CN103507809A - Method and device for controlling vehicle to run - Google Patents
Method and device for controlling vehicle to run Download PDFInfo
- Publication number
- CN103507809A CN103507809A CN201310454297.4A CN201310454297A CN103507809A CN 103507809 A CN103507809 A CN 103507809A CN 201310454297 A CN201310454297 A CN 201310454297A CN 103507809 A CN103507809 A CN 103507809A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- described vehicle
- chaufeur
- driving state
- fatigue driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000005548 health behavior Effects 0.000 claims description 12
- 206010039203 Road traffic accident Diseases 0.000 abstract description 8
- 210000003128 head Anatomy 0.000 description 8
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Images
Classifications
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- 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
-
- 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
- B60W2540/00—Input parameters relating to occupants
Landscapes
- 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 device for controlling a vehicle to run, and belongs to the field of the vehicle electronic control. The method comprises the steps of detecting whether a driver of the vehicle is in the fatigue driving state or not; if the driver is in the fatigue driving state, giving an alarm, and controlling the vehicle to automatically run according to the running state of the vehicle and the road condition. The running state of the vehicle at least comprises the running direction and the running speed of the vehicle. The road condition at least comprises a lane where the vehicle is located, the distance between the vehicle and a front vehicle and the distance between the vehicle and a rear vehicle. The device comprises a detection module and a control module. According to the method and device for controlling the vehicle to run, even if the driver of the vehicle is in the fatigue driving state, the vehicle can run safely, the safety of the vehicle running is improved, and traffic accidents caused when the driver of the vehicle is in the fatigue driving state are effectively reduced.
Description
Technical field
The present invention relates to Vehicle Electronic Control field, particularly a kind of method and apparatus of controlling Vehicle Driving Cycle.
Background technology
In the world, fatigue driving is to cause one of major reason occurring traffic accident, in Vehicle Driving Cycle process, when chaufeur is during in fatigue driving state, how to guarantee that vehicle safe driving is the emphasis that industry is paid close attention to.
A kind of method of controlling Vehicle Driving Cycle is provided in prior art, can has been: whether detected the chaufeur of vehicle in fatigue driving state, if so, control current car retardation brake, to stop travelling when vehicle in front.
In realizing process of the present invention, contriver finds that prior art at least exists following problem:
When there is vehicle at the rear when vehicle in front, control current car retardation brake, also may there is traffic accident, especially on expressway, during the speed of front vehicle, the chaufeur of front vehicle has little time brake, can bump against in vehicle in front, thereby major traffic accidents occur.
Summary of the invention
In order to make to solve the problem of prior art, the invention provides a kind of method and apparatus of controlling Vehicle Driving Cycle.Described technical scheme is as follows:
On the one hand, the invention provides a kind of method of controlling Vehicle Driving Cycle, described method comprises:
Whether detect the chaufeur of vehicle in fatigue driving state;
If so, report to the police, and control described vehicle automatic running according to the motoring condition of described vehicle and road surface situation, the motoring condition of described vehicle at least comprises travel direction and the moving velocity of described vehicle; Described road surface situation at least comprises the front-and-rear vehicle distance of the residing track of described vehicle and described vehicle.
Preferably, describedly according to the motoring condition of described vehicle and road surface situation, control described vehicle automatic running, comprising:
According to the travel direction of vehicle described in the travel direction of described vehicle and the residing lane control of described vehicle;
According to the front-and-rear vehicle distance of the moving velocity of described vehicle and described vehicle, control the moving velocity of described vehicle.
Preferably, described according to the travel direction of vehicle described in the travel direction of described vehicle and the residing lane control of described vehicle, comprising:
Whether the travel direction that judges described vehicle is identical with the direction in the residing track of described vehicle;
If not, identical with the direction in the residing track of described vehicle by driving the bearing circle of described vehicle to control the travel direction of described vehicle;
Accordingly, the described front-and-rear vehicle distance according to the moving velocity of described vehicle and described vehicle is controlled the moving velocity of described vehicle, comprising:
Whether the front truck distance that judges described vehicle is less than the first default value, if so, controls described car retardation and travels;
Whether the rear car distance that judges described vehicle is less than the second default value, if so, controls described vehicle and gives it the gun.
Preferably, described in report to the police, comprising:
Send the first warning signal to remind the chaufeur of other vehicles outside described vehicle, the chaufeur that makes other vehicles outside described vehicle is to the described vehicle state of maintaining vigilance;
Send the second warning signal to remind the chaufeur of described vehicle.
Preferably, whether the chaufeur of described detection vehicle, in fatigue driving state, comprising:
Obtain the health behavior of the chaufeur of described vehicle, described health behavior at least comprises body gesture, the eyes closed frequency of the chaufeur of described vehicle and controls the dynamics of bearing circle;
Whether the chaufeur of determining described vehicle according to the body gesture of the chaufeur of described vehicle is in fatigue driving state;
Or whether the chaufeur of determining described vehicle according to the eyes closed frequency of the chaufeur of described vehicle is in fatigue driving state;
Or whether the chaufeur of determining described vehicle according to the dynamics of the control bearing circle of the chaufeur of described vehicle is in fatigue driving state.
On the other hand, the invention provides a kind of device of controlling Vehicle Driving Cycle, described method comprises:
Detection module, for detection of the chaufeur of vehicle whether in fatigue driving state;
Control module, if the chaufeur that detects vehicle for described detection module is when fatigue driving state, report to the police, and control described vehicle automatic running according to the motoring condition of described vehicle and road surface situation, the motoring condition of described vehicle at least comprises travel direction and the moving velocity of described vehicle; Described road surface situation at least comprises the front-and-rear vehicle distance of the residing track of described vehicle and described vehicle.
Preferably, described control module, comprising:
The first control unit, for according to the travel direction of vehicle described in the travel direction of described vehicle and the residing lane control of described vehicle;
The second control unit, for controlling the moving velocity of described vehicle according to the front-and-rear vehicle distance of the moving velocity of described vehicle and described vehicle.
Preferably, whether described the first control unit is identical with the direction in the residing track of described vehicle for judging the travel direction of described vehicle; If not, identical with the direction in the residing track of described vehicle by driving the bearing circle of described vehicle to control the travel direction of described vehicle;
Accordingly, described the second control unit, for judging that whether the front truck distance of described vehicle is less than the first default value, if so, controls described car retardation and travels; Whether the rear car distance that judges described vehicle is less than the second default value, if so, controls described vehicle and gives it the gun.
Preferably, described device also comprises:
The first sending module, for sending the first warning signal to remind the chaufeur of other vehicles outside described vehicle, the chaufeur that makes other vehicles outside described vehicle is to the described vehicle state of maintaining vigilance;
The second sending module, for sending the second warning signal to remind the chaufeur of described vehicle.
Preferably, described detection module, comprising:
Acquiring unit, for obtaining the health behavior of the chaufeur of described vehicle, described health behavior at least comprises body gesture, the eyes closed frequency of the chaufeur of described vehicle and controls the dynamics of bearing circle;
The first determining unit, for the chaufeur of determining described vehicle according to the body gesture of the chaufeur of described vehicle whether in fatigue driving state;
Or, the second determining unit, for the chaufeur of determining described vehicle according to the eyes closed frequency of the chaufeur of described vehicle whether in fatigue driving state;
Or, the 3rd determining unit, for the chaufeur of determining described vehicle according to the dynamics of the control bearing circle of the chaufeur of described vehicle whether in fatigue driving state.
In the embodiment of the present invention, whether detect the chaufeur of vehicle in fatigue driving state; If detect the chaufeur of vehicle when fatigue driving state, according to the motoring condition of vehicle and road surface situation, control vehicle automatic running, even if thereby the chaufeur that can guarantee vehicle is in fatigue driving state, vehicle also can safety traffic, improve the safety of Vehicle Driving Cycle, effectively reduced the traffic accident that the chaufeur due to vehicle causes in fatigue driving state.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the method flow diagram of the control Vehicle Driving Cycle that provides of the embodiment of the present invention 1;
Fig. 2 is the method flow diagram of the control Vehicle Driving Cycle that provides of the embodiment of the present invention 2;
Fig. 3 is the apparatus structure schematic diagram of the control Vehicle Driving Cycle that provides of the embodiment of the present invention 3.
The specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiment 1
The embodiment of the present invention provides a kind of method of controlling Vehicle Driving Cycle.Referring to Fig. 1, wherein, the method comprises:
101: whether detect the chaufeur of vehicle in fatigue driving state;
102: if, to report to the police, and control vehicle automatic running according to the motoring condition of vehicle and road surface situation, the motoring condition of vehicle at least comprises travel direction and the moving velocity of vehicle; Road surface situation at least comprises the front-and-rear vehicle distance of the residing track of vehicle and vehicle.
In the embodiment of the present invention, whether detect the chaufeur of vehicle in fatigue driving state; If detect the chaufeur of vehicle when fatigue driving state, according to the motoring condition of vehicle and road surface situation, control vehicle automatic running, even if thereby the chaufeur that can guarantee vehicle is in fatigue driving state, vehicle also can safety traffic, improve the safety of Vehicle Driving Cycle, effectively reduced the traffic accident that the chaufeur due to vehicle causes in fatigue driving state.
Embodiment 2
The embodiment of the present invention provides a kind of method of controlling Vehicle Driving Cycle.Referring to Fig. 2, wherein, the method comprises:
201: whether detect the chaufeur of vehicle in fatigue driving state, if so, perform step 202;
Particularly, obtain the health behavior of the chaufeur of vehicle, this health behavior at least comprises body gesture, the eyes closed frequency of the chaufeur of vehicle and controls the dynamics of bearing circle; Whether the chaufeur of determining vehicle according to the body gesture of the chaufeur of vehicle is in fatigue driving state.
Wherein, according to the body gesture of the chaufeur of vehicle, determine the whether operation in fatigue driving state of chaufeur of vehicle, can be:
Whether the chaufeur of determining vehicle according to the body gesture of the chaufeur of vehicle is in fatigue driving state; Or whether the chaufeur of determining vehicle according to the eyes closed frequency of the chaufeur of vehicle is in fatigue driving state; Or whether the chaufeur of determining vehicle according to the dynamics of the control bearing circle of the chaufeur of vehicle is in fatigue driving state.
Wherein, according to the body gesture of the chaufeur of vehicle, determine the whether operation in fatigue driving state of chaufeur of vehicle, can be:
Obtain the residing location information of head of the chaufeur of vehicle, this location information comprises longitude and latitude information, according to the residing location information of the head of the chaufeur of vehicle and default longitude and latitude information, calculate the variable quantity of longitude of head of chaufeur of vehicle and the variable quantity of the latitude of the head of the chaufeur of vehicle, whether the chaufeur of determining vehicle according to the variable quantity of the variable quantity of longitude and latitude is in fatigue driving state.
Wherein, according to the variable quantity of longitude, determine the whether operation in fatigue driving state of chaufeur of vehicle, can be:
Whether the variable quantity that judges longitude is greater than the 3rd default value, if the variable quantity of longitude is greater than the 3rd default value, determines the chaufeur of vehicle in fatigue driving state; If the variable quantity of longitude is not more than the 3rd default value, determine the chaufeur of vehicle in non-fatigue driving state.
Wherein, according to the variable quantity of latitude, determine the whether operation in fatigue driving state of chaufeur of vehicle, can be:
Whether the variable quantity that judges latitude is greater than the 4th default value, if the variable quantity of latitude is greater than the 4th default value, determines the chaufeur of vehicle in fatigue driving state; If the variable quantity of latitude is not more than the 4th default value, determine the chaufeur of vehicle in non-fatigue driving state.
Wherein, according to the body gesture of the chaufeur of vehicle, determine the whether operation in fatigue driving state of chaufeur of vehicle, can also be:
Obtain the frequency of opening one's mouth of the chaufeur of vehicle, judge whether the frequency of opening one's mouth of the chaufeur of vehicle is greater than the 5th default value, if the frequency of opening one's mouth of the chaufeur of vehicle is greater than the 5th default value, determine the chaufeur of vehicle in fatigue driving state; When if the frequency of opening one's mouth of the chaufeur of vehicle is not more than the 5th default value, determine the chaufeur of vehicle in non-fatigue driving state.
Wherein, when the chaufeur of vehicle is during in fatigue driving state, the chaufeur of vehicle may be yawned continually, and the frequency of opening one's mouth of the chaufeur of vehicle is greater than the 5th default value, thereby the chaufeur of determining vehicle is in fatigue driving state; Or when the chaufeur of vehicle and the people outside chaufeur speak or make a phone call, the frequency of opening one's mouth of the chaufeur of vehicle is greater than the 5th default value, the distraction of chaufeur, thus the chaufeur of determining vehicle is in fatigue driving state.
Wherein, according to the body gesture of the chaufeur of vehicle, determine the whether operation in fatigue driving state of chaufeur of vehicle, can also be:
Obtain the crown of chaufeur and the distance of vehicle ground of vehicle, and judge that this distance is whether in the first preset range, if the head of the chaufeur of vehicle and the distance of vehicle ground, not in the first preset range, are determined the chaufeur of vehicle in fatigue driving state; If the head of the chaufeur of vehicle and the distance of vehicle ground in the first preset range, are determined the chaufeur of vehicle in non-fatigue driving state.
Wherein, when the chaufeur of vehicle is during in fatigue driving state, the head of the chaufeur of vehicle may be low, now, the head of the chaufeur of vehicle and the distance of vehicle ground be not in the first preset range, thereby the chaufeur of determining vehicle is in fatigue driving state.
Wherein, according to the body gesture of the chaufeur of vehicle, determine the whether operation in fatigue driving state of chaufeur of vehicle, can also be:
Whether the eyes closed frequency that judges the chaufeur of vehicle is greater than the 5th default value, if the eyes closed frequency of the chaufeur of vehicle is greater than the 6th default value, determines the chaufeur of vehicle in fatigue driving state; If the eyes closed frequency of the chaufeur of vehicle is not more than the 6th default value, determine the chaufeur of vehicle in non-fatigue driving state.
Wherein, when the chaufeur of vehicle is during in fatigue driving state, the chaufeur of vehicle may frequently be blinked, and the eyes closed frequency of the chaufeur of vehicle may be greater than the 6th default value, thereby the chaufeur of determining vehicle is in fatigue driving state.
Wherein, according to the body gesture of the chaufeur of vehicle, determine the whether operation in fatigue driving state of chaufeur of vehicle, can also be:
Whether the dynamics of control bearing circle that judges the chaufeur of vehicle is less than the 7th default value, if the dynamics of the control bearing circle of the chaufeur of vehicle is less than the 7th default value, determines the chaufeur of vehicle in fatigue driving state; If the dynamics of the control bearing circle of the chaufeur of vehicle is not less than the 7th default value, determine the chaufeur of vehicle in non-fatigue driving state.
Wherein, when the chaufeur of vehicle is during in fatigue driving state, the dynamics that the chaufeur of vehicle is controlled bearing circle can diminish, and when the dynamics of the control bearing circle of the chaufeur of vehicle is less than the 7th default value, thereby the chaufeur of determining vehicle is in fatigue driving state.
Wherein, the 3rd default value, the 4th default value, the 5th default value, the 6th default value, the 7th default value and the first preset range can arrange and change according to the demand of the chaufeur of vehicle, and the embodiment of the present invention is not specifically limited the concrete value of the 3rd default value, the 4th default value, the 5th default value, the 6th default value, the 7th default value and the first preset range.
Further, detect the chaufeur of vehicle when fatigue driving state, perform step 202.Detect the chaufeur of vehicle when non-fatigue driving state, be left intact.
202: report to the police;
Particularly, send the first warning signal to remind the chaufeur of other vehicles outside vehicle, the chaufeur that makes other vehicles outside vehicle is to this vehicle state of maintaining vigilance; Send the second warning signal to remind the chaufeur of vehicle.
Wherein, the chaufeur of other vehicles outside this vehicle receives the first warning signal that this vehicle sends, and according to this first warning signal, determines this vehicle in fatigue driving state.The chaufeur of other vehicles outside this vehicle reminds the driver safety of this vehicle to drive; Or the chaufeur of other vehicles outside this vehicle is driven remaining a safe distance behind the car in front of this vehicle and this vehicle.
Wherein, in embodiments of the present invention, the first warning signal can be dodged for opening the two of this vehicle; The second warning signal can be for sending speech message, and this speech message can be " asking safe driving " etc.
Wherein, in embodiments of the present invention, when the chaufeur that detects vehicle is during in fatigue driving state, send the first warning signal and the second warning signal to remind the chaufeur of other vehicles and the chaufeur of this vehicle outside vehicle, thus the safety traffic of assurance vehicle energy.
203: according to the motoring condition of vehicle and road surface situation, control vehicle automatic running.
Particularly, obtain travel direction and the residing track of vehicle of vehicle, according to the travel direction of the travel direction of vehicle and the residing lane control vehicle of vehicle; Obtain the moving velocity of vehicle and the front-and-rear vehicle distance of vehicle, according to the front-and-rear vehicle distance of the moving velocity of vehicle and vehicle, control the moving velocity of vehicle.
Wherein, the operation according to the travel direction of the travel direction of vehicle and the residing lane control vehicle of vehicle, can be:
Whether the travel direction that judges vehicle is identical with the direction in the residing track of vehicle; If the direction in the travel direction of vehicle and the residing track of vehicle is not identical, the travel direction of controlling vehicle by the bearing circle of driving vehicle is identical with the direction in the residing track of vehicle; If the travel direction of vehicle is identical with the direction in the residing track of vehicle, controls vehicle and keep the direction identical with the direction of the residing vehicle of vehicle to continue to travel.
Further, determine the travel direction of vehicle when identical with the residing track of vehicle, judgement vehicle, apart from the distance of track left margin and vehicle apart from the distance of track right margin, is controlled the travel direction of vehicle according to vehicle apart from distance and the vehicle of track left margin apart from the distance of track right margin.
Wherein, according to vehicle, apart from the distance of track left margin, control the operation of the travel direction of vehicle, can be:
Judge whether vehicle is greater than the 8th default value apart from the distance of track left margin, if vehicle is greater than the 8th default value apart from the distance of track left margin, by driving the bearing circle of vehicle to control vehicle right steering; If vehicle is not more than the 8th default value apart from the distance of track left margin, controls vehicle and keep former direction to continue to travel.
Wherein, according to vehicle, apart from the distance of track right margin, control the operation of the travel direction of vehicle, can be:
Judge whether vehicle is greater than the 9th default value apart from the distance of track right margin, if vehicle is greater than the 9th default value apart from the distance of track right margin, by driving the bearing circle of vehicle to control vehicle left steering; If vehicle is not more than the 9th default value apart from the distance of track right margin, controls vehicle and keep former direction to continue to travel.
Wherein, the 8th default value and the 9th default value can arrange and change according to the width of the width in track and vehicle, and the embodiment of the present invention is not specifically limited the concrete value of the 8th default value and the 9th default value.
Wherein, if the direction in the travel direction of vehicle and the residing track of vehicle is not identical, by driving the bearing circle of vehicle to control the travel direction operation identical with the direction in the residing track of vehicle of vehicle, can be:
The travel direction of judgement vehicle is taken back or is taken over compared to the residing track of vehicle, if when determining the travel direction of vehicle and taking back compared to the residing track of vehicle, drives vehicle right steering; If when determining the travel direction of vehicle and taking over compared to the residing track of vehicle, drive vehicle left steering.
Wherein, according to the front-and-rear vehicle distance of the moving velocity of vehicle and vehicle, control the operation of the moving velocity of vehicle, can be:
Judge that the front truck of vehicle is apart from whether being less than the first default value, if the front truck of vehicle, apart from being less than the first default value, being controlled car retardation and travelled; If the front truck of vehicle, apart from being not less than the first default value, being controlled vehicle and is kept former speed to continue to travel; Judge that the rear car of vehicle is apart from whether being less than the second default value, if the rear car of vehicle, apart from being less than the second default value, being controlled vehicle and given it the gun; If the rear car of vehicle, apart from being not less than the second default value, being controlled vehicle and is kept former speed to continue to travel.
Wherein, the first default value and the second default value can arrange as required and change, and the embodiment of the present invention is not done concrete restriction to the value of the first default value and the second default value.
Wherein, it should be noted that, in embodiments of the present invention, can first perform step 202: report to the police, then perform step 203: according to the motoring condition of vehicle and road surface situation, control vehicle automatic running; Also can first perform step 203: according to the motoring condition of vehicle and road surface situation, control vehicle automatic running, then perform step 202: report to the police.The present invention is not specifically limited the sequencing of step 202 and step 203.
In the embodiment of the present invention, whether detect the chaufeur of vehicle in fatigue driving state; If detect the chaufeur of vehicle when fatigue driving state, according to the motoring condition of vehicle and road surface situation, control vehicle automatic running, even if thereby the chaufeur that can guarantee vehicle is in fatigue driving state, vehicle also can safety traffic, improve the safety of Vehicle Driving Cycle, effectively reduced the traffic accident that the chaufeur due to vehicle causes in fatigue driving state.
Embodiment 3
The embodiment of the present invention provides a kind of device of controlling Vehicle Driving Cycle.Referring to Fig. 3, wherein, this device comprises:
Preferably, control module 302, comprising:
The first control unit 3021, for according to the travel direction of the travel direction of vehicle and the residing lane control vehicle of vehicle;
The second control unit 3022, for controlling the moving velocity of vehicle according to the front-and-rear vehicle distance of the moving velocity of vehicle and vehicle.
Preferably, whether the first control unit 3021 is identical with the direction in the residing track of vehicle for judging the travel direction of vehicle; If not, identical with the direction in the residing track of vehicle by driving the bearing circle of vehicle to control the travel direction of vehicle;
Accordingly, the second control unit 3022, for judging that whether the front truck distance of vehicle is less than the first default value, if so, controls car retardation and travels; Judge whether the rear car of vehicle is apart from being less than the second default value, and if so, control vehicle gives it the gun.
Preferably, this device also comprises:
The first sending module 303, for sending the first warning signal to remind the chaufeur of other vehicles outside vehicle, the chaufeur that makes other vehicles outside vehicle is to the vehicle state of maintaining vigilance;
The second sending module 304, for sending the second warning signal to remind the chaufeur of vehicle.
Preferably, detection module 301, comprising:
Acquiring unit 3011, for obtaining the health behavior of the chaufeur of vehicle, health behavior at least comprises body gesture, the eyes closed frequency of the chaufeur of vehicle and controls the dynamics of bearing circle;
The first determining unit 3012, for the chaufeur of determining vehicle according to the body gesture of the chaufeur of vehicle whether in fatigue driving state;
Or, the second determining unit 3013, for the chaufeur of determining vehicle according to the eyes closed frequency of the chaufeur of vehicle whether in fatigue driving state;
Or, the 3rd determining unit 3014, for the chaufeur of determining vehicle according to the dynamics of the control bearing circle of the chaufeur of vehicle whether in fatigue driving state.
In the embodiment of the present invention, whether detect the chaufeur of vehicle in fatigue driving state; If detect the chaufeur of vehicle when fatigue driving state, according to the motoring condition of vehicle and road surface situation, control vehicle automatic running, even if thereby the chaufeur that can guarantee vehicle is in fatigue driving state, vehicle also can safety traffic, improve the safety of Vehicle Driving Cycle, effectively reduced the traffic accident that the chaufeur due to vehicle causes in fatigue driving state.
It should be noted that: the device of the control Vehicle Driving Cycle that above-described embodiment provides is when controlling Vehicle Driving Cycle, only the division with above-mentioned each functional module is illustrated, in practical application, can above-mentioned functions be distributed and by different functional modules, completed as required, the inner structure that is about to device is divided into different functional modules, to complete all or part of function described above.In addition, the device of the control Vehicle Driving Cycle that above-described embodiment provides belongs to same design with the embodiment of the method for controlling Vehicle Driving Cycle, and its specific implementation process refers to embodiment of the method, repeats no more here.
One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can complete by hardware, also can come the hardware that instruction is relevant to complete by program, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be read-only memory (ROM), disk or CD etc.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a method of controlling Vehicle Driving Cycle, is characterized in that, described method comprises:
Whether detect the chaufeur of vehicle in fatigue driving state;
If so, report to the police, and control described vehicle automatic running according to the motoring condition of described vehicle and road surface situation, the motoring condition of described vehicle at least comprises travel direction and the moving velocity of described vehicle; Described road surface situation at least comprises the front-and-rear vehicle distance of the residing track of described vehicle and described vehicle.
2. the method for claim 1, is characterized in that, describedly according to the motoring condition of described vehicle and road surface situation, controls described vehicle automatic running, comprising:
According to the travel direction of vehicle described in the travel direction of described vehicle and the residing lane control of described vehicle;
According to the front-and-rear vehicle distance of the moving velocity of described vehicle and described vehicle, control the moving velocity of described vehicle.
3. method as claimed in claim 2, is characterized in that, described according to the travel direction of vehicle described in the travel direction of described vehicle and the residing lane control of described vehicle, comprising:
Whether the travel direction that judges described vehicle is identical with the direction in the residing track of described vehicle;
If not, identical with the direction in the residing track of described vehicle by driving the bearing circle of described vehicle to control the travel direction of described vehicle;
Accordingly, the described front-and-rear vehicle distance according to the moving velocity of described vehicle and described vehicle is controlled the moving velocity of described vehicle, comprising:
Whether the front truck distance that judges described vehicle is less than the first default value, if so, controls described car retardation and travels;
Whether the rear car distance that judges described vehicle is less than the second default value, if so, controls described vehicle and gives it the gun.
4. the method for claim 1, is characterized in that, described in report to the police, comprising:
Send the first warning signal to remind the chaufeur of other vehicles outside described vehicle, the chaufeur that makes other vehicles outside described vehicle is to the described vehicle state of maintaining vigilance;
Send the second warning signal to remind the chaufeur of described vehicle.
5. the method for claim 1, is characterized in that, whether the chaufeur of described detection vehicle, in fatigue driving state, comprising:
Obtain the health behavior of the chaufeur of described vehicle, described health behavior at least comprises body gesture, the eyes closed frequency of the chaufeur of described vehicle and controls the dynamics of bearing circle;
Whether the chaufeur of determining described vehicle according to the body gesture of the chaufeur of described vehicle is in fatigue driving state;
Or whether the chaufeur of determining described vehicle according to the eyes closed frequency of the chaufeur of described vehicle is in fatigue driving state;
Or whether the chaufeur of determining described vehicle according to the dynamics of the control bearing circle of the chaufeur of described vehicle is in fatigue driving state.
6. a device of controlling Vehicle Driving Cycle, is characterized in that, described method comprises:
Detection module, for detection of the chaufeur of vehicle whether in fatigue driving state;
Control module, if the chaufeur that detects vehicle for described detection module is when fatigue driving state, report to the police, and control described vehicle automatic running according to the motoring condition of described vehicle and road surface situation, the motoring condition of described vehicle at least comprises travel direction and the moving velocity of described vehicle; Described road surface situation at least comprises the front-and-rear vehicle distance of the residing track of described vehicle and described vehicle.
7. method as claimed in claim 6, is characterized in that, described control module, comprising:
The first control unit, for according to the travel direction of vehicle described in the travel direction of described vehicle and the residing lane control of described vehicle;
The second control unit, for controlling the moving velocity of described vehicle according to the front-and-rear vehicle distance of the moving velocity of described vehicle and described vehicle.
8. method as claimed in claim 7, is characterized in that,
Whether described the first control unit is identical with the direction in the residing track of described vehicle for judging the travel direction of described vehicle; If not, identical with the direction in the residing track of described vehicle by driving the bearing circle of described vehicle to control the travel direction of described vehicle;
Accordingly, described the second control unit, for judging that whether the front truck distance of described vehicle is less than the first default value, if so, controls described car retardation and travels; Whether the rear car distance that judges described vehicle is less than the second default value, if so, controls described vehicle and gives it the gun.
9. method as claimed in claim 6, is characterized in that, described device also comprises:
The first sending module, for sending the first warning signal to remind the chaufeur of other vehicles outside described vehicle, the chaufeur that makes other vehicles outside described vehicle is to the described vehicle state of maintaining vigilance;
The second sending module, for sending the second warning signal to remind the chaufeur of described vehicle.
10. method as claimed in claim 6, is characterized in that, described detection module, comprising:
Acquiring unit, for obtaining the health behavior of the chaufeur of described vehicle, described health behavior at least comprises body gesture, the eyes closed frequency of the chaufeur of described vehicle and controls the dynamics of bearing circle;
The first determining unit, for the chaufeur of determining described vehicle according to the body gesture of the chaufeur of described vehicle whether in fatigue driving state;
Or, the second determining unit, for the chaufeur of determining described vehicle according to the eyes closed frequency of the chaufeur of described vehicle whether in fatigue driving state;
Or, the 3rd determining unit, for the chaufeur of determining described vehicle according to the dynamics of the control bearing circle of the chaufeur of described vehicle whether in fatigue driving state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310454297.4A CN103507809B (en) | 2013-09-27 | 2013-09-27 | A kind of method and apparatus of controlling Vehicle Driving Cycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310454297.4A CN103507809B (en) | 2013-09-27 | 2013-09-27 | A kind of method and apparatus of controlling Vehicle Driving Cycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103507809A true CN103507809A (en) | 2014-01-15 |
| CN103507809B CN103507809B (en) | 2016-05-18 |
Family
ID=49891377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310454297.4A Active CN103507809B (en) | 2013-09-27 | 2013-09-27 | A kind of method and apparatus of controlling Vehicle Driving Cycle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103507809B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015726A (en) * | 2014-06-30 | 2014-09-03 | 长城汽车股份有限公司 | Automobile cruise control method, device, system and automobile |
| CN104477113A (en) * | 2014-12-22 | 2015-04-01 | 联想(北京)有限公司 | Control method, system and automobile |
| CN104590273A (en) * | 2014-12-26 | 2015-05-06 | 贵州万臻时代通讯技术有限公司 | Safe driving system and method based on human body reactions |
| CN105000020A (en) * | 2014-04-22 | 2015-10-28 | 通用汽车环球科技运作有限责任公司 | Systems and methods for interpreting driver physiological data based on vehicle events |
| CN105139584A (en) * | 2015-09-30 | 2015-12-09 | 宇龙计算机通信科技(深圳)有限公司 | Fatigue driving processing method and apparatus |
| CN106347375A (en) * | 2016-08-29 | 2017-01-25 | 乐视控股（北京）有限公司 | Vehicle driving monitoring method and device |
| CN106828501A (en) * | 2017-01-06 | 2017-06-13 | 汽-大众汽车有限公司 | A kind of vehicle assistant drive method, device and vehicle |
| CN107139928A (en) * | 2017-05-24 | 2017-09-08 | 成都志博科技有限公司 | ADAS systems for preventing fatigue driving |
| CN107253479A (en) * | 2017-06-30 | 2017-10-17 | 成都西华升腾科技有限公司 | Use the ADAS systems of IMU preventing fatigue drivings |
| CN107635845A (en) * | 2016-05-08 | 2018-01-26 | 深圳市欸阿技术有限公司 | The method and device of vehicle traveling control |
| CN107660189A (en) * | 2015-05-22 | 2018-02-02 | 罗伯特·博世有限公司 | The system boundary automatically controlled |
| CN107697068A (en) * | 2016-08-08 | 2018-02-16 | 丰田自动车株式会社 | Controlling device for vehicle running |
| CN109703560A (en) * | 2019-01-25 | 2019-05-03 | 安徽酷哇机器人有限公司 | The method for automatically controlling automatic driving vehicle and following distance between vehicle |
| CN109766735A (en) * | 2017-11-02 | 2019-05-17 | 北京嘀嘀无限科技发展有限公司 | Travel monitoring method, device, mobile terminal and computer readable storage medium |
| CN110641467A (en) * | 2018-06-25 | 2020-01-03 | 广州汽车集团股份有限公司 | Vehicle distance control method and device of adaptive cruise system |
| CN110914876A (en) * | 2017-08-25 | 2020-03-24 | 戴姆勒股份公司 | Method for assigning access authorization and driving authorization |
| CN111507170A (en) * | 2019-01-31 | 2020-08-07 | 斯特拉德视觉公司 | Method and device for warning driver of abnormal state by vehicle-to-vehicle connection |
| CN111615722A (en) * | 2017-12-19 | 2020-09-01 | 智加科技公司 | Method and system for risk control in switching driving modes |
| CN111824166A (en) * | 2019-03-29 | 2020-10-27 | 长城汽车股份有限公司 | Fatigue reminding method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1218355A (en) * | 1998-11-24 | 1999-06-02 | 杨更新 | Automatic driving system of vehicle |
| CN1613425A (en) * | 2004-09-15 | 2005-05-11 | 南京大学 | Method and system for drivers' fatigue prealarming biological identification |
| CN201309451Y (en) * | 2008-11-17 | 2009-09-16 | 比亚迪股份有限公司 | Alarm system for preventing fatigue driving |
| JP4425302B2 (en) * | 2007-10-09 | 2010-03-03 | 三菱電機株式会社 | Vehicle traffic management device |
| CN202743136U (en) * | 2012-06-19 | 2013-02-20 | 浙江吉利汽车研究院有限公司杭州分公司 | Simple automobile anti-fatigue driving device |
| CN103318023A (en) * | 2013-06-21 | 2013-09-25 | 同济大学 | Vehicle-mounted real-time intelligent fatigue monitoring and auxiliary device |
-
2013
- 2013-09-27 CN CN201310454297.4A patent/CN103507809B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1218355A (en) * | 1998-11-24 | 1999-06-02 | 杨更新 | Automatic driving system of vehicle |
| CN1613425A (en) * | 2004-09-15 | 2005-05-11 | 南京大学 | Method and system for drivers' fatigue prealarming biological identification |
| JP4425302B2 (en) * | 2007-10-09 | 2010-03-03 | 三菱電機株式会社 | Vehicle traffic management device |
| CN201309451Y (en) * | 2008-11-17 | 2009-09-16 | 比亚迪股份有限公司 | Alarm system for preventing fatigue driving |
| CN202743136U (en) * | 2012-06-19 | 2013-02-20 | 浙江吉利汽车研究院有限公司杭州分公司 | Simple automobile anti-fatigue driving device |
| CN103318023A (en) * | 2013-06-21 | 2013-09-25 | 同济大学 | Vehicle-mounted real-time intelligent fatigue monitoring and auxiliary device |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105000020A (en) * | 2014-04-22 | 2015-10-28 | 通用汽车环球科技运作有限责任公司 | Systems and methods for interpreting driver physiological data based on vehicle events |
| CN104015726A (en) * | 2014-06-30 | 2014-09-03 | 长城汽车股份有限公司 | Automobile cruise control method, device, system and automobile |
| CN104477113A (en) * | 2014-12-22 | 2015-04-01 | 联想(北京)有限公司 | Control method, system and automobile |
| CN104590273A (en) * | 2014-12-26 | 2015-05-06 | 贵州万臻时代通讯技术有限公司 | Safe driving system and method based on human body reactions |
| CN107660189A (en) * | 2015-05-22 | 2018-02-02 | 罗伯特·博世有限公司 | The system boundary automatically controlled |
| CN105139584A (en) * | 2015-09-30 | 2015-12-09 | 宇龙计算机通信科技(深圳)有限公司 | Fatigue driving processing method and apparatus |
| WO2017054279A1 (en) * | 2015-09-30 | 2017-04-06 | 宇龙计算机通信科技(深圳)有限公司 | Fatigued driving processing method and apparatus |
| CN107635845A (en) * | 2016-05-08 | 2018-01-26 | 深圳市欸阿技术有限公司 | The method and device of vehicle traveling control |
| CN107697068A (en) * | 2016-08-08 | 2018-02-16 | 丰田自动车株式会社 | Controlling device for vehicle running |
| CN106347375A (en) * | 2016-08-29 | 2017-01-25 | 乐视控股（北京）有限公司 | Vehicle driving monitoring method and device |
| CN106828501A (en) * | 2017-01-06 | 2017-06-13 | 汽-大众汽车有限公司 | A kind of vehicle assistant drive method, device and vehicle |
| CN107139928A (en) * | 2017-05-24 | 2017-09-08 | 成都志博科技有限公司 | ADAS systems for preventing fatigue driving |
| CN107253479A (en) * | 2017-06-30 | 2017-10-17 | 成都西华升腾科技有限公司 | Use the ADAS systems of IMU preventing fatigue drivings |
| CN110914876A (en) * | 2017-08-25 | 2020-03-24 | 戴姆勒股份公司 | Method for assigning access authorization and driving authorization |
| CN109766735A (en) * | 2017-11-02 | 2019-05-17 | 北京嘀嘀无限科技发展有限公司 | Travel monitoring method, device, mobile terminal and computer readable storage medium |
| CN111615722A (en) * | 2017-12-19 | 2020-09-01 | 智加科技公司 | Method and system for risk control in switching driving modes |
| CN110641467A (en) * | 2018-06-25 | 2020-01-03 | 广州汽车集团股份有限公司 | Vehicle distance control method and device of adaptive cruise system |
| CN109703560A (en) * | 2019-01-25 | 2019-05-03 | 安徽酷哇机器人有限公司 | The method for automatically controlling automatic driving vehicle and following distance between vehicle |
| CN111507170A (en) * | 2019-01-31 | 2020-08-07 | 斯特拉德视觉公司 | Method and device for warning driver of abnormal state by vehicle-to-vehicle connection |
| CN111507170B (en) * | 2019-01-31 | 2023-11-28 | 斯特拉德视觉公司 | Method and device for warning a driver of an abnormal state by means of a vehicle-to-vehicle connection |
| CN111824166A (en) * | 2019-03-29 | 2020-10-27 | 长城汽车股份有限公司 | Fatigue reminding method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103507809B (en) | 2016-05-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103507809A (en) | Method and device for controlling vehicle to run | |
| US10023187B2 (en) | Method for operating an autonomous driving safety or driver assistance system of a motor vehicle | |
| CN110293969B (en) | Self-adaptive cruise driving system and method and automobile | |
| CN205395915U (en) | Automatic control system for automobile steering lamp | |
| CN105398379B (en) | Drive assisted image display methods | |
| CN104442811B (en) | Control method of parking and equipment | |
| CN105246733A (en) | Method and device for emergency assistance | |
| CN102167040B (en) | Vehicle running speed control method and device thereof | |
| CN206141333U (en) | Vehicle autopilot auto -change over device based on divert one's attention driving action and differentiate | |
| CN105216727A (en) | A kind of vehicle distances detection active safety system and control method | |
| KR20170042961A (en) | Vehicle control apparatus and method for driving safety | |
| CN105711441A (en) | Vehicle speed control method and system | |
| JP2010125923A (en) | Emergency refuge device | |
| CN104015725A (en) | Lane departure warning method based on multi-parameter decision | |
| CN108437988B (en) | Transverse control device and method for intelligent navigation system | |
| CN108010382A (en) | Auxiliary driving device, method and automobile | |
| CN107452217A (en) | Fast traffic lane drives warning unit and method | |
| CN108082285A (en) | The method and apparatus for controlling vehicle traveling | |
| CN105551285A (en) | Intelligent and safe driver assistance system | |
| CN104057896A (en) | Vehicle-mounted reminding device | |
| CN109050398A (en) | A kind of automobile runs at a low speed safe early warning method | |
| CN110316056A (en) | Prevent traffic object overtaking-collision method, device, computer equipment and storage medium | |
| CN109878519A (en) | A kind of distribution electric drive automobile congestion following control system and method | |
| CN102622881B (en) | Method and device for detecting vibration | |
| CN110103813B (en) | Steering lamp auxiliary control method and steering lamp auxiliary control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |