CN110641467A - Vehicle distance control method and device of adaptive cruise system - Google Patents

Vehicle distance control method and device of adaptive cruise system Download PDF

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Publication number
CN110641467A
CN110641467A CN201810667303.7A CN201810667303A CN110641467A CN 110641467 A CN110641467 A CN 110641467A CN 201810667303 A CN201810667303 A CN 201810667303A CN 110641467 A CN110641467 A CN 110641467A
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China
Prior art keywords
vehicle
driver
current
preset
distance
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CN201810667303.7A
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Chinese (zh)
Inventor
周培义
黄画宇
张芬
李焕滔
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Guangzhou Automobile Group Co Ltd
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Guangzhou Automobile Group Co Ltd
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Priority to CN201810667303.7A priority Critical patent/CN110641467A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162—Speed limiting therefor
    • 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
    • B60W40/08—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 drivers or passengers
    • 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
    • B60W40/08—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 drivers or passengers
    • B60W2040/0818—Inactivity or incapacity of driver
    • B60W2040/0827—Inactivity or incapacity of driver due to sleepiness

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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 controlling a vehicle distance of a self-adaptive cruise system, wherein the method comprises the following steps: detecting and judging whether a driver of the vehicle is in a fatigue driving state; when the driver is not in a fatigue driving state, taking the first preset workshop time distance as a target value of the current workshop time distance; when the driver is in a fatigue driving state, taking a second preset workshop time distance as a target value of the current workshop time distance; the second preset workshop time interval is larger than the first preset workshop time interval; and controlling the speed of the vehicle according to the current inter-vehicle time distance between the vehicle and the previous vehicle and the magnitude relation of the target value of the current inter-vehicle time distance. The invention can lead the driver to obtain longer workshop time interval in the fatigue driving state, reduce the occurrence probability of rear-end accidents, provide the intelligent level of the system and give more comfortable driving experience to the driver.

Description

Vehicle distance control method and device of adaptive cruise system
Technical Field
The invention relates to the technical field of vehicle safety, in particular to a method and a device for controlling a vehicle distance of an adaptive cruise system.
Background
The adaptive cruise system is an intelligent automatic control system. During the running process of the vehicle, a vehicle distance sensor installed at the front part of the vehicle continuously scans the road in front of the vehicle, and meanwhile, a wheel speed sensor collects a vehicle speed signal, so that a vehicle time distance target value of the vehicle in front is controlled. The workshop time interval refers to the maximum response time of a driver of a rear vehicle when the front vehicle brakes. In recent years, the number of vehicle types equipped with an adaptive cruise system is gradually increased, and scientific and effective control of the time interval between vehicles and reduction of traffic accidents become research hotspots in the field of vehicle safety.
The target value of the inter-vehicle time interval of the existing adaptive cruise system is set by a driver, the target value of the inter-vehicle time interval is a fixed value, and the target value of the inter-vehicle time interval is kept at the fixed target value under any working condition. In the running process of the vehicle, the current inter-vehicle time distance between the vehicle and the front vehicle is compared with the magnitude relation of the target value of the inter-vehicle time distance, and if the current inter-vehicle time distance is not equal to the target value of the inter-vehicle time distance, the self-adaptive cruise system of the vehicle adjusts the speed of the vehicle according to the target value of the inter-vehicle time distance, so that the target value of the inter-vehicle time distance is kept between the vehicle and the front vehicle.
However, when the driver is in a fatigue driving state, the driver needs to take over a long time to operate the vehicle brake, and if the current inter-vehicle time distance target value of the system is still consistent with the inter-vehicle time distance target value of the driver which is not in the fatigue driving state, traffic accidents are easily caused. Particularly, in a high-speed long-time driving, a driver is easy to enter a fatigue driving state, and in a special case such as sudden braking of a preceding vehicle, the vehicle is not kept at a distance required by the driver from the preceding vehicle, so that a serious rear-end collision accident is easy to occur.
Disclosure of Invention
The embodiment of the invention provides a vehicle distance control method and device of an adaptive cruise system, which can enable a driver to obtain a longer vehicle distance in a fatigue driving state, reduce the occurrence probability of rear-end accidents, provide the intelligent level of the system and provide more comfortable driving experience for the driver.
In order to achieve the above object, an aspect of the embodiments of the present invention provides a method for controlling a vehicle distance of an adaptive cruise system, including:
detecting and judging whether a driver of the vehicle is in a fatigue driving state;
when the driver is not in a fatigue driving state, taking the first preset workshop time distance as a target value of the current workshop time distance;
when the driver is in a fatigue driving state, taking a second preset workshop time distance as a target value of the current workshop time distance; the second preset workshop time interval is larger than the first preset workshop time interval;
and controlling the speed of the vehicle according to the current inter-vehicle time distance between the vehicle and the previous vehicle and the magnitude relation of the target value of the current inter-vehicle time distance.
Preferably, the detecting and determining whether the driver of the vehicle is in a fatigue driving state specifically includes:
collecting a face image of a driver;
detecting and analyzing the degree of eye closure and duration of the driver in the face image;
when the duration of the eyes of the driver in the closed state is greater than or equal to the preset duration, judging that the driver is in a fatigue driving state, otherwise, judging that the driver is not in the fatigue driving state;
when the eye closing degree of the driver is smaller than or equal to the preset eye closing degree value, the eyes of the driver are judged to be in a closing state.
Preferably, when the driver is in a fatigue driving state, taking the second preset headway distance as the current headway distance target value includes:
when the driver is in a fatigue driving state, acquiring the current fatigue grade of the driver;
acquiring a second preset workshop time distance corresponding to the current fatigue grade of the driver according to the current fatigue grade of the driver, and taking the second preset workshop time distance as a target value of the current workshop time distance; the higher the fatigue grade of the driver is, the larger the corresponding second preset workshop time interval is.
Preferably, the obtaining a second preset headway time corresponding to the current fatigue level of the driver according to the current fatigue level of the driver as the current headway time target value includes:
acquiring a correction coefficient a corresponding to the current fatigue level of a driver; the higher the fatigue grade of the driver is, the larger the corresponding correction coefficient a is;
according to the formula TcCalculating a second preset inter-vehicle time distance T corresponding to the current fatigue grade of the drivercThe current time interval target value is used as the current time interval target value; wherein T is the first preset workshop time interval.
Preferably, the controlling the speed of the host vehicle according to the magnitude relationship between the current inter-vehicle time distance between the host vehicle and the preceding vehicle and the target value of the current inter-vehicle time distance includes:
when the current workshop time distance between the vehicle and the preceding vehicle is larger than the target value of the current workshop time distance, a torque increasing request is sent to a driving system, and the vehicle is accelerated;
and when the current inter-vehicle time distance between the vehicle and the preceding vehicle is less than or equal to the target value of the current inter-vehicle time distance, sending braking deceleration to a braking system, and decelerating the vehicle.
In order to achieve the same object, another aspect of the embodiments of the present invention provides an adaptive cruise control apparatus, including:
the driving state detection module is used for detecting and judging whether the driver of the vehicle is in a fatigue driving state or not;
the first target time interval setting module is used for taking a first preset workshop time interval as a target value of the current workshop time interval when the driver is not in a fatigue driving state;
the second target time interval setting module is used for taking a second preset workshop time interval as a current workshop time interval target value when the driver is in a fatigue driving state; the second preset workshop time interval is larger than the first preset workshop time interval;
and the vehicle speed control module is used for controlling the vehicle speed of the vehicle according to the current vehicle-to-vehicle time distance between the vehicle and the preceding vehicle and the magnitude relation of the target value of the current vehicle-to-vehicle time distance.
Preferably, the driving state detection module specifically includes:
the face image acquisition unit is used for acquiring a face image of a driver;
the eye state detection unit is used for detecting and analyzing the eye closing degree and the duration of the driver in the face image;
the driving state judging unit is used for judging that the driver is in a fatigue driving state when the duration of the eyes of the driver in the closed state is greater than or equal to the preset duration, or else, judging that the driver is not in the fatigue driving state;
when the eye closing degree of the driver is smaller than or equal to the preset eye closing degree value, the driving state judgment unit judges that the eyes of the driver are in a closing state.
Preferably, the second target time interval setting module includes:
the fatigue grade analysis unit is used for acquiring the current fatigue grade of the driver when the driver is in a fatigue driving state;
the second preset workshop time distance analysis unit is used for acquiring a second preset workshop time distance corresponding to the current fatigue grade of the driver according to the current fatigue grade of the driver, and the second preset workshop time distance is used as a target value of the current workshop time distance; the higher the fatigue grade of the driver is, the larger the corresponding second preset workshop time interval is.
Preferably, the second preset headway time analysis unit includes:
a correction coefficient acquisition subunit, configured to acquire a correction coefficient a corresponding to a current fatigue level of a driver; the higher the fatigue grade of the driver is, the larger the corresponding correction coefficient a is;
the current time interval target value subunit of the workshop according to the formula TcCalculating a second preset inter-vehicle time distance T corresponding to the current fatigue grade of the drivercThe current time interval target value is used as the current time interval target value; it is composed ofAnd the middle T is the first preset workshop time interval.
Preferably, the vehicle speed control module includes:
the acceleration unit is used for sending a torque increasing request to the driving system when the current workshop time distance between the vehicle and the front vehicle is larger than the target value of the current workshop time distance, and accelerating the vehicle;
and the deceleration unit is used for sending braking deceleration to the braking system and decelerating the vehicle when the current inter-vehicle time distance between the vehicle and the preceding vehicle is less than or equal to the current inter-vehicle time distance target value.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the embodiment of the invention provides a method and a device for controlling a vehicle distance of a self-adaptive cruise system, which comprises the following steps: detecting and judging whether a driver of the vehicle is in a fatigue driving state; when the driver is not in a fatigue driving state, taking the first preset workshop time distance as a target value of the current workshop time distance; when the driver is in a fatigue driving state, taking a second preset workshop time distance as a target value of the current workshop time distance; the second preset workshop time interval is larger than the first preset workshop time interval; and controlling the speed of the vehicle according to the current inter-vehicle time distance between the vehicle and the previous vehicle and the magnitude relation of the target value of the current inter-vehicle time distance. According to the embodiment of the invention, whether the driver of the vehicle is in the fatigue driving state is detected and judged, so that the target value of the current vehicle-to-vehicle time interval of the driver in the fatigue driving state is improved, and the vehicle speed of the vehicle is controlled, so that the driver can obtain a longer vehicle-to-vehicle time interval in the fatigue driving state, the occurrence probability of rear-end accidents is reduced, the intelligent level of the system is provided, and more comfortable driving experience is provided for the driver.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling a vehicle distance of an adaptive cruise system according to an embodiment of the present invention;
fig. 2 is a detailed flowchart of step S1 in fig. 1;
FIG. 3 is a block diagram of an adaptive cruise control system according to an embodiment of the present invention;
fig. 4 is a block diagram of the structure of the driver detection module 1 in fig. 3;
fig. 5 is a block diagram of the second target time interval setting module 3 in fig. 3;
fig. 6 is a block diagram of the second preset headway time period analyzing unit 32 in fig. 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic flow chart of a method for controlling a vehicle distance of an adaptive cruise system according to an embodiment of the present invention is shown, where the method includes the following steps:
s1, detecting and judging whether the driver of the vehicle is in a fatigue driving state;
s2, when the driver is not in a fatigue driving state, taking the first preset inter-vehicle time distance as a current inter-vehicle time distance target value;
s3, when the driver is in a fatigue driving state, taking the second preset inter-vehicle time distance as the target value of the current inter-vehicle time distance; the second preset workshop time interval is larger than the first preset workshop time interval;
and S4, controlling the speed of the vehicle according to the current inter-vehicle time distance between the vehicle and the preceding vehicle and the magnitude relation of the target value of the current inter-vehicle time distance.
The working principle of the embodiment of the invention is as follows:
the vehicle provided with the self-adaptive cruise system is provided with a first preset inter-vehicle time distance, the vehicle detects and judges whether a driver of the vehicle is in a fatigue driving state in real time, when other obstacles such as a vehicle and the like in front are detected by a detection device (such as a radar), when the driver is not in the fatigue driving state, the first preset inter-vehicle time distance is used as a current inter-vehicle time distance target value, the current inter-vehicle time distance target value is kept between the vehicle and a front vehicle, if the driver is in the fatigue driving state, a second preset inter-vehicle time distance is used as a current inter-vehicle time distance target value, wherein the second preset inter-vehicle time distance is larger than the first preset inter-vehicle time distance, the vehicle speed of the vehicle is controlled according to the magnitude relation between the current inter-vehicle time distance between the vehicle and the front vehicle and the current inter-vehicle time distance target value, and the driver can obtain a longer inter-vehicle time distance in the fatigue, the probability of rear-end accidents is reduced, the intelligent level of the system is provided, the psychological pressure of the driver can be reduced to a certain degree, and more comfortable driving experience is provided for the driver.
In this embodiment, the first preset inter-vehicle time interval is specifically an inter-vehicle time interval preset by a driver.
Please refer to fig. 2, which is a detailed flowchart of step S1 in fig. 1. The step S1 specifically includes:
s11, acquiring a face image of the driver;
s12, detecting and analyzing the degree and duration of the eyes of the driver in the face image;
s13, when the duration of the eyes of the driver in the closed state is longer than or equal to the preset duration, judging that the driver is in a fatigue driving state, otherwise, judging that the driver is not in the fatigue driving state;
when the eye closing degree of the driver is smaller than or equal to the preset eye closing degree value, the eyes of the driver are judged to be in a closing state.
The preset eye closure degree value can be a certain percentage value of the eye size of different drivers without being in a fatigue driving state as the preset eye closure degree value of the driver.
The preset duration is a preset critical duration for considering that the driver is in a fatigue driving state, when the duration of the eyes of the driver in the closed state is greater than or equal to the preset duration, the driver is judged to be in the fatigue driving state, otherwise, the driver is judged not to be in the fatigue driving state; the duration of the closed state of the eyes of the driver can be the time length of detecting that the eyes of the driver are in the closed state within a specified time (such as ten seconds), and whether the driver is in the fatigue driving state or not is judged according to different duration.
For example, the eye closure degree value of the driver in the 60% eye-size open-close state without being in the fatigue driving state is taken as the preset eye closure degree value of the driver, when the eye closure degree of the driver is less than or equal to the preset eye closure degree value, the driver is considered to be not clearly recognized for the road condition in front, the eyes of the driver are determined to be in the closed state, the time length of the eyes of the driver in the closed state within ten seconds is detected, and when the duration of the closed state is greater than or equal to five seconds, the driver is considered to be in the fatigue driving state.
Preferably, step S3 specifically includes:
when the driver is in a fatigue driving state, acquiring the current fatigue grade of the driver;
acquiring a second preset workshop time distance corresponding to the current fatigue grade of the driver according to the current fatigue grade of the driver, and taking the second preset workshop time distance as a target value of the current workshop time distance; the higher the fatigue grade of the driver is, the larger the corresponding second preset workshop time interval is.
In the present embodiment, if it is determined that the driver is in the fatigue driving state through step S1, the current fatigue level of the driver is obtained by grasping the fatigue driving degree of the driver according to the detected information that reflects the fatigue driving state of the driver, and then the second preset inter-vehicle time distance corresponding to the current fatigue level of the driver is obtained according to the current fatigue level of the driver and is used as the current inter-vehicle time distance target value; the higher the fatigue grade of the driver is, the larger the corresponding second preset workshop time interval is.
It should be noted that, the higher the current fatigue level of the driver is, the higher the fatigue driving degree of the driver is, the more fatigued the driver is; the information that reflects the fatigue driving state of the driver detected at step S1 may be in various forms, such as head positioning information of the driver, body positioning information of the driver, facial image information of the driver, and the like.
Specifically, in another embodiment, if the information reflecting the fatigue driving state of the driver detected in step S1 is the degree and duration of eye closure of the driver in the face image of the driver, step S1 may have the following steps: collecting a face image of a driver; detecting and analyzing the degree of eye closure and duration of the driver in the face image; when the duration of the eyes of the driver in the closed state is greater than or equal to the preset duration, judging that the driver is in a fatigue driving state, otherwise, judging that the driver is not in the fatigue driving state; when the eye closing degree of the driver is smaller than or equal to the preset eye closing degree value, the eyes of the driver are judged to be in a closing state.
For example, the value of the degree of eye closure when the driver is not in the 60% open-close state of the eye size in the fatigue driving state is taken as the preset eye closure degree value of the driver, when the eye closing degree of the driver is smaller than or equal to the preset eye closing degree value, the driver is considered to be unclear in identifying the road condition in front, the eyes of the driver are judged to be in a closing state, the time length of the eyes of the driver in the closing state within ten seconds is detected, when the duration of the closed state is greater than or equal to five seconds, the driver is considered to be in a fatigue driving state, and the duration of the closed state of the eyes of the driver is respectively 5s, 7s and 9s, the corresponding fatigue grades are 1 grade, 2 grade and 3 grade, and then a second preset workshop time distance corresponding to the current fatigue grade of the driver is obtained and used as a target value of the current workshop time distance; the higher the fatigue grade of the driver is, the larger the corresponding second preset workshop time interval is.
More preferably, the obtaining a second preset headway time interval corresponding to the current fatigue level of the driver according to the current fatigue level of the driver as the current headway time interval target value specifically includes:
acquiring a correction coefficient a corresponding to the current fatigue level of a driver; the higher the fatigue grade of the driver is, the larger the corresponding correction coefficient a is;
according to the formula TcCalculating a fatigue level corresponding to the current fatigue level of the driverSecond preset time interval T between workshopscThe current time interval target value is used as the current time interval target value; wherein T is the first preset workshop time interval.
The values of the correction coefficients a corresponding to different fatigue levels are predetermined.
For example, when the fatigue levels are 1 level, 2 levels, and 3 levels, the corresponding correction coefficients a are 1.5, 2.5, and 3.5, respectively, and if the first preset inter-vehicle time interval is 2s, and when the fatigue level of the driver is 2 levels, the second preset inter-vehicle time interval T is setcAnd 5s, serving as the target value of the current time interval.
Preferably, the controlling the speed of the host vehicle according to the magnitude relationship between the current inter-vehicle time distance between the host vehicle and the preceding vehicle and the target value of the current inter-vehicle time distance includes:
when the current workshop time distance between the vehicle and the preceding vehicle is larger than the target value of the current workshop time distance, a torque increasing request is sent to a driving system, and the vehicle is accelerated;
and when the current inter-vehicle time distance between the vehicle and the preceding vehicle is less than or equal to the target value of the current inter-vehicle time distance, sending braking deceleration to a braking system, and decelerating the vehicle.
In order to execute the vehicle distance control method of the adaptive cruise system, the embodiment of the invention also provides a vehicle distance control device of the adaptive cruise system. As shown in fig. 3, it is a block diagram of a structure of an adaptive cruise system vehicle distance control device according to an embodiment of the present invention, and the block diagram includes:
the driving state detection module 1 is used for detecting and judging whether a driver of the vehicle is in a fatigue driving state;
the first target time interval setting module 2 is used for taking a first preset workshop time interval as a current workshop time interval target value when the driver is not in a fatigue driving state;
the second target time interval setting module 3 is used for taking a second preset workshop time interval as a current workshop time interval target value when the driver is in a fatigue driving state; the second preset workshop time interval is larger than the first preset workshop time interval;
and the vehicle speed control module 4 is used for controlling the vehicle speed of the vehicle according to the current vehicle-to-vehicle time distance between the vehicle and the preceding vehicle and the magnitude relation of the target value of the current vehicle-to-vehicle time distance.
Please refer to fig. 4, which is a block diagram of the driver detection module 1 in fig. 3, comprising:
a face image acquisition unit 11 for acquiring a face image of the driver;
an eye state detection unit 12 for detecting and analyzing the degree of eye closure and the duration of the driver in the face image;
the driving state judging unit 13 is used for judging that the driver is in a fatigue driving state when the duration of the closed state of the eyes of the driver is greater than or equal to the preset duration, or else, judging that the driver is not in the fatigue driving state;
wherein, when the eye closure degree of the driver is less than or equal to the preset eye closure degree value, the driving state judgment unit 13 judges that the eyes of the driver are in the closure state.
Please refer to fig. 5, which is a block diagram of the second target time interval setting module 3 in fig. 4, including:
a fatigue level analyzing unit 31 for acquiring a current fatigue level of the driver when the driver is in a fatigue driving state;
the second preset inter-vehicle time interval analysis unit 32 is configured to obtain, according to the current fatigue level of the driver, a second preset inter-vehicle time interval corresponding to the current fatigue level of the driver, and use the second preset inter-vehicle time interval as a current inter-vehicle time interval target value; the higher the fatigue grade of the driver is, the larger the corresponding second preset workshop time interval is.
Please refer to fig. 6, which is a block diagram of the second preset headway time period analysis unit 32 in fig. 5, including:
a correction coefficient acquisition subunit 321 configured to acquire a correction coefficient a corresponding to the current fatigue level of the driver; the higher the fatigue grade of the driver is, the larger the corresponding correction coefficient a is;
the current headway target value subunit 322, based on the formula TcCalculating a second preset vehicle corresponding to the current fatigue level of the driverTime interval TcThe current time interval target value is used as the current time interval target value; wherein T is the first preset workshop time interval.
Preferably, the vehicle speed control module 4 includes:
the acceleration unit is used for sending a torque increasing request to the driving system when the current workshop time distance between the vehicle and the front vehicle is larger than the target value of the current workshop time distance, and accelerating the vehicle;
and the deceleration unit is used for sending braking deceleration to the braking system and decelerating the vehicle when the current inter-vehicle time distance between the vehicle and the preceding vehicle is less than or equal to the current inter-vehicle time distance target value.
It should be noted that, the vehicle distance control device of the adaptive cruise system provided in the embodiment of the present invention is used for executing all the method steps of the vehicle distance control method of the adaptive cruise system, and the working principles and beneficial effects of the two are in one-to-one correspondence, so that details are not repeated.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the embodiment of the invention provides a method and a device for controlling a vehicle distance of a self-adaptive cruise system, which comprises the following steps: detecting and judging whether a driver of the vehicle is in a fatigue driving state; when the driver is not in a fatigue driving state, taking the first preset workshop time distance as a target value of the current workshop time distance; when the driver is in a fatigue driving state, taking a second preset workshop time distance as a target value of the current workshop time distance; the second preset workshop time interval is larger than the first preset workshop time interval; and controlling the speed of the vehicle according to the current inter-vehicle time distance between the vehicle and the previous vehicle and the magnitude relation of the target value of the current inter-vehicle time distance. According to the embodiment of the invention, whether the driver of the vehicle is in the fatigue driving state is detected and judged, so that the target value of the current vehicle-to-vehicle time interval of the driver in the fatigue driving state is improved, and the vehicle speed of the vehicle is controlled, so that the driver can obtain a longer vehicle-to-vehicle time interval in the fatigue driving state, the occurrence probability of rear-end accidents is reduced, the intelligent level of the system is provided, and more comfortable driving experience is provided for the driver.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (10)

1. An adaptive cruise system vehicle distance control method is characterized by comprising the following steps:
detecting and judging whether a driver of the vehicle is in a fatigue driving state;
when the driver is not in a fatigue driving state, taking the first preset workshop time distance as a target value of the current workshop time distance;
when the driver is in a fatigue driving state, taking a second preset workshop time distance as a target value of the current workshop time distance; the second preset workshop time interval is larger than the first preset workshop time interval;
and controlling the speed of the vehicle according to the current inter-vehicle time distance between the vehicle and the previous vehicle and the magnitude relation of the target value of the current inter-vehicle time distance.
2. The adaptive cruise system vehicle distance control method according to claim 1, wherein said detecting and determining whether the driver of the host vehicle is in a fatigue driving state specifically comprises:
collecting a face image of a driver;
detecting and analyzing the degree of eye closure and duration of the driver in the face image;
when the duration of the eyes of the driver in the closed state is greater than or equal to the preset duration, judging that the driver is in a fatigue driving state, otherwise, judging that the driver is not in the fatigue driving state;
when the eye closing degree of the driver is smaller than or equal to the preset eye closing degree value, the eyes of the driver are judged to be in a closing state.
3. The adaptive cruise system vehicle distance control method according to claim 1, wherein said taking the second preset vehicle distance as the current vehicle distance target value when the driver is in a fatigue driving state comprises:
when the driver is in a fatigue driving state, acquiring the current fatigue grade of the driver;
acquiring a second preset workshop time distance corresponding to the current fatigue grade of the driver according to the current fatigue grade of the driver, and taking the second preset workshop time distance as a target value of the current workshop time distance; the higher the fatigue grade of the driver is, the larger the corresponding second preset workshop time interval is.
4. The adaptive cruise system vehicle distance control method according to claim 3, wherein said obtaining a second preset vehicle distance corresponding to the current fatigue level of the driver according to the current fatigue level of the driver as the current vehicle distance target value comprises:
acquiring a correction coefficient a corresponding to the current fatigue level of a driver; the higher the fatigue grade of the driver is, the larger the corresponding correction coefficient a is;
according to the formula TcCalculating a second preset inter-vehicle time distance T corresponding to the current fatigue grade of the drivercThe current time interval target value is used as the current time interval target value; wherein T is the first preset workshop time interval.
5. The adaptive cruise system vehicle distance control method according to any one of claims 1 to 4, wherein said controlling the vehicle speed of the host vehicle according to the magnitude relation between the current vehicle distance between the host vehicle and the preceding vehicle and the target value of the current vehicle distance comprises:
when the current workshop time distance between the vehicle and the preceding vehicle is larger than the target value of the current workshop time distance, a torque increasing request is sent to a driving system, and the vehicle is accelerated;
and when the current inter-vehicle time distance between the vehicle and the preceding vehicle is less than or equal to the target value of the current inter-vehicle time distance, sending braking deceleration to a braking system, and decelerating the vehicle.
6. An adaptive cruise system vehicle distance control device, characterized by comprising:
the driving state detection module is used for detecting and judging whether the driver of the vehicle is in a fatigue driving state or not;
the first target time interval setting module is used for taking a first preset workshop time interval as a target value of the current workshop time interval when the driver is not in a fatigue driving state;
the second target time interval setting module is used for taking a second preset workshop time interval as a target value of the current workshop time interval when the driver is in a fatigue driving state; the second preset workshop time interval is larger than the first preset workshop time interval;
and the vehicle speed control module is used for controlling the vehicle speed of the vehicle according to the current vehicle-to-vehicle time distance between the vehicle and the preceding vehicle and the magnitude relation of the target value of the current vehicle-to-vehicle time distance.
7. The adaptive cruise system distance control device according to claim 6, wherein said driving state detection module comprises:
the face image acquisition unit is used for acquiring a face image of a driver;
the eye state detection unit is used for detecting and analyzing the eye closing degree and the duration of the driver in the face image;
the driving state judging unit is used for judging that the driver is in a fatigue driving state when the duration of the eyes of the driver in the closed state is greater than or equal to the preset duration, or else, judging that the driver is not in the fatigue driving state;
when the eye closing degree of the driver is smaller than or equal to the preset eye closing degree value, the driving state judgment unit judges that the eyes of the driver are in a closing state.
8. The adaptive cruise system vehicle distance control apparatus according to claim 6, wherein said second target time distance setting module comprises:
the fatigue grade analysis unit is used for acquiring the current fatigue grade of the driver when the driver is in a fatigue driving state;
the second preset workshop time distance analysis unit is used for acquiring a second preset workshop time distance corresponding to the current fatigue grade of the driver according to the current fatigue grade of the driver, and the second preset workshop time distance is used as a target value of the current workshop time distance; the higher the fatigue grade of the driver is, the larger the corresponding second preset workshop time interval is.
9. The adaptive cruise system vehicle distance control apparatus according to claim 8, wherein said second preset inter-vehicle distance analyzing unit comprises:
a correction coefficient acquisition subunit, configured to acquire a correction coefficient a corresponding to a current fatigue level of a driver; the higher the fatigue grade of the driver is, the larger the corresponding correction coefficient a is;
the current time interval target value subunit of the workshop according to the formula TcCalculating a second preset inter-vehicle time distance T corresponding to the current fatigue grade of the drivercThe current time interval target value is used as the current time interval target value; wherein T is the first preset workshop time interval.
10. The adaptive cruise system vehicle distance control device according to any one of claims 6 to 9, characterized in that said vehicle speed control module comprises:
the acceleration unit is used for sending a torque increasing request to the driving system when the current workshop time distance between the vehicle and the front vehicle is larger than the target value of the current workshop time distance, and accelerating the vehicle;
and the deceleration unit is used for sending braking deceleration to the braking system and decelerating the vehicle when the current inter-vehicle time distance between the vehicle and the preceding vehicle is less than or equal to the current inter-vehicle time distance target value.
CN201810667303.7A 2018-06-25 2018-06-25 Vehicle distance control method and device of adaptive cruise system Pending CN110641467A (en)

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