CN114394097B - Self-adaptive cruising and car following adjusting system - Google Patents
Self-adaptive cruising and car following adjusting system Download PDFInfo
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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
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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Abstract
The invention discloses a self-adaptive cruise following car regulating system, which comprises an ECU control module and a displayA module and a power module; the ECU control module comprehensively judges through the association system and adaptively adjusts the starting time of the cruise vehicle following after stopping and allowing automatic vehicle following; preset DMS and allowed starting time T when the driver is awake 1 Allowed starting time period T with DMS and driver fatigue or distraction 2 DMS-free but with ultrasound and panoramic image permission for a take-off period T 3 Admission duration T with ADAS map and on expressway 1、 T 3 Admission duration T with ADAS map and on non-expressway 3、 T 4 Finally, the automatic start time of the following stop is adaptively adjusted according to the configuration. Based on a plurality of associated configurations, the self-adaptive cruise system is assisted to identify the surrounding environment or the state of a driver by utilizing the characteristics of the self-adaptive cruise system, so that the aims of prolonging the automatic starting time after the following stop and ensuring the safety are fulfilled.
Description
Technical Field
The invention belongs to the technical field of intelligent driving auxiliary self-adaptive cruising of automobiles, and particularly relates to a self-adaptive cruising and vehicle following regulating system; in particular to a self-adaptive adjustment method for the time length for allowing automatic vehicle following to start after stopping.
Background
In recent years, with the development of the intelligent driving industry, automobiles equipped with intelligent driving assistance are becoming popular, and in particular, adaptive cruise (ACC, adaptive Cruise Control), which is an intelligent driving assistance entry level function, is becoming almost a standard function for new vehicle types in large host factories. The current self-adaptive cruising almost has full-speed self-adaptive cruising, and can support the stop and start of following the vehicle. However, because the change and uncertainty of the surrounding environment are too much after the vehicle is stopped, from the safety point of view, the time for automatically starting the system can be limited when the host factory and the supplier develop the self-adaptive cruise following stop, and the general current general method is to force the speed limit to 3s, if the vehicle is started before the vehicle is stopped within 3s, the ACC system can control the vehicle to start after the vehicle is started before the vehicle is started. However, if the time for stopping the vehicle exceeds 3s, the system enters a following stop mode, and the driver is required to confirm starting by means of pressing a button of a steering wheel or stepping on an accelerator after judging that the surrounding environment is safe, so that the safety is ensured.
As the number of vehicles configuring the adaptive cruise is increased, users increase by using the function, the scene coverage of the actual use of the function is more and more, and the behavior of a plurality of users fed back after the adaptive cruise is stopped is not intelligent enough. Although a method for prolonging the following stop time based on a DMS (Driver Monitoring System, driver detection system) is already proposed in the market at present, in the practical application process, two configurations of the DMS and the ACC are not in a strong binding relationship, and the DMS is used in a higher-end vehicle model or configuration and cannot be fully adapted to the ACC configuration, which results in that a vehicle not configured with the DMS has no good logic method for the following stop process of the ACC. CN113492856a discloses a "cruising and following parking waiting time control method, system, vehicle and storage medium", which sets the following parking waiting time according to the state quality of the driver and whether there is an additional target, so as to solve the trouble that the following parking and starting requires frequent confirmation of the driver. As another example, CN109466550B discloses a "system and method for controlling starting safety of an adaptive cruise system", which detects the distance between a vehicle or an obstacle in front through a millimeter wave radar, so as to implement automatic acceleration and deceleration of the vehicle, so as to ensure starting safety. However, the DMS, the ultrasonic radar, and the like in the above-described prior art cannot be completely matched with the configuration of the ACC, so that in all vehicles where the logic cannot be fully applied, the system cannot be optimized when the ACC-only function occurs.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a self-adaptive cruise following car regulating system which solves the problem that the self-adaptive cruise following car is not intelligent enough in behavior after stopping.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the self-adaptive cruise following vehicle regulating system is characterized by comprising an ECU control module, a display module and a power module; the ECU control module comprehensively judges through the association system and adaptively adjusts the starting time of the cruise vehicle following after stopping and allowing automatic vehicle following; preset DMS and allowed starting time T when the driver is awake 1 Allowed starting time period T with DMS and driver fatigue or distraction 2 DMS-free but with ultrasound and panoramic image permission for a take-off period T 3 Admission duration T with ADAS map and on expressway 1 、T 3 Admission duration T with ADAS map and on non-expressway 2 、T 4 Finally according to the configurationAnd (5) adaptively adjusting the time length of automatic start after stopping.
Further, the association system comprises a driver monitoring module, an ultrasonic radar module, a panoramic camera module, an ADAS map module and a hand moment detection module; wherein,,
a driver monitoring module: the ACC system is used for assisting the ACC system in judging the current attention and fatigue state of the driver;
an ultrasonic radar module: for assisting the ACC system in determining a target state (whether there is a hazard around the vehicle);
panoramic camera module: for assisting the ACC system in determining a target state (whether there is a hazard around the vehicle);
ADAS map module: the ACC system is used for assisting in judging the dangerous degree according to the current road type;
the hand moment detection module: for assisting the ACC system in determining whether the driver's current state is in the loop.
Further, the ECU control module comprehensively judges through a correlation system and controls the speed or the following stop mode of the vehicle; the control logic is as follows:
1) Judging whether the driver is concentrated or not through the driver detection module of the vehicle, when the state of the driver monitoring system is normal, the state of the driver is awake and the attention is concentrated, stopping following the vehicle by the ACC, and then, carrying out T 1 Starting the front vehicle in time, and outputting a power request to the power module by the ECU control module to control the speed;
2) When the driver monitoring module of the host vehicle normally judges that the driver is distracted or tired, the ACC stops following the vehicle T 2 Automatically starts along with the front vehicle in time exceeding T 2 The time enters a follow-up mode, and the ECU control module outputs prompt information to the display module 7 to inform the driver that the vehicle can start after the driver confirms;
3) If the following stop exceeds T 2 After the time, the driver is in a distraction or fatigue state, and the ACC directly enters a heel-and-toe-stop mode;
4) If the state of the driver detection module of the vehicle is abnormal or no related signal exists, the system judges whether the states of the ultrasonic radar module and the panoramic camera module are normal or not;when the ultrasonic radar and the panoramic camera are in normal states, after the ACC is stopped with the vehicle, no other targets exist in front of the vehicle, and T is the same as the target 1 Starting the front vehicle in time, and outputting a power request to the power module by the ECU control module to control the speed;
5) If the state of the driver detection module of the vehicle is abnormal or no related signal exists, the system judges whether the states of the ultrasonic radar module and the panoramic camera module are normal or not; when the states of the ultrasonic radar and the panoramic camera are normal, after the ACC stops following the vehicle, other targets appear in front of the vehicle, the ACC enters a following stop mode, and the ECU control module outputs prompt information to the display module to inform the driver that the vehicle can start after the driver confirms;
6) If the state of the driver detection module of the vehicle is abnormal or no related signal and the states of the ultrasonic radar module and the panoramic camera module are abnormal or no related signal, the system needs to comprehensively judge by using the ADAS map module and the hand moment detection module:
(1) when the vehicle is on a high-speed, expressway, the driver is considered to be on the steering wheel when the driver hand torque is greater than the system set threshold, T 1 The front vehicle starts in time, and the vehicle can automatically follow the start;
(2) when the vehicle is on a high-speed and high-speed road, the driver hands are not considered to be on the steering wheel when the moment of the driver hands is smaller than the set threshold value of the system, and then T 3 The front vehicle starts in time, and the vehicle can automatically follow the start;
(3) when the vehicle is on a non-high speed, expressway, the driver's hand torque is greater than the system-set threshold, and the driver's hand is considered to be on the steering wheel, T 2 The front vehicle starts in time, and the vehicle can automatically follow the start;
(4) when the vehicle is on a non-high-speed and express way, the driver hands are not on the steering wheel when the moment of the driver hands is smaller than the set threshold value of the system, and then T 4 The front vehicle starts in time, and the vehicle can automatically follow the start;
7) When the ACC system is in the logic of condition 6), its maximum launch acceleration should be limited, suggesting no more than 0.5m/s 2 To reduce security risks.
Further, the starting time length satisfies T 1 >T 3 >T 4 >T 2 。
The set threshold is detected by the hand torque detection module, and the sensitivity of different vehicles to the hand torque of the steering wheel is comprehensively calibrated, for example:
when the driver is not on the steering wheel in a stationary state of the vehicle, the hand torque detection module feeds back that the hand torque in the stationary state is less than or equal to M1 Nm through multiple tests; when the driver's hand is on the steering wheel, the hand torque detection module feeds back the hand torque in the state to be more than or equal to M2 Nm through multiple tests; m2> M1, whereby the threshold is set to M2, and when the hand torque detection module detects that the current hand torque is greater than M2, the driver's hand is considered to be on the steering wheel.
Compared with the prior art, the invention has the following beneficial effects:
1. based on different associated system configurations, the self-adaptive cruise system is assisted to identify the surrounding environment or the state of a driver in a ring by utilizing the characteristics of the self-adaptive cruise system, so that the functional experience is enhanced, and the purposes of prolonging the automatic starting time after the following stop and ensuring the safety are achieved.
2. The method effectively solves the problem that the behavior of the self-adaptive cruise after the stop is not intelligent enough, can accurately judge the configuration or the scene, and achieves the aim of safety by limiting the starting acceleration of ACC automatic starting.
Drawings
FIG. 1 is a schematic diagram of a system architecture of the present invention;
fig. 2 is a control logic judgment diagram of the present invention.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Referring to FIG. 1, the invention provides an adaptive cruise heel adjustment system, comprising an ECU control module, a display module, and a power module; the ECU control module comprehensively judges through the association system and allows automatic vehicle following to be started after the cruising vehicle following stopsPerforming self-adaptive adjustment on the step duration; preset DMS and allowed starting time T when the driver is awake 1 Allowed starting time period T with DMS and driver fatigue or distraction 2 DMS-free but with ultrasound and panoramic image permission for a take-off period T 3 Admission duration T with ADAS map and on expressway 1 、T 3 Admission duration T with ADAS map and on non-expressway 2 、T 4 Finally, the automatic start time of the following stop is adaptively adjusted according to the configuration.
The invention provides a set of simple, effective, universal and safe system logic and control method for solving the problem of start control with stopping based on the self-adaptive cruise function under different associated system configurations. There are different perception or information systems on different configuration vehicle types, related to adaptive cruise or which may be used for auxiliary adaptive cruise control by their characteristics, called associated systems.
Further, the association system comprises a driver monitoring module 1, an ultrasonic radar module 2, a panoramic camera module 3, an ADAS map module 4 and a hand moment detection module 5; wherein,,
driver monitoring module 1: the ACC system is used for assisting the ACC system in judging the current attention and fatigue state of the driver;
ultrasonic radar module 2: for assisting the ACC system in determining a target state (whether there is a hazard around the vehicle);
panoramic camera module 3: for assisting the ACC system in determining a target state (whether there is a hazard around the vehicle);
ADAS map module 4: the ACC system is used for assisting in judging the dangerous degree according to the current road type;
hand torque detection module 5: for assisting the ACC system in determining whether the driver's current state is in the loop.
Referring to fig. 2, the system of the present invention makes layer-by-layer decisions from 1) to 6) mainly according to the following logic:
1) Whether the driver is focused or not is judged by the driver detection module 1, and when the driver monitoring system is in a normal state and the driver is in a clear state and focused, the ACC after the car is stopped, T 1 Starting the front vehicle in time, and outputting a power request to the power module 8 by the ECU control module 6 to control the speed;
2) When the state of the monitoring system of the driver is normal and the state of the driver is distracted or tired, the ACC stops following the vehicle T 2 Automatically starts along with the front vehicle in time exceeding T 2 The time enters a follow-up mode, and the ECU control module 6 outputs prompt information to the display module 7 to inform the driver that the vehicle can start after the driver confirms;
3) If the following stop exceeds T 2 After the time, the driver is in a distraction or fatigue state, and the ACC directly enters a heel-and-toe-stop mode;
4) If the driver detects that the system state is abnormal or no related signal exists, the system judges whether the states of the ultrasonic radar module 2 and the panoramic camera module 3 are normal or not. When the ultrasonic radar and the panoramic camera are in normal states, after the ACC is stopped with the vehicle, no other targets exist in front of the vehicle, and T is the same as the target 1 Starting the front vehicle in time, and outputting a power request to the power module 8 by the ECU control module 6 to control the speed;
5) If the driver detects that the system state is abnormal or no related signal exists, the system judges whether the states of the ultrasonic radar module 2 and the panoramic camera module 3 are normal or not. When the states of the ultrasonic radar and the panoramic camera are normal, after the ACC stops following the vehicle, other targets appear in front of the vehicle, the ACC enters a following stop mode, and the ECU control module 6 outputs prompt information to the display module 7 to inform the driver that the vehicle can start after the driver confirms;
6) If the driver of the vehicle detects that the state of the system is abnormal or has no related signal and the states of the ultrasonic radar module 2 and the panoramic camera module 3 are abnormal or have no related signal, the system needs to comprehensively judge by using the ADAS map module 4 and the hand moment detection module 5:
(1) when the vehicle is on a high-speed, high-speed road, the driver is considered to be on the steering wheel when the driver hand torque is greater than a certain threshold, T 1 The front vehicle starts in time, and the vehicle can automatically follow the start;
(2) when the vehicle is on a high-speed, highway, the driver hand torque is less thanAt a certain threshold, the driver's hand is not considered to be on the steering wheel, T 3 The front vehicle starts in time, and the vehicle can automatically follow the start;
(3) when the vehicle is on a non-high speed, expressway, the driver is considered to be on the steering wheel when the driver hand torque is greater than a certain threshold, T 2 The front vehicle starts in time, and the vehicle can automatically follow the start;
(4) when the vehicle is on a non-high speed, expressway, the driver is considered not to be on the steering wheel when the driver hand torque is less than a certain threshold, T 4 The front vehicle starts in time, and the vehicle can automatically follow the start;
7) When the ACC system is in the logic of condition 6), its maximum launch acceleration should be limited, suggesting no more than 0.5m/s 2 To reduce security risks;
the above time should be T 1 >T 3 >T 4 >T 2
In the invention, the self-adaptive cruise system is mainly based on different associated system configurations, and the characteristics of the self-adaptive cruise system are used for assisting the self-adaptive cruise system in identifying the surrounding environment or the driver in a ring state, so that the purposes of prolonging the automatic starting time after the following stop and ensuring the safety are achieved, and the logic can also achieve the safety purpose by limiting the starting acceleration of the ACC automatic starting in the configuration or the scene which cannot be accurately judged.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the technical solution, and those skilled in the art should understand that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the present invention, and all such modifications and equivalents are included in the scope of the claims.
Claims (4)
1. The self-adaptive cruise following vehicle regulating system is characterized by comprising an ECU control module, a display module and a power module; the ECU control module comprehensively judges through the association system and adaptively adjusts the starting time of the cruise vehicle following after stopping and allowing automatic vehicle following; permission when DMS is preset and driver is awakeStart permission period T 1 Allowed starting time period T with DMS and driver fatigue or distraction 2 DMS-free but with ultrasound and panoramic image permission for a take-off period T 3 Admission duration T with ADAS map and on expressway 1、 T 3 Admission duration T with ADAS map and on non-expressway 2、 T 4 Finally, the automatic start time of the following stop is adaptively adjusted according to the configuration;
the association system comprises a driver monitoring module, an ultrasonic radar module, a panoramic camera module, an ADAS map module and a hand moment detection module; wherein,,
a driver monitoring module: the ACC system is used for assisting the ACC system in judging the current attention and fatigue state of the driver;
an ultrasonic radar module: the ACC system is used for assisting the ACC system in judging the target state;
panoramic camera module: the ACC system is used for assisting the ACC system in judging the target state;
ADAS map module: the ACC system is used for assisting in judging the dangerous degree according to the current road type;
the hand moment detection module: the ACC system is used for assisting to judge whether the current state of the driver is in a loop;
further, the ECU control module comprehensively judges through a correlation system and controls the speed or the following stop mode of the vehicle; the control logic is as follows:
1) Judging whether the driver is concentrated or not through the driver detection module of the vehicle, when the state of the driver monitoring system is normal, the state of the driver is awake and the attention is concentrated, stopping following the vehicle by the ACC, and then, carrying out T 1 Starting the front vehicle in time, and outputting a power request to the power module by the ECU control module to control the speed;
2) When the driver monitoring module of the host vehicle normally judges that the driver is distracted or tired, the ACC stops following the vehicle T 2 Automatically starts along with the front vehicle in time exceeding T 2 The time enters a follow-up mode, and the ECU control module outputs prompt information to the display module to inform a driver that the driver can start after confirmation is needed;
3) If the following stop exceeds T 2 After the time, the driver is in a distraction or fatigue state, and the ACC directly enters a heel-and-toe-stop mode;
4) If the state of the driver detection module of the vehicle is abnormal or no related signal exists, the system judges whether the states of the ultrasonic radar module and the panoramic camera module are normal or not; when the ultrasonic radar and the panoramic camera are in normal states, after the ACC is stopped with the vehicle, no other targets exist in front of the vehicle, and T is the same as the target 1 Starting the front vehicle in time, and outputting a power request to the power module by the ECU control module to control the speed;
5) If the state of the driver detection module of the vehicle is abnormal or no related signal exists, the system judges whether the states of the ultrasonic radar module and the panoramic camera module are normal or not; when the states of the ultrasonic radar and the panoramic camera are normal, after the ACC stops following the vehicle, other targets appear in front of the vehicle, the ACC enters a following stop mode, and the ECU control module outputs prompt information to the display module to inform the driver that the vehicle can start after the driver confirms;
6) If the state of the driver detection module of the vehicle is abnormal or no related signal and the states of the ultrasonic radar module and the panoramic camera module are abnormal or no related signal, the system needs to comprehensively judge by using the ADAS map module and the hand moment detection module:
7) When the ACC system is in the logic of condition 6), its maximum launch acceleration should be limited, suggesting that it does not exceed 0.5m/s 2 To reduce security risks.
2. The adaptive cruise ride control system of claim 1, wherein the set threshold is detected by a hand torque detection module that integrates sensitivity of different vehicles to steering wheel hand torque.
3. The adaptive cruise following adjustment system according to claim 1, wherein the 6) system uses an ADAS map module and a hand torque detection module for comprehensive judgment as follows;
(1) when the vehicle is on a high-speed, expressway, the driver is considered to be in the square when the driver hand moment is greater than the system set threshold valueOnto the disc, at this time T 1 The front vehicle starts in time, and the vehicle can automatically follow the start;
(2) when the vehicle is on a high-speed and high-speed road, the driver hands are not considered to be on the steering wheel when the moment of the driver hands is smaller than the set threshold value of the system, and then T 3 The front vehicle starts in time, and the vehicle can automatically follow the start;
(3) when the vehicle is on a non-high speed, expressway, the driver's hand torque is greater than the system-set threshold, and the driver's hand is considered to be on the steering wheel, T 2 The front vehicle starts in time, and the vehicle can automatically follow the start;
(4) when the vehicle is on a non-high-speed and express way, the driver hands are not on the steering wheel when the moment of the driver hands is smaller than the set threshold value of the system, and then T 4 The front vehicle starts in time, and the vehicle can automatically follow the start.
4. An adaptive cruise heel adjustment system according to claim 1, 2 or 3, wherein the launch duration satisfies T 1 > T 3 > T 4 > T 2 。
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