CN113002564A - Automatic driving-based vehicle distance control method, vehicle and storage medium - Google Patents
Automatic driving-based vehicle distance control method, vehicle and storage medium Download PDFInfo
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- CN113002564A CN113002564A CN202110352077.5A CN202110352077A CN113002564A CN 113002564 A CN113002564 A CN 113002564A CN 202110352077 A CN202110352077 A CN 202110352077A CN 113002564 A CN113002564 A CN 113002564A
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—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
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
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Abstract
The invention discloses a vehicle distance control method based on automatic driving, a vehicle and a storage medium. The automatic driving-based vehicle distance control method comprises the following steps of: detecting whether the vehicle enters an automatic driving mode; if the vehicle enters an automatic driving mode, judging whether the current traffic environment is congested; if the current traffic environment is congested, judging whether the current following distance causes discomfort of a driver; and if the current vehicle following distance causes discomfort of the driver, increasing the vehicle following distance. The vehicle distance control method can control the vehicle distance within the range accepted by the driver in the automatic driving mode so as to adapt to the driving habits of different drivers.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle distance control method based on automatic driving, a vehicle and a storage medium.
Background
With the development of the automatic driving technology, the scene working conditions which can be solved and processed by automatic driving are gradually increased and improved, and more automobiles are provided with an automatic driving function. However, the following distance is generally fixed in the automatic driving mode, different drivers have different adaptation degrees to the following distance, and the same following distance can be accepted by some drivers, but may be perceived as too close to the following distance by other drivers, which causes discomfort, even tension and uneasiness. In an open traffic environment, such as a suburban highway, the number of vehicles is small, so that the driver is not uncomfortable due to the close following distance. However, in the traffic jam road section, if the driver does not adapt to the following distance, traffic accidents are easily caused,
therefore, it is desirable to provide a method for controlling a vehicle distance based on automatic driving, a vehicle and a storage medium to solve the above problems.
Disclosure of Invention
The invention aims to provide a vehicle distance control method, a vehicle and a storage medium based on automatic driving, which can flexibly control the vehicle following distance according to the driving habits of different drivers on a traffic jam road section in an automatic driving mode and ensure safe driving.
In order to realize the purpose, the following technical scheme is provided:
a vehicle distance control method based on automatic driving comprises the following steps:
detecting whether the vehicle enters an automatic driving mode;
if the vehicle enters an automatic driving mode, judging whether the current traffic environment is congested;
if the current traffic environment is congested, judging whether the current following distance causes discomfort of a driver;
and if the current vehicle following distance causes discomfort of the driver, increasing the vehicle following distance.
As an alternative to the above-described automatic driving-based vehicle distance control method, the step of detecting whether the vehicle enters an automatic driving mode includes:
whether an automatic driving switch of the vehicle is pressed is detected to judge whether the vehicle enters an automatic driving mode.
As an alternative to the above-mentioned method for controlling vehicle distance based on automatic driving, the step of determining whether the current traffic environment is congested if the vehicle enters the automatic driving mode includes:
if the vehicle enters the automatic driving mode, current traffic environment information is detected through one or more of a camera, a 360-degree look-around system, a millimeter wave radar, a laser radar and an ultrasonic radar, and whether the current traffic environment is congested or not is judged through the current traffic environment information.
As an alternative to the above-mentioned method for controlling a vehicle distance based on automatic driving, the step of determining whether the current following distance causes discomfort to the driver if the current traffic environment is congested includes:
and if the current traffic environment is congested, detecting one or more of whether the pupil of the driver is enlarged, whether the heart rate of the driver is accelerated and whether the force of the driver for holding the steering wheel is increased, and judging whether the current following distance causes discomfort of the driver according to one or more of whether the pupil of the driver is enlarged, whether the heart rate of the driver is accelerated and whether the force of the driver for holding the steering wheel is increased.
As an alternative to the above-mentioned method for controlling a vehicle distance based on automatic driving, after the step of determining whether the current following distance causes discomfort to the driver if the current traffic environment is congested, the method further includes the steps of:
if the current vehicle following distance enables a driver to feel comfortable, judging whether the current vehicle following distance is larger than a distance threshold value;
and if the current vehicle following distance is greater than the distance threshold, reducing the vehicle following distance.
As an alternative to the above-mentioned method for controlling vehicle distance based on automatic driving, the step of decreasing the vehicle-following distance if the current vehicle-following distance is greater than the distance threshold value further includes:
and judging whether the current vehicle following distance causes the driver to be uncomfortable, and if the current vehicle following distance causes the driver to be uncomfortable, increasing the vehicle following distance.
As an alternative to the above-mentioned method for controlling a vehicle distance based on automatic driving, the step of detecting whether the vehicle enters an automatic driving mode further includes:
the facial features of the driver are identified and stored, and the following distance which can be adapted by the driver is saved.
As an alternative to the above-described automatic driving-based vehicle distance control method, the current traffic environment information includes one or more of lane line information, surrounding vehicle information, and obstacle information.
A vehicle, the vehicle comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the autopilot-based headway control method as described above.
A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the automatic driving-based inter-vehicle distance control method as described above.
The invention has the advantages that: when the vehicle enters the automatic driving mode, the current traffic environment is detected, whether the driver adapts to the current vehicle following distance is detected, when the vehicle is in a congested road section, if the current vehicle following distance enables the driver to feel uncomfortable, the vehicle following distance is increased, the vehicle following distance is flexibly and reasonably controlled in the automatic driving mode and in the traffic congested road section according to driving habits of different drivers, and the safety and the comfort of automatic driving are guaranteed.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an automatic driving-based vehicle distance control method according to the present invention;
FIG. 2 is a schematic diagram of another embodiment of an automatic driving-based vehicle distance control method according to the present invention;
FIG. 3 is a schematic diagram of a step of determining whether the current following distance is uncomfortable for the driver according to the present invention;
FIG. 4 is a schematic diagram of the present invention showing a small following distance;
FIG. 5 is a schematic view showing an excessive following distance according to the present invention;
FIG. 6 is a schematic diagram of an embodiment of an automatic driving-based inter-vehicle distance control apparatus according to the present invention;
fig. 7 is a schematic diagram of another embodiment of the automatic driving-based vehicle distance control device according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
In the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same or similar items having substantially the same function and action. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.
Referring to fig. 1, the present invention provides a vehicle distance control method based on automatic driving, including steps S100 to S400.
In step S100, it is detected whether the vehicle enters an automatic driving mode;
in step S200, if the vehicle enters the automatic driving mode, it is determined whether the current traffic environment is congested.
The main purpose of the vehicle distance control method in the invention is to flexibly control the vehicle distance to adapt to different drivers when the vehicle enters the automatic driving mode and the traffic jam occurs, so that whether the vehicle enters the automatic driving mode or not and whether the current traffic environment is jammed or not need to be detected. If the vehicle does not enter the automatic driving mode, the speed and the following distance are controlled by the driver, and the driver can control the distance to be a comfortable distance without intervention. After the vehicle enters the automatic driving mode, the following distance is preset in the automatic driving mode, the following distance is constant under the same working condition, but the adaptability of different drivers to the following distance is inconsistent, so the vehicle distance control method is needed to intervene, the driver can enjoy the fun of automatic driving without manual control, and the following distance can be controlled to the degree which makes the driver comfortable. In addition, under the condition of a spacious traffic environment, because the number of vehicles is small, the discomfort of a driver caused by the close following distance can not occur, and therefore the intervention of the vehicle distance control method is not needed.
In step S300, if the current traffic environment is congested, it is determined whether the current following distance is uncomfortable for the driver;
in step S400, if the current following distance is not comfortable for the driver, the following distance is increased.
Whether the driver is uncomfortable or not is judged by monitoring the reaction of the driver under the current vehicle distance, and if the driver does not react uncomfortably, the current vehicle following distance is kept to continue driving. If the current vehicle following distance is uncomfortable for the driver, the vehicle following distance is increased to adjust the vehicle following distance to the distance comfortable for the driver, for example, the vehicle following distance is controlled to be increased by deltax. The increasing of the following distance can be realized by increasing the braking force, when the braking force is increased, the vehicle speed is reduced, and the distance from the front vehicle is naturally increased, that is, the step S400 specifically includes:
and S401, if the current following distance causes discomfort to the driver, increasing the braking force of the vehicle.
It will be appreciated that in other embodiments other ways of increasing the following distance may be used, such as reducing the speed of the engine.
In one embodiment, step S100 may include:
s101, whether an automatic driving switch of the vehicle is pressed or not is detected, so that whether the vehicle enters an automatic driving mode or not is judged.
The automatic driving mode is started after the button switch is pressed down, and the button switch can be pressed again if the automatic driving mode is to be closed. In the invention, whether the vehicle enters the automatic driving mode is judged by detecting whether the button switch is pressed down. In other embodiments, the detection may be performed in other ways, such as by the control state of the main control panel of the vehicle.
In an embodiment, the step S200 may include:
s201, if the vehicle enters an automatic driving mode, detecting current traffic environment information through one or more of a camera, a 360-degree look-around system, a millimeter wave radar, a laser radar and an ultrasonic radar, and judging whether the current traffic environment is congested or not through the current traffic environment information.
The 360-degree all-round system is only equipped on part of the vehicle types. The current traffic environment information is detected through equipment such as a camera, a 360-degree look-around system, a millimeter wave radar, a laser radar and an ultrasonic radar on the vehicle, and comprises lane line information, surrounding vehicle information, obstacle information and the like. Referring to fig. 4 and 5, in the autonomous driving state, longitudinal control of the vehicle is based on the vehicle ahead, and lateral control of the vehicle is based on lane lines (including a left lane line S1 and a right lane line S2), which are combined in the longitudinal and lateral directions to realize motion control of the vehicle.
In one embodiment, step S300 may include:
s301, if the current traffic environment is congested, detecting one or more of whether pupils of a driver are enlarged, whether the heart rate of the driver is accelerated and whether the force of the driver for holding the steering wheel is increased, and judging whether the current following distance causes discomfort of the driver according to one or more of whether the pupils of the driver are enlarged, whether the heart rate of the driver is accelerated and whether the force of the driver for holding the steering wheel is increased.
Specifically, whether the driver is uncomfortable or not can be judged through physical signs and behavior performance of the driver, in the embodiment of the invention, referring to fig. 3, the judgment is carried out through pupils, heart rate and gripping force for gripping the steering wheel of the driver, and one of three performances of pupil enlargement, heart rate acceleration and force increase for gripping the steering wheel indicates that the driver feels uncomfortable to the current following distance. Whether the pupil is enlarged can be identified by a camera or a scanner in the vehicle, the camera or the scanner identifies the driving face, and then pupil information is extracted to judge whether the pupil is enlarged. The heart rate is monitored through the heart rate sensor, and the pressure of holding the steering wheel is detected through pressure sensor, and heart rate sensor and pressure sensor set up on the steering wheel, and heart rate sensor and pressure sensor can be integrated back on a steering wheel response module, install on the steering wheel.
In an embodiment, after step S300, the method further includes:
s501, if the current vehicle following distance enables a driver to feel comfortable, judging whether the current vehicle following distance is larger than a distance threshold value;
and S502, if the current vehicle following distance is larger than the distance threshold, reducing the vehicle following distance.
Specifically, if the driver feels comfortable with the current following distance, it is further determined whether the current following distance is greater than a distance threshold, which is a distance that is easily cut in, and referring to fig. 5, the autonomous vehicle is traveling at a speed V1, and since the following distance from the preceding vehicle is too large, the vehicle on the right side thereof is traveling at a speed V2 and is cut in front of the autonomous vehicle. That is, in the case where the driver does not react uncomfortably to the current following distance, it is ensured as much as possible that the following distance to the preceding vehicle is maintained at a distance that is not easily inserted into the fleet. The distance threshold may be specifically set, and may be, for example, a length of a vehicle body of a vehicle. The vehicle condition shown in fig. 4 in which the following distance is small causes discomfort to the driver, and it can be seen from fig. 4 that the autonomous vehicle runs at a speed V2 and the following distance from the preceding vehicle is small, and the driver is likely to feel discomfort.
In an embodiment, after step S502, the method further includes:
and S503, judging whether the current vehicle following distance causes discomfort of the driver, and if the current vehicle following distance causes discomfort of the driver, increasing the vehicle following distance.
After the following distance is decreased in order to avoid the queue-up in step S502, the following distance may be small and the driver may feel uncomfortable, and when the driver feels uncomfortable with the following distance, the following distance needs to be increased. How to detect the discomfort of the driver and how to increase the following distance is described in detail in step S300 and step S400, and will not be repeated herein.
In an embodiment, after step S100, the method further includes:
s600, identifying and storing facial features of the driver, and storing the following distance which can be adapted by the driver.
Specifically, after the face of a driver is identified by utilizing equipment such as a camera and a scanner in the vehicle, the facial features are stored, the following distance information adapted to the current driver is synchronously stored, in other words, the driving habits of the driver are learned, the driving habits of different drivers can be stored, the vehicle is controlled to run according to the habits of the different drivers, and the comfort and the safety of automatic driving are improved.
Referring to fig. 2, in another embodiment of the present invention, a method for controlling a vehicle distance based on automatic driving includes:
when the vehicle is in an automatic driving mode, identifying the current traffic environment of the vehicle, and judging whether the current traffic environment is congested;
if the current traffic environment is not congested, controlling the vehicle to normally run in the lane, wherein the normal running refers to continuing running according to the current following distance;
if the current traffic environment is congested, further judging whether the current vehicle following distance causes discomfort of a driver;
if the driver feels uncomfortable, the braking force is increased to increase the following distance;
if the driver feels comfortable, further judging whether the current vehicle following distance is easy to be inserted into the queue;
if the current car following distance is easy to queue, reducing the braking force so as to reduce the car following distance;
and if the current car following distance is not easy to be inserted, the vehicle normally runs.
Example two
An embodiment of the present invention further provides a vehicle distance control system based on automatic driving, and referring to fig. 6, the vehicle distance control system includes:
a first detection module 110 for detecting whether the vehicle enters an automatic driving mode;
the first judging module 120 is configured to judge whether the current traffic environment is congested when the vehicle enters the automatic driving mode;
the second judging module 130 is configured to judge whether the current following distance causes discomfort to the driver when the current traffic environment is congested;
and the execution module 140 is used for increasing the following distance when the current following distance makes the driver inappropriate.
In one embodiment, the first detection module may include:
the automatic driving control device comprises a first detection unit, a second detection unit and a control unit, wherein the first detection unit is used for detecting whether an automatic driving switch of the vehicle is pressed or not so as to judge whether the vehicle enters an automatic driving mode or not.
In an embodiment, the first determining module may include:
the first judging unit is used for detecting the current traffic environment information through one or more of a camera, a 360-degree look-around system, a millimeter wave radar, a laser radar and an ultrasonic radar when the vehicle enters the automatic driving mode, and judging whether the current traffic environment is congested or not through the current traffic environment information.
In an embodiment, the second determining module may include:
the second judgment unit is used for detecting one or more of whether the pupil of the driver is enlarged, whether the heart rate of the driver is accelerated and whether the force of the driver for holding the steering wheel is increased when the current traffic environment is congested, and judging whether the current following distance causes discomfort of the driver or not according to one or more of whether the pupil of the driver is enlarged, whether the heart rate of the driver is accelerated and whether the force of the driver for holding the steering wheel is increased
In one embodiment, the vehicle distance control system further includes:
the third judging unit is used for judging whether the current following distance is larger than the distance threshold value or not when the current following distance enables the driver to feel comfortable;
and the first execution unit is used for reducing the vehicle following distance if the current vehicle following distance is greater than the distance threshold.
In one embodiment, the vehicle distance control system further includes:
and the recognition and storage module is used for recognizing and storing the facial features of the driver and storing the following distance which can be adapted by the driver.
Referring to fig. 7, a second embodiment of the present invention further provides another automatic driving-based vehicle distance control system, which includes an environment recognition module 210, a face recognition module 220, a steering wheel sensing module 230, a vehicle decision control module 240, and a vehicle control execution module 250.
The environment recognition module is composed of one or more of a camera, a 360-degree look-around system, a millimeter wave radar, a laser radar, an ultrasonic radar and the like. The environment recognition module can detect the environment around the vehicle. The environment recognition module can realize the functions of lane line recognition, surrounding vehicle recognition, obstacle recognition, lane boundary recognition and the like, and simultaneously outputs road information, lane line information, surrounding vehicle information, obstacle information and the like to the vehicle decision control module.
And the face recognition module is composed of one or more of a camera, a liquid crystal scanner and the like. The face recognition module can recognize face information of a driver. The face recognition module can realize recognition including pupil recognition, Euclidean distance of facial organs, curvature, angle recognition and the like, and sends the recognized face change signal to the vehicle decision control module.
The steering wheel induction module is composed of a heart rate sensor, a pressure sensor and the like. The steering wheel induction module can induce the heart rate condition of a driver and the pressure condition of a steering wheel, and sends the recognized steering wheel induction information to the vehicle decision control module.
The vehicle decision control module can receive output information of the environment recognition module, the face recognition module and the steering wheel induction module, and simultaneously receives vehicle information which is related to vehicle operation and control and comprises vehicle speed, acceleration, steering speed, steering acceleration and the like from the vehicle. The vehicle decision control module analyzes and processes the received information, performs decision control on the information such as the transverse speed and the acceleration of the vehicle and the information such as the longitudinal speed and the acceleration of the vehicle, and outputs a decision result to the vehicle control execution module.
The vehicle control execution module is composed of an engine, a motor, hybrid power, a brake mechanism, a steering system and the like. The vehicle control execution module can receive and execute the command sent by the vehicle decision control module and control the vehicle in the transverse and longitudinal directions and the like. Wherein, the longitudinal driving device comprises an engine, a motor, a hybrid power and the like; the longitudinal braking device is a braking mechanism and a system; the transverse steering device is a steering mechanism and a system.
EXAMPLE III
The third embodiment of the present invention further provides a vehicle, and the components of the vehicle may include but are not limited to: the vehicle body, one or more processors, memory, and a bus connecting the various system components (including the memory and the processors).
The memory, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions corresponding to the automatic driving-based vehicle distance control method in the embodiment of the present invention. The processor executes various functional applications and data processing of the vehicle by running software programs, instructions and modules stored in the memory, that is, the above-described automatic driving-based inter-vehicle distance control method is realized.
The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory remotely located from the processor, and these remote memories may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Example four
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an automatic driving-based vehicle distance control method, and the automatic driving-based vehicle distance control method includes the following steps:
s10, detecting whether the vehicle enters an automatic driving mode;
s20, if the vehicle enters the automatic driving mode, judging whether the current traffic environment is congested;
s30, if the current traffic environment is congested, judging whether the current vehicle following distance causes discomfort of a driver;
and S40, if the current vehicle following distance causes discomfort to the driver, increasing the vehicle following distance.
Of course, the computer-readable storage medium provided by the embodiments of the present invention has computer-executable instructions that are not limited to the operations of the method described above, and may also perform related operations in the method for controlling a vehicle distance based on automatic driving provided by any embodiment of the present invention.
Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the invention are all or partially effected when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on or transmitted over a computer-readable storage medium. The computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The available media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., DVDs), or semiconductor media (e.g., Solid State Disks (SSDs)), among others.
In the above embodiment, each included unit and module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle distance control method based on automatic driving is characterized by comprising the following steps:
detecting whether the vehicle enters an automatic driving mode;
if the vehicle enters an automatic driving mode, judging whether the current traffic environment is congested;
if the current traffic environment is congested, judging whether the current following distance causes discomfort of a driver;
and if the current vehicle following distance causes discomfort of the driver, increasing the vehicle following distance.
2. The automated driving-based vehicle distance control method according to claim 1, wherein the step of detecting whether the vehicle enters the automated driving mode includes:
whether an automatic driving switch of the vehicle is pressed is detected to judge whether the vehicle enters an automatic driving mode.
3. The automatic driving-based vehicle distance control method according to claim 1, wherein the step of determining whether the current traffic environment is congested if the vehicle enters the automatic driving mode comprises:
if the vehicle enters the automatic driving mode, current traffic environment information is detected through one or more of a camera, a 360-degree look-around system, a millimeter wave radar, a laser radar and an ultrasonic radar, and whether the current traffic environment is congested or not is judged through the current traffic environment information.
4. The method according to claim 1, wherein the step of determining whether the current following distance is uncomfortable for the driver if the current traffic environment is congested comprises:
and if the current traffic environment is congested, detecting one or more of whether the pupil of the driver is enlarged, whether the heart rate of the driver is accelerated and whether the force of the driver for holding the steering wheel is increased, and judging whether the current following distance causes discomfort of the driver according to one or more of whether the pupil of the driver is enlarged, whether the heart rate of the driver is accelerated and whether the force of the driver for holding the steering wheel is increased.
5. The method for controlling a vehicle distance based on automatic driving according to claim 1, wherein after the step of determining whether the current following distance causes discomfort to the driver if the current traffic environment is congested, the method further comprises the steps of:
if the current vehicle following distance enables a driver to feel comfortable, judging whether the current vehicle following distance is larger than a distance threshold value;
and if the current vehicle following distance is greater than the distance threshold, reducing the vehicle following distance.
6. The method according to claim 5, wherein the step of decreasing the following distance if the current following distance is greater than the distance threshold further comprises:
and judging whether the current vehicle following distance causes the driver to be uncomfortable, and if the current vehicle following distance causes the driver to be uncomfortable, increasing the vehicle following distance.
7. The automated driving-based vehicle distance control method according to claim 1, wherein the step of detecting whether the vehicle enters the automated driving mode further comprises, after the step of detecting whether the vehicle enters the automated driving mode:
the facial features of the driver are identified and stored, and the following distance which can be adapted by the driver is saved.
8. The automatic driving-based vehicle distance control method according to claim 3, wherein the current traffic environment information includes one or more of lane line information, surrounding vehicle information, and obstacle information.
9. A vehicle, characterized in that the vehicle comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the autopilot-based headway control method of any one of claims 1-8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the autopilot-based headway control method according to any one of claims 1 to 8.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN114475597A (en) * | 2022-02-28 | 2022-05-13 | 东风汽车集团股份有限公司 | Method and system for controlling following distance of automatic driving vehicle |
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