CN113492856A - Cruise following parking waiting time control method and system, vehicle and storage medium - Google Patents
Cruise following parking waiting time control method and system, vehicle and storage medium Download PDFInfo
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- CN113492856A CN113492856A CN202110800430.1A CN202110800430A CN113492856A CN 113492856 A CN113492856 A CN 113492856A CN 202110800430 A CN202110800430 A CN 202110800430A CN 113492856 A CN113492856 A CN 113492856A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000004927 fusion Effects 0.000 claims description 24
- 238000012544 monitoring process Methods 0.000 claims description 18
- 238000007499 fusion processing Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 5
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- 230000010354 integration Effects 0.000 description 1
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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
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a method and a system for controlling the cruise following parking waiting time, a vehicle and a storage medium, wherein the method comprises the following steps: when the state of a driver is excellent and no additional target exists between the cruise system and the following target, the cruise following parking waiting time is first preset time; when the state of the driver is high, but an additional target directly exists between the cruise system and the car following target, the cruise car following parking waiting time is a second preset time; when the state of the driver is middle and no additional target exists between the cruise system and the following target, the cruise following parking waiting time is a third preset time; when the driver state is middle and an additional target exists between the cruise system and the following target, the cruise following parking waiting time is a second preset time; and when the state of the driver is poor, the cruise and car following parking waiting time is a second preset time. The invention solves the problem that the driver needs to frequently confirm when starting and stopping on the premise of ensuring the driving safety.
Description
Technical Field
The invention belongs to the technical field of vehicle cruising, and particularly relates to a cruising and vehicle-following parking waiting time control method, a cruising and vehicle-following parking waiting time control system, a vehicle and a storage medium.
Background
Along with the development of the intelligent driving technology of the automobile, more and more driving assistance technologies are produced in mass production on the passenger car, and the integration level of the driving assistance technologies is higher and higher. The driving assistance technology is a safety technology for assisting a driver in driving, and improves driving safety and comfort. As driving support techniques have become popular, the continuity of the driving support techniques has been increasing.
At present, in mainstream driving assistance, when a vehicle follows a cruise vehicle, the system can exit a waiting mode after the vehicle stops for 3 seconds following a front vehicle, the vehicle can continue to follow the front vehicle after the front vehicle starts and needs to be confirmed by a driver again, and in the process, user experience is poor. There is currently no relevant patent information for a while.
Therefore, it is necessary to develop a cruise following parking waiting time control method, system, vehicle, and storage medium.
Disclosure of Invention
The invention aims to provide a cruise following and parking waiting time control method, a cruise following and parking waiting time control system, a cruise following and parking waiting time control vehicle and a storage medium, which can solve the problem that a following, parking and starting driver needs to frequently confirm on the premise of ensuring driving safety.
The invention discloses a cruise and car following parking waiting time control method, which comprises the following steps:
when the cruise system of the vehicle is started and the following front vehicle is detected to stop, the vehicle judges the state of a driver, wherein the state of the driver is divided into a superior state, a middle state and a poor state;
when the state of a driver is excellent and no additional target exists between the cruise system and a car following target, the cruise system considers that the safety level is high, and the cruise car following parking waiting time is first preset time;
when the state of the driver is high, but an additional target directly exists between the cruise system and the car following target, the cruise system judges that the safety level is poor, and the cruise car following parking waiting time is second preset time;
when the state of the driver is middle and no additional target exists between the cruise system and the car following target, the cruise system considers that the safety level is middle, and the cruise car following parking waiting time is third preset time;
when the driver state is middle and an additional target exists between the cruise system and the car following target, the cruise system considers that the safety level is poor, and the cruise car following parking waiting time is second preset time;
when the state of the driver is poor, the cruise system considers that the safety level is poor, and the cruise car-following parking waiting time is second preset time;
the first preset time is longer than the third preset time, and the third preset time is longer than the second preset time.
Optionally, the method for determining the driver state is as follows:
when the driver monitoring camera outputs no driver, the cruise system considers that the state of the driver is poor;
when the driver monitoring camera outputs that the driver exists, but the fatigue state of the driver is fatigue, the cruise system considers that the state of the driver is poor;
when the driver monitoring camera outputs that the driver is in the middle state and the driver is not tired but the attention of the driver is dispersed, the cruise system considers that the state of the driver is in the middle state;
when the driver monitoring camera outputs that the driver is present, the driver is not tired, and the attention of the driver is focused, the cruise system considers that the state of the driver is the best.
Optionally, the method for determining whether there is an additional target between the cruise system and the following target is as follows:
defining a vision camera and an ultrasonic radar as a sensor group A for detecting a near-end target in front of the cruise;
defining a forward intelligent camera and a forward millimeter wave radar as a sensor group B for detecting a cruise target;
when the sensor group A outputs no front target, no additional target is considered between the vehicle and the cruising and following target;
when a target in front of the output of the sensor group A and a target output by the sensor group B can be fused into a target, no additional target exists between the vehicle and the cruising and following target;
when the sensor group A outputs a target in front but cannot be fused with the sensor group B, the vehicle is considered to have an additional vehicle following target between the vehicle and the cruising vehicle following target.
Optionally, the first preset time is 3min, the second preset time is 3S, and the third preset time is 45S.
In a second aspect, the present invention provides a cruise following parking waiting time control system, including:
the driver state monitoring camera is used for acquiring and identifying state information of a driver;
the forward intelligent camera is used for detecting target information;
the forward millimeter wave radar is used for detecting target information;
the all-round looking camera is used for detecting target information;
the ultrasonic radar is used for detecting target information;
the system comprises a fusion output cruising target unit, a forward intelligent camera, a forward millimeter wave radar and a fusion output cruising target unit, wherein the fusion output cruising target unit is used for receiving target information detected by the forward intelligent camera and the forward millimeter wave radar and fusing and outputting a cruising target, and the fusion output cruising target unit is respectively connected with the forward intelligent camera and the forward millimeter wave radar;
the fusion output near-end target unit is used for receiving target information detected by the look-around camera and the ultrasonic radar and fusing and outputting a near-end target, and the fusion output near-end target unit is respectively connected with the look-around camera and the ultrasonic radar;
and a domain control fusion processing unit which is respectively connected with the driver state monitoring camera, the fusion output cruise target unit and the fusion output near-end target unit, wherein the domain control fusion processing unit is configured to execute the steps of the cruise and car following parking waiting time control method.
In a third aspect, the invention provides a vehicle employing a cruise follow-up parking wait time control system according to the invention.
In a fourth aspect, the present invention provides a storage medium having a computer readable program stored therein, where the computer readable program is capable of executing the steps of the cruise follow parking waiting time control method according to the present invention when the computer readable program is called.
The invention has the following advantages: the cruise and car following parking waiting time is set according to the state quality of the driver and whether additional targets exist, and the trouble that the driver needs to frequently confirm when starting and stopping the vehicle is solved on the premise of ensuring the driving safety.
Drawings
Fig. 1 is a schematic block diagram in the present embodiment;
FIG. 2 is a flowchart illustrating the driver status determination process in this embodiment;
fig. 3 is a flow chart of non-following target determination in the present embodiment;
fig. 4 is a flowchart of the present embodiment.
Detailed Description
As shown in fig. 4, in the present embodiment, a cruise following parking waiting time control method includes the following steps:
when the cruise system of the vehicle is started and the following front vehicle is detected to stop, the vehicle judges the state of a driver, wherein the state of the driver is divided into a superior state, a middle state and a poor state;
when the state of a driver is excellent and no additional target exists between the cruise system and a car following target, the cruise system considers that the safety level is high, and the cruise car following parking waiting time is first preset time;
when the state of the driver is high, but an additional target directly exists between the cruise system and the car following target, the cruise system judges that the safety level is poor, and the cruise car following parking waiting time is second preset time;
when the state of the driver is middle and no additional target exists between the cruise system and the car following target, the cruise system considers that the safety level is middle, and the cruise car following parking waiting time is third preset time;
when the driver state is middle and an additional target exists between the cruise system and the car following target, the cruise system considers that the safety level is poor, and the cruise car following parking waiting time is second preset time;
when the state of the driver is poor, the cruise system considers that the safety level is poor, and the cruise car-following parking waiting time is second preset time;
the first preset time is longer than the third preset time, and the third preset time is longer than the second preset time.
As shown in fig. 2, in the present embodiment, the method for determining the driver state is as follows:
when the driver monitoring camera outputs no driver, the cruise system considers that the state of the driver is poor;
when the driver monitoring camera outputs that the driver exists, but the fatigue state of the driver is fatigue, the cruise system considers that the state of the driver is poor;
when the driver monitoring camera outputs that the driver is in the middle state and the driver is not tired but the attention of the driver is dispersed, the cruise system considers that the state of the driver is in the middle state;
when the driver monitoring camera outputs that the driver is present, the driver is not tired, and the attention of the driver is focused, the cruise system considers that the state of the driver is the best.
As shown in fig. 3, in the present embodiment, the method for determining whether there is an additional target between the cruise system and the following target is as follows:
defining a vision camera and an ultrasonic radar as a sensor group A for detecting a near-end target in front of the cruise;
defining a forward intelligent camera and a forward millimeter wave radar as a sensor group B for detecting a cruise target;
when the sensor group A outputs no front target, no additional target is considered between the vehicle and the cruising and following target;
when a target in front of the output of the sensor group A and a target output by the sensor group B can be fused into a target, no additional target exists between the vehicle and the cruising and following target;
when the sensor group A outputs a target in front but cannot be fused with the sensor group B, the vehicle is considered to have an additional vehicle following target between the vehicle and the cruising vehicle following target.
In this embodiment, the first preset time is 3min, the second preset time is 3S, and the third preset time is 45S.
As shown in fig. 1, in the present embodiment, a cruise following parking waiting time control system includes:
the driver state monitoring camera is used for acquiring and identifying state information of a driver;
the forward intelligent camera is used for detecting target information;
the forward millimeter wave radar is used for detecting target information;
the all-round looking camera is used for detecting target information;
the ultrasonic radar is used for detecting target information;
the system comprises a fusion output cruising target unit, a forward intelligent camera, a forward millimeter wave radar and a fusion output cruising target unit, wherein the fusion output cruising target unit is used for receiving target information detected by the forward intelligent camera and the forward millimeter wave radar and fusing and outputting a cruising target, and the fusion output cruising target unit is respectively connected with the forward intelligent camera and the forward millimeter wave radar;
the fusion output near-end target unit is used for receiving target information detected by the look-around camera and the ultrasonic radar and fusing and outputting a near-end target, and the fusion output near-end target unit is respectively connected with the look-around camera and the ultrasonic radar;
a domain control fusion processing unit connected to the driver state monitoring camera, the fusion output cruise target unit, and the fusion output near-end target unit, respectively, the domain control fusion processing unit being configured to be able to execute the steps of the cruise following parking waiting time control method as described in the present embodiment.
In this embodiment, a vehicle employs the cruise following parking waiting time control system as described in this embodiment.
In this embodiment, a storage medium has a computer readable program stored therein, and the computer readable program, when invoked, can execute the steps of the cruise and following parking waiting time control method as described in this embodiment.
Claims (7)
1. A cruise and car following parking waiting time control method is characterized by comprising the following steps:
when the cruise system of the vehicle is started and the following front vehicle is detected to stop, the vehicle judges the state of a driver, wherein the state of the driver is divided into a superior state, a middle state and a poor state;
when the state of a driver is excellent and no additional target exists between the cruise system and a car following target, the cruise system considers that the safety level is high, and the cruise car following parking waiting time is first preset time;
when the state of the driver is high, but an additional target directly exists between the cruise system and the car following target, the cruise system judges that the safety level is poor, and the cruise car following parking waiting time is second preset time;
when the state of the driver is middle and no additional target exists between the cruise system and the car following target, the cruise system considers that the safety level is middle, and the cruise car following parking waiting time is third preset time;
when the driver state is middle and an additional target exists between the cruise system and the car following target, the cruise system considers that the safety level is poor, and the cruise car following parking waiting time is second preset time;
when the state of the driver is poor, the cruise system considers that the safety level is poor, and the cruise car-following parking waiting time is second preset time;
the first preset time is longer than the third preset time, and the third preset time is longer than the second preset time.
2. A cruise follow-up parking waiting time control method according to claim 1, characterized in that: the method for judging the state of the driver comprises the following steps:
when the driver monitoring camera outputs no driver, the cruise system considers that the state of the driver is poor;
when the driver monitoring camera outputs that the driver exists, but the fatigue state of the driver is fatigue, the cruise system considers that the state of the driver is poor;
when the driver monitoring camera outputs that the driver is in the middle state and the driver is not tired but the attention of the driver is dispersed, the cruise system considers that the state of the driver is in the middle state;
when the driver monitoring camera outputs that the driver is present, the driver is not tired, and the attention of the driver is focused, the cruise system considers that the state of the driver is the best.
3. A cruise follow-up parking waiting time control method according to claim 1 or 2, characterized in that: the method for judging whether an additional target exists between the cruise system and the following target is as follows:
defining a vision camera and an ultrasonic radar as a sensor group A for detecting a near-end target in front of the cruise;
defining a forward intelligent camera and a forward millimeter wave radar as a sensor group B for detecting a cruise target;
when the sensor group A outputs no front target, no additional target is considered between the vehicle and the cruising and following target;
when a target in front of the output of the sensor group A and a target output by the sensor group B can be fused into a target, no additional target exists between the vehicle and the cruising and following target;
when the sensor group A outputs a target in front but cannot be fused with the sensor group B, the vehicle is considered to have an additional vehicle following target between the vehicle and the cruising vehicle following target.
4. A cruise follow-up parking waiting time control method according to claim 3, characterized in that: the first preset time is 3min, the second preset time is 3S, and the third preset time is 45S.
5. A cruise follow parking wait time control system, comprising:
the driver state monitoring camera is used for acquiring and identifying state information of a driver;
the forward intelligent camera is used for detecting target information;
the forward millimeter wave radar is used for detecting target information;
the all-round looking camera is used for detecting target information;
the ultrasonic radar is used for detecting target information;
the system comprises a fusion output cruising target unit, a forward intelligent camera, a forward millimeter wave radar and a fusion output cruising target unit, wherein the fusion output cruising target unit is used for receiving target information detected by the forward intelligent camera and the forward millimeter wave radar and fusing and outputting a cruising target, and the fusion output cruising target unit is respectively connected with the forward intelligent camera and the forward millimeter wave radar;
the fusion output near-end target unit is used for receiving target information detected by the look-around camera and the ultrasonic radar and fusing and outputting a near-end target, and the fusion output near-end target unit is respectively connected with the look-around camera and the ultrasonic radar;
a domain control fusion processing unit connected to the driver state monitoring camera, the fusion output cruise target unit, and the fusion output near-end target unit, respectively, the domain control fusion processing unit being configured to be able to perform the steps of the cruise follow parking wait time control method according to any one of claims 1 to 4.
6. A vehicle, characterized in that: a cruise and car following parking waiting time control system according to claim 5 is used.
7. A storage medium, characterized by: stored with a computer readable program which when invoked is able to perform the steps of the cruise follow parking waiting time control method according to any one of claims 1 to 4.
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| CN113492856B (en) | 2022-08-09 |
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