CN108407810A - Following state method of adjustment, apparatus and system - Google Patents
Following state method of adjustment, apparatus and system Download PDFInfo
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- CN108407810A CN108407810A CN201810336352.2A CN201810336352A CN108407810A CN 108407810 A CN108407810 A CN 108407810A CN 201810336352 A CN201810336352 A CN 201810336352A CN 108407810 A CN108407810 A CN 108407810A
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000003044 adaptive effect Effects 0.000 claims abstract description 38
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000006870 function Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000008901 benefit Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000001556 precipitation Methods 0.000 description 3
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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
- B60W30/162—Speed limiting therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of following state method of adjustment, apparatus and systems, are related to safe driving technical field, and this method includes：When monitoring that current vehicle starts adaptive cruise pattern, the weather conditions parameter of current vehicle when driving is obtained according to preset time interval；The attachment coefficient of current vehicle is modified according to weather conditions parameter；The braking distance of current vehicle is calculated based on revised attachment coefficient；The following state of current vehicle under adaptive cruise pattern is adjusted according to braking distance.Following state method of adjustment provided by the invention, apparatus and system, it can be when current vehicle starts adaptive cruise pattern, the attachment coefficient of current vehicle is modified according to weather conditions parameter, it helps to realize and following distance is adjusted under adaptive cruise pattern, promote the safety of automatic Pilot, it also helps to driver to be manually adjusted too much, and then improves the Experience Degree of driver.
Description
Technical field
The present invention relates to the technical fields of safe driving, more particularly, to a kind of following state method of adjustment, device and are
System.
Background technology
Adaptive cruise control system (Adaptive Cruise Control, ACC) is that a kind of vehicle safety auxiliary is driven
System is sailed, can will be reported to shock before automobile automatic cruise control system (Cruise Control System, CCS) and vehicle
Alert system (Forward Collision Warning System, FCWS) organically combines, and existing automatic cruising drives
Function, and have placement before to hit function.
But due to the limitation of sensor technology and signal processing technology and means of transportation etc. factor, cause to match
The vehicle for being equipped with adaptive cruise control system is difficult the progress automatic cruising driving under adaptive cruise pattern, needs driver
It is adjusted at any time, reduces the Experience Degree of driver.
For needing driver to be adjusted under above-mentioned adaptive cruise pattern, asking for the Experience Degree of driver is reduced
Topic, currently no effective solution has been proposed.
Invention content
In view of this, the purpose of the present invention is to provide a kind of following state method of adjustment, apparatus and system, driven with alleviating
The relatively low technical problem of the person's of sailing Experience Degree.
In a first aspect, an embodiment of the present invention provides a kind of following state method of adjustment, this method includes：When monitoring to work as
When vehicle in front starts adaptive cruise pattern, the weather conditions of current vehicle when driving are obtained according to preset time interval
Parameter；The attachment coefficient of current vehicle is modified according to weather conditions parameter；Worked as based on the calculating of revised attachment coefficient
The braking distance of vehicle in front；The following state of current vehicle under adaptive cruise pattern is adjusted according to braking distance.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein on
Stating the step of being modified to the attachment coefficient of current vehicle according to weather conditions parameter includes：Calculate the attachment system of current vehicle
Number；Modifying factor corresponding with weather conditions parameter is searched in pre-stored attachment parameters revision table according to weather conditions parameter
Son；The attachment coefficient of current vehicle is modified by modifying factor.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiments of first aspect, wherein on
Stating the step of being adjusted to the following state of current vehicle under adaptive cruise pattern according to braking distance includes：Pass through radar
The opposite driving parameters of sensor measurement current vehicle and front truck, opposite driving parameters include one kind or more in following parameter
Kind, relative distance, relative velocity and/or relative acceleration；According to opposite driving parameters and braking distance to executing control unit
Control command is sent, the following state of current vehicle is adjusted.
Second of possible embodiment with reference to first aspect, an embodiment of the present invention provides the third of first aspect
Possible embodiment, wherein above-mentioned basis sends control command with respect to driving parameters and braking distance to control unit is executed,
The step of being adjusted to the following state of current vehicle include：It is single to control is executed when relative distance is less than braking distance
Member sends deceleration instruction；When relative distance is more than braking distance, it is pre- to judge whether relative velocity and/or relative acceleration are more than
The threshold value first set；If so, sending deceleration instruction to control unit is executed.
Second of possible embodiment with reference to first aspect, an embodiment of the present invention provides the 4th kind of first aspect
Possible embodiment, wherein the above method further includes：When relative distance is more than braking distance, current vehicle traveling is obtained
The traffic information in direction；Send control command to control unit is executed according to traffic information, to the following state of current vehicle into
Row adjustment.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiments of first aspect, wherein on
Stating the step of obtaining the weather conditions parameter of current vehicle when driving according to preset time interval includes：According to setting in advance
Fixed time interval obtains the state of weather parameter of current vehicle when driving, wherein day by rain sensor and/or camera
Gaseity parameter includes：Weather parameters and image parameter.
With reference to first aspect, an embodiment of the present invention provides the 6th kind of possible embodiments of first aspect, wherein on
The method of stating further includes：By the way of voice broadcast, under adaptive cruise pattern, the following state of current vehicle is broadcast
Report.
Second aspect, the embodiment of the present invention additionally provide a kind of following state adjusting apparatus, which includes：Obtain mould
Block, for when monitoring that current vehicle starts adaptive cruise pattern, current vehicle to be obtained according to preset time interval
Weather conditions parameter when driving；Correcting module, for being carried out to the attachment coefficient of current vehicle according to weather conditions parameter
It corrects；Computing module, the braking distance for calculating current vehicle based on revised attachment coefficient；Module is adjusted, root is used for
The following state of current vehicle under adaptive cruise pattern is adjusted according to braking distance.
In conjunction with second aspect, an embodiment of the present invention provides the first possible embodiments of second aspect, wherein on
Correcting module is stated to be used for：Calculate the attachment coefficient of current vehicle；It is repaiied in pre-stored attachment parameter according to weather conditions parameter
Modifying factor corresponding with weather conditions parameter is searched in positive table；The attachment coefficient of current vehicle is repaiied by modifying factor
Just.
The third aspect, the embodiment of the present invention additionally provide a kind of following state adjustment system, which includes controller, with
And brak control unit, power control unit and the sensor unit being connect with controller；Controller include memory and
Processor, memory are used to store the program for supporting that processor executes above-mentioned first aspect the method, and processor is configured as
For executing the program stored in memory.
Fourth aspect, the embodiment of the present invention additionally provide a kind of computer storage media, for being stored as second aspect institute
State the computer software instructions used in device.
The embodiment of the present invention brings following advantageous effect：
A kind of following state method of adjustment provided in an embodiment of the present invention, apparatus and system, can start in current vehicle
When adaptive cruise pattern, the attachment coefficient of current vehicle is modified according to weather conditions parameter, and based on revised
Attachment coefficient calculated braking distance is adjusted the following state under cruise mode with this, helps to realize adaptive
Under cruise mode, vehicle carries out the adjustment of following distance, promotes the safety of automatic Pilot, also, it helps increasing automatic
The usage range of driving avoids driver and is manually adjusted too much, and then improves the Experience Degree of driver.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those skilled in the art, without creative efforts,
Other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of flow chart of following state method of adjustment provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another following state method of adjustment provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of following state adjusting apparatus provided in an embodiment of the present invention；
Fig. 4 is the structure diagram that a kind of following state provided in an embodiment of the present invention adjusts system.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those skilled in the art institute without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, the vehicle configured with adaptive cruise function, mostly according only to speed and the phase of current vehicle and front truck
It adjusts the distance to adjust following state, it is difficult to which comprehensive actual road condition needs driver to carry out actively dry in the case of very big
In advance, the general applicability of adaptive cruise function and the Experience Degree of driver are reduced.It is provided in an embodiment of the present invention based on this
A kind of following state method of adjustment, apparatus and system, to improve the Experience Degree that driver experiences adaptive cruise function.
For ease of understanding the present embodiment, first to a kind of following state adjustment side disclosed in the embodiment of the present invention
Method describes in detail.
Embodiment one：
An embodiment of the present invention provides a kind of following state method of adjustment, this method can be applied to vehicle active safety system
The controller of system, a kind of flow chart of following state method of adjustment as shown in Figure 1, this approach includes the following steps：
Step S102, when monitoring that current vehicle starts adaptive cruise pattern, according to preset time interval
Obtain the weather conditions parameter of current vehicle when driving；
Specifically, which can be pre-set in controller, and the time interval can carry out as needed
Setting, such as 5s, 10s.
Further, above-mentioned weather conditions parameter can be obtained by the component including the sensors such as rain sensor and camera
Know, also, state of weather parameter may include：Weather parameters and image parameter.It such as, can at the top in the front of the car direction of vehicle
Camera is arranged, the picture of current weather can be shot, it is vaporous that the days such as rain, snow can be perceived by way of image procossing
Condition；Meanwhile the parameters such as rain sensor telemetering liquid precipitation, precipitation intensity, precipitation beginning and ending time can be passed through.
Step S104 is modified the attachment coefficient of current vehicle according to weather conditions parameter；
The numerical value of attachment coefficient can usually depend on the situation on road surface, road material and tread contour, tire knot
The factors such as the speed of structure, material and motor racing, and, under different weather situation, the dry and wet degree on road surface, as rainy day road surface,
Ice and snow road etc. can have an impact attachment coefficient.Therefore, for different weather situation, attachment coefficient can be modified,
So that attachment coefficient is more accurate.
Step S106 calculates the braking distance of current vehicle based on revised attachment coefficient；
The length of attachment coefficient and braking distance when automobile brake has direct relationship, and the calculating process of braking distance can
In a manner of by modeling, and the actual operating parameter of vehicle is combined to carry out, removes above-mentioned revised attachment coefficient, further include it
His operating parameter, such as speed, braking deceleration and the average friction resistance etc. that brake force increases the time, current vehicle travels
Parameter can also pass through experimental calibration in general, vehicle operating parameters can be obtained by the sensor module being arranged on vehicle
Mode is estimated, can specifically refer to the calculation in associated materials, it is not limited by the embodiments of the present invention.
Step S108 is adjusted the following state of current vehicle under adaptive cruise pattern according to braking distance.
A kind of following state method of adjustment provided in an embodiment of the present invention can start adaptive cruise mould in current vehicle
When formula, the attachment coefficient of current vehicle is modified according to weather conditions parameter, and is calculated based on revised attachment coefficient
Braking distance is adjusted the following state under cruise mode with this, helps to realize under adaptive cruise pattern, vehicle
Carry out following distance adjustment, promote the safety of automatic Pilot, also, it helps increase automatic Pilot practical model
It encloses, avoids driver and manually adjusted too much, and then improve the Experience Degree of driver.
It is above-mentioned that attachment coefficient can be repaiied by the modifying factor under different weather condition parameter when specific implementation
Just, therefore, the embodiment of the present invention additionally provides another following state method of adjustment, another following state as shown in Figure 2
The flow chart of method of adjustment is realized on the basis of this method method shown in Fig. 1, is included the following steps：
Step S202, when monitoring that current vehicle starts adaptive cruise pattern, according to preset time interval
Obtain the weather conditions parameter of current vehicle when driving；
Step S204 calculates the attachment coefficient of current vehicle；
In general, attachment coefficient can be by road surface types, such as pitch or cement pavement；Road surface covering, for example, ice and snow or
The influences such as person's rainwater also have relationship with the decorative pattern of tire itself, the soft or hard degree of rubber etc., can rely on the slip rate of tire, and
It is estimated by way of Experimental Calibration, and slip rate is related with speed, in general, vehicle is subjected to braking in the process of moving
When, speed due to tire and the frictional force of road surface part effect and reduce, wheel speed (vehicle wheel rotation linear velocity) is then due to braking system
The braking moment of system and reduce, the sliding phenomenon when difference occurred between speed and wheel speed is vehicle braking, according to speed
Slip rate can be calculated with wheel speed, is indicated with capital K, the calculation formula of slip rate can be expressed as：
The size of slip rate has a great impact to attachment coefficient, and attachment coefficient can change with the variation of slip rate,
The slip rate of different range, attachment coefficient also differ.The correspondence of specific slip rate and attachment coefficient, may be used and build
The mode of mould establishes dynamics of vehicle mould model, carries out simulation calculation and obtains, specific simulation calculation process can refer to correlation
Data realizes that it is not limited by the embodiments of the present invention.
Step S206 is searched in pre-stored attachment parameters revision table according to weather conditions parameter and is joined with weather conditions
The corresponding modifying factor of number；
Step S208 is modified the attachment coefficient of current vehicle by modifying factor；
In general, the data of above-mentioned correction chart are possibly stored in specified data library, and preserve different weather situation ginseng
Corresponding modifying factor under several, the correspondence of weather conditions parameter and modifying factor can be by way of Experimental Calibration
It obtains, for example, under normal weather, the attachment coefficient of bituminous paving is 0.75, when image parameter shows that current is the weather that snows
When, modifying factor 0.8 at this time can be found (such as " snow → 0.8 ") according to the mark or code of the weather that snows, and right
Attachment coefficient 0.75 is modified, and specifically, the mode that multiplication may be used is modified, at this point, revised attachment coefficient
For
It, can also be by cumulative or tired when specific implementation it should be appreciated that above-mentioned modified mode is merely exemplary mode
The mode subtracted, or the mode of calibration are modified, and specific makeover process can be configured according to actual use situation, this hair
Bright embodiment is not limited this.
Step S210 calculates the braking distance of current vehicle based on revised attachment coefficient；
After getting braking distance, the following state of current vehicle can be adjusted, adjustment process can basis
The opposite driving parameters of current vehicle and front truck, follow the steps below.
Step S212 measures the opposite driving parameters of current vehicle and front truck by radar sensor；
Wherein, opposite driving parameters may include one or more in following parameter, relative distance, relative velocity and/
Or relative acceleration；
Step S214 sends control command, to current according to opposite driving parameters and braking distance to control unit is executed
The following state of vehicle is adjusted.
Specifically, above-mentioned radar sensor can be set to vehicle self-adaption cruise system, should in addition to radar sensor
Vehicle self-adaption cruise system can also include speed setting apparatus, spacing setting apparatus, rotation direction sensor and velocity sensor etc., and
And the controller of vehicle self-adaption cruise system can also be integrated with the entire car controller of current vehicle, will adaptively be patrolled
Current vehicle transport condition under model plane formula is shown in vehicle display.
The adjustment process of specific following state may include following procedure：(1) when relative distance is less than braking distance, to
It executes control unit and sends deceleration instruction；(2) when relative distance is more than braking distance, judge relative velocity and/or add relatively
Whether speed is more than preset threshold value；If so, sending deceleration instruction to control unit is executed.
Wherein, above-mentioned relative distance further includes more than the case where braking distance：The case where in front of current vehicle without vehicle.
Further, above-mentioned adjustment process further includes：When relative distance is more than braking distance, current vehicle traveling side is obtained
To traffic information；Control command is sent to control unit is executed according to traffic information, the following state of current vehicle is carried out
Adjustment.For example, the controller of above-mentioned vehicle self-adaption cruise system can obtain current vehicle travel road by way of networking
The traffic information on road, e.g., maximum speed, minimum speed, the section speed limit of present road wheeled, vehicle flowrate etc. work as current vehicle
Speed be close to or greater than present road wheeled maximum speed when, can to execute control unit (such as braking system)
Deceleration instruction is sent, current vehicle automatic retarding is controlled；When the speed of current vehicle is near or below minimum speed, and, front
When without vehicle, assisted instruction can be sent to control unit (such as dynamical system) is executed, control current vehicle is automatically speeded up.
It further, can also be to vehicle when the vehicle flowrate of present road is larger, is not suitable for starting adaptive cruise pattern
Controller sends the prompt message for stopping adaptive cruise pattern, prompts driver to exit adaptive cruise pattern, returns to safety
It runs at a low speed or dead ship condition, ensures the safety traffic of current vehicle.
Know in time under adaptive cruise pattern for the ease of driver, the travel situations of current vehicle, the present invention is implemented
Example provide method further include：By the way of voice broadcast, under adaptive cruise pattern, to the following state of current vehicle
It is reported, in order to realize the promotion of automatic Pilot security capabilities and effective expansion of usage range.
Embodiment two：
On the basis of the above embodiments, the embodiment of the present invention additionally provides a kind of following state adjusting apparatus, such as Fig. 3 institutes
A kind of structural schematic diagram for the following state adjusting apparatus shown, the device include：
Acquisition module 30, for when monitor current vehicle start adaptive cruise pattern when, according to it is preset when
Between the weather conditions parameter of interval acquiring current vehicle when driving；
Correcting module 32, for being modified to the attachment coefficient of current vehicle according to weather conditions parameter；
Computing module 34, the braking distance for calculating current vehicle based on revised attachment coefficient；
Module 36 is adjusted, for being adjusted to the following state of current vehicle under adaptive cruise pattern according to braking distance
It is whole.
Further, above-mentioned correcting module is used for：Calculate the attachment coefficient of current vehicle；According to weather conditions parameter advance
Modifying factor corresponding with weather conditions parameter is searched in the attachment parameters revision table of storage；By modifying factor to current vehicle
Attachment coefficient be modified.
Following state adjusting apparatus provided in an embodiment of the present invention, the following state method of adjustment provided with above-described embodiment
Technical characteristic having the same reaches identical technique effect so can also solve identical technical problem.
The embodiment of the present invention additionally provides a kind of following state adjustment system, a kind of following state as shown in Figure 4 adjustment
The structure diagram of system, the system include controller 40, and connect with controller 40 brak control unit 42, dynamic Control
Unit 44 and sensor unit 46.
Wherein, brak control unit can be connect with wheel speed sensors component, and sensor unit may include rainfall sensing
The equipment such as device, vehicle camera.
Specifically, controller includes memory and processor, and memory supports processor to execute embodiment for storing
The program of one the method, processor are configurable for executing the program stored in the memory.
Further, the embodiment of the present invention additionally provides a kind of computer storage media, for being stored as above-mentioned following state
Computer software instructions used in adjusting apparatus.
In conclusion following state method of adjustment provided in an embodiment of the present invention, apparatus and system, have the following advantages：
(1) ability for making full use of existing Vehicular system estimation attachment coefficient, is effectively estimated under different weather condition parameter,
The attachment coefficient on different road surfaces, and new braking distance estimation function is developed, realize function increase；
(2) sensory perceptual systems such as the rain sensor of existing sensing capability and vehicle are taken full advantage of, can be known by camera
It the operating modes such as Xia Yu and not snow, be effectively utilized the information and Function for Automatic Pilot is expanded；
(3) sensing capability of braking system and active safety system perception and computational estimation competence and other systems has been merged,
New Core Feature is created, meanwhile, the logic complexity to braking system and active safety central controller is suitably increased,
And the technical capability demand of chip is suitably increased, it is convenient for the upgrading and expansion of vehicle.
The computer program product of following state method of adjustment, apparatus and system that the embodiment of the present invention is provided, including
The computer readable storage medium of program code is stored, the instruction that said program code includes can be used for executing previous methods real
The method described in example is applied, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
Finally it should be noted that：Above example, only specific implementation mode of the invention, to illustrate the skill of the present invention
Art scheme, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to the present invention into
Go detailed description, it should be understood by those skilled in the art that：Any one skilled in the art takes off in the present invention
In the technical scope of dew, it can still modify to the technical solution recorded in previous embodiment or can readily occur in change
Change or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make relevant art
Scheme essence be detached from technical solution of the embodiment of the present invention spirit and scope, should all cover protection scope of the present invention it
It is interior.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of following state method of adjustment, which is characterized in that the method includes：
When monitoring that current vehicle starts adaptive cruise pattern, the current vehicle is obtained according to preset time interval
Weather conditions parameter when driving；
The attachment coefficient of the current vehicle is modified according to the weather conditions parameter；
The braking distance of the current vehicle is calculated based on the revised attachment coefficient；
The following state of the current vehicle under adaptive cruise pattern is adjusted according to the braking distance.
2. according to the method described in claim 1, it is characterized in that, it is described according to the weather conditions parameter to the current vehicle
Attachment coefficient the step of being modified include：
Calculate the attachment coefficient of the current vehicle；
It is searched and the weather conditions parameter pair in pre-stored attachment parameters revision table according to the weather conditions parameter
The modifying factor answered；
The attachment coefficient of the current vehicle is modified by the modifying factor.
3. according to the method described in claim 1, it is characterized in that, it is described according to the braking distance to adaptive cruise pattern
Under the following state of current vehicle the step of being adjusted include：
Measure the opposite driving parameters of the current vehicle and front truck by radar sensor, the opposite driving parameters include with
It is one or more in lower parameter, relative distance, relative velocity and/or relative acceleration；
Control command is sent to control unit is executed according to the opposite driving parameters and the braking distance, to the current vehicle
Following state be adjusted.
4. according to the method described in claim 3, it is characterized in that, it is described according to the opposite driving parameters and the braking away from
Descriscent executes control unit and sends control command, and the step of being adjusted to the following state of the current vehicle includes：
When the relative distance is less than the braking distance, deceleration instruction is sent to the execution control unit；
When the relative distance is more than the braking distance, judge whether the relative velocity and/or relative acceleration are more than
Preset threshold value；
If so, sending deceleration instruction to the execution control unit.
5. according to the method described in claim 3, it is characterized in that, the method further includes：
When the relative distance is more than the braking distance, the traffic information of the current vehicle travel direction is obtained；
Send control command to the execution control unit according to the traffic information, to the following state of the current vehicle into
Row adjustment.
6. according to the method described in claim 1, it is characterized in that, described obtain current vehicle according to preset time interval
The step of weather conditions parameter when driving includes：
According to preset time interval, the weather of current vehicle when driving is obtained by rain sensor and/or camera
State parameter, wherein the state of weather parameter includes：Weather parameters and image parameter.
7. according to the method described in claim 1, it is characterized in that, the method further includes：
By the way of voice broadcast, under the adaptive cruise pattern, the following state of the current vehicle is broadcast
Report.
8. a kind of following state adjusting apparatus, which is characterized in that described device includes：
Acquisition module, for when monitor current vehicle start adaptive cruise pattern when, according to preset time interval
Obtain the weather conditions parameter of the current vehicle when driving；
Correcting module, for being modified to the attachment coefficient of the current vehicle according to the weather conditions parameter；
Computing module, the braking distance for calculating the current vehicle based on the revised attachment coefficient；
Module is adjusted, for being carried out to the following state of the current vehicle under adaptive cruise pattern according to the braking distance
Adjustment.
9. device according to claim 8, which is characterized in that the correcting module is used for：
Calculate the attachment coefficient of the current vehicle；
It is searched and the weather conditions parameter pair in pre-stored attachment parameters revision table according to the weather conditions parameter
The modifying factor answered；
The attachment coefficient of the current vehicle is modified by the modifying factor.
10. a kind of following state adjusts system, which is characterized in that the system comprises controllers, and connect with the controller
Brak control unit, power control unit and the sensor unit connect；
The controller includes memory and processor, and the memory supports processor perform claim to require 1 for storing
To the program of any one of 7 the methods, the processor is configurable for executing the program stored in the memory.
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