CN115027468A - Vehicle constant-speed cruise excitation method and device, vehicle and storage medium - Google Patents
Vehicle constant-speed cruise excitation method and device, vehicle and storage medium 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
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B60—VEHICLES IN GENERAL
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a vehicle constant-speed cruise excitation method and device, a vehicle and a storage medium, and belongs to the technical field of vehicle control. The invention can real-timely grasp the external environment information of the vehicle by monitoring the constant-speed cruising excitation parameter of the vehicle in the driving process, wherein the constant-speed cruising parameter comprises at least one of chassis vibration parameter, same lane distance parameter, steering wheel corner parameter, loop vehicle active parameter, vehicle speed identification parameter and side vehicle passing parameter, thereby providing a reference basis for whether to excite the vehicle to cruise at constant speed, further determining whether the constant-speed cruising excitation parameter meets the vehicle environment parameter condition, using the vehicle environment parameter condition as the reference standard for exciting the vehicle to cruise at constant speed, when the constant-speed cruise excitation parameters meet the vehicle environment parameter conditions, the constant-speed cruise of the vehicle is excited, the vehicle constant-speed cruise is excited by utilizing the external environment information of the vehicle, the accident risk of the vehicle actively exciting the constant-speed cruise is reduced, and the safety of the vehicle constant-speed cruise excitation is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle constant-speed cruise excitation method and device, a vehicle and a storage medium.
Background
The Cruise Control System (Cruise Control System) is abbreviated as CCS, and is also called a Cruise Control device, a speed Control System, an automatic driving System, and the like. The function is as follows: after the switch is closed according to the speed required by the driver, the vehicle speed is automatically kept without stepping on an accelerator pedal, so that the vehicle runs at a fixed speed. By adopting the device, after the vehicle runs on the highway for a long time, a driver does not need to control the accelerator pedal any more, thereby reducing fatigue, reducing unnecessary vehicle speed change and saving fuel. In the traditional mode, the vehicle constant-speed cruise system can be excited by actively starting a constant-speed cruise switch by a driver, but the constant-speed cruise switch is manually operated and lacks intelligence; in the conventional technology, the constant-speed cruise function can be actively triggered when the vehicle running state, the state of the brake pedal meet the preset running condition and the state of the driver meets the preset posture condition. However, the above technical solutions do not consider parameter information related to the outside of the vehicle, if the vehicle is on a rough road section or is close to a preceding vehicle on the same lane, active triggering of constant-speed cruising will bring certain potential safety hazards, and if the constant-speed cruising is directly triggered without considering the density and activity of roadside pedestrians, moving objects and the like around the vehicle, the potential risk of accidents will be increased.
Disclosure of Invention
The invention mainly aims to provide a vehicle constant-speed cruise excitation method, a vehicle constant-speed cruise excitation device, a vehicle and a storage medium, and aims to solve the technical problem of how to improve the safety of vehicle constant-speed cruise excitation.
In order to achieve the above object, the present invention provides a vehicle cruise control method, comprising:
monitoring constant-speed cruise excitation parameters of a vehicle in a driving process in real time, wherein the constant-speed cruise parameters comprise at least one of chassis vibration parameters, same lane distance parameters, steering wheel corner parameters, vehicle encircling activity parameters, vehicle speed identification parameters and side vehicle passing parameters;
determining whether the constant-speed cruise excitation parameter meets a vehicle environment parameter condition;
and if the constant-speed cruise excitation parameters meet the vehicle environment parameter conditions, exciting the constant-speed cruise of the vehicle.
Optionally, the step of determining whether the constant-speed-cruise excitation parameter satisfies a vehicle environmental parameter condition comprises:
determining a chassis vibration threshold and a steering wheel angle threshold in the vehicle environmental parameter condition;
obtaining a judgment result for judging whether the chassis vibration parameter is less than or equal to the chassis vibration threshold and judging whether the steering wheel corner parameter is less than or equal to the steering wheel corner threshold;
and determining whether the constant-speed cruise excitation parameter meets the vehicle environment parameter condition or not based on the judgment result.
Optionally, the step of determining whether the constant-speed-cruise excitation parameter satisfies a vehicle environment parameter condition comprises:
acquiring an object change state around the vehicle within a first preset time, calculating object density and object activity around the vehicle based on the object change state, and taking the object density and the object activity as surrounding vehicle activity parameters;
and determining whether the constant-speed cruise excitation parameter meets the vehicle environment parameter condition or not based on whether the loop vehicle activity parameter is less than or equal to a loop vehicle activity threshold value in the vehicle environment parameter condition or not.
Optionally, the step of determining whether the constant-speed-cruise excitation parameter satisfies a vehicle environment parameter condition comprises:
determining vehicle identification parameters according to the lowest vehicle speed of the vehicle for realizing constant-speed cruising;
if the vehicle identification parameter meets the speed limit condition in the vehicle environment parameter condition, determining the same-lane distance parameter by calculating the distance reduction range of the vehicle and other vehicles in front of the same lane of the vehicle within second preset time;
when the same-lane distance parameter is smaller than or equal to a distance reduction threshold value in the vehicle environment parameter, determining a side vehicle passing parameter based on the change condition of the number of vehicles in a side lane adjacent to the vehicle in a third preset time;
determining whether the constant-speed-cruise excitation parameter meets a vehicle environmental parameter condition based on whether the side vehicle passing parameter is less than or equal to a side vehicle passing threshold value in the vehicle environmental parameter condition.
Optionally, if the constant-speed-cruise excitation parameter satisfies the vehicle environmental parameter condition, the step of exciting the constant-speed cruise of the vehicle includes:
if the constant-speed cruise excitation parameter meets the vehicle environment parameter condition, acquiring a driver posture parameter;
determining whether the driver attitude parameter meets a driving attitude condition;
and if the driver attitude parameter meets the driving attitude condition, exciting the constant-speed cruising of the vehicle.
Optionally, before the step of determining whether the driver posture parameter satisfies the driving posture condition, the method further includes:
determining a mouth posture parameter based on the mouth activity state of the driver within a fourth preset time;
determining eye posture parameters based on the eye activity state of the driver within the fifth preset time;
determining hand posture parameters based on the contact state of the hands of the driver and the steering wheel within sixth preset time;
the driver pose parameter includes at least one of the mouth pose parameter, the eye pose parameter, and the hand pose parameter.
Optionally, if the driver posture parameter satisfies the driving posture condition, the step of activating the constant-speed cruising of the vehicle includes:
and if the mouth attitude parameters meet the mouth attitude standard in the driving attitude condition, the eye attitude parameters meet the eye attitude standard in the driving attitude condition, and the hand attitude parameters meet the hand attitude standard in the driving attitude condition, the constant-speed cruising of the vehicle is excited.
Further, to achieve the above object, the present invention also provides a vehicle cruise control activation device including:
the system comprises a parameter monitoring module, a vehicle driving module and a vehicle driving module, wherein the parameter monitoring module is used for monitoring a constant-speed cruising excitation parameter of a vehicle in a driving process in real time, and the constant-speed cruising parameter comprises at least one of a chassis vibration parameter, a same-lane distance parameter, a steering wheel corner parameter, a vehicle-surrounding activity parameter, a vehicle speed identification parameter and a side vehicle passing parameter;
the condition judgment module is used for determining whether the constant-speed cruise excitation parameters meet vehicle environment parameter conditions;
and the constant-speed cruising excitation module is used for exciting the constant-speed cruising of the vehicle if the constant-speed cruising excitation parameter meets the vehicle environment parameter condition.
In addition, to achieve the above object, the present invention further provides a vehicle including a memory, a processor, and a vehicle cruise control excitation program stored on the memory and operable on the processor, wherein: the vehicle cruise control excitation program when executed by the processor implements the steps of the vehicle cruise control excitation program as described above.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a vehicle cruise control program that, when executed by a processor, implements the steps of the vehicle cruise control program as described above.
The invention provides a vehicle constant-speed cruise excitation program, a device, a vehicle and a storage medium, which can monitor the constant-speed cruise excitation parameters of the vehicle in real time during the driving process, wherein the constant-speed cruise parameters comprise chassis vibration parameters, same-lane distance parameters, steering wheel corner parameters, loop driving active parameters, vehicle speed identification parameters and side vehicle passing parameters, grasp the external environment information in the driving process in real time, provide reference basis for whether to excite the vehicle constant-speed cruise, further determine whether the constant-speed cruise excitation parameters meet the vehicle environment parameter conditions, use the vehicle environment parameter conditions as the reference standard for exciting the vehicle constant-speed cruise so as to excite the vehicle constant-speed cruise when the constant-speed cruise excitation parameters meet the vehicle environment parameter conditions, excite the vehicle constant-speed cruise by using the vehicle external environment information, reduce the accident risk of the vehicle actively exciting the constant-speed cruise, the safety of vehicle constant speed cruise excitation is promoted.
Drawings
FIG. 1 is a schematic vehicle configuration diagram of a hardware operating environment in accordance with an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a vehicle cruise control excitation method of the present invention;
FIG. 3 is a schematic flow chart of an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a vehicle cruise control excitation device according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, fig. 1 is a vehicle configuration diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 is not intended to be limiting and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a vehicle cruise control activation program.
In the vehicle shown in fig. 1, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the vehicle of the invention may be provided in the vehicle, and the vehicle may call the vehicle cruise control excitation program stored in the memory 1005 through the processor 1001 and execute the vehicle cruise control excitation method provided by the embodiment of the invention.
The embodiment of the invention provides a method for exciting a vehicle at a constant speed cruise, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the method for exciting the vehicle at the constant speed cruise.
In this embodiment, the vehicle cruise control method includes:
step S100, monitoring a constant-speed cruise excitation parameter of a vehicle in a driving process in real time, wherein the constant-speed cruise parameter comprises at least one of a chassis vibration parameter, a same-lane distance parameter, a steering wheel corner parameter, a vehicle-surrounding activity parameter, a vehicle speed identification parameter and a side vehicle passing parameter;
in this embodiment, it should be noted that the cruise control of the vehicle is activated automatically, and the state of the vehicle, the environment around the vehicle body, and the condition of the person in the vehicle are monitored and preset conditions are set respectively, so that the cruise control of the vehicle is actively triggered when the state of the vehicle, the environment around the vehicle body, and the condition of the person in the vehicle meet the preset conditions. The constant-speed cruise excitation parameter is a parameter representation of the state of the vehicle, the surrounding environment of the vehicle body and the condition of people in the vehicle, and specifically comprises at least one of a chassis vibration parameter, a same-lane distance parameter, a steering wheel turning angle parameter, a vehicle-surrounding active parameter, a vehicle speed identification parameter and a side vehicle passing parameter. Wherein the chassis vibration parameter reflects a vehicle chassis vibration amplitude; the same-lane distance parameter reflects the distance reduction range between a front vehicle and the vehicle on the same lane in the same direction as the vehicle; the steering wheel angle parameter reflects the angle amplitude of the vehicle steering wheel; the loop vehicle activity parameter reflects the density or activity degree of pedestrians or moving objects on the road side; the vehicle speed identification parameter reflects the lowest vehicle speed at which the current vehicle can realize constant-speed cruising; the side vehicle passing parameter reflects the number of passing vehicles passing by the adjacent side of the vehicle. In one embodiment, the constant-speed-cruise-excitation parameters may also include other more vehicle-external-environment parameters. And monitoring the constant-speed cruising parameter in real time during the running process of the vehicle so that the vehicle can respond in time.
Step S200, determining whether the constant-speed cruise excitation parameters meet vehicle environmental parameter conditions;
in this embodiment, it should be noted that the vehicle environment parameter condition is a preset condition for limiting whether the constant-speed-cruise excitation parameter can excite the vehicle constant-speed cruise. All the limiting standards corresponding to the constant-speed cruise excitation parameters exist in the vehicle environment parameter conditions. When the constant-speed cruise excitation parameter meets the limiting standard in the vehicle environment parameter condition, determining that the constant-speed cruise excitation parameter meets the vehicle environment parameter condition; and if the constant-speed cruise excitation parameter does not meet the limiting standard in the vehicle environment parameter condition, determining that the constant-speed cruise excitation parameter does not meet the vehicle environment parameter condition.
And step S300, if the constant-speed cruise excitation parameter meets the vehicle environment parameter condition, exciting the constant-speed cruise of the vehicle.
When the constant-speed cruise excitation parameter meets the vehicle environment parameter condition, the constant-speed cruise function of the vehicle is actively excited, and if the constant-speed cruise excitation parameter does not meet the vehicle environment parameter condition, the constant-speed cruise function of the vehicle cannot be excited.
In the embodiment of the invention, the constant-speed cruise excitation parameters of the vehicle in the driving process are monitored in real time, wherein the constant-speed cruise parameters comprise chassis vibration parameters, same-lane distance parameters, steering wheel corner parameters, vehicle surrounding activity parameters, vehicle speed identification parameters and side vehicle passing parameters, the external environment information in the driving process is grasped in real time, a reference basis is provided for whether the vehicle is excited to cruise at constant speed or not, further determining whether the constant-speed cruising excitation parameter meets the vehicle environment parameter condition, using the vehicle environment parameter condition as the reference standard for exciting the vehicle to cruise at constant speed, when the constant-speed cruise excitation parameters meet the vehicle environment parameter conditions, the constant-speed cruise of the vehicle is excited, the vehicle constant-speed cruise is excited by utilizing the external environment information of the vehicle, the accident risk of the vehicle actively exciting the constant-speed cruise is reduced, and the safety of the vehicle constant-speed cruise excitation is improved.
Further, based on the first embodiment of the vehicle cruise control method according to the present invention, a second embodiment of the vehicle cruise control method according to the present invention is provided, wherein the step S200 of determining whether the cruise control parameter satisfies the vehicle environmental parameter condition includes:
step a, determining a chassis vibration threshold value and a steering wheel turning angle threshold value in the vehicle environment parameter condition;
b, acquiring a judgment result for judging whether the chassis vibration parameter is less than or equal to the chassis vibration threshold and judging whether the steering wheel corner parameter is less than or equal to the steering wheel corner threshold;
and c, determining whether the constant-speed cruise excitation parameter meets the vehicle environment parameter condition or not based on the judgment result.
In this embodiment, it should be noted that if the constant-speed-cruise excitation parameter of the vehicle meets the vehicle environment parameter condition, all the parameters included in the constant-speed-cruise excitation parameter are required to meet the vehicle environment parameter condition, and otherwise, it is determined that the constant-speed-cruise excitation parameter does not meet the vehicle environment parameter condition. Specifically, the constant-speed cruise excitation parameters include chassis vibration parameters and steering wheel angle parameters, and chassis vibration thresholds and steering wheel angle thresholds are set respectively for the chassis vibration parameters and the steering wheel angle parameters in vehicle environment parameter conditions so as to limit the chassis vibration parameters and the steering wheel angle parameters. The chassis vibration threshold and the steering wheel angle threshold are reference values which are preset according to a large amount of experimental data and the actual application condition of the current vehicle. The chassis vibration sensor captures the vibration amplitude of the chassis and transmits the vibration amplitude to the vehicle machine to determine chassis vibration parameters; and the steering wheel angle sensor transmits the captured steering wheel angle amplitude to a vehicle machine to determine steering wheel angle parameters. The chassis vibration parameter can reflect whether the road section where the vehicle is located is flat or not, and the steering wheel corner parameter can reflect whether the road section where the vehicle is located is a curve road section or not. Comparing the chassis vibration parameter with a chassis vibration threshold value, and comparing the steering wheel corner parameter with a steering wheel corner threshold value; and if the chassis vibration parameter is less than or equal to the chassis vibration threshold value and the steering wheel corner parameter is less than or equal to the steering wheel corner threshold value, determining that the constant-speed cruise excitation parameter meets the vehicle environment parameter condition. And if the chassis vibration parameter is greater than the chassis vibration threshold value and/or the steering wheel angle parameter is greater than the steering wheel angle threshold value, determining that the constant-speed cruise excitation parameter does not meet the vehicle environmental parameter condition.
It can be understood that the constant-speed-cruise excitation parameter may include a plurality of other parameters or only one of the above parameters, besides the chassis vibration parameter and the steering wheel angle parameter, when the constant-speed-cruise excitation parameter includes a plurality of parameters, the vehicle constant-speed-cruise excitation may be implemented only if the plurality of parameters all satisfy the vehicle environment parameter condition, and if the constant-speed-cruise excitation parameter includes one parameter, the vehicle constant-speed-cruise excitation may be implemented if the parameter satisfies the vehicle environment parameter condition. The order of determining whether a plurality of parameters in the constant-speed-cruise excitation parameters satisfy the vehicle environment parameter conditions is not limited, and may be performed simultaneously by a plurality of parameters, or may be performed in accordance with the order of priority by setting priorities for the plurality of parameters in advance.
In this embodiment, through the restriction to chassis vibration parameter and steering wheel corner parameter, can be respectively for the highway section for under the condition of rugged and rugged highway section and bend highway section, the constant speed of vehicle is cruised and is aroused and restrict, reduces the vehicle and arouses the potential accident risk that the constant speed cruised automatically in the driving process, promotes the security that the vehicle was driven.
Further, the step of determining whether the constant-speed-cruise excitation parameter satisfies a vehicle environmental parameter condition includes:
step d, acquiring the object change state around the vehicle within a first preset time, calculating the object density and the object activity around the vehicle based on the object change state, and taking the object density and the object activity as the surrounding vehicle activity parameters;
and e, determining whether the constant-speed cruise excitation parameter meets the vehicle environment parameter condition or not based on whether the loop vehicle activity parameter is less than or equal to a loop vehicle activity threshold value in the vehicle environment parameter condition or not.
In this embodiment, it should be noted that the constant-speed-cruise excitation parameter includes a loop vehicle activity parameter, and the loop vehicle activity parameter is composed of two parts, which are the object density and the object activity around the vehicle, respectively, and the object density and the object activity reflect the density and the activity of roadside pedestrians or moving objects near the vehicle, and are obtained by calculating the object change state around the vehicle within the first preset time. The first preset time refers to a preset time period range in which a sensing component such as a radar or an external camera mounted on the vehicle monitors an object around the vehicle. The object change state is the change of the number of objects or pedestrians around the vehicle, including the number of roadside pedestrians or movable objects captured by the radar or camera of the vehicle and the number captured by the radar or camera of the vehicleA varying number of roadside pedestrians or movable objects. Calculating the object density around the vehicle in the first preset time based on the number of pedestrians or movable objects on the road side in the first preset time; and calculating the activity of the objects around the vehicle in the first preset time based on the change quantity of the pedestrians or the movable objects on the road side in the first preset time. For example, the first preset application is T d M is a predetermined time T d The quantity of roadside pedestrians or movable objects captured by the radar or the camera of the inner vehicle, and delta M is a preset time T d The number of roadside pedestrians or movable objects captured by the radar or camera of the inner vehicle; the calculation formula of the object density d1 around the vehicle is d1 ═ M/T d The calculation formula of the object activity d2 around the vehicle is d2 ═ Δ M/T d . The object density and the object activity around the vehicle constitute the vehicle activity parameters. The loop vehicle activity threshold value in the vehicle environment parameter condition comprises an object dense threshold value and an object activity threshold value, and the determination of the judgment result of whether the loop vehicle activity parameter is less than or equal to the loop vehicle activity threshold value determines whether the object density is less than or equal to the object dense threshold value and the object activity is less than or equal to the object activity threshold value. The looped vehicle activity parameter can be determined to be less than or equal to the looped vehicle activity threshold only when the object density is less than or equal to the object density threshold and the object activity is less than or equal to the object activity threshold. And if the loop vehicle active parameter is less than or equal to the loop vehicle active threshold value, determining that the constant-speed cruise excitation parameter meets the vehicle environment parameter condition, and if the loop vehicle active parameter is greater than the loop vehicle active threshold value, determining that the constant-speed cruise excitation parameter does not meet the vehicle environment parameter condition.
In the embodiment, the excitation of the vehicle for constant-speed cruising is limited by limiting the surrounding vehicle activity parameters according to the concentration and activity of objects around the vehicle, so that the accident risk caused by the automatic excitation of the vehicle for constant-speed cruising in the driving process is reduced, and the driving safety of the vehicle is improved.
Further, the step of determining whether the constant-speed-cruise excitation parameter satisfies a vehicle environmental parameter condition includes:
f, determining vehicle identification parameters according to the lowest vehicle speed of the vehicle for realizing constant-speed cruising;
step g, if the vehicle identification parameters meet the speed limit conditions in the vehicle environment parameter conditions, determining the distance parameters of the same lane by calculating the distance reduction range of the vehicle and other vehicles in front of the same lane of the vehicle within a second preset time;
step h, when the same lane distance parameter is smaller than or equal to the distance reduction threshold value in the vehicle environment parameter, determining a side vehicle passing parameter based on the change condition of the number of vehicles in the side lane adjacent to the vehicle in a third preset time;
and i, determining whether the constant-speed cruise excitation parameter meets the vehicle environmental parameter condition or not based on whether the side vehicle passing parameter is less than or equal to a side vehicle passing threshold value in the vehicle environmental parameter condition or not.
In this embodiment, it should be noted that the constant-speed cruise excitation parameter includes a vehicle identification parameter, a side vehicle passing parameter, and a same-lane distance parameter, where the vehicle identification parameter refers to a lowest vehicle speed at which the current vehicle can realize constant-speed cruise. The excitation of the constant-speed cruising of the vehicle can be realized only when the lowest vehicle speed of the current constant-speed cruising is less than or equal to the vehicle speed value of the speed limit sign, so that the limiting conditions are set in the vehicle environment parameter conditions corresponding to the vehicle sign parameters. The vehicle environmental parameter condition is determined by setting a limiting condition, and an external camera carried by the vehicle captures a roadside speed limit sign vehicle speed value and transmits the roadside speed limit sign vehicle speed value to a vehicle machine for real-time setting. In one embodiment, for a speed-limiting road section with the lowest speed per hour, the vehicle identification parameter in the constant-speed cruise parameters is limited to be greater than or equal to the lowest speed per hour. The second preset time is a preset time limit range for acquiring the distance reduction range between the current vehicle and the vehicle ahead of the current vehicle on the same lane. And detecting the distance reduction amplitude between the two vehicles within second preset time by using sensing components such as radars or external cameras carried by the vehicles, and the like, so as to determine the same-lane distance parameter. The distance reduction amplitude refers to a reduction speed at which the distance between the vehicles is reduced. And setting a distance reduction threshold in the vehicle environment parameters to limit the same-lane distance parameters, and judging the next step when the same-lane distance parameters are less than or equal to the distance reduction threshold in the vehicle environment parameters. And the third preset time is a preset time period limit range for calculating the number of other vehicles passing through the current vehicle in a lane adjacent to the current vehicle. The first preset time, the second preset time and the third preset time can be equal or unequal, and can be dynamically adjusted according to the actual application scene of the vehicle. The lane adjacent to the current vehicle is an adjacent lane in the same direction and/or opposite direction as the current vehicle. The side vehicle passing parameter is the number of the vehicles passing through the vehicle in the side lane adjacent to the vehicle in the third preset time. And limiting the side vehicle passing threshold value correspondingly set to the side vehicle passing parameter in the vehicle environment parameter condition. And when the side vehicle passing parameter is less than or equal to the side vehicle passing threshold value, the constant-speed cruise excitation parameter is considered to meet the vehicle environment parameter condition.
Specifically, a vehicle identification parameter is determined according to the lowest speed of the vehicle for realizing constant-speed cruising, whether the vehicle identification parameter meets a speed limit condition in a vehicle environment parameter condition is judged, and if the vehicle identification parameter meets the limit condition, the distance reduction range of the vehicle and other vehicles in front of the same lane of the vehicle in second preset time is calculated to determine the same-lane distance parameter. And judging whether the same-lane distance parameter is smaller than or equal to a distance reduction threshold value in the vehicle environment parameter, when the same-lane distance parameter is smaller than or equal to the distance reduction threshold value, determining a side vehicle passing parameter based on the change condition of the number of vehicles in the side lane adjacent to the vehicle in a third preset time, and judging whether the side vehicle passing parameter is smaller than or equal to a side vehicle passing threshold value in the vehicle environment parameter condition so as to determine whether the constant-speed cruise excitation parameter meets the vehicle environment parameter condition.
It is understood that, in practical applications, the constant-speed-cruise excitation parameter of the vehicle may further include more or less parameter limits, but if it is determined that the constant-speed-cruise excitation parameter satisfies the vehicle environment parameter condition, all the parameters included in the constant-speed-cruise excitation parameter satisfy the limit condition in the vehicle environment parameter condition. The order of determination as to whether all the parameters included in the constant-speed-cruise excitation parameters satisfy the restriction conditions in the vehicle environment parameters is not limited, and may be performed simultaneously for a plurality of parameters, or may be performed in accordance with the order of priority by setting priorities for the plurality of parameters in advance.
In the embodiment, the vehicle identification parameter, the same-lane distance parameter and the side vehicle passing parameter are limited, so that the vehicle constant-speed cruise excitation is limited under the condition of vehicle condition loads of a speed-limited road section, the same lane or an adjacent lane, the potential accident risk of the vehicle for automatically exciting the constant-speed cruise in the driving process is reduced, and the driving safety of the vehicle is improved.
Further, if the constant-speed-cruise excitation parameter satisfies the vehicle environment parameter condition, the step of exciting the constant-speed cruise of the vehicle comprises:
j, if the constant-speed cruise excitation parameter meets the vehicle environment parameter condition, acquiring a driver posture parameter;
step k, determining whether the driver attitude parameters meet driving attitude conditions;
and step l, if the driver attitude parameters meet the driving attitude conditions, exciting the constant-speed cruising of the vehicle.
In the embodiment, when the constant-speed cruising of the vehicle is automatically excited, in order to ensure that a driver can timely cope with an emergency in the driving process, the attitude of the driver is limited by using the driving attitude condition, when the constant-speed cruising excitation parameter meets the vehicle environment parameter condition, the attitude parameter of the driver in the vehicle is determined so as to judge whether the attitude parameter of the driver meets the driving attitude condition, and when the attitude parameter of the driver meets the driving attitude condition, the constant-speed cruising of the vehicle is excited; and if the driver attitude parameter does not meet the driving attitude condition, the constant-speed cruising of the vehicle cannot be automatically excited. It can be understood that the judgment of whether the vehicle constant-speed cruising parameters meet the vehicle environment parameter conditions and the judgment of whether the driver attitude parameters meet the driving attitude conditions are not set to be strict in sequence, and the judgment can be carried out simultaneously according to the actual application scenes or respectively set the priority and carried out according to the priority sequence.
In the embodiment, the posture condition of the driver is limited, the coping capability of the driver in the constant-speed cruising process of the vehicle is improved, the potential accident risk caused by the occurrence of an emergency is avoided, and the driving safety of the vehicle is improved.
Further, before the step of determining whether the driver posture parameter satisfies the driving posture condition, the method further includes:
m, determining mouth posture parameters based on the mouth activity state of the driver in the fourth preset time;
n, determining eye posture parameters based on the eye activity state of the driver within fifth preset time;
step o, determining hand posture parameters based on the contact state of the hands of the driver and the steering wheel within sixth preset time;
step p, the driver posture parameter comprises at least one of the mouth posture parameter, the eye posture parameter and the hand posture parameter.
In this embodiment, it should be noted that the fourth preset time, the fifth preset time, and the sixth preset time are all time period ranges for monitoring the posture of the driver, where the fourth preset time, the fifth preset time, and the sixth preset time may be equal or unequal, and are set by a manager according to an actual application scenario. The mouth posture parameter is a parameter representation that is determined after an internal camera carried by the vehicle captures the characteristics of the mouth of the driver and determines the activity state of the mouth of the driver, such as the opening and closing state of the mouth. The eye posture parameter is a parameter representation which is determined after an internal camera carried by a vehicle captures eye features of a driver and determines the eye activity state of the driver, such as the closed state or the non-fixation front state of eyes. The hand posture parameters are parameter representations which are carried out after an internal camera carried by a vehicle captures the contact between the hand characteristics of a driver and a steering wheel and determines the hand activity state of the driver, such as whether the hands are separated from the steering wheel.
In the embodiment, the posture parameters of the driver are determined by using the characteristics of the mouth, eyes and hands of the driver, so that the situation that the driver does not adequately cope with emergencies under the conditions of constant-speed cruising under a continuous talking or talking state, constant-speed cruising under a continuous fatigue or distraction state, constant-speed cruising under a continuous hands-off state and the like is avoided, the potential accident risk caused by the emergencies is reduced, and the safety of vehicle driving is improved.
Further, if the driver posture parameter satisfies the driving posture condition, the step of stimulating the constant-speed cruising of the vehicle comprises:
and q, if the mouth gesture parameters meet the mouth gesture standard in the driving gesture condition, the eye gesture parameters meet the eye gesture standard in the driving gesture condition, and the hand gesture parameters meet the hand gesture standard in the driving gesture condition, the constant-speed cruise of the vehicle is triggered.
In this embodiment, it should be noted that, in the driving posture condition, corresponding mouth posture standard, eye posture standard and hand posture standard are set for the mouth posture parameter, the eye posture parameter and the hand posture parameter, respectively. The vehicle can be actively excited to cruise at a constant speed only when the mouth gesture parameter meets the mouth gesture standard, the eye gesture parameter meets the eye gesture standard, and the hand gesture parameter meets the hand gesture standard.
It is understood that in an embodiment, the driving posture parameters may also include more or less parameters, but if the vehicle is actively triggered to cruise at a constant speed, all the parameters included in the driving posture parameters need to satisfy the limitation condition in the driving posture condition. The determination sequence of whether all the parameters included in the driving posture parameters meet the limiting conditions in the driving posture conditions is not limited, a plurality of parameters can be performed simultaneously, or priorities can be set for the plurality of parameters in advance and performed according to the priority sequence.
In the embodiment, the attitude parameter of the driver is limited, so that the state of the driver when the vehicle is excited in constant-speed cruising is ensured, the emergency response capability of the driver when the vehicle is excited in constant-speed cruising is improved, and the safety of the excitation in constant-speed cruising of the vehicle is improved.
Further, after the step of activating the constant-speed cruise of the vehicle, the method further comprises the following steps:
and step r, controlling a vehicle voice prompt module to output prompt information for starting the vehicle constant-speed cruising function.
After the constant-speed cruising function of the vehicle is automatically triggered, the voice prompt module of the vehicle outputs prompt information to remind a driver, so that the driver can timely know and master the driving condition of the vehicle, and the constant-speed cruising starting information can be acquired without watching an instrument panel by the driver through voice output, the distraction of the driver in the driving process is reduced, and the driving safety of the vehicle is improved.
Referring to fig. 3, in an application scenario, in the excitation process of the constant-speed cruise from the vehicle, a constant-speed cruise excitation parameter during the driving of the vehicle is obtained, the obtained parameter is compared with a first preset condition for the excitation of the vehicle-mounted pre-stored constant-speed cruise, the chassis vibration amplitude a1 is compared with a preset value a, and when a1 > a, the constant-speed cruise function is not excited; when a1 is less than or equal to a, comparing the distance b1 between the vehicle and the first vehicle in front of the same lane with a preset value b; b1 is larger than b, the constant speed cruising function is not excited; when b1 is less than or equal to b, comparing the steering wheel angle amplitude c1 with a preset value c, and when c1 is more than c, not activating the constant speed cruise function; when c1 is less than or equal to c, comparing the density D1 of the roadside pedestrian or the moving object with a preset value D1, and comparing the activity D2 of the roadside pedestrian or the moving object with a preset value D2; when D1 is more than D1 or D2 is more than D2 or D1 is more than D1 and D2 is more than D2, the constant-speed cruise function is not excited; when D1 is not less than D1 and D2 is not less than D2, comparing the roadside speed limit sign vehicle speed value v1 with the lowest vehicle speed v of the vehicle capable of realizing constant-speed cruising; when v1 is less than v, the constant speed cruise function is not activated; when v1 is larger than or equal to v, comparing the number e1 of passing vehicles on the same lane at the vehicle side with a preset value e; e1 is less than or equal to e, meets the first preset condition of exciting the cruise control, and enters the second preset condition of exciting the cruise control for judgment and analysis; comparing the duration T1 'of the continuous opening and closing state of the mouth of the driver in the preset time T1 with a first preset value T1'; when T1 '> T1', the constant speed cruise function is not activated; when T1 'is less than or equal to T1', comparing the closed state duration or the non-watching front state duration T2 'of the eyes of the driver in the preset time T2 with a second preset value T2'; when T2 '> T2', the constant speed cruising function is not activated; when T2 'is less than or equal to T2', comparing the duration T3 'that the driver does not hold the steering wheel while the hands are in the preset time T3 with a third preset value T3'; t3 '> T3' without activating the cruise function; t3 'is less than or equal to T3', the second preset condition of constant-speed cruise excitation is determined to be met, the vehicle-mounted machine control starts the vehicle constant-speed cruise function, and the driver is reminded through the voice module.
Further, referring to fig. 4, the present invention also proposes a vehicle cruise control activation device including:
the parameter monitoring module 2001 is used for monitoring a constant-speed cruise excitation parameter of a vehicle in a driving process in real time, wherein the constant-speed cruise parameter comprises at least one of a chassis vibration parameter, a same-lane distance parameter, a steering wheel corner parameter, a vehicle-surrounding activity parameter, a vehicle speed identification parameter and a side vehicle passing parameter;
a condition judgment module 2002 for determining whether the constant-speed-cruise excitation parameter meets a vehicle environment parameter condition;
and the constant-speed cruise excitation module 2003 is used for exciting the constant-speed cruise of the vehicle if the constant-speed cruise excitation parameters meet the vehicle environment parameter conditions.
Optionally, the condition determining module 2002 is further configured to:
determining a chassis vibration threshold and a steering wheel angle threshold in the vehicle environmental parameter condition;
obtaining a judgment result for judging whether the chassis vibration parameter is less than or equal to the chassis vibration threshold and judging whether the steering wheel turning angle parameter is less than or equal to the steering wheel turning angle threshold;
and determining whether the constant-speed cruise excitation parameter meets the vehicle environment parameter condition or not based on the judgment result.
Optionally, the condition determining module 2002 is further configured to:
acquiring an object change state around the vehicle within a first preset time, calculating object density and object activity around the vehicle based on the object change state, and taking the object density and the object activity as surrounding vehicle activity parameters;
and determining whether the constant-speed cruise excitation parameter meets the vehicle environment parameter condition or not based on whether the loop vehicle activity parameter is less than or equal to a loop vehicle activity threshold value in the vehicle environment parameter condition or not.
Optionally, the condition determining module 2002 is further configured to:
determining vehicle identification parameters according to the lowest vehicle speed of the vehicle for realizing constant-speed cruising;
if the vehicle identification parameter meets the speed limit condition in the vehicle environment parameter condition, determining the same-lane distance parameter by calculating the distance reduction range of the vehicle and other vehicles in front of the same lane of the vehicle within second preset time;
when the same-lane distance parameter is smaller than or equal to a distance reduction threshold value in the vehicle environment parameter, determining a side vehicle passing parameter based on the change condition of the number of vehicles in a side lane adjacent to the vehicle in a third preset time;
determining whether the constant-speed-cruise excitation parameter meets a vehicle environment parameter condition based on whether the side passing vehicle parameter is less than or equal to a side passing vehicle threshold value in the vehicle environment parameter condition.
Optionally, the constant velocity excitation module 2003 is further configured to:
if the constant-speed cruise excitation parameter meets the vehicle environment parameter condition, acquiring a driver posture parameter;
determining whether the driver attitude parameters meet driving attitude conditions;
and if the driver attitude parameter meets the driving attitude condition, exciting the constant-speed cruising of the vehicle.
Optionally, the parameter monitoring module 2001 is further configured to:
determining a mouth posture parameter based on the mouth activity state of the driver within a fourth preset time;
determining eye posture parameters based on the eye activity state of the driver within the fifth preset time;
determining hand posture parameters based on the contact state of the hands of the driver and the steering wheel within sixth preset time;
the driver pose parameter includes at least one of a mouth pose parameter, an eye pose parameter, and the hand pose parameter.
Optionally, the constant velocity excitation module 2003 is further configured to:
and if the mouth attitude parameters meet the mouth attitude standard in the driving attitude condition, the eye attitude parameters meet the eye attitude standard in the driving attitude condition, and the hand attitude parameters meet the hand attitude standard in the driving attitude condition, the constant-speed cruising of the vehicle is excited.
The specific implementation of the vehicle cruise control excitation device of the invention is basically the same as that of the above embodiments of the vehicle cruise control excitation method, and the details are not repeated herein.
In addition, the present invention also provides a vehicle, comprising a memory, a processor and a vehicle cruise control excitation program stored on the memory and operable on the processor, wherein: the vehicle cruise control excitation program implements the vehicle cruise control excitation method according to the embodiments of the present invention when executed by the processor.
In addition, the present invention also provides a storage medium including a computer-readable storage medium having a vehicle cruise excitation program stored thereon. The computer-readable storage medium may be the Memory 20 in the terminal of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes instructions for causing a vehicle having a processor to execute the vehicle cruise control activating method according to the embodiments of the present invention.
It is to be understood that throughout the description of the present specification, reference to the term "one embodiment", "another embodiment", "other embodiments", or "first through nth embodiments", etc., is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle cruise control excitation method, characterized by comprising the steps of:
monitoring constant-speed cruise excitation parameters of a vehicle in a driving process in real time, wherein the constant-speed cruise parameters comprise at least one of chassis vibration parameters, same lane distance parameters, steering wheel corner parameters, vehicle encircling activity parameters, vehicle speed identification parameters and side vehicle passing parameters;
determining whether the constant-speed cruise excitation parameter meets a vehicle environment parameter condition;
and if the constant-speed cruise excitation parameters meet the vehicle environment parameter conditions, exciting the constant-speed cruise of the vehicle.
2. The vehicle cruise excitation method according to claim 1, wherein said step of determining whether said cruise excitation parameter satisfies a vehicle environmental parameter condition comprises:
determining a chassis vibration threshold and a steering wheel angle threshold in the vehicle environmental parameter condition;
obtaining a judgment result for judging whether the chassis vibration parameter is less than or equal to the chassis vibration threshold and judging whether the steering wheel corner parameter is less than or equal to the steering wheel corner threshold;
and determining whether the constant-speed cruise excitation parameter meets the vehicle environment parameter condition or not based on the judgment result.
3. The vehicle cruise excitation method according to claim 1, wherein said step of determining whether said cruise excitation parameter satisfies a vehicle environmental parameter condition comprises:
acquiring an object change state around the vehicle within a first preset time, calculating object density and object activity around the vehicle based on the object change state, and taking the object density and the object activity as surrounding vehicle activity parameters;
and determining whether the constant-speed cruise excitation parameter meets the vehicle environment parameter condition or not based on whether the loop vehicle activity parameter is less than or equal to a loop vehicle activity threshold value in the vehicle environment parameter condition or not.
4. The vehicle cruise excitation method according to claim 1, wherein said step of determining whether said cruise excitation parameters satisfy vehicle environmental parameter conditions comprises:
determining vehicle identification parameters according to the lowest vehicle speed of the vehicle for realizing constant-speed cruising;
if the vehicle identification parameter meets the speed limit condition in the vehicle environment parameter condition, determining the same-lane distance parameter by calculating the distance reduction range of the vehicle and other vehicles in front of the same lane of the vehicle within second preset time;
when the same-lane distance parameter is smaller than or equal to a distance reduction threshold value in the vehicle environment parameter, determining a side vehicle passing parameter based on the change situation of the number of vehicles in a side lane adjacent to the vehicle in a third preset time;
determining whether the constant-speed-cruise excitation parameter meets a vehicle environmental parameter condition based on whether the side vehicle passing parameter is less than or equal to a side vehicle passing threshold value in the vehicle environmental parameter condition.
5. The vehicle cruise control excitation method according to claim 1, wherein said step of exciting a cruise control of a vehicle if said cruise control excitation parameter satisfies said vehicle environmental parameter condition comprises:
if the constant-speed cruise excitation parameters meet the vehicle environment parameter conditions, acquiring attitude parameters of a driver;
determining whether the driver attitude parameters meet driving attitude conditions;
and if the driver attitude parameter meets the driving attitude condition, exciting the constant-speed cruising of the vehicle.
6. The vehicle cruise excitation method according to claim 5, wherein said step of determining whether said driver attitude parameter satisfies a driving attitude condition further comprises, before said step of determining whether said driver attitude parameter satisfies a driving attitude condition:
determining a mouth posture parameter based on the mouth activity state of the driver within a fourth preset time;
determining eye posture parameters based on the eye activity state of the driver within the fifth preset time;
determining hand posture parameters based on the contact state of the hands of the driver and the steering wheel within sixth preset time;
the driver pose parameter includes at least one of the mouth pose parameter, the eye pose parameter, and the hand pose parameter.
7. The vehicle cruise excitation method according to claim 6, wherein said step of exciting a cruise of a vehicle if said driver attitude parameter satisfies said driving attitude condition comprises:
and if the mouth attitude parameters meet the mouth attitude standard in the driving attitude condition, the eye attitude parameters meet the eye attitude standard in the driving attitude condition, and the hand attitude parameters meet the hand attitude standard in the driving attitude condition, the constant-speed cruising of the vehicle is excited.
8. A vehicle cruise excitation device, characterized by comprising:
the system comprises a parameter monitoring module, a vehicle driving module and a vehicle driving module, wherein the parameter monitoring module is used for monitoring a constant-speed cruising excitation parameter of a vehicle in a driving process in real time, and the constant-speed cruising parameter comprises at least one of a chassis vibration parameter, a same-lane distance parameter, a steering wheel corner parameter, a vehicle-surrounding activity parameter, a vehicle speed identification parameter and a side vehicle passing parameter;
the condition judgment module is used for determining whether the constant-speed cruise excitation parameters meet vehicle environment parameter conditions;
and the constant-speed cruising excitation module is used for exciting the constant-speed cruising of the vehicle if the constant-speed cruising excitation parameter meets the vehicle environment parameter condition.
9. A vehicle, characterized in that the vehicle comprises: memory, a processor and a vehicle cruise control excitation program stored on the memory and executable on the processor, the vehicle cruise control excitation program being configured to implement the steps of the vehicle cruise control excitation method according to any of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a vehicle cruise excitation program which, when executed by a processor, carries out the steps of the vehicle cruise excitation method according to any one of claims 1 to 7.
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