CN115027468B - Method and device for exciting constant-speed cruising of vehicle, vehicle and storage medium - Google Patents

Method and device for exciting constant-speed cruising of vehicle, vehicle and storage medium Download PDF

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Publication number
CN115027468B
CN115027468B CN202210548908.0A CN202210548908A CN115027468B CN 115027468 B CN115027468 B CN 115027468B CN 202210548908 A CN202210548908 A CN 202210548908A CN 115027468 B CN115027468 B CN 115027468B
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vehicle
parameter
constant
parameters
speed
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CN115027468A (en
Inventor
聂家鹏
黄祖朋
陈程
仝伟
何彦霏
文晗
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SAIC GM Wuling Automobile Co Ltd
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SAIC GM Wuling Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • 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
    • 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
    • B60W40/105—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a method and a device for exciting a vehicle to cruise at a constant speed, a vehicle and a storage medium, and belongs to the technical field of vehicle control. According to the invention, the constant-speed cruising excitation parameters of the vehicle in the running process are monitored in real time, wherein the constant-speed cruising parameters comprise at least one of chassis vibration parameters, same-lane distance parameters, steering wheel corner parameters, ring vehicle active parameters, vehicle speed identification parameters and side passing parameters, the external environment information of the vehicle is mastered in real time, a reference basis is provided for whether the constant-speed cruising of the vehicle is excited, and then whether the constant-speed cruising excitation parameters meet the condition of the vehicle environment parameters is determined.

Description

Method and device for exciting constant-speed cruising of vehicle, vehicle and storage medium
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method and apparatus for exciting a vehicle during constant speed cruising, a vehicle, and a storage medium.
Background
The cruise control system (Cruise Control System) is abbreviated as CCS, also called cruise control running device, speed control system, automatic driving system, etc. The function is as follows: after the switch is turned on according to the speed required by a driver, the vehicle speed is automatically maintained without stepping on an accelerator pedal, so that the vehicle runs at a fixed speed. By adopting the device, after long-time driving on the expressway, a driver does not need to control the accelerator pedal, so that fatigue is reduced, unnecessary speed change is reduced, and fuel can be saved. In the traditional mode, the constant-speed cruising switch of the vehicle can be started actively by a driver when the constant-speed cruising system of the vehicle is excited, but the system is operated manually and lacks of intelligence; in the conventional technology, the constant-speed cruising function can be actively triggered when the running state of the vehicle and the state of the brake pedal meet the preset running condition and the state of the driver meets the preset posture condition. However, in the above technical solution, parameter information related to the outside of the vehicle is not considered, if the vehicle is on a rough road section or the same lane is close to the front vehicle, the constant speed cruise is actively triggered, so that a certain potential safety hazard is brought, and if the constant speed cruise is directly triggered without considering the intensity and activity of pedestrians, moving objects and the like on the road side around the vehicle, the potential accident risk is increased.
Disclosure of Invention
The invention mainly aims to provide a method and a device for exciting a vehicle cruise control, a vehicle and a storage medium, and aims to solve the technical problem of improving the safety of the vehicle cruise control.
In order to achieve the above object, the present invention provides a vehicle cruise control excitation method, which is characterized in that the vehicle cruise control excitation method comprises the following steps:
Monitoring constant-speed cruising excitation parameters of a vehicle in a running process in real time, wherein the constant-speed cruising parameters comprise at least one of chassis vibration parameters, same-lane distance parameters, steering wheel corner parameters, active vehicle surrounding 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 parameter meets the vehicle environment parameter condition, exciting the constant-speed-cruise of the vehicle.
Optionally, the step of determining whether the cruise control excitation parameter meets a vehicle environment parameter condition comprises:
determining a chassis vibration threshold and a steering wheel angle threshold in the vehicle environmental parameter condition;
Acquiring a judging result of judging whether the chassis vibration parameter is smaller than or equal to the chassis vibration threshold value and judging whether the steering wheel corner parameter is smaller than or equal to the steering wheel corner threshold value;
And determining whether the constant-speed-cruise excitation parameter meets the vehicle environment parameter condition or not based on the judging result.
Optionally, the step of determining whether the cruise control excitation parameter meets a vehicle environment parameter condition comprises:
Acquiring object change states around a vehicle in a first preset time, calculating object density and object liveness around the vehicle based on the object change states, and taking the object density and the object liveness as ring vehicle liveness parameters;
And determining whether the constant-speed-cruise excitation parameter meets a vehicle environment parameter condition based on whether the ring-vehicle activity parameter is less than or equal to a ring-vehicle activity threshold in the vehicle environment parameter condition.
Optionally, the step of determining whether the cruise control excitation parameter meets a vehicle environment parameter condition comprises:
Determining a vehicle identification parameter according to the minimum vehicle speed of the vehicle for realizing constant-speed cruising;
if the vehicle identification parameter meets the speed limiting condition in the vehicle environment parameter conditions, determining a 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 a 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 passing parameter based on the change condition of the number of vehicles in a side lane adjacent to the vehicle within a third preset time;
And determining whether the constant-speed-cruise excitation parameter meets a vehicle environment parameter condition based on whether the side passing parameter is less than or equal to a side passing threshold value in the vehicle environment parameter condition.
Optionally, the step of activating the constant-speed-cruise of the vehicle if the constant-speed-cruise activation parameter meets the vehicle environmental parameter condition includes:
If the constant-speed cruising excitation parameter meets the vehicle environment parameter condition, acquiring a driver posture parameter;
determining whether the driver posture parameter meets a driving posture condition;
And if the driver posture parameter meets the driving posture condition, exciting the constant-speed cruising of the vehicle.
Optionally, before the step of determining whether the driver posture parameter meets the driving posture condition, the method further includes:
determining a mouth posture parameter based on the mouth activity state of the driver in a fourth preset time;
determining eye posture parameters based on the eye activity state of the driver in a fifth preset time;
determining hand gesture parameters based on the contact state of the hands of the driver and the steering wheel in sixth preset time;
The driver pose parameters include at least one of the mouth pose parameters, eye pose parameters, and hand pose parameters.
Optionally, the step of activating the constant-speed cruising of the vehicle if the driver posture parameter meets the driving posture condition includes:
and if the mouth posture parameter meets the mouth posture standard in the driving posture condition, the eye posture parameter meets the eye posture standard in the driving posture condition, and the hand posture parameter meets the hand posture standard in the driving posture condition, the constant-speed cruising of the vehicle is stimulated.
In addition, in order to achieve the above object, the present invention also provides a vehicle cruise control excitation device, including:
The parameter monitoring module is used for monitoring constant-speed cruising excitation parameters of the vehicle in the running process in real time, wherein the constant-speed cruising parameters comprise at least one of 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 condition judgment module is used for determining whether the constant-speed cruising excitation parameter meets the condition of the vehicle environment parameter;
And the constant-speed 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, in order to achieve the above object, the present invention also 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 steps of the vehicle cruise control excitation routine are implemented when the vehicle cruise control excitation routine is executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a vehicle cruise control excitation program that, when executed by a processor, implements the steps of the vehicle cruise control excitation program described above.
The constant-speed-cruising excitation program, the device, the vehicle and the storage medium for the vehicle provided by the invention monitor the constant-speed-cruising excitation parameters of the vehicle in the running process in real time, wherein the constant-speed-cruising parameters comprise chassis vibration parameters, same-lane distance parameters, steering wheel corner parameters, ring-vehicle active parameters, vehicle speed identification parameters and side vehicle passing parameters, and master external environment information in the running process in real time, so as to provide reference basis for whether to excite the vehicle to cruise at constant speed, further determine whether the constant-speed-cruising excitation parameters meet the vehicle environment parameter conditions, and use the vehicle environment parameter conditions as reference standard for exciting the vehicle to cruise at constant speed, so that when the constant-speed-cruising excitation parameters meet the vehicle environment parameter conditions, the constant-speed-cruising excitation of the vehicle is carried out by using the external environment information of the vehicle, the accident risk of actively exciting the constant-speed-cruising of the vehicle is reduced, and the safety of the constant-speed-cruising excitation of the vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a method for exciting a constant speed cruising of a vehicle according to the present invention;
FIG. 3 is a schematic diagram illustrating an application flow according to an embodiment of the present invention;
fig. 4 is a schematic structural view of the vehicle cruise control excitation device according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a vehicle structure 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 (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further 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 high-speed random access Memory (Random Access Memory, RAM) Memory or a stable Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the configuration shown in fig. 1 is not limiting of the vehicle and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system, a data storage module, a network communication module, a user interface module, and a vehicle cruise control excitation program may be included in the memory 1005 as one type of storage medium.
In the vehicle illustrated 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 in the vehicle of the present invention may be disposed in the vehicle, and the vehicle invokes the vehicle cruise control excitation program stored in the memory 1005 through the processor 1001, and executes the vehicle cruise control excitation method provided by the embodiment of the present invention.
The embodiment of the invention provides a vehicle constant-speed-cruise excitation method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the vehicle constant-speed-cruise excitation method.
In this embodiment, the vehicle constant-speed-cruising excitation method includes:
Step S100, constant-speed cruising excitation parameters of a vehicle in a running process are monitored in real time, wherein the constant-speed cruising parameters comprise at least one of chassis vibration parameters, same-lane distance parameters, steering wheel corner parameters, ring-car active parameters, vehicle speed identification parameters and side car passing parameters;
In this embodiment, it should be noted that, in the constant-speed-cruising excitation automation of the vehicle, the state of the vehicle, the surrounding environment of the vehicle body, and the conditions of personnel in the vehicle are monitored, and preset conditions are set respectively, so that the constant-speed cruising of the vehicle is actively triggered when the state of the vehicle, the surrounding environment of the vehicle body, and the conditions of personnel in the vehicle reach the preset conditions. The constant-speed cruising excitation parameter is a parameter representation of the state of the vehicle, the surrounding environment of the vehicle body and the conditions of personnel in the vehicle, and specifically can comprise 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. Wherein the chassis vibration parameter reflects a vehicle chassis vibration amplitude; the same lane distance parameter reflects the distance reduction amplitude between the preceding 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 steering wheel of the vehicle; the activity parameters of the loop wheel reflect the intensity or activity degree of pedestrians or moving objects at the road side; the vehicle speed identification parameter reflects the minimum vehicle speed of the current vehicle capable of realizing constant-speed cruising; the side passing parameter reflects the number of passes the vehicle is driven past on the adjacent side of the vehicle. In one embodiment, the cruise control excitation parameters may also include other more vehicle external environment parameters. The constant-speed cruising parameter is monitored in real time during the running of the vehicle so that the vehicle responds in time.
Step 200, determining whether the constant-speed-cruise excitation parameter meets the vehicle environment parameter condition;
In the present embodiment, the vehicle environment parameter condition is a preset condition for limiting whether the cruise control excitation parameter can excite the vehicle cruise control. 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; if the cruise control excitation parameter does not meet the limiting standard in the vehicle environment parameter condition, determining that the cruise control 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 running process are monitored in real time, wherein the constant-speed-cruise parameters comprise chassis vibration parameters, same-lane distance parameters, steering wheel corner parameters, ring vehicle active parameters, vehicle speed identification parameters and side vehicle passing parameters, external environment information in the running process is mastered in real time, a reference basis is provided for whether the vehicle constant-speed-cruise is excited, whether the constant-speed-cruise excitation parameters meet the vehicle environment parameter conditions is further determined, the vehicle environment parameter conditions are used as the reference standard for exciting the vehicle constant-speed-cruise, the constant-speed-cruise of the vehicle is excited when the constant-speed-cruise excitation parameters meet the vehicle environment parameter conditions, the vehicle constant-speed-cruise excitation is carried out by using the vehicle external environment information, the accident risk of the vehicle active excitation 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 excitation method, a second embodiment of the vehicle cruise control excitation method is provided, and the step S200 of determining whether the cruise control excitation parameter meets the vehicle environmental parameter condition includes:
step a, determining a chassis vibration threshold and a steering wheel angle threshold in the vehicle environment parameter conditions;
Step b, obtaining a judging result of judging whether the chassis vibration parameter is smaller than or equal to the chassis vibration threshold value and judging whether the steering wheel angle parameter is smaller than or equal to the steering wheel angle threshold value;
And c, determining whether the constant-speed-cruise excitation parameter meets the vehicle environment parameter condition or not based on the judging result.
In this embodiment, it should be noted that, if the constant-speed-cruise excitation parameter of the vehicle is made to meet the vehicle environmental parameter condition, it is required that all parameters included in the constant-speed-cruise excitation parameter meet the vehicle environmental parameter condition, and if not, it is determined that the constant-speed-cruise excitation parameter does not meet the vehicle environmental parameter condition. Specifically, the constant-speed cruising excitation parameter comprises a chassis vibration parameter and a steering wheel rotation angle parameter, and a chassis vibration threshold and a steering wheel rotation angle threshold are respectively set for the chassis vibration parameter and the steering wheel rotation angle parameter in the vehicle environment parameter condition so as to limit the chassis vibration parameter and the steering wheel rotation angle parameter. The chassis vibration threshold and the steering wheel angle threshold are all reference values 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 then transmits the vibration amplitude to the vehicle to determine the chassis vibration parameters; the steering wheel angle sensor transmits the captured steering wheel angle amplitude to the vehicle to determine the steering wheel angle parameter. The chassis vibration parameter may reflect whether the road segment where the vehicle is located is flat, and the steering wheel angle parameter may reflect whether the road segment where the vehicle is located is a curve road segment. Comparing the chassis vibration parameter with a chassis vibration threshold, and comparing the steering wheel angle parameter with a steering wheel angle threshold; if the chassis vibration parameter is less than or equal to the chassis vibration threshold and the steering wheel angle parameter is less than or equal to the steering wheel angle threshold, the constant-speed-cruise excitation parameter can be determined to meet the vehicle environment parameter condition. If the chassis vibration parameter is greater than the chassis vibration threshold and/or the steering wheel angle parameter is greater than the steering wheel angle threshold, it may be determined that the cruise control excitation parameter does not meet the vehicle environmental parameter condition.
It can be understood that the cruise control excitation parameter may include a plurality of other parameters or only one of the parameters besides the chassis vibration parameter and the steering wheel rotation angle parameter, when the cruise control excitation parameter includes a plurality of parameters, the plurality of parameters are required to meet the vehicle environment parameter condition, so that the vehicle cruise control excitation can be realized, and if the cruise control excitation parameter value includes a parameter, the vehicle cruise control excitation can be realized if the parameter meets the vehicle environment parameter condition. The order of determining whether or not a plurality of parameters in the constant-speed-cruise excitation parameters satisfy the vehicle environmental parameter condition is not limited, and the plurality of parameters may be performed simultaneously, or priorities may be set in advance for the plurality of parameters, respectively, and performed in the order of the priorities.
In this embodiment, through the restriction to chassis vibration parameter and steering wheel corner parameter, can be respectively under the circumstances that the highway section is rugged road section and bend road section, to the vehicle constant speed cruising excitation restriction, reduce the vehicle and arouse the potential accident risk of constant speed cruising in driving in-process automation, promote the security that the vehicle was driven.
Further, the step of determining whether the cruise control excitation parameter satisfies a vehicle environmental parameter condition includes:
step d, obtaining object change states around the vehicle in a first preset time, calculating object concentration and object liveness around the vehicle based on the object change states, and taking the object concentration and the object liveness as ring vehicle liveness parameters;
and e, determining whether the constant-speed-cruise excitation parameter meets the vehicle environment parameter condition or not based on whether the ring vehicle activity parameter is smaller than or equal to a ring vehicle activity threshold value in the vehicle environment parameter condition.
In this embodiment, it should be noted that the constant-speed cruising excitation parameter includes a vehicle surrounding activity parameter, where the vehicle surrounding activity parameter includes two parts, that is, an object concentration and an object activity around the vehicle, where the object concentration and the object activity reflect a concentration degree and an activity degree of a road pedestrian or a moving object near the vehicle, and are calculated by an object change state around the vehicle in a first preset time. The first preset time is a preset time period range for monitoring objects around the vehicle by using sensing components such as a radar or an external camera mounted on the vehicle. The object change state is a change in the number of objects or pedestrians around the vehicle, including the number of roadside pedestrians or movable objects captured by the vehicle radar or camera and the number of changes in the roadside pedestrians or movable objects captured by the vehicle radar or camera. Calculating the object concentration around the vehicle in the first preset time based on the number of the road side pedestrians or the movable objects 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 road side pedestrians or the movable objects in the first preset time. For example, the first preset application is T d, M is the number of roadside pedestrians or movable objects captured by the vehicle radar or camera within a preset time T d, Δm is the number of changes in the roadside pedestrians or movable objects captured by the vehicle radar or camera within a preset time T d; the calculation formula of the object density d1 around the vehicle is d1=m/T d, and the calculation formula of the object activity d2 around the vehicle is d2=Δm/T d. The object concentration and the object liveness around the vehicle form the ring car liveness parameter. The loop activity threshold in the vehicle environment parameter condition comprises an object dense threshold and an object activity threshold, and the determination of whether the loop activity parameter is smaller than or equal to the loop activity threshold is to determine whether the object density is smaller than or equal to the object dense threshold and whether the object activity is smaller than or equal to the object activity threshold. The loop activity parameter may be determined to be less than or equal to the loop activity threshold only if the object concentration is less than or equal to the object concentration threshold and the object activity is less than or equal to the object activity threshold. If the ring vehicle active parameter is smaller than or equal to the ring vehicle active threshold, the constant speed cruising excitation parameter can be determined to meet the vehicle environment parameter condition, and if the ring vehicle active parameter is larger than the ring vehicle active threshold, the constant speed cruising excitation parameter can be determined to not meet the vehicle environment parameter condition.
In this embodiment, the vehicle is limited to the intensity and the liveness of objects around the vehicle by limiting the active parameters of the surrounding vehicle, so as to limit the constant-speed cruising excitation of the vehicle, reduce the accident risk caused by automatically exciting the constant-speed cruising of the vehicle in the driving process, and improve the driving safety of the vehicle.
Further, the step of determining whether the cruise control excitation parameter satisfies a vehicle environmental parameter condition includes:
f, determining a vehicle identification parameter according to the minimum vehicle speed of the vehicle for realizing constant-speed cruising;
Step g, if the vehicle identification parameter meets the speed limiting condition in the vehicle environment parameter conditions, determining a 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 a second preset time;
step h, 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 passing parameter based on the change condition of the number of vehicles in a side lane adjacent to the vehicle within a third preset time;
and i, determining whether the constant-speed-cruise excitation parameter meets the vehicle environment parameter condition or not based on whether the side passing parameter is smaller than or equal to a side passing threshold value in the vehicle environment parameter condition.
In this embodiment, it should be noted that the constant-speed-cruise excitation parameters include a vehicle identification parameter, a lateral passing parameter, and a same-lane distance parameter, where the vehicle identification parameter refers to a minimum vehicle speed at which the current vehicle can achieve constant-speed-cruise. The excitation of the vehicle constant-speed cruising can be realized only when the minimum vehicle speed of the current constant-speed cruising is smaller than or equal to the speed limit identification vehicle speed value, so that the limiting condition is set in the vehicle environment parameter condition correspondingly aiming at the vehicle identification parameter. The determination of the limiting conditions in the vehicle environment parameter conditions is that an external camera carried by the vehicle captures a road side speed limiting identification vehicle speed value and transmits the road side speed limiting identification vehicle speed value to the vehicle machine for real-time setting. In an embodiment, for the speed-limiting road section provided with the lowest speed, the vehicle identification parameter in the constant-speed-cruising parameter is limited to be equal to or greater than the lowest speed. The second preset time is a preset time limit range for acquiring the distance reduction range between the current vehicle and the current vehicle on the same lane of the current vehicle. And detecting the distance reduction amplitude between two vehicles within a second preset time by using sensing components such as a radar or an external camera and the like carried by the vehicles, so as to further determine the same-lane distance parameter. The distance reduction amplitude refers to a reduction speed at which the distance between two workshops is reduced. And setting a distance reduction threshold in the vehicle environment parameters so as to limit the same-lane distance parameters, and performing the next judgment when the same-lane distance parameters are smaller than or equal to the distance reduction threshold in the vehicle environment parameters. The third preset time is preset for calculating a time period limit range according to the number of other vehicles passing through the current vehicle in the lane adjacent to the current vehicle. The first preset time, the second preset time and the third preset time may be equal or unequal, and may 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 passing parameter is the number of vehicles passing through the vehicle in the side lanes adjacent to the vehicle in the third preset time. The side passing threshold value is correspondingly set for the side passing parameter in the vehicle environment parameter condition. And when the side passing parameter is smaller than or equal to the side passing threshold, the constant-speed cruising excitation parameter is considered to meet the vehicle environment parameter condition.
Specifically, a vehicle identification parameter is determined according to the lowest vehicle speed of the vehicle for realizing constant speed cruising, whether the vehicle identification parameter meets the speed limiting condition in the vehicle environment parameter conditions is judged, if the vehicle identification parameter meets the limiting condition, the distance reduction amplitude of the vehicle and other vehicles in front of the same lane of the vehicle in a 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 parameters, determining a side passing parameter based on the change condition of the number of vehicles in a side lane adjacent to the vehicle within a third preset time when the same-lane distance parameter is smaller than or equal to the distance reduction threshold value, and judging whether the side passing parameter is smaller than or equal to the side passing threshold value in the vehicle environment parameter conditions so as to determine whether the constant-speed cruising excitation parameter meets the vehicle environment parameter conditions.
It will be appreciated that in practical applications, the cruise control excitation parameter of the vehicle may include more or less parameter limits, but if it is determined that the cruise control excitation parameter meets the vehicle environment parameter conditions, all parameters included in the cruise control excitation parameter are required to meet the vehicle environment parameter conditions. The order of determining whether all the parameters included in the constant-speed-cruise excitation parameters satisfy the constraint conditions in the vehicle environment parameters is not limited, and a plurality of parameters may be performed simultaneously, or priorities may be set in advance for the plurality of parameters, respectively, and performed in the order of the priorities.
In this embodiment, the vehicle identification parameter, the same lane distance parameter and the lateral passing parameter are limited, so that the vehicle cruise control excitation is limited under the condition of the vehicle condition load of the speed-limiting road section, the same lane or the adjacent lane, the potential accident risk of automatically exciting the cruise control in the driving process of the vehicle is reduced, and the driving safety of the vehicle is improved.
Further, if the cruise control excitation parameter meets the vehicle environmental parameter condition, the step of exciting the cruise control of the vehicle includes:
Step j, if the constant-speed cruising excitation parameter meets the vehicle environment parameter condition, acquiring a driver posture parameter;
Step k, determining whether the gesture parameters of the driver meet driving gesture conditions;
And step l, if the gesture parameters of the driver meet the driving gesture 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 posture of the driver is limited by using the driving posture condition, when the constant-speed cruising excitation parameter meets the vehicle environment parameter condition, the driver posture parameter in the vehicle is determined so as to judge whether the driver posture parameter meets the driving posture condition, and when the driver posture parameter meets the driving posture condition, the constant-speed cruising of the vehicle is excited; if the driver posture parameter does not meet the driving posture 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 parameter meets the vehicle environment parameter condition and the judgment of whether the driver gesture parameter meets the driving gesture condition are not strictly sequential, and can be judged according to the actual application scene at the same time or respectively set with priority, and are judged according to the priority sequence.
In this embodiment, the posture situation of the driver is limited, so that 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 meets the driving posture condition, the method further includes:
M, determining a mouth posture parameter based on a mouth activity state of a driver in a fourth preset time;
step n, determining eye posture parameters based on the eye activity state of the driver in a fifth preset time;
Step o, determining hand gesture parameters based on the contact state of the hands of the driver and the steering wheel in sixth preset time;
Step p, the driver posture parameters comprise at least one of the mouth posture parameters, eye posture parameters and hand posture parameters.
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 gesture 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 the administrator according to the actual application scenario. The mouth posture parameter is a parameter representation which is determined after the mouth movement state of the driver is determined by capturing the mouth characteristics of the driver by an internal camera mounted on the vehicle, for example, the opening and closing state of the mouth. The eye posture parameter is a parameter representation which is determined after an eye activity state of a driver is determined by capturing eye characteristics of the driver by an internal camera mounted on the vehicle, for example, a closed state or a non-gazing front state of the eyes. The hand gesture parameters are parameter characterization that the hand gesture parameters are determined after the hand movement state of the driver is determined by capturing contact between hand characteristics of the driver and the steering wheel by an internal camera mounted on the vehicle, for example, whether two hands are separated from the steering wheel.
In the embodiment, the mouth, eyes and hand characteristics of the driver are utilized to determine the gesture parameters of the driver, so that the driver is prevented from using constant-speed cruising in a continuous talking or talking state, the driver is prevented from using constant-speed cruising in a continuous fatigue or distraction state, the driver is prevented from using constant-speed cruising in a continuous hands-free state, and the like, the situation of emergency is insufficiently treated, the potential accident risk caused by the occurrence of an emergency is reduced, and the driving safety of the vehicle is improved.
Further, if the driver posture parameter satisfies the driving posture condition, the step of activating the constant-speed cruising of the vehicle includes:
And q, if the mouth posture parameter meets the mouth posture standard in the driving posture condition, the eye posture parameter meets the eye posture standard in the driving posture condition, and the hand posture parameter meets the hand posture standard in the driving posture condition, the constant-speed cruising of the vehicle is stimulated.
In this embodiment, it should be noted that, in the driving posture condition, corresponding mouth posture standards, eye posture standards, and hand posture standards are set for the mouth posture parameters, the eye posture parameters, and the hand posture parameters, respectively. Only when the mouth posture parameter meets the mouth posture standard, the eye posture parameter meets the eye posture standard, and the hand posture parameter meets the hand posture standard, the constant-speed cruising of the vehicle can be actively excited.
It will be appreciated that in an embodiment, the driving gesture parameters may also include more or less parameters, but if the constant speed cruising of the vehicle is to be actively triggered, all the parameters included in the driving gesture parameters are required to meet the limitation conditions in the driving gesture conditions. The judgment order of whether all the parameters included in the driving gesture parameters meet the limiting conditions in the driving gesture conditions is not limited, and the driving gesture parameters can be performed simultaneously by a plurality of parameters, or priority levels can be set for the plurality of parameters in advance respectively, and the driving gesture parameters are performed according to the priority order.
In this embodiment, by limiting the posture parameters of the driver, the state of the driver when the vehicle is excited at the constant speed cruising is ensured, the emergency response capability of the driver when the vehicle is cruising at the constant speed is improved, and the safety of the excitation of the vehicle at the constant speed cruising is improved.
Further, after the step of activating the constant-speed cruising of the vehicle, it further includes:
And r, controlling a vehicle voice prompt module to output prompt information for starting a vehicle constant speed cruising function.
After the vehicle automatically triggers the constant-speed cruising function of the vehicle, the voice prompt module of the vehicle outputs prompt information to remind the driver so that the driver can know and master the driving condition of the vehicle in time, and the constant-speed cruising starting information can be acquired through voice output without the driver watching an instrument panel, so that 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 an excitation flow of a vehicle coming from a constant-speed cruise, a constant-speed cruise excitation parameter is obtained during running of the vehicle, the obtained parameter is compared with a first preset condition of pre-stored constant-speed cruise excitation of the vehicle, a chassis vibration amplitude a1 is compared with a preset value a, and when a1 is larger than a, a constant-speed cruise function is not excited; when a1 is less than or equal to a, comparing the distance b1 between the host vehicle and the first vehicle in front of the same lane with a preset value b; when 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 rotation angle amplitude value c1 with a preset value c, and when c1 is more than c, not exciting the constant-speed cruising function; when c1 is less than or equal to c, comparing the intensity D1 of the pedestrians or the moving objects at the road side with a preset value D1, and comparing the activity D2 of the pedestrians or the moving objects at the road side with a preset value D2; d1 > D1 or D2 > D2 or D1 > D1 and D2 > D2 are simultaneously present, the constant-speed cruising function is not excited; when D1 is less than or equal to D1 and D2 is less than or equal to D2, the road side speed limit mark vehicle speed value v1 is compared with the minimum vehicle speed v of the vehicle capable of realizing constant speed cruising; when v1 is less than v, the constant-speed cruising function is not excited; when v1 is more than or equal to v, comparing the number e1 of passing vehicles on the same-direction lane on the vehicle side with a preset value e; e1 is less than or equal to e, meets the first preset condition of constant-speed cruising excitation, and enters the second preset condition of constant-speed cruising excitation for judgment and analysis; comparing the duration T1 'of the non-disconnected state of the mouth of the driver within the preset time T1 with a first preset value T1'; when T1 '> T1', the constant-speed cruising function is not excited; when T1' is less than or equal to T1', comparing the time length of the closed state or the time length of the non-gazing front state of 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 excited; when T2' is less than or equal to T2', comparing the duration T3' of the time when the driver does not hold the steering wheel in the preset time T3' with a third preset value T3 '; t3 '> T3', does not activate the cruise control function; t3 'is less than or equal to T3', the condition that the constant speed cruising is excited to a second preset condition is confirmed, the vehicle machine controls and starts the vehicle constant speed cruising function, and the driver is reminded through the voice module.
In addition, referring to fig. 4, the invention further provides a vehicle cruise control excitation device, which comprises:
The parameter monitoring module 2001 is configured to monitor, in real time, a constant-speed cruising excitation parameter of a vehicle during a driving process, where the constant-speed cruising parameter includes 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 cruise control excitation parameter satisfies a vehicle environmental parameter condition;
And the constant speed excitation module 2003 is configured to excite the constant speed cruising of the vehicle if the constant speed cruising excitation parameter meets the vehicle environment parameter condition.
Optionally, the condition judgment module 2002 is further configured to:
determining a chassis vibration threshold and a steering wheel angle threshold in the vehicle environmental parameter condition;
Acquiring a judging result of judging whether the chassis vibration parameter is smaller than or equal to the chassis vibration threshold value and judging whether the steering wheel corner parameter is smaller than or equal to the steering wheel corner threshold value;
And determining whether the constant-speed-cruise excitation parameter meets the vehicle environment parameter condition or not based on the judging result.
Optionally, the condition judgment module 2002 is further configured to:
Acquiring object change states around a vehicle in a first preset time, calculating object density and object liveness around the vehicle based on the object change states, and taking the object density and the object liveness as ring vehicle liveness parameters;
And determining whether the constant-speed-cruise excitation parameter meets a vehicle environment parameter condition based on whether the ring-vehicle activity parameter is less than or equal to a ring-vehicle activity threshold in the vehicle environment parameter condition.
Optionally, the condition judgment module 2002 is further configured to:
Determining a vehicle identification parameter according to the minimum vehicle speed of the vehicle for realizing constant-speed cruising;
if the vehicle identification parameter meets the speed limiting condition in the vehicle environment parameter conditions, determining a 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 a 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 passing parameter based on the change condition of the number of vehicles in a side lane adjacent to the vehicle within a third preset time;
And determining whether the constant-speed-cruise excitation parameter meets a vehicle environment parameter condition based on whether the side passing parameter is less than or equal to a side passing threshold value in the vehicle environment parameter condition.
Optionally, the constant velocity excitation module 2003 is further configured to:
If the constant-speed cruising excitation parameter meets the vehicle environment parameter condition, acquiring a driver posture parameter;
determining whether the driver posture parameter meets a driving posture condition;
And if the driver posture parameter meets the driving posture 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 in a fourth preset time;
determining eye posture parameters based on the eye activity state of the driver in a fifth preset time;
determining hand gesture parameters based on the contact state of the hands of the driver and the steering wheel in sixth preset time;
The driver pose parameters include 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 posture parameter meets the mouth posture standard in the driving posture condition, the eye posture parameter meets the eye posture standard in the driving posture condition, and the hand posture parameter meets the hand posture standard in the driving posture condition, the constant-speed cruising of the vehicle is stimulated.
The specific implementation of the vehicle cruise control excitation device is basically the same as the above embodiments of the vehicle cruise control excitation method, and will not be described herein.
The invention also provides a vehicle, which is characterized by comprising a memory, a processor and a vehicle constant-speed cruising excitation program which is stored in the memory and can run on the processor, wherein: the vehicle cruise control excitation method according to the embodiments of the present invention is implemented when the vehicle cruise control excitation program is executed by the processor.
Furthermore, the invention also provides a storage medium, which comprises a computer readable storage medium, and a vehicle constant speed cruising excitation program is stored on the storage medium. The computer readable storage medium may be the Memory 20 in the terminal of fig. 1, or may be at least one of ROM (Read-Only Memory)/RAM (Random Access Memory ), magnetic disk, and optical disk, and the computer readable storage medium includes instructions for causing a vehicle having a processor to perform the vehicle cruise control method according to the embodiments of the present invention.
It is appreciated that in the description herein, reference to the terms "one embodiment," "another embodiment," "other embodiments," or "first through nth embodiments," etc., means 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 invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (9)

1. The vehicle constant-speed cruising excitation method is characterized by comprising the following steps of:
Monitoring constant-speed cruising excitation parameters of a vehicle in a running process in real time, wherein the constant-speed cruising excitation parameters comprise at least one of chassis vibration parameters, same-lane distance parameters, steering wheel corner parameters, vehicle surrounding 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;
if the constant-speed cruising excitation parameter meets the vehicle environment parameter condition, exciting the constant-speed cruising of the vehicle;
The step of determining whether the cruise control excitation parameter satisfies a vehicle environment parameter condition includes:
determining a chassis vibration threshold and a steering wheel angle threshold in the vehicle environmental parameter condition;
Acquiring a judging result of judging whether the chassis vibration parameter is smaller than or equal to the chassis vibration threshold value and judging whether the steering wheel corner parameter is smaller than or equal to the steering wheel corner threshold value;
And determining whether the constant-speed-cruise excitation parameter meets the vehicle environment parameter condition or not based on the judging result.
2. The vehicle cruise control excitation method according to claim 1, characterized in that the step of determining whether the cruise control excitation parameter satisfies a vehicle environment parameter condition includes:
Acquiring object change states around a vehicle in a first preset time, calculating object density and object liveness around the vehicle based on the object change states, and taking the object density and the object liveness as ring vehicle liveness parameters;
And determining whether the constant-speed-cruise excitation parameter meets a vehicle environment parameter condition based on whether the ring-vehicle activity parameter is less than or equal to a ring-vehicle activity threshold in the vehicle environment parameter condition.
3. The vehicle cruise control excitation method according to claim 1, characterized in that the step of determining whether the cruise control excitation parameter satisfies a vehicle environment parameter condition includes:
Determining a vehicle identification parameter according to the minimum vehicle speed of the vehicle for realizing constant-speed cruising;
if the vehicle identification parameter meets the speed limiting condition in the vehicle environment parameter conditions, determining a 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 a 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 passing parameter based on the change condition of the number of vehicles in a side lane adjacent to the vehicle within a third preset time;
And determining whether the constant-speed-cruise excitation parameter meets a vehicle environment parameter condition based on whether the side passing parameter is less than or equal to a side passing threshold value in the vehicle environment parameter condition.
4. The vehicle cruise control excitation method according to claim 1, characterized in that the step of exciting the constant speed cruise of the vehicle if the constant speed cruise control excitation parameter satisfies the vehicle environmental parameter condition includes:
If the constant-speed cruising excitation parameter meets the vehicle environment parameter condition, acquiring a driver posture parameter;
determining whether the driver posture parameter meets a driving posture condition;
And if the driver posture parameter meets the driving posture condition, exciting the constant-speed cruising of the vehicle.
5. The vehicle cruise control excitation method according to claim 4, characterized in that before the step of determining whether the driver posture parameter satisfies a driving posture condition, further comprising:
determining a mouth posture parameter based on the mouth activity state of the driver in a fourth preset time;
determining eye posture parameters based on the eye activity state of the driver in a fifth preset time;
determining hand gesture parameters based on the contact state of the hands of the driver and the steering wheel in sixth preset time;
The driver pose parameters include at least one of the mouth pose parameters, eye pose parameters, and hand pose parameters.
6. The vehicle cruise control excitation method according to claim 5, characterized in that the step of exciting the constant speed cruise of the vehicle if the driver posture parameter satisfies the driving posture condition includes:
and if the mouth posture parameter meets the mouth posture standard in the driving posture condition, the eye posture parameter meets the eye posture standard in the driving posture condition, and the hand posture parameter meets the hand posture standard in the driving posture condition, the constant-speed cruising of the vehicle is stimulated.
7. A vehicle cruise control excitation device, characterized by comprising:
The parameter monitoring module is used for monitoring constant-speed cruising excitation parameters of the vehicle in the running process in real time, wherein the constant-speed cruising excitation parameters comprise at least one of 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 condition judgment module is used for determining whether the constant-speed cruising excitation parameter meets the condition of the vehicle environment parameter; the condition judgment module is also used for determining a chassis vibration threshold value and a steering wheel angle threshold value in the vehicle environment parameter conditions; acquiring a judging result of judging whether the chassis vibration parameter is smaller than or equal to the chassis vibration threshold value and judging whether the steering wheel corner parameter is smaller than or equal to the steering wheel corner threshold value; determining whether the constant-speed-cruise excitation parameter meets a vehicle environment parameter condition or not based on the judgment result;
And the constant-speed 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.
8. A vehicle, characterized in that the vehicle comprises: a memory, a processor, and a vehicle cruise control excitation program stored on the memory and operable on the processor, the vehicle cruise control excitation program configured to implement the steps of the vehicle cruise control excitation method according to any one of claims 1 to 6.
9. A storage medium having stored thereon a vehicle cruise control excitation program which when executed by a processor performs the steps of the vehicle cruise control excitation method according to any one of claims 1 to 6.
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