CN113954839B - Control method and device for driving assistance system, electronic device and storage medium - Google Patents

Control method and device for driving assistance system, electronic device and storage medium Download PDF

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Publication number
CN113954839B
CN113954839B CN202111585271.4A CN202111585271A CN113954839B CN 113954839 B CN113954839 B CN 113954839B CN 202111585271 A CN202111585271 A CN 202111585271A CN 113954839 B CN113954839 B CN 113954839B
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state
auxiliary function
preset condition
vehicle
function
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CN113954839A (en
Inventor
陈永春
邹欣
吴鹏
刘翎予
李小刚
潘文博
周陆杰
白颖
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Freetech Intelligent Systems Co Ltd
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Freetech Intelligent Systems Co Ltd
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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
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps

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

Abstract

The present application relates to a control method, an electronic device, and a storage medium of a driving assistance system, wherein the driving assistance system includes a longitudinal assistance function and a plurality of lateral assistance functions, the method including: when the longitudinal auxiliary function is in an activated state, acquiring the current road type and the vehicle state information of the vehicle; at least one lateral assistance function is used to adjust the lateral state of the vehicle based on the road type and the vehicle state information. Through the application, mutual adjustment of multiple auxiliary driving functions is realized, and the user experience is improved.

Description

Control method and device for driving assistance system, electronic device and storage medium
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a control method, an electronic device, and a storage medium for a driving assistance system.
Background
With the continuous development of artificial intelligence technology, the driving assistance function has become a hot spot of research in the automobile field.
In the related art, L2 functions such as Adaptive Cruise Control (ACC) and Pilot Assist (PA) have appeared in many vehicle models, and higher-level driving Assist functions such as Lane Change Assist (LCA) and navigation Assist (NOA) also start to enter the visual field Of people, and a set Of reasonable and effective switching logic is especially critical in many high-level automatic driving systems with coupled horizontal and vertical functions.
Therefore, how to realize a high-level driving assistance system, the coupling of different driving assistance functions and the correct and reasonable switching are problems to be solved.
Disclosure of Invention
In the present embodiment, a control method, an electronic device, and a storage medium of a driving assistance system are provided to realize coupling and appropriate switching of different driving assistance functions in a high-level driving assistance system.
In a first aspect, in the present embodiment, there is provided a control method of a driving assist system including a longitudinal assist function and a plurality of lateral assist functions, the control method including:
when the longitudinal auxiliary function is in an activated state, acquiring the current road type and the vehicle state information of the vehicle;
at least one lateral assistance function is used to adjust the lateral state of the vehicle based on the road type and the vehicle state information.
In some of these embodiments, the lateral mode comprises a lane keeping mode, the lateral assist function comprises a navigation assist function and a navigation assist function, the road types comprise structured roads and unstructured roads, and the adjusting of the lateral state of the vehicle with the at least one lateral assist function according to the road type and the vehicle state information comprises:
if the road type is an unstructured road and the vehicle state information meets a first preset condition, adopting a navigation auxiliary function to adjust the state of lane keeping, wherein the first preset condition is an activation condition of the navigation auxiliary function;
if the road type is a structured road and the vehicle state information meets the first preset condition and does not meet the second preset condition, adopting a navigation auxiliary function to carry out state adjustment of lane keeping, wherein the second preset condition is an activation condition of the navigation auxiliary function;
and if the road type is a structured road and the vehicle state information meets the first preset condition and the second preset condition, performing state adjustment of lane keeping by adopting a pilot auxiliary function and/or a navigation auxiliary function.
In some of these embodiments, the lateral mode further comprises lane switching, and the lateral assist function further comprises lane change assist function;
adjusting the lateral state of the vehicle with at least one lateral assist function based on the road type and the vehicle state information, comprising:
if the road type is an unstructured road and the vehicle state information meets the first preset condition and does not meet a third preset condition, adopting a piloting auxiliary function to carry out state adjustment of lane switching, wherein the third preset condition is an activation condition of a lane changing auxiliary function;
if the road type is an unstructured road and the vehicle state information meets a first preset condition and a third preset condition, adopting a piloting auxiliary function and/or a lane changing auxiliary function to adjust the state of lane switching;
if the road type is a structured road, and the vehicle state information meets the first preset condition and the third preset condition does not meet the second preset condition, adopting a piloting auxiliary function and/or a lane changing auxiliary function to adjust the state of lane switching;
and if the road type is a structured road and the vehicle state information meets the first preset condition, the third preset condition and the second preset condition, performing state adjustment of lane switching by adopting at least one of a navigation auxiliary function, a lane change auxiliary function and a navigation auxiliary function.
In some of these embodiments, the control method further comprises:
and if the lane switching state is any one of completion, termination and non-satisfaction of lane change conditions, controlling the transverse state to be a lane keeping state.
In some of these embodiments, the control method further comprises:
when a safe parking instruction is received, controlling the transverse state to be in lane keeping;
and when the vehicle is in a lane keeping state, controlling the vehicle to safely stop.
In some of these embodiments, the longitudinal assist function comprises an adaptive cruise function, the adaptive cruise function comprising a plurality of sub-states, the control method further comprising:
and controlling a plurality of sub-states to switch with each other according to the vehicle state information, wherein the plurality of sub-states comprise an off state, a standby state, an activated state, an active intervention state, a short braking state, a follow-up stop activated state and a follow-up stop waiting state.
In some of these embodiments, the control method further comprises:
fault detection is carried out on the auxiliary driving system, and fault information is generated;
determining a fault grade according to the fault information;
and if the fault grade is the preset fault grade, closing the assistant driving system.
In a second aspect, in the present embodiment, there is provided a control device of a driving assistance system, the control device including:
the acquisition module is used for acquiring the current road type and the vehicle state information of the vehicle when the longitudinal auxiliary function is in an activated state;
and the adjusting module is used for adjusting the transverse state of the vehicle by adopting at least one transverse auxiliary function according to the road type and the vehicle state information.
In some of these embodiments, the lateral state comprises lane keeping, the lateral assistance function comprises a navigation assistance function and a navigation assistance function, the road type comprises a structured road and an unstructured road, and the adjustment module is specifically configured to:
if the road type is an unstructured road and the vehicle state information meets a first preset condition, adopting a navigation auxiliary function to adjust the state of lane keeping, wherein the first preset condition is an activation condition of the navigation auxiliary function;
if the road type is a structured road and the vehicle state information meets the first preset condition and does not meet the second preset condition, adopting a navigation auxiliary function to carry out state adjustment of lane keeping, wherein the second preset condition is an activation condition of the navigation auxiliary function;
and if the road type is a structured road and the vehicle state information meets the first preset condition and the second preset condition, performing state adjustment of lane keeping by adopting a pilot auxiliary function and/or a navigation auxiliary function.
In some of these embodiments, the lateral state further comprises lane switching, and the lateral assist function further comprises lane change assist function;
the adjusting module is specifically configured to: if the road type is an unstructured road and the vehicle state information meets the first preset condition and does not meet a third preset condition, adopting a piloting auxiliary function to carry out state adjustment of lane switching, wherein the third preset condition is an activation condition of a lane changing auxiliary function;
if the road type is an unstructured road and the vehicle state information meets a first preset condition and a third preset condition, adopting a piloting auxiliary function and/or a lane changing auxiliary function to adjust the state of lane switching;
if the road type is a structured road, and the vehicle state information meets the first preset condition and the third preset condition does not meet the second preset condition, performing state adjustment of lane switching by adopting a lane changing auxiliary function and/or a lane changing auxiliary function;
and if the road type is a structured road and the vehicle state information meets the first preset condition, the third preset condition and the second preset condition, performing state adjustment of lane switching by adopting at least one of a navigation auxiliary function, a lane change auxiliary function and a navigation auxiliary function.
In some embodiments, the adjusting module is specifically configured to:
and if the lane switching state is any one of completion, termination and non-satisfaction of lane change conditions, controlling the transverse state to be a lane keeping state.
In some of these embodiments, the adjustment module is further configured to:
when a safe parking instruction is received, controlling the transverse state to be in a lane keeping state;
and when the vehicle is in a lane keeping state, controlling the vehicle to safely stop.
In some of these embodiments, the longitudinal assist function comprises an adaptive cruise function, the adaptive cruise function comprising a plurality of sub-states, the adjustment module further configured to:
and controlling a plurality of sub-states to switch with each other according to the vehicle state information, wherein the plurality of sub-states comprise an off state, a standby state, an activated state, an active intervention state, a short braking state, a follow-up stop activated state and a follow-up stop waiting state.
In some of these embodiments, the adjustment module is further configured to:
fault detection is carried out on the auxiliary driving system, and fault information is generated;
determining a fault grade according to the fault information;
and if the fault grade is the preset fault grade, closing the assistant driving system.
In a third aspect, in the present embodiment, there is provided an electronic apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of the first aspect when executing the computer program.
In a fourth aspect, in the present embodiment, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the first aspect described above.
Compared with the related art, the control method, the electronic device and the storage medium of the driving assistance system provided in the embodiment acquire the current road type and the vehicle state information of the vehicle when the longitudinal assistance function is in the activated state; according to the road type and the vehicle state information, at least one transverse auxiliary function is adopted to adjust the state of the transverse mode, so that the overall control of multiple auxiliary driving functions is realized, different auxiliary driving functions are mutually coupled and switched, and the user experience is improved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a hardware configuration of a terminal of a control method of a driving assistance system according to an embodiment of the present application.
Fig. 2 is a flowchart of a control method of a driving assistance system according to an embodiment of the present application.
Fig. 3 is a functional structure diagram of a driving assistance system according to an embodiment of the present application.
Fig. 4 is a block diagram of a control device of a driving assistance system according to an embodiment of the present application.
Detailed Description
For a clearer understanding of the objects, aspects and advantages of the present application, reference is made to the following description and accompanying drawings.
Unless defined otherwise, technical or scientific terms used herein shall have the same general meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of this application do not denote a limitation of quantity, either in the singular or the plural. The terms "comprises," "comprising," "has," "having," and any variations thereof, as referred to in this application, are intended to cover non-exclusive inclusions; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or modules, but may include other steps or modules (elements) not listed or inherent to such process, method, article, or apparatus. Reference throughout this application to "connected," "coupled," and the like is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference to "a plurality" in this application means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. In general, the character "/" indicates a relationship in which the objects associated before and after are an "or". The terms "first," "second," "third," and the like in this application are used for distinguishing between similar items and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the present embodiment may be executed in a terminal, a computer, or a similar computing device. For example, the present invention is executed on a terminal, and fig. 1 is a block diagram of a hardware structure of the terminal of a control method of a driving assistance system according to an embodiment of the present invention. As shown in fig. 1, the terminal may include one or more processors 101 (only one is shown in fig. 1) and a memory 102, wherein the processor 101 may include, but is not limited to, a processing device such as a central processing unit CPU, a microprocessor MCU, or a programmable logic device FPGA, the memory 102 may include a read only memory ROM and/or a random access memory RAM, and the processor 101 may perform various suitable actions and processes according to computer program instructions stored in the ROM or computer program instructions loaded into the RAM from the storage unit 107. In the RAM, various programs and data required for the operation of the terminal can also be stored. The processor 101 and the memory 102 are connected to each other by a bus 103. An input/output interface 104 is also connected to the bus 103.
A number of components in the terminal are connected to the input/output interface 104, including: an input unit 105 such as a keyboard, a mouse, and the like; an output unit 106 such as various types of displays, speakers, and the like; a storage unit 107 such as a magnetic disk, an optical disk, or the like; and a communication unit 108, such as a network card, modem, wireless communication transceiver, etc. The communication unit 108 allows the terminal to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The various processes and processes of the method embodiments provided in this embodiment may be performed by the processor 101. For example, in some embodiments, the methods provided in the present embodiments may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 107. In some embodiments, part or all of the computer program may be loaded and/or installed onto the terminal via the ROM and/or the communication unit 108. The steps of the method provided in the present embodiment may be performed when the computer program is loaded into the RAM and executed by the CPU.
In the field of intelligent driving technology, more and more vehicle models are equipped with an automatic driving system of L2 level. The L2 level driving system refers to: the intelligent navigation system can be used for carrying out automatic driving in a conditional mode, providing driving support for multiple operations in a steering wheel and acceleration and deceleration, and realizing transverse and longitudinal control of the automobile within a full-speed threshold value by using an auxiliary driving function operated by a driver. In the related technology, L2 functions such as Adaptive Cruise Control (ACC) and Pilot Assist (PA) have appeared in many vehicle models, higher-level Assist driving functions such as Lane Change Assist (LCA) and navigation Assist (NOA) also begin to enter the visual field Of people, and a set Of reasonable and effective switching logic is especially critical in many high-level automatic driving systems with coupled functions.
Therefore, how to realize a high-level driving assistance system, the coupling of different driving assistance functions and the correct and reasonable switching are problems to be solved.
The driving assistance system provided by the embodiment of the application can be arranged in a vehicle and used for controlling the vehicle to carry out intelligent driving assistance, and the driving assistance system can comprise a detection device and a detection device, wherein the detection device is used for acquiring detection information of traffic participants around the vehicle and environment in real time, such as detection information of pedestrians, lane lines, traffic signboards and the like.
It should be noted that the detection device in the embodiment of the present application may implement sensor detection of 360 degrees, and the detection device may include at least one of a vision camera, a millimeter wave sensor, and a laser radar sensor, which is not limited herein.
The driving assistance system may further include an electronic navigation device for planning a navigation route according to a destination set by the user and the current vehicle position, and providing the driver with a plurality of selectable navigation routes.
The driving assistance system may further include a high-precision positioning device including a high-precision map therein, the high-precision positioning device being configured to position a current position of the vehicle in the high-precision map according to a navigation route provided by the electronic navigation device and output environmental information, such as lane lines, reference lines, traffic signboards, road types, curvatures, and the like, in which the current vehicle is located.
In the present embodiment, a control method of a driving assistance system is provided, and fig. 2 is a flowchart of a control method of a driving assistance system provided in an embodiment of the present application, which may be executed by a vehicle controller, as shown in fig. 2, and the flowchart includes the following steps:
in step S201, when the longitudinal assist function is in an activated state, the current road type and the vehicle state information of the vehicle are acquired.
In particular, the driver assistance system comprises a longitudinal assistance function and a plurality of transverse assistance functions, wherein when the driver assistance system is in an on state, an adjustment of the longitudinal state of the vehicle can be carried out by means of the longitudinal assistance function, and an adjustment of the transverse state of the vehicle can be carried out by means of the transverse assistance function, wherein the transverse assistance function is on if the longitudinal assistance function is in an active state, i.e. the transverse assistance function is only possible to be activated when the longitudinal assistance function is active.
For example, the assistant driving system is started, and the longitudinal state of the vehicle is adjusted through the longitudinal assistant function, wherein the longitudinal assistant function can comprise a starting state, a standby state, an activated state and a closed state, and when the longitudinal assistant function is in the activated state, the current road type and the vehicle state information of the vehicle are acquired through the detection device.
In one particular embodiment, the longitudinal assist function comprises an adaptive cruise function ACC comprising a plurality of sub-states, the control method further comprising:
and controlling a plurality of sub-states to switch with each other according to the vehicle state information, wherein the plurality of sub-states comprise an off state, a standby state, an activated state, an active intervention state, a short braking state, a follow-up stop activated state and a follow-up stop waiting state.
Specifically, the adaptive cruise function ACC includes, but is not limited to, an Off state (Off), a Standby state (Standby), an Active state (Active), an Active intervention state (Override), a short braking state (Brake-Only), a stop-Active state (Stand-Active), and a stop-Wait state (Stand-Wait). The driver assistance system is able to mutually adjust a plurality of sub-states of the adaptive cruise function ACC in dependence on the vehicle state information and the ambient environment information.
Illustratively, the adaptive cruise function ACC is in an off state, and when the adaptive cruise function ACC needs to be turned on according to the setting information, the assistant driving system can determine whether the current vehicle state information and the surrounding environment information satisfy the condition for turning on the adaptive cruise function ACC, and if so, the assistant driving system switches the adaptive cruise function ACC from the off state to the on state, and if the vehicle state information and the surrounding environment information do not satisfy the condition for turning on the adaptive cruise function ACC, the assistant driving system switches the adaptive cruise function ACC from the off state to the standby state until the on condition of the adaptive cruise function ACC is satisfied, and then switches from the standby state to the on state.
Further, other sub-states of the adaptive cruise function ACC may also be switched to each other in accordance with the vehicle state information and the surrounding environment information.
Step S202, adjusting the transverse state of the vehicle by adopting at least one transverse auxiliary function according to the road type and the vehicle state information.
Specifically, different road types and different states of the current vehicle can be adopted to adjust the lateral state of the vehicle by adopting different lateral auxiliary functions.
In the implementation process, the longitudinal auxiliary function of the auxiliary driving system pair is used for realizing the adjustment of the longitudinal state of the vehicle, and when the longitudinal auxiliary function is in an activated state, according to the road type and the state information of the vehicle, the corresponding transverse auxiliary function is selected in a self-adaptive manner to realize the adjustment of the transverse state of the vehicle, therefore, the multiple transverse auxiliary functions are switched with each other according to the current road type and the vehicle state information, the control logics of the longitudinal state and the transverse state of the vehicle are coordinated, the overall control of the multiple auxiliary driving functions is realized, the coupling performance among different auxiliary driving functions is increased, the correct and reasonable switching among different auxiliary driving functions is realized, further, the application range of the auxiliary driving system is expanded, the flexibility of the auxiliary driving system is improved, and the experience of a user in intelligent driving is improved.
In another embodiment, the lateral state comprises lane keeping, the lateral assistance function comprises a navigation assistance function PA and a navigation assistance function NOA, and the road type comprises a structured road and an unstructured road.
It should be understood that the structured road in the embodiment of the present application refers to a road area such as a high-speed, overhead, and urban expressway, which a mapper can provide high-precision map data.
It should be noted that, in the embodiment of the present application, the navigation assistance function PA may be applied to an unstructured road and a structured road, and can implement automatic control of a vehicle according to a road environment. The navigation assistance function NOA is mainly applied to a feasible region in a structured road, and can realize automatic on-off ramp, active lane change (for example, passing a slow vehicle, driving according to a planned navigation route so as to switch lanes, keeping away from a special vehicle, setting a priority lane, and the like), automatic high-speed road switching, and the like of a vehicle according to a road environment. Thus, during assisted driving, automatic control of the vehicle can be achieved with at least one assisted driving function.
Specifically, if the lateral state is the lane keeping state, the lateral state of the vehicle is adjusted by using at least one lateral assist function according to the road type and the vehicle state information, and the lane keeping state adjustment may be implemented by using any one of the following manners:
the first method is as follows: and if the road type is an unstructured road and the vehicle state information meets a first preset condition, adopting a navigation auxiliary function to carry out state adjustment of lane keeping, wherein the first preset condition is an activation condition of the navigation auxiliary function.
Specifically, when the acquired current road is an unstructured road and the current vehicle state information meets the activation condition of the navigation aid function PA, the state adjustment of lane keeping is performed by using the navigation aid function PA.
Illustratively, a user sets a transverse state as a lane keeping state through an interactive interface, acquires that the current road type is an unstructured road through a detection device, activates a navigation aid function PA when vehicle state information of a current vehicle meets a first preset condition, and adjusts the lane keeping state through the navigation aid function PA.
It should be noted that the first preset condition may be at least one of that the current steering wheel angle of the vehicle is smaller than the first preset value, that the current vehicle speed is not greater than the second preset value, and that the current number of traffic participants in the vehicle surroundings is smaller than the third preset value, or other preset conditions may be set according to practical applications, which is not limited herein.
The second method comprises the following steps: and if the road type is a structured road and the vehicle state information meets the first preset condition and does not meet the second preset condition, adopting a navigation auxiliary function to carry out state adjustment of lane keeping, wherein the second preset condition is an activation condition of the navigation auxiliary function.
Specifically, when the acquired road type is a structured road, whether the vehicle state information of the current vehicle meets the activation condition of the navigation assistance function NOA is further judged, and if the vehicle state information of the current vehicle meets the activation condition of the navigation assistance function PA but does not meet the activation condition of the navigation assistance function NOA, the state adjustment of lane keeping can be performed by using the navigation assistance function PA.
Illustratively, a user sets a transverse state as a lane keeping state through an interactive interface, when the current road type is a structured road, the detection device judges whether the current vehicle state information meets a second preset condition, if not, the detection device further judges whether the current vehicle state information meets a first preset condition, and when the vehicle state information meets the first preset condition but does not meet the second preset condition, the navigation assistance function PA is adopted to adjust the lane keeping state.
If the current vehicle state information does not meet the first preset condition or the second preset condition, the piloting auxiliary function PA can be controlled to enter a standby state, the piloting auxiliary function PA is switched to an activated state until the vehicle state information meets the first preset condition, and the state of lane keeping is adjusted through the piloting auxiliary function PA.
It should be noted that the second preset condition may be that the current vehicle is located in the feasible region, the current vehicle speed is within a preset range, and the current lane line width meets at least one of the set width ranges, or other preset conditions may be set according to practical applications, which is not limited herein.
The third method comprises the following steps: and if the road type is a structured road and the vehicle state information meets the first preset condition and the second preset condition, performing state adjustment of lane keeping by adopting a pilot auxiliary function and/or a navigation auxiliary function.
Specifically, a user sets the transverse state to be the state of lane keeping through an interactive interface, when the acquired road type is a structured road, and the current vehicle state information meets the activation condition of the navigation aid function PA and also meets the activation condition of the navigation aid function NOA, the state of lane keeping is adjusted by adopting the navigation aid function PA and/or the navigation aid function NOA, and in the process of adjusting the state of lane keeping, the navigation aid function PA and the navigation aid function NOA can be switched with each other.
It should be noted that, on the premise that the navigation assistance function NOA is adopted, the navigation assistance function PA is in an activated state, that is, the navigation assistance function NOA may be activated only when the navigation assistance function PA is in the activated state, and the navigation assistance function NOA and the navigation assistance function PA both have an activated state and a standby state, the activated state and the standby state under the navigation assistance function NOA may be mutually switched, and the activated state and the standby state under the navigation assistance function PA may also be mutually switched.
It should be noted that, in the embodiment of the present application, the transverse state is only used as an example for setting by the user through the interactive interface, and in practical applications, the transverse state may also be automatically set by the driving assistance system according to the current traffic environment of the vehicle and the current working condition of the vehicle, which is not limited herein.
In the implementation process, the corresponding driving assistance function is adopted to carry out the state adjustment of lane keeping according to the road type and the vehicle state information, so that the mutual switching of the navigation assistance function PA and the navigation assistance function NOA is realized, and the operation performance of the driving assistance is improved.
In another embodiment, the lateral state further comprises lane switching and the lateral assist function further comprises a lane change assist function LCA.
It should be noted that, in the embodiment of the present application, the lane change assisting function LCA may be applied to a structured road and an unstructured road, and performs lane switching according to the current traffic environment and the vehicle state information.
Specifically, if the set lateral state is a lane switching state, the lateral state of the vehicle is adjusted by using at least one lateral assist function according to the road type and the vehicle state information, and any one of the modes is used to realize the lane switching state adjustment:
the first method is as follows: and if the road type is an unstructured road and the vehicle state information meets the first preset condition and does not meet a third preset condition, adopting a piloting auxiliary function to carry out state adjustment of lane switching, wherein the third preset condition is an activation condition of a lane changing auxiliary function.
Illustratively, when the acquired current road is an unstructured road and the current vehicle state information meets the activation condition of the pilot assistance function PA but does not meet the activation condition of the lane change assistance function LCA, the pilot assistance function PA is activated to perform state adjustment of lane switching.
It should be noted that the third preset condition in the present application may be at least one of that the current vehicle speed is within a preset speed range, that the current traffic participants meet a preset distribution range, and that the current number of lanes meets a preset number, or other preset conditions may be set according to practical applications, which is not limited herein.
The second method comprises the following steps: and if the road type is an unstructured road and the vehicle state information meets the first preset condition and the third preset condition, performing state adjustment of lane switching by adopting a piloting auxiliary function and/or a lane changing auxiliary function.
For example, when the acquired current road is an unstructured road, and the vehicle state information satisfies the activation condition of the pilot assist function PA and the activation condition of the lane change assist function LCA, at least one of the pilot assist function PA and the lane change assist function LCA may be activated to perform state adjustment of lane switching.
The third method comprises the following steps: and if the road type is a structured road, and the vehicle state information meets the first preset condition and the third preset condition does not meet the second preset condition, adopting a piloting auxiliary function and/or a lane changing auxiliary function to carry out state adjustment of lane switching.
For example, when the acquired current road is a structured road and the vehicle state information satisfies the activation condition of the pilot assist function PA, satisfies the activation condition of the lane change assist function LCA, but does not satisfy the activation condition of the navigation assist function NOA, at least one of the pilot assist function PA and the lane change assist function LCA may be activated to perform the state adjustment of the lane change.
The method is as follows: and if the road type is a structured road and the vehicle state information meets the first preset condition, the third preset condition and the second preset condition, performing state adjustment of lane switching by adopting at least one of a navigation auxiliary function, a lane change auxiliary function and a navigation auxiliary function.
For example, when the acquired current road is a structured road and the vehicle state information satisfies the activation condition of the pilot assistance function PA, the activation condition of the lane change assistance function LCA, and the activation condition of the navigation assistance function NOA, at least one of the pilot assistance function PA, the lane change assistance function LCA, and the navigation assistance function NOA may be activated to perform the state adjustment of the lane change.
It should be noted that, when the navigation assistance function PA and the navigation assistance function NOA are both activated and the current vehicle state information satisfies all conditions of lane switching, the navigation assistance function NOA can handle lane switching in more scenes compared to the navigation assistance function PA, for example, the navigation assistance function NOA may execute lane switching when a user actively turns on a turn signal, an assistant driving system judges that the lane is actively changed to one side, and the assistant driving system judges that the trigger conditions of up-turn lane and down-turn lane are executed, and execute lane switching when the navigation assistance function PA only supports the user to turn on the turn signal.
It should be noted that the setting of the lateral state as the lane switching state in the embodiment of the present application may be set by a user through an interactive interface, may be set by the user turning a turn signal, or may be automatically set by the driving assistance system according to the current traffic environment of the vehicle and the current working condition of the vehicle, which is not limited herein.
In the implementation process, the lane keeping state is adjusted by adopting the corresponding auxiliary driving function according to the road type and the vehicle state information, so that the mutual switching of the pilot auxiliary function PA, the lane changing auxiliary function LCA and the navigation auxiliary function NOA can be realized, the operation performance of auxiliary driving is improved, and the experience of a user is enhanced.
In another embodiment, the control method further comprises:
and if the lane switching state is any one of completion, termination and non-satisfaction of lane change conditions, controlling the transverse state to be a lane keeping state.
Specifically, the lane switching state includes, but is not limited to, sub-states of Request (Request), confirmation (Confirm), lane change execution (LC), termination (Aborting), and completed (Finished), and the driving assistance system may also automatically switch the lateral state of the vehicle to a lane keeping state if the lane switching state is complete (Finished), termination (Aborting), and lane change condition is not satisfied (HandOver).
In the implementation process, after the lane switching state is completed or terminated, the driving assistance system switches the vehicle transverse state to lane keeping so that the vehicle keeps running normally.
In another embodiment, the control method further comprises:
step 1: and when the safe parking instruction is received, controlling the transverse state to be in a lane keeping state.
Step 2: and when the vehicle is in a lane keeping state, controlling the vehicle to safely stop.
Specifically, the lateral state of the vehicle further comprises safe parking, and the driving assistance system controls the vehicle to safely park when receiving a safe parking instruction and when the road type and the vehicle state information meet the activation condition of lane keeping, so as to realize the safe parking state, that is, the safe parking is possible to be activated only when the lane keeping is in the activation state.
Illustratively, in the running process of the vehicle, when a driver leaves a steering wheel for a long time and is reminded to alarm that the driver still does not take over through all levels, a safe parking instruction is triggered, and when the auxiliary driving system receives the safe parking instruction, the auxiliary driving system can adjust a lane to be kept in an activated state and further control the vehicle to safely park.
It should be noted that, in the embodiment of the present application, only the safe parking instruction is triggered when the driver leaves the steering wheel for a long time and reminds the alarm driver to take over through each stage, which is not described herein.
In the implementation process, when the driver leaves the steering wheel for a long time, and the warning driver is reminded through all levels of warning to take over the steering wheel, or the driver is not concentrated for a long time, or other unsafe driving states, the safe parking of the vehicle is controlled and implemented through the safe parking in the transverse state, so that traffic accidents are effectively avoided, and the safety of the auxiliary driving system is enhanced.
In another embodiment, the control method further comprises:
step 1: and carrying out fault detection on the auxiliary driving system to generate fault information.
Step 2: and determining the fault grade according to the fault information.
And step 3: and if the fault grade is the preset fault grade, closing the assistant driving system.
Specifically, after the assistant driving system is started, the fault of the assistant driving system can be detected in real time, fault information is generated, if the assistant driving system has no fault, the fault information is absent, if the assistant driving system has a fault, the current fault level can be determined according to the fault information, and if the fault level is not less than the preset fault level, the assistant driving system is closed, namely, the transverse assistant function and the longitudinal assistant function are closed.
For example, the failure of the driver assistance system may be classified into the following four levels:
if the navigation aid function NOA fails, and the adaptive cruise function ACC, the navigation aid function PA and the lane change aid function LCA all fail, the fault is a primary fault.
If the navigation auxiliary function NOA fails, the lane change auxiliary function LCA fails and the navigation auxiliary function PA fails, but the adaptive cruise function ACC is normal, the navigation auxiliary function NOA fails in a second-level mode.
If the navigation auxiliary function NOA fails and the lane change auxiliary function LCA fails, but the adaptive cruise function ACC and the navigation auxiliary function PA are normal, the three-level failure is realized.
If the navigation aid function NOA fails, but the adaptive cruise function ACC, the navigation aid function PA and the lane change aid function LCA are normal, the system is a four-stage failure.
When the fault level detected by the assistant driving system reaches the first-level fault, the assistant driving system is closed, namely the navigation assistant function NOA, the adaptive cruise function ACC, the navigation assistant function PA and the lane change assistant function LCA are closed.
If the detected fault level is a secondary fault, the system sends out first alarm information, and the navigation auxiliary function NOA, the lane change auxiliary function LCA and the navigation auxiliary function PA are closed, but the adaptive cruise function ACC can normally operate.
If the detected fault level is a three-level fault, the system sends out second alarm information, and the navigation auxiliary function NOA and the lane change auxiliary function LCA are closed, but the adaptive cruise function ACC and the navigation auxiliary function PA can normally operate.
If the detected fault level is a four-stage fault, the system sends out third alarm information and closes the navigation aid function NOA, but the adaptive cruise function ACC, the navigation aid function PA and the lane change aid function LCA can normally operate.
In addition, the driving assistance system may further include a temporary failure and a permanent failure, and if the temporary failure cannot be recovered, the temporary failure may be converted into a permanent failure.
In the implementation process, the fault information is generated through fault detection of the assistant driving system, further, the fault grade is determined according to the fault information, corresponding operation is executed according to different fault grades, traffic accidents caused by misoperation of a driver due to faults of the assistant driving system are avoided, and therefore safety of the assistant driving system is effectively guaranteed.
As another embodiment, fig. 3 is a functional structure diagram of an assistant driving system provided in an embodiment of the present application, as shown in fig. 3, the assistant driving system includes a longitudinal assistant function and a lateral assistant function, before the assistant driving system is turned on, the system initializes a state, and when the longitudinal assistant function needs to be turned on, the adaptive cruise function ACC is implemented, that is, corresponding adjustment is implemented by adjusting a sub-state in the adaptive cruise function ACC, and specifically, the adaptive cruise function ACC includes: the method comprises the following steps of self-adaptive cruise closing, self-adaptive cruise standby, self-adaptive cruise activation, self-adaptive cruise active intervention, self-adaptive cruise temporary braking, self-adaptive cruise following stop activation and self-adaptive cruise following stop waiting, wherein the sub-states can be mutually switched according to conditions.
If the lateral assist function needs to be enabled, then the adaptive cruise control ACC needs to enable the lateral assist function when the adaptive cruise control is active, and the lateral assist function includes a pilot assist function PA, a pilot assist function NOA, and a lane assist function LCA function, wherein the pilot assist function PA includes: the piloting auxiliary closing, the piloting auxiliary standby and the piloting auxiliary activating are three sub-states, and the sub-states in the piloting auxiliary function PA can be mutually switched according to conditions.
If the road type and the vehicle state information meet the openable navigation assistance function NOA, the navigation assistance function NOA comprises: the navigation auxiliary standby state and the navigation auxiliary activation state can be mutually switched according to conditions.
In addition, the transverse state can also comprise a state of active intervention of a driver, and in the running process of the auxiliary navigation system, if the driver actively intervenes, the auxiliary navigation system enters the state of active intervention of the driver, and can enter pilot auxiliary activation and navigation auxiliary activation through related operations of the driver so as to realize lane keeping and lane switching.
Furthermore, when the lane is kept, the driver can enter a safe parking state according to the physiological state, the operation habit and the system fault state of the driver, so that traffic accidents caused by poor operation habit, poor physiological state or system fault of the driver are avoided.
If the received transverse state is lane switching, the lane switching can be realized through the navigation auxiliary function PA, the navigation auxiliary function NOA and the lane auxiliary function LCA, wherein the lane switching state comprises but is not limited to sub-states of request, confirmation, lane change execution, ending, completion, unsatisfied lane change condition and the like, and if the lane switching state is any one of the sub-states of ending, completion and unsatisfied lane change condition, the transverse state is controlled to be a lane keeping state. In the course of executing lane change, the method can further comprise the following steps: a lane change first stage and a lane change second stage.
If the auxiliary driving system detects fault information, the auxiliary driving system can also enter a failure state, wherein the failure state comprises the following steps: the auxiliary driving system can normally operate if the temporary fault is adjusted and then the normal operation is recovered, and the auxiliary driving system can be closed if the adjustment fails and then the auxiliary driving system enters the permanent fault.
In the implementation process, the transverse and longitudinal control of the vehicle can be realized by mutually switching the functions in the auxiliary driving system, and the safe parking is carried out according to the vehicle state information and the operation habit of the driver, so that the safety of the auxiliary driving system is effectively ensured.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
In this embodiment, a control device of a driving assistance system is further provided, and the device is used to implement the above embodiments and preferred embodiments, and the description of the device is omitted. The terms "module," "unit," "subunit," and the like as used below may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 4 is a block diagram of a control device of a driving assistance system according to an embodiment of the present application, and as shown in fig. 4, the control device includes:
an obtaining module 401, configured to obtain a current road type and vehicle state information of a vehicle when the longitudinal assist function is in an activated state;
an adjusting module 402, configured to adjust a lateral state of the vehicle using at least one lateral assist function according to the road type and the vehicle state information.
In some of these embodiments, the lateral state comprises lane keeping, the lateral assist function comprises a navigation assist function and a navigation assist function, the road type comprises a structured road and an unstructured road, and the adjusting module 402 is specifically configured to:
and if the road type is an unstructured road and the vehicle state information meets a first preset condition, adopting a navigation auxiliary function to carry out state adjustment of lane keeping, wherein the first preset condition is an activation condition of the navigation auxiliary function.
And if the road type is a structured road and the vehicle state information meets the first preset condition and does not meet the second preset condition, adopting a navigation auxiliary function to carry out state adjustment of lane keeping, wherein the second preset condition is an activation condition of the navigation auxiliary function.
And if the road type is a structured road and the vehicle state information meets the first preset condition and the second preset condition, performing state adjustment of lane keeping by adopting a pilot auxiliary function and/or a navigation auxiliary function.
In some of these embodiments, the lateral state further comprises lane switching, and the lateral assist function further comprises lane change assist.
The adjusting module 402 is specifically configured to: and if the road type is an unstructured road and the vehicle state information meets the first preset condition and does not meet a third preset condition, adopting a piloting auxiliary function to carry out state adjustment of lane switching, wherein the third preset condition is an activation condition of a lane changing auxiliary function.
And if the road type is an unstructured road and the vehicle state information meets the first preset condition and the third preset condition, performing state adjustment of lane switching by adopting a piloting auxiliary function and/or a lane changing auxiliary function.
And if the road type is a structured road, and the vehicle state information meets the first preset condition and the third preset condition does not meet the second preset condition, adopting a piloting auxiliary function and/or a lane changing auxiliary function to carry out state adjustment of lane switching.
And if the road type is a structured road and the vehicle state information meets the first preset condition, the third preset condition and the second preset condition, performing state adjustment of lane switching by adopting at least one of a navigation auxiliary function, a lane change auxiliary function and a navigation auxiliary function.
In some embodiments, the adjusting module 402 is specifically configured to:
and if the lane switching state is any one of completion, termination and non-satisfaction of lane change conditions, controlling the transverse state to be a lane keeping state.
In some embodiments, the adjusting module 402 is further configured to:
when a safe parking instruction is received, controlling the transverse state to be in a lane keeping state;
and when the vehicle is in a lane keeping state, controlling the vehicle to safely stop.
In some of these embodiments, the longitudinal assist function includes an adaptive cruise function, the adaptive cruise function including a plurality of sub-states, and the adjustment module 402 is further configured to:
and controlling a plurality of sub-states to switch with each other according to the vehicle state information, wherein the plurality of sub-states comprise an off state, a standby state, an activated state, an active intervention state, a short braking state, a follow-up stop activated state and a follow-up stop waiting state.
In some embodiments, the adjusting module 402 is further configured to:
fault detection is carried out on the auxiliary driving system, and fault information is generated;
determining a fault grade according to the fault information;
and if the fault grade is the preset fault grade, closing the assistant driving system.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
There is also provided in this embodiment an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, when the longitudinal auxiliary function is in the activated state, the current road type and the vehicle state information of the vehicle are acquired;
and S2, adjusting the transverse state of the vehicle by adopting at least one transverse auxiliary function according to the road type and the vehicle state information.
It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementations, and details are not described again in this embodiment.
In addition, in combination with the control method provided in the above embodiment, a storage medium may also be provided to implement in this embodiment. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any of the control methods in the above embodiments.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.
It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
The term "embodiment" is used herein to mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly or implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent protection. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (9)

1. A control method of a driving assist system including a longitudinal assist function and a plurality of lateral assist functions, the control method comprising:
when the longitudinal auxiliary function is in an activated state, acquiring the current road type and the vehicle state information of the vehicle;
adjusting the transverse state of the vehicle by adopting at least one transverse auxiliary function according to the road type and the vehicle state information, wherein the transverse state comprises lane switching, the transverse auxiliary function comprises a navigation auxiliary function, a navigation auxiliary function and a lane change auxiliary function, and the road type comprises a structured road and an unstructured road;
the adjusting of the lateral state of the vehicle by using at least one lateral assist function according to the road type and the vehicle state information includes:
if the road type is an unstructured road and the vehicle state information meets a first preset condition and does not meet a third preset condition, adopting the navigation auxiliary function to perform state adjustment of lane switching, wherein the first preset condition is an activation condition of the navigation auxiliary function, and the third preset condition is an activation condition of the lane change auxiliary function;
if the road type is an unstructured road and the vehicle state information meets the first preset condition and the third preset condition, adopting the navigation auxiliary function and/or the lane change auxiliary function to adjust the state of lane switching;
if the road type is a structured road, and the vehicle state information meets the first preset condition and the third preset condition does not meet the second preset condition, adopting the navigation auxiliary function and/or the lane change auxiliary function to adjust the state of lane switching, wherein the second preset condition is an activation condition of the navigation auxiliary function;
and if the road type is a structured road and the vehicle state information meets the first preset condition, the third preset condition and the second preset condition, performing state adjustment of lane switching by adopting at least one of the navigation auxiliary function, the lane change auxiliary function and the navigation auxiliary function.
2. The control method of the driver-assistance system according to claim 1, wherein the lateral state further includes lane keeping, and the adjusting of the lateral state of the vehicle using at least one of the lateral assistance functions according to the road type and the vehicle state information includes:
if the road type is an unstructured road and the vehicle state information meets a first preset condition, adopting the navigation auxiliary function to carry out state adjustment of lane keeping;
if the road type is a structured road and the vehicle state information meets the first preset condition and does not meet the second preset condition, adopting the navigation auxiliary function to carry out state adjustment of lane keeping;
and if the road type is a structured road and the vehicle state information meets the first preset condition and the second preset condition, adopting the navigation auxiliary function and/or the navigation auxiliary function to adjust the state of lane keeping.
3. The control method of the driving assist system according to claim 2, characterized by further comprising:
and if the lane switching state is any one of completion, termination and non-satisfaction of lane change conditions, controlling the transverse state to be the lane keeping state.
4. The control method of the driving assist system according to any one of claims 2 or 3, characterized by further comprising:
when a safe parking instruction is received, controlling the transverse state to be in a lane keeping state;
and when the vehicle is in a lane keeping state, controlling the vehicle to safely stop.
5. The control method of the driver assistance system according to any one of claims 1 to 3, characterized in that the longitudinal assist function includes an adaptive cruise function that includes a plurality of sub-states, the control method further comprising:
and controlling the plurality of sub-states to switch with each other according to the vehicle state information, wherein the plurality of sub-states comprise a closing state, a standby state, an activation state, an active intervention state, a transient braking state, a follow-up stop activation state and a follow-up stop waiting state.
6. The control method of the driving assist system according to any one of claims 1 to 3, characterized by further comprising:
carrying out fault detection on the auxiliary driving system to generate fault information;
determining a fault grade according to the fault information;
and if the fault grade is a preset fault grade, closing the assistant driving system.
7. A control device of a driving assistance system, characterized in that the device comprises:
the acquisition module is used for acquiring the current road type and the vehicle state information of the vehicle when the longitudinal auxiliary function is in an activated state;
the adjusting module is used for adjusting the transverse state of the vehicle by adopting at least one transverse auxiliary function according to the road type and the vehicle state information, wherein the transverse state comprises lane switching, the transverse auxiliary function comprises a navigation auxiliary function, a navigation auxiliary function and a lane change auxiliary function, and the road type comprises a structured road and an unstructured road;
the adjusting module is specifically configured to: if the road type is an unstructured road and the vehicle state information meets a first preset condition and does not meet a third preset condition, adopting the navigation auxiliary function to perform state adjustment of lane switching, wherein the first preset condition is an activation condition of the navigation auxiliary function, and the third preset condition is an activation condition of the lane change auxiliary function;
if the road type is an unstructured road and the vehicle state information meets the first preset condition and the third preset condition, adopting the navigation auxiliary function and/or the lane change auxiliary function to adjust the state of lane switching;
if the road type is a structured road, and the vehicle state information meets the first preset condition and the third preset condition does not meet the second preset condition, adopting the navigation auxiliary function and/or the lane change auxiliary function to adjust the state of lane switching, wherein the second preset condition is an activation condition of the navigation auxiliary function;
and if the road type is a structured road and the vehicle state information meets the first preset condition, the third preset condition and the second preset condition, performing state adjustment of lane switching by adopting at least one of the navigation auxiliary function, the lane change auxiliary function and the navigation auxiliary function.
8. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and the processor is configured to execute the computer program to perform the control method of any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the control method according to any one of claims 1 to 6.
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