CN113879305B - Adaptive cruise control method and device and vehicle - Google Patents
Adaptive cruise control method and device and vehicle Download PDFInfo
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- CN113879305B CN113879305B CN202111249282.5A CN202111249282A CN113879305B CN 113879305 B CN113879305 B CN 113879305B CN 202111249282 A CN202111249282 A CN 202111249282A CN 113879305 B CN113879305 B CN 113879305B
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000003044 adaptive effect Effects 0.000 title claims description 121
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000004913 activation Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 38
- 238000010586 diagram Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application discloses a self-adaptive cruise control method, a device and a vehicle, wherein the method comprises the following steps: acquiring a license plate number of a following vehicle, wherein the following vehicle is a vehicle followed by a target vehicle; acquiring the position information of the target vehicle when the following vehicle is locked based on the license plate number; when the target vehicle is determined to be located in the preset area based on the position information, the target vehicle is controlled to run in a first self-adaptive cruising mode, so that the following requirements of a vehicle team in driving, multi-vehicle self-driving tour and other scenes and under complex road conditions are met, and the driving comfort is improved.
Description
Technical Field
The application relates to the technical field of intelligent driving assistance, in particular to a self-adaptive cruise control method and device and a vehicle.
Background
In recent years, adaptive cruise control (ACC, adaptive Cruise Control) technology has developed very mature, and more vehicles on the market are equipped with adaptive cruise systems. After the self-adaptive cruise system is started, the vehicle can automatically follow the front vehicle, so that the driving experience of people is improved, and the comfort level of a driver is improved.
In the related art, an adaptive cruise system obtains the exact position of a front vehicle using a low power radar or an infrared beam, and if the front vehicle is decelerated or a new target is detected, the system transmits an execution signal to an engine or a brake system to reduce the vehicle speed, thereby maintaining a safe driving distance between the vehicle and the front vehicle. After the obstacle on the road in front is cleared, the speed of the vehicle is accelerated to be recovered to the set speed, and the radar system automatically monitors the next target.
However, the mode of locking the following target of the adaptive cruise system is single, and the following requirements of users in different scenes cannot be met.
Disclosure of Invention
In view of the above, the application provides a self-adaptive cruise control method, a self-adaptive cruise control device and a vehicle, which meet the following requirements of users in different scenes.
The application adopts the following technical scheme:
a first aspect of the present application provides an adaptive cruise control method, the method comprising:
acquiring a license plate number of a following vehicle, wherein the following vehicle is a vehicle followed by a target vehicle;
acquiring the position information of the target vehicle when the following vehicle is locked based on the license plate number;
and controlling the target vehicle to run in the first adaptive cruise mode when the target vehicle is determined to be located within a preset area based on the position information.
Optionally, the acquiring the license plate number of the following vehicle includes:
when a license plate recognition request is received, collecting license plate images of at least one vehicle in front of the target vehicle;
acquiring at least one license plate number to be selected based on the license plate image of the at least one vehicle;
and determining the license plate number of the following vehicle from the at least one license plate number to be selected.
Optionally, the determining the license plate number of the following vehicle from the at least one license plate number to be selected includes:
displaying the at least one license plate number to be selected;
when a first selection instruction is received, determining a license plate number corresponding to the first selection instruction as the license plate number of the following vehicle, wherein the first selection instruction is used for selecting the license plate number of the following vehicle.
Optionally, the acquiring the license plate number of the following vehicle includes:
when a license plate input request is received, displaying an information input page;
and determining the license plate number input in the information input page as the license plate number of the following vehicle.
Optionally, the locking the following vehicle based on the license plate number includes:
collecting license plate images of at least one vehicle in front of the target vehicle;
identifying a license plate number of the at least one vehicle based on the license plate image;
determining, as the following vehicle, a vehicle having a license plate number that coincides with the license plate number of the following vehicle in the at least one vehicle;
and acquiring the relative distance between the following vehicle and the target vehicle and first driving data of the following vehicle, wherein the first driving data comprises at least one of the driving direction, the driving speed, the acceleration and the lane where the following vehicle is located.
Optionally, the controlling the target vehicle to travel in the first adaptive cruise mode includes:
and formulating a driving scheme according to the first driving data of the following vehicle, wherein the driving scheme comprises a driving route and second driving data, and the second driving data comprises at least one of a relative distance, a driving direction, a driving speed, acceleration and a lane where the following vehicle is located.
Optionally, before the obtaining the location information of the target vehicle, the method further includes:
when receiving an adaptive cruise function starting request, displaying an adaptive cruise mode option;
and after receiving a second selection instruction, acquiring the position information of the target vehicle, wherein the second selection instruction is used for selecting the first adaptive cruise mode.
Optionally, the method further comprises:
detecting the running speed of the target vehicle after receiving a third selection instruction, wherein the third selection instruction is used for selecting a second self-adaptive cruise mode, and the second self-adaptive cruise mode is different from the first self-adaptive cruise mode;
and when the running speed is greater than a speed threshold, controlling the target vehicle to run in the second adaptive cruise mode.
A second aspect of the present application provides an adaptive cruise control device, the device comprising:
a first acquisition unit configured to acquire a license plate number of a following vehicle, the following vehicle being a vehicle followed by a target vehicle;
a second acquisition unit configured to acquire position information of the target vehicle when the following vehicle is locked based on the license plate number;
and a control unit configured to control the target vehicle to travel in a first adaptive cruise mode when it is determined that the target vehicle is located within a preset area based on the position information.
A third aspect of the application provides a vehicle for performing the adaptive cruise control method described above.
In the adaptive cruise method provided by the embodiment of the application, the target vehicle can lock the following vehicle according to the acquired license plate number, then the vehicle position is detected, and when the vehicle position is detected to be within the preset area, the target vehicle is controlled to run in the first adaptive cruise mode. Under the first self-adaptive cruising mode, because the target vehicle locks the following vehicle according to the license plate number, even if the following vehicle turns or changes lanes, the target vehicle can not lose the following target, but turns and changes lanes along with the following vehicle, thereby meeting the following requirements of the vehicle team driving, multi-vehicle self-driving tour and the like in the scenes of complex road conditions and improving the driving comfort.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a first adaptive cruise control method provided by an embodiment of the present application;
FIG. 2 is a flow chart of a second adaptive cruise control method provided by an embodiment of the present application;
fig. 3 is a flowchart of a first method for obtaining a license plate number according to an embodiment of the present application;
fig. 4 is a flowchart of a second method for obtaining a license plate number according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an adaptive cruise control device according to an embodiment of the present application.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The embodiment of the application provides an adaptive cruise control method, which is applied to a target vehicle, wherein an execution main body can be computer equipment, and the computer equipment can be ECU (Electronic Control Unit ). Fig. 1 is a flowchart of an adaptive cruise control method according to an embodiment of the present application, as shown in fig. 1, the method may include the following steps:
step 110, obtaining a license plate number of a following vehicle;
wherein the following vehicle is a vehicle followed by the target vehicle. For example, the target vehicle wants to follow the front vehicle a, and the vehicle a is the following vehicle.
Step 120, when the following vehicle is locked based on the license plate number, acquiring the position information of the target vehicle;
and 130, controlling the target vehicle to run in the first adaptive cruise mode when the target vehicle is determined to be located in the preset area based on the position information.
Therefore, in the adaptive cruise method provided by the embodiment of the application, the target vehicle can lock the following vehicle according to the acquired license plate number, then the vehicle position is detected, and when the vehicle position is detected to be within the preset area, the target vehicle is controlled to run in the first adaptive cruise mode. Under the first self-adaptive cruising mode, because the target vehicle locks the following vehicle according to the license plate number, even if the following vehicle turns or changes lanes, the target vehicle can not lose the following target, but turns and changes lanes along with the following vehicle, thereby meeting the following requirements of the vehicle team driving, multi-vehicle self-driving tour and the like in the scenes of complex road conditions and improving the driving comfort.
Fig. 2 is a flow chart of another adaptive cruise method provided by an embodiment of the present application. The method is generally applied to a target vehicle, and the execution subject may be a computer device, which may be an ECU. In the embodiment of the present application, the ECU is taken as an execution body, and the method is described in detail, as shown in fig. 2, and the method may include the following steps:
step 210, when a function enabling request is received, enabling the adaptive cruise function.
For some users, who are more concerned with the driving experience during vehicle maneuvers, the adaptive cruise function is not typically required, and therefore in some embodiments of the present application, the adaptive cruise function is set to a default off state. When the user needs to use the function, an enabling option for finding the adaptive cruise function in a setting interface of the vehicle can be found, or an enabling method for the adaptive cruise function can be found in other ways, and a function enabling request is sent out. When the target vehicle receives the function enabling request, the adaptive navigation function is enabled.
The two-dimensional code for enabling the adaptive cruise function is displayed on a display screen of the target vehicle, and the adaptive cruise function can be enabled after a user scans the two-dimensional code and operates according to the corresponding indication. The self-adaptive cruise function can be a payment function or a free function.
And 220, displaying a parameter setting interface of the adaptive cruise function on a display screen.
After the self-adaptive cruise function is started, a parameter setting interface of the self-adaptive cruise function is displayed on a display screen of the target vehicle, a user can set driving parameters in the self-adaptive cruise process based on the parameter setting interface, and meanwhile, the interface can also display setting items respectively corresponding to license plate recognition and license plate input, wherein the setting items corresponding to license plate recognition are used for indicating license plates of vehicles in front of the automatic recognition; the license plate input setting item is used for indicating a user to manually input a license plate of a following vehicle. After the user selects any one of the two setting items, the step of obtaining the license plate number can be entered.
Step 230, obtaining the license plate number of the following vehicle.
Wherein the following vehicle is a vehicle followed by the target vehicle.
In a first implementation, the license plate number may be obtained by automatic identification. Illustratively, as shown in FIG. 3, the acquisition process may include steps 311-313:
step 311, when a license plate recognition request is received, collecting license plate images of at least one vehicle in front of the target vehicle.
In the embodiment of the application, a user can click a setting item corresponding to license plate identification in a parameter setting interface of the self-adaptive cruise function, and then a target vehicle can call a camera to shoot a license plate image of a vehicle in front of the vehicle. When a plurality of vehicles exist in front of the target vehicle, the camera can only shoot one image, and license plate contents of vehicles with clearly visible license plate numbers in front are arranged in the image; alternatively, the camera may capture multiple images, each with license plate content of a vehicle.
Step 312, obtaining at least one license plate number to be selected based on the license plate image of at least one vehicle.
The target vehicle may have an image recognition unit that can analyze the license plate image and extract a license plate number in the license plate image, and then display the extracted at least one license plate number to be selected on a display screen. In the embodiment of the application, the image recognition unit can be integrated with an MCU (Micro Controller Unit, micro control unit) of the target vehicle or can be integrated with a camera.
Step 313, determining the license plate number of the following vehicle from at least one license plate number to be selected.
Optionally, step 313 may include: displaying at least one license plate number to be selected; when a first selection instruction is received, the license plate number corresponding to the first selection instruction is determined to be the license plate number of the following vehicle, and the first selection instruction is used for selecting the license plate number of the following vehicle.
In some embodiments of the present application, at least one license plate number to be selected is displayed on the display screen, and the user may select the license plate number of the following vehicle from the at least one license plate number to be selected displayed on the display screen. For example, in a scene of travel of a fleet, a plurality of vehicles are arranged in front of a target vehicle, and then a user can select the license plate number of the lead vehicle of the fleet from a plurality of license plate numbers to be selected, so that the lead vehicle is determined to be the following vehicle of the target vehicle.
In a second implementation, the license plate number may be obtained by manual input. Illustratively, as shown in FIG. 4, the acquisition process may include steps 321-322:
and 321, when a license plate input request is received, displaying an information input page.
In the embodiment of the application, a user can click a setting item corresponding to license plate input in a parameter setting interface of the self-adaptive cruise function, then the display screen of the target vehicle can display an information input page and a virtual keyboard, and the user can input the license plate number of the following vehicle into the information input page by using the virtual keyboard.
And 322, determining the license plate number input in the information input page as the license plate number of the following vehicle.
After the user inputs the license plate number, the target vehicle determines the license plate number input by the user as the license plate number of the following vehicle.
In some embodiments of the present application, after the target vehicle obtains the license plate number of the following vehicle, the obtained license plate number may be stored in the storage unit, and meanwhile, the historical following license plate number may be displayed on the parameter setting interface of the adaptive cruise function, so that when the target vehicle needs to obtain the license plate number of the following vehicle again, the user may select from the historical following license plate number first, thereby improving convenience.
It should be noted that, in the embodiment of the present application, the steps of automatically identifying the license plate number and manually inputting the license plate number may be used on separate pages, or may be combined on the same page, for example, when the automatic identification of the license plate number fails, a prompt of "identification failure" may be displayed on the display screen, and meanwhile, an entry of "manually inputting" the license plate number is indicated; when the license plate number is manually input but the vehicle cannot lock the following vehicle (if the license plate of the following vehicle is blocked), a prompt of 'no following vehicle found' can be displayed, and meanwhile, the entrance of the license plate number is indicated to be automatically identified.
Step 240, locking the following vehicle based on the license plate number.
In one possible embodiment, step 204 may include: collecting license plate images of at least one vehicle in front of the running of the target vehicle; identifying a license plate number of at least one vehicle based on the license plate image; determining a vehicle with a license plate number consistent with that of a following vehicle as the following vehicle in at least one vehicle; the method comprises the steps of obtaining the relative distance between the following vehicle and the target vehicle and the driving data of the following vehicle, wherein the driving data comprise at least one of the driving direction, the driving speed, the acceleration and the lane where the following vehicle is located.
It should be noted that, although the license plate image of at least one vehicle in front of the target vehicle has been acquired in step 311, the purpose of this acquisition is to identify the license plate, and the following vehicle is likely to have changed position during the time of license plate identification and user selection of the license plate number. Therefore, after acquiring the license plate number of the following vehicle, it is necessary to acquire the license plate number of the vehicle in front of the target vehicle again, thereby determining the following vehicle.
After the following vehicle is determined, the target vehicle can acquire the relative distance between the following vehicle and the target vehicle and the running data of the following vehicle so as to grasp the running condition of the following vehicle and lock the following vehicle in the whole course through the camera.
In some embodiments, if the user does not need to start the adaptive cruise function or needs to replace the following vehicle during the whole driving process, the display screen may display an "unlock" option, and the user may unlock the current following vehicle by selecting the option, and then repeat steps 230-240 again if the following vehicle needs to be locked again.
Step 250, when an adaptive cruise function start request is received, an adaptive cruise mode option is displayed.
Steps 210-240 in the embodiment of the present application may be completed before the target vehicle starts, or may be completed at any time during the driving process of the target vehicle. After the above steps are completed, the target vehicle prompts the user that the following vehicle is locked in at least one form of sound, light and characters, for example, the following vehicle is displayed on a display screen in the form of characters, or the following vehicle is voice-broadcast, or corresponding indicator lights are lightened. At this time, the target vehicle is still in a state in which the user manually controls traveling.
The user may issue the adaptive cruise function activation request at any time after locking the following vehicle, for example, the user may issue the adaptive cruise function activation request by pressing the "ACC" key. When the target vehicle receives the adaptive cruise function start request, the adaptive cruise mode option is displayed on a display screen or an instrument panel. The adaptive cruise mode options include a first adaptive cruise mode and a second adaptive cruise mode. The second adaptive cruise mode refers to a mode corresponding to a conventional adaptive cruise function, and in this mode, the target vehicle can realize functions of vehicle speed control (speed increasing and speed reducing), automatic following and stopping (including keeping a safe vehicle distance and keeping a vehicle behind and automatic braking), vehicle following and starting and the like. And the first self-adaptive cruise mode refers to a mode corresponding to the self-adaptive cruise function based on license plate recognition, compared with the second self-adaptive cruise mode, the target vehicle in the first self-adaptive mode can realize the conventional self-adaptive cruise function, and can also realize the functions of automatic lane changing, shifting lever lane changing and the like, thereby automatically following the turning or lane changing of the following vehicle, and being suitable for more various scenes and more complex road conditions.
It should be noted that, in the embodiment of the present application, after the following vehicle is locked, if the target vehicle loses the following vehicle under the condition that the adaptive cruise function starting request is not received, the camera of the target vehicle automatically starts searching for the following vehicle, and if the target vehicle searches for the following vehicle within the time threshold, the following vehicle is automatically locked; if the target vehicle does not search for the following vehicle within the time threshold, the user is prompted in at least one of sound, light, and text that the following vehicle has been lost, and then the following vehicle can be locked again through steps 230-240. The time threshold may be preset by the technician, for example 15 seconds, which the user may also adjust in the parameter setting interface of the adaptive cruise function.
For each adaptive cruise mode option, steps 260-270 or steps 280-290 may be performed after step 250.
Step 260, after receiving the second selection instruction, obtaining the position information of the target vehicle.
Wherein the second selection instruction is for selecting the first adaptive cruise mode.
When the display screen is a touch screen, the user can send a second selected instruction in a mode of clicking the first self-adaptive cruise mode, and after the target vehicle receives the second selected instruction, the user is determined to want to execute the self-adaptive cruise function based on license plate recognition.
Considering the problems that more vehicles are on the urban road, the traffic condition is complex, the following vehicles are easy to lose, and the like, in the embodiment of the application, the first self-adaptive cruise mode only allows starting in a preset area. After the target vehicle receives the second selection instruction, the GPS module can acquire the position information of the own vehicle so as to detect whether the current vehicle is positioned in the preset area.
Step 270, when it is determined that the target vehicle is located within the preset area based on the position information, the target vehicle is controlled to travel in the first adaptive cruise mode.
In some embodiments of the present application, the step of determining that the target vehicle is located within the preset area based on the location information may include:
obtaining geographic position information of a preset area; marking the area range of the preset area and the position of the target vehicle on the map respectively based on the geographic position information of the preset area and the position information of the target vehicle; and when the position of the target vehicle marked on the map is detected to be within the area range of the preset area, determining that the target vehicle is positioned within the preset area.
For example, the preset area may include at least one of an expressway and an elevated road.
When it is determined that the target vehicle is within the preset area, the target vehicle is controlled to travel in the first adaptive cruise mode. In the first adaptive cruise mode, the target vehicle follows the following vehicle. Optionally, the target vehicle may formulate a driving scheme according to the first driving data of the following vehicle, the driving scheme including a driving route and second driving data, the second driving data including at least one of a relative distance to the following vehicle, a driving direction, a driving speed, an acceleration, and a lane in which the following vehicle is located.
When the target vehicle is determined to be located outside the preset area, the first adaptive cruise mode is not started, and meanwhile, the user is prompted not to be located in the preset area currently, and the first adaptive cruise mode cannot be started.
Step 280, detecting the running speed of the target vehicle after receiving the third selection instruction.
The third selection instruction is used for selecting a second self-adaptive cruise mode, and different from the first self-adaptive cruise mode, the vehicle cannot realize the functions of automatic lane changing, shift lever lane changing and the like in the second self-adaptive cruise mode. In the second self-adaptive cruising mode, the target vehicle acquires position information of the front vehicle through the camera and runs on the current lane along with the front vehicle. When the front vehicle turns or changes lanes, the target vehicle is locked again to the vehicle in front of the target vehicle on the current lane and follows the vehicle.
Typically, the initiation of the second adaptive cruise mode requires the target vehicle to meet a minimum speed requirement, the speed threshold being preset by the skilled person, for example set to 40km/h; of course, in some cases, the enablement of the second adaptive cruise mode may not require setting of the minimum speed requirement, at which point the speed threshold may be set to 0km/h.
When the display screen is a touch screen, the user may send out a third selection instruction by clicking the second adaptive cruise mode, and after the target vehicle receives the third selection instruction, it is determined that the user wants to execute the conventional adaptive cruise function, and at this time, the running speed of the target vehicle is obtained. The running speed of the vehicle can be obtained based on the wheel speed obtained by the wheel speed sensor or the engine speed obtained by the engine management system.
Step 290, when the running speed is greater than the speed threshold, controlling the target vehicle to run in the second adaptive cruise mode.
And when the current running speed of the target vehicle is detected to be greater than the speed threshold value, determining that the condition for starting the second adaptive cruise mode is met, and controlling the target vehicle to run in the second adaptive cruise mode. In the second adaptive cruise mode, the automatically determined driving direction of the target vehicle is substantially unchanged, and the driver can manually regulate and control when the driving direction needs to be changed.
In summary, in the adaptive cruise method provided by the embodiment of the present application, the target vehicle can obtain the license plate number through automatic recognition and manual input, and then lock the following vehicle according to the license plate number. After a user sends out an adaptive cruise function starting request, inquiring an adaptive cruise mode which the user needs to execute, detecting a vehicle position of a target vehicle when the user selects a first adaptive cruise mode, and controlling the target vehicle to run in the first adaptive cruise mode when the vehicle position is detected to be within a preset area, otherwise, not starting the first adaptive cruise mode; when the user selects the second self-adaptive cruise mode, the target vehicle detects the self-vehicle running speed, when the self-vehicle running speed is detected to be larger than the speed threshold value, the target vehicle is controlled to run in the second self-adaptive cruise mode, and otherwise, the second self-adaptive cruise mode is not started. In the first self-adaptive cruising mode, the target vehicle locks the following vehicle according to the license plate number, so that the target vehicle can not lose the following vehicle even if the following vehicle turns or changes lanes and the like, but turns and changes lanes along with the following vehicle, thereby meeting the following requirements of the vehicle team driving, multi-vehicle self-driving tour and the like and under complex road conditions, and improving the driving comfort.
Fig. 5 is a schematic structural diagram of an adaptive cruise control device 500 according to an embodiment of the present application.
Referring to fig. 5, the apparatus 600 includes:
a first obtaining unit 501 configured to obtain a license plate number of a following vehicle, which is a vehicle followed by a target vehicle;
a second acquisition unit 502 configured to acquire position information of a target vehicle when the following vehicle is locked based on the license plate number;
the control unit 503 is configured to control the target vehicle to travel in the first adaptive cruise mode when it is determined that the target vehicle is located within the preset area based on the position information.
The adaptive cruise control device 500 provided by the embodiment of the present application may include a camera, a GPS module, an IHU (Infotainment Head Unit, infotainment host) module, an IPC (Instrument Panel Cluster, instrument panel set) module, and an MFS (adaptive lighting System) module, where an image processing unit is integrated in the camera, and is capable of performing analysis processing on an image after acquiring a license plate image, and extracting a license plate number; the GPS module is used for acquiring the position information of the target vehicle and judging whether the target vehicle is positioned in a preset area or not; the IHU module is provided with a display screen and is mainly used for displaying information and sending out prompts; the IPC module is used for acquiring and displaying vehicle running data; the MFS module is used for completing control of devices such as illumination, motors and the like of the vehicle.
In summary, according to the adaptive cruise control device provided by the embodiment of the present application, the target vehicle can lock the following vehicle according to the license plate number acquired by the first acquiring unit 501, then acquire the vehicle position by the second acquiring unit 502, and when the vehicle position is detected to be within the preset area, the control unit 503 controls the target vehicle to run in the first adaptive cruise mode. Under the first self-adaptive cruising mode, because the target vehicle locks the following vehicle according to the license plate number, even if the following vehicle turns or changes lanes, the target vehicle can not lose the following target, but turns and changes lanes along with the following vehicle, thereby meeting the following requirements of the vehicle team driving, multi-vehicle self-driving tour and the like in the scenes of complex road conditions and improving the driving comfort.
Embodiments of the present application also provide a storage medium that is a computer readable storage medium storing executable instructions that are loaded and executed by a processor to implement steps of the adaptive cruise control method provided by embodiments of the present application, such as steps 110-130 in the embodiment shown in fig. 1, steps 210-290 in the embodiment shown in fig. 2, or steps shown in other method embodiments. The storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The embodiment of the application also provides a vehicle comprising the adaptive cruise control method according to any of the embodiments.
In the present application, it should be understood that the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of features being indicated.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. The specification and examples are to be regarded in an illustrative manner only.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (3)
1. An adaptive cruise control method, the method comprising:
when a function enabling request is received, enabling the adaptive cruise function;
displaying a parameter setting interface of the self-adaptive cruising function on a display screen, wherein a setting item corresponding to license plate identification and a setting item corresponding to license plate input are displayed on the parameter setting interface, the setting item corresponding to license plate identification is used for indicating the license plate of a vehicle in front of an automatic identification target vehicle, the setting item corresponding to license plate input is used for indicating a user to manually input the license plate of a following vehicle, and the following vehicle is a vehicle followed by the target vehicle;
acquiring license plate numbers of the following vehicles, wherein the license plate numbers of the following vehicles acquire license plate images of at least one vehicle in front of the driving of a target vehicle when a license plate identification request is received, acquire at least one license plate number to be selected based on the license plate images of the at least one vehicle, display the license plate numbers on a display screen, and respond to the selection of a first selection instruction, wherein the first selection instruction is used for selecting the license plate numbers of the following vehicles in the at least one license plate number to be selected, and the license plate identification request is sent by triggering a setting item corresponding to the license plate identification; or, when the license plate number of the following vehicle receives a license plate input request, displaying an information input page, and acquiring the license plate number input in the information input page, wherein the license plate input request is sent out by triggering a setting item corresponding to the license plate input, and the license plate number input in the information input page is the license plate number manually input by the user or the license plate number selected by the user in the historical following license plate number;
collecting license plate images of at least one vehicle in front of the target vehicle, and identifying license plate numbers of the at least one vehicle based on the license plate images;
determining, as the following vehicle, a vehicle having a license plate number that coincides with the license plate number of the following vehicle in the at least one vehicle;
acquiring the relative distance between the following vehicle and the target vehicle and first driving data of the following vehicle, wherein the first driving data comprises the driving direction, the driving speed, the acceleration and a lane where the following vehicle is located;
prompting the user that the following vehicle is locked when the following vehicle is locked based on the license plate number;
responding to an adaptive cruise function starting request received at any time after the following vehicle is locked, displaying adaptive cruise mode options, wherein the adaptive cruise mode options comprise a first adaptive cruise mode and a second adaptive cruise mode, the target vehicle can realize vehicle speed control, automatic following stopping, following vehicle starting, following vehicle turning, automatic lane changing and shifting lever lane changing in the first adaptive cruise mode, and the target vehicle can realize vehicle speed control, automatic following stopping and following vehicle starting in the second adaptive cruise mode;
when a second selection instruction for selecting the first adaptive cruise mode is received, acquiring the position information of the target vehicle;
the method comprises the steps of obtaining geographic position information of a preset area, respectively marking an area range of the preset area and the position of a target vehicle on a map based on the geographic position information of the preset area and the position information of the target vehicle, and determining that the target vehicle is positioned in the preset area when the position of the target vehicle marked on the map is detected to be positioned in the area range of the preset area, wherein the preset area is an allowed starting area of the first adaptive cruise mode and comprises at least one of an expressway and an elevated road;
when the target vehicle is determined to be positioned in the preset area based on the position information, a running scheme is formulated according to first running data of the following vehicle, and the target vehicle is controlled to run in the first adaptive cruise mode according to the running scheme; wherein, in the preset region, the target vehicle can travel in the first adaptive cruise mode or the second adaptive cruise mode selected by the user, and outside the preset region, the target vehicle can travel only in the second adaptive cruise mode; the driving scheme comprises a driving route and second driving data, wherein the second driving data comprises the relative distance between the target vehicle and the following vehicle, and the driving direction, the driving speed, the acceleration and the lane where the target vehicle is located;
detecting the running speed of the target vehicle after receiving a third selection instruction for selecting the second adaptive cruise mode;
controlling the target vehicle to follow the following vehicle in the second adaptive cruise mode to travel on a current lane when the travel speed is greater than a speed threshold, wherein when the target vehicle travels with the following vehicle in the second adaptive cruise mode and the following vehicle turns or changes lanes, the vehicle on the current lane in front of the target vehicle is redetermined as the following vehicle and the redetermined following vehicle travels in the second adaptive cruise mode;
after locking the following vehicle, before receiving the adaptive cruise function activation request, the method further includes:
when the following vehicle is lost, controlling a camera of the target vehicle to automatically start searching for the following vehicle;
if the following vehicle is searched within the time threshold, automatically locking the following vehicle;
and if the following vehicle is not searched within the time threshold, prompting the user that the following vehicle is lost.
2. An adaptive cruise control device, the device comprising:
a first acquisition unit configured to enable the adaptive cruise function when a function enabling request is received; displaying a parameter setting interface of the self-adaptive cruising function on a display screen, wherein a setting item corresponding to license plate identification and a setting item corresponding to license plate input are displayed on the parameter setting interface, the setting item corresponding to license plate identification is used for indicating the license plate of a vehicle in front of an automatic identification target vehicle, the setting item corresponding to license plate input is used for indicating a user to manually input the license plate of a following vehicle, and the following vehicle is a vehicle followed by the target vehicle; acquiring license plate numbers of the following vehicles, wherein the license plate numbers of the following vehicles acquire license plate images of at least one vehicle in front of the driving of a target vehicle when a license plate identification request is received, acquire at least one license plate number to be selected based on the license plate images of the at least one vehicle, display the license plate numbers on a display screen, and respond to the selection of a first selection instruction, wherein the first selection instruction is used for selecting the license plate numbers of the following vehicles in the at least one license plate number to be selected, and the license plate identification request is sent by triggering a setting item corresponding to the license plate identification; or, when the license plate number of the following vehicle receives a license plate input request, displaying an information input page, and acquiring the license plate number input in the information input page, wherein the license plate input request is sent out by triggering a setting item corresponding to the license plate input, and the license plate number input in the information input page is the license plate number manually input by the user or the license plate number selected by the user in the historical following license plate number;
a second acquisition unit configured to acquire a license plate image of at least one vehicle in front of the target vehicle traveling, and identify a license plate number of the at least one vehicle based on the license plate image; determining, as the following vehicle, a vehicle having a license plate number that coincides with the license plate number of the following vehicle in the at least one vehicle; acquiring the relative distance between the following vehicle and the target vehicle and first driving data of the following vehicle, wherein the first driving data comprises the driving direction, the driving speed, the acceleration and a lane where the following vehicle is located; prompting the user that the following vehicle is locked when the following vehicle is locked based on the license plate number; responding to an adaptive cruise function starting request received at any time after the following vehicle is locked, displaying adaptive cruise mode options, wherein the adaptive cruise mode options comprise a first adaptive cruise mode and a second adaptive cruise mode, the target vehicle can realize vehicle speed control, automatic following stopping, following vehicle starting, following vehicle turning, automatic lane changing and shifting lever lane changing in the first adaptive cruise mode, and the target vehicle can realize vehicle speed control, automatic following stopping and following vehicle starting in the second adaptive cruise mode; when a second selection instruction for selecting the first adaptive cruise mode is received, acquiring the position information of the target vehicle; the method comprises the steps of obtaining geographic position information of a preset area, respectively marking an area range of the preset area and the position of a target vehicle on a map based on the geographic position information of the preset area and the position information of the target vehicle, and determining that the target vehicle is positioned in the preset area when the position of the target vehicle marked on the map is detected to be positioned in the area range of the preset area, wherein the preset area is an allowed starting area of the first adaptive cruise mode and comprises at least one of an expressway and an elevated road;
a control unit configured to formulate a running plan according to first running data of the following vehicle and control the target vehicle to run in the first adaptive cruise mode according to the running plan when it is determined that the target vehicle is located within the preset area based on the position information; wherein, in the preset region, the target vehicle can travel in the first adaptive cruise mode or the second adaptive cruise mode selected by the user, and outside the preset region, the target vehicle can travel only in the second adaptive cruise mode; the driving scheme comprises a driving route and second driving data, wherein the second driving data comprises the relative distance between the target vehicle and the following vehicle, and the driving direction, the driving speed, the acceleration and the lane where the target vehicle is located;
the control unit is further configured to detect a running speed of the target vehicle after receiving a third selection instruction for selecting the second adaptive cruise mode; controlling the target vehicle to follow the following vehicle in the second adaptive cruise mode to travel on a current lane when the travel speed is greater than a speed threshold, wherein when the target vehicle travels with the following vehicle in the second adaptive cruise mode and the following vehicle turns or changes lanes, the vehicle on the current lane in front of the target vehicle is redetermined as the following vehicle and the redetermined following vehicle travels in the second adaptive cruise mode;
the second acquisition unit is further configured to control a camera of the target vehicle to automatically start searching for the following vehicle when the following vehicle is lost; if the following vehicle is searched within the time threshold, automatically locking the following vehicle; and if the following vehicle is not searched within the time threshold, prompting the user that the following vehicle is lost.
3. A vehicle for performing the adaptive cruise control method according to claim 1.
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