprises the step of correcting the traveling direction when the vehicle travels and turns, wherein the current lane is the lane where the vehicle is located currently.
10. A vehicle control apparatus characterized by comprising: the system comprises a gateway, a vehicle control unit VCU, an all-liquid crystal instrument IC, an electronic control brake system EBS, an electro-hydraulic steering system EPS, a steering wheel hand-off system HOD, an intelligent forward-looking CAMERA CAMERA, a forward-looking millimeter wave RADAR RADAR, a fatigue monitoring system DMS and a remote information processor T-BOX;
the VCU and the IC are connected to the gateway through a first bus;
an electric control brake system EBS, an electric hydraulic steering system EPS, a steering wheel hand-off system HOD, an intelligent forward-looking CAMERA CAMERA and a forward-looking millimeter wave RADAR RADAR are accessed to the gateway through a second bus;
the VCU is also connected with the second bus;
the fatigue monitoring system DMS and the remote information processor T-BOX are accessed to the gateway through a third bus;
the intelligent forward-looking CAMERA CAMERA, the forward-looking millimeter wave RADAR RADAR and the remote information processor T-BOX are connected through a fourth bus;
the telematics T-BOX accesses the second bus through a fifth bus.
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