CN110103961A - Intelligent follow the bus control method, device, system and terminal - Google Patents
Intelligent follow the bus control method, device, system and terminal Download PDFInfo
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- CN110103961A CN110103961A CN201910315557.7A CN201910315557A CN110103961A CN 110103961 A CN110103961 A CN 110103961A CN 201910315557 A CN201910315557 A CN 201910315557A CN 110103961 A CN110103961 A CN 110103961A
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- 238000011217 control strategy Methods 0.000 claims abstract description 57
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- 230000004913 activation Effects 0.000 claims description 5
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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
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- Automation & Control Theory (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of intelligent follow the bus control method, device, system and terminals, which comprises under Car following model, obtains the first running information of road environment information and Che Benche；Based on road environment information, first running information and default feedback time, current dangerous grade locating for this vehicle is determined；Based on the corresponding target follow the bus control strategy of current dangerous grade, to carry out follow the bus control to this vehicle.Using the present invention, according to the running information of road environment information and Ben Che, to prejudge the danger classes of this vehicle in advance, and then according to the danger classes of anticipation, corresponding target follow the bus control strategy is executed, it can be achieved that more accurate, more stable intelligent follow the bus drives, ensure that the safety of passenger.
Description
Technical field
The present invention relates to intelligent driving and security technology area more particularly to a kind of intelligent follow the bus control method, device, it is
System and terminal.
Background technique
Vehicle cruise system includes self-adaption cruise system, constant speed cruising system and smart cruise control system etc., these
The releasable driver's operation of system, reduces driving fatigue and traffic accident, assists system as important automotive safety
One of system, has obtained extensive concern.Self-adaption cruise system is the following distance that this vehicle and front truck are monitored according to radar, to control
This vehicle speed, to keep following traveling with constant following distance.Existing cruise system usually only has longitudinally controlled function, not
Had curved control function, if therefore front truck do S-shaped traveling or it is excessively curved when, this vehicle will be unable to realize smoothly follow.Intelligence is patrolled
Although boat control system can be realized S-shaped and follow, but this vehicle is when doing S-shaped follow the bus, it is easy to exceed lane line, occupy other
Great security risk is brought in lane.
Summary of the invention
Based on this, it is an object of that present invention to provide a kind of intelligent follow the bus control method, device, system and terminals, to solve
The above at least one technical problem.The technical solution is as follows:
In a first aspect, the present invention provides a kind of intelligent follow the bus control methods, which comprises
Under Car following model, the first running information of road environment information and Ben Che is obtained；
Based on the road environment information, first running information and default feedback time, described vehicle institute is determined
The current dangerous grade at place；The default feedback time is used to characterize the reaction time that described vehicle response follows front truck；
Based on the corresponding target follow the bus control strategy of the current dangerous grade, to carry out follow the bus control to described vehicle.
Optionally, described to be based on the road environment information, first running information and default feedback time, it determines
The step of current dangerous grade locating for described vehicle, comprising:
Based on the road environment information, first distance between the wheel of this vehicle and adjacent lane line and described is determined
Adjacent lane line type；The lane line type includes dotted line and solid line；
Based on first running information and the first distance, judge described first in the default feedback time
Whether distance is decreased to less than being equal to first threshold, obtains the first judging result；
Based on first judging result and the adjacent lane line type, current dangerous locating for described vehicle is determined
Grade.
Optionally, described to be based on first judging result and the adjacent lane line type, determine described vehicle institute
The step of current dangerous grade at place, comprising:
If first judging result is, it is determined that the current dangerous grade is
First danger classes；
If first judging result is, it is determined that the current dangerous grade is
Second danger classes, the degree of danger of second danger classes are higher than the degree of danger of first danger classes.
Optionally, described to be based on the road environment information, first running information and default feedback time, it determines
The step of current dangerous grade locating for described vehicle, further includes:
Based on first running information and the first distance, this vehicle described in the default feedback time is judged
Wheel whether hyperline, obtain the second judging result；
If second judging result is yes, it is determined that the current dangerous grade is third danger classes.
Optionally, the target control strategy includes at least following at least one: danger warning prompt and current follow the bus
It controls described contrary course changing control, control for brake, control vehicle and travels and activate vehicle along the adjacent lane line
Supplementary controlled system.
Optionally, it is described be based on the corresponding target follow the bus control strategy of the current dangerous grade, with to described vehicle into
The step of row follow the bus controls, comprising:
According to the corresponding relationship of follow the bus control strategy and preset danger classes, corresponding target follow the bus control plan is determined
Slightly；
If the current dangerous grade be the first danger classes, according to first danger classes corresponding first with
Vehicle control strategy provides danger warning prompt to driver with control；
If the current dangerous grade be the second danger classes, according to second danger classes corresponding second with
Vehicle control strategy controls contrary course changing control or activation vehicle auxiliary control with current follow the bus to execute to described vehicle
System processed；
If the current dangerous grade be third danger classes, according to third corresponding with the third danger classes with
Vehicle control strategy, with to described vehicle execute with current follow the bus control contrary course changing control and control for brake and/
Or vehicle supplementary controlled system is travelled, and/or activated to control described vehicle along the adjacent lane line.
Optionally, the road environment information further includes road barrier information；The method also includes:
If detecting, there are barriers in road environment, preferentially to execute and current follow the bus controlling party to described vehicle
To opposite course changing control and control for brake.
Second aspect, the present invention also provides a kind of intelligence with truck control device, and described device includes:
Module is obtained, for obtaining the first running information of road environment information and Ben Che under Car following model；
Determining module, for being based on the road environment information, first running information and default feedback time, really
Current dangerous grade locating for fixed described vehicle；The default feedback time follows the anti-of front truck for characterizing described vehicle response
Between seasonable；
Control module, for being based on the corresponding target follow the bus control strategy of the current dangerous grade, to described vehicle
Carry out follow the bus control.
The third aspect, the present invention also provides a kind of intelligence with vehicle control, and the system comprises above-described intelligence
With truck control device, environment acquisition device, vehicle supplementary controlled system and vehicle power control system, the intelligence follow the bus control
One end of device is connect with environment acquisition device, and the other end is connect with intelligence with vehicle control, the intelligence follow the bus control system
System is connect with vehicle power control system.
Fourth aspect, the present invention also provides a kind of terminal, including processor and memory,
It is stored at least one instruction, at least a Duan Chengxu, code set or instruction set in the memory, described at least one
Item instruction, an at least Duan Chengxu, the code set or instruction set are loaded by the processor and are executed to realize as more than
Any intelligent follow the bus control method.
Above-mentioned technical proposal provided by the invention, at least has the following beneficial effects:
The present invention is by obtaining the first running information of road environment information and Ben Che under Car following model；Based on road
Environmental information, the first running information and default feedback time determine current dangerous grade locating for this vehicle；Later, based on working as
The corresponding target follow the bus control strategy of preceding danger classes carries out follow the bus control to this vehicle.In this way, the present invention can be according to road environment
The running information of information and Ben Che to prejudge the danger classes of this vehicle in advance, and then according to the danger classes of anticipation, executes corresponding
Target follow the bus control strategy, it can be achieved that more accurate, more stable intelligent follow the bus drives, ensure that the safety of passenger.
It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited
Invention.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology and advantage, below will be to implementation
Example or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is only some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other accompanying drawings.
Fig. 1 is a kind of flow diagram of intelligent follow the bus control method of one embodiment of the invention.
Fig. 2 is the part flow diagram of one embodiment of the invention.
Fig. 3 is four kind different follow the bus control situation signals of the one embodiment of the invention under the application scenarios of " S-shaped " follow the bus
Figure.
Fig. 4 is a kind of structural block diagram of intelligence with truck control device of one embodiment of the invention.
Fig. 5 is a kind of structural block diagram of intelligence with vehicle control of one embodiment of the invention.
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.Obviously, described embodiment is only one embodiment of the invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without creative labor
Other embodiments shall fall within the protection scope of the present invention.
" one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one implementation of the invention
A particular feature, structure, or characteristic.In the description of the present invention, it is to be understood that, term " on ", "lower", "left", "right",
The orientation or positional relationship of the instructions such as "top", "bottom" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are only used for retouching
Purpose is stated, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.By
This defines " first ", the feature of " second " can be expressed or what is implied includes one or more of the features.Moreover,
Term " first ", " second " etc. are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It answers
The data that the understanding uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein can be to remove
Sequence other than those of illustrating or describe herein is implemented.
Inventor has found during the test: the existing vehicle for having cruise system, this vehicle is when doing S-shaped follow the bus, originally
Vehicle so will cause this vehicle and be easy to bring great security risk beyond lane line since no front truck block is reacted in overshoot.
Though highly sensitive and reaction speed electrical steering force aid system EPS, which can be used, can improve the technical problem, can increase in this way
Add additional cost, and can not fundamentally solve the problems, such as this, there are still some potential safety problemss.For this purpose, the application is implemented
Example provides a kind of intelligent follow the bus control method, device, system and terminal.
Fig. 1 is a kind of flow diagram of intelligent follow the bus control method shown according to an example embodiment.The present invention is real
Example is applied for cruising follow the bus scene, specific includes but is not limited to overtake other vehicles for this lane S-shaped follow the bus, S-shaped and bend follow the bus etc. is patrolled
The scenes such as follow the bus of navigating, are particularly suitable for low speed S-shaped follow the bus scene.Shown in referring to Fig.1, which may include
Following steps S102~S106.Wherein:
In step s 102, under Car following model, the first running information of road environment information and Ben Che is obtained.
In driving procedure, if starting vehicle cruise system, vehicle enter Car following model.Under Car following model, this vehicle with
It carries out following driving with the drive speed of front truck, direction.Road environment information is obtained by acquisition module, which includes
But it is not limited to image acquisition device and/or radar sensor and/or ultrasonic radar sensor.The road environment information can be road
Road image information can determine the road conditions such as lane line information or road hollow, the crack of road by road image information.
First running information may include speed, the driving direction etc. by this vehicle.Intelligence can be obtained with truck control device
Detected first running information, can also obtain first running information by CAN bus in onboard sensor.
In step S104, it is based on the road environment information, first running information and default feedback time, really
Current dangerous grade locating for fixed described vehicle；The default feedback time follows the anti-of front truck for characterizing described vehicle response
Between seasonable.
Inventors have found that onboard sensor such as radar monitors front truck by echo come really under follow the bus driving mode
Position, the speed for determining front truck, are sent to corresponding controllers for the echo calculated later, carry out operation output order, are held with control
The lucky movement of row.However, monitor, calculate echo and be required to the regular hour in the transmission process of instruction, such meeting
Cause rear car slow movement and overshoot.If in the case where the unexpected lane change of front truck or sudden change direction of traffic, it is possible to lead to this
Vehicle occurrence injury due to slow movement.
In the present embodiment, according to the road environment information of acquisition and the first running information and default feedback time, sentence
Break the emergency whether this vehicle can cause danger in default feedback time, determines current dangerous grade locating for this vehicle.Its
In, the default feedback time is used to characterize the reaction time that described vehicle response follows front truck.The default feedback time can lead to
Real vehicle is crossed to be demarcated.
Specifically, this vehicle wheel and adjacent lane can be determined by the road environment information and the first running information of acquisition
The distance of line judges in default feedback time whether the distance can be decreased to threshold value later.If it is determined that the distance can reduce to
Threshold value then illustrates that vehicle will be in danger zone, and danger classes locating for vehicle is high.If it is determined that the distance will not be reduced to threshold
Value then illustrates that vehicle can be travelled in non hazardous areas always, and danger classes locating for vehicle is lower.The current danger classes can divide
For multiple danger levels such as the first danger classes, the second danger classes and third danger classes.Danger classes is higher, corresponding
Emergency is more serious.
In step s 106, be based on the corresponding target follow the bus control strategy of the current dangerous grade, to described vehicle into
The control of row follow the bus.
Current dangerous grade is being determined, can closed according to current dangerous grade is corresponding with preset follow the bus control strategy
System, tables look-up and obtains corresponding target follow the bus control strategy.The target control strategy can be safety alarm and/or vehicle control.It
Afterwards, according to determining target follow the bus control strategy, this vehicle adjustment follow the bus control strategy is controlled, so that this vehicle drives safely and avoids
The generation of harm.
Intelligent follow the bus control method of the invention obtains the of road environment information and Ben Che by under Car following model
One running information；Based on the road environment information, first running information and default feedback time, described vehicle is determined
Locating current dangerous grade；Later, it is based on the corresponding target follow the bus control strategy of the current dangerous grade, to described vehicle
Carry out follow the bus control.In this way, can be according to the running information of road environment information and Ben Che, to prejudge the danger etc. of this vehicle in advance
Grade；And then according to the danger classes of anticipation, corresponding target follow the bus control strategy is executed, it can be achieved that more accurate, more stable intelligence
Energy follow the bus drives, and ensure that the safety of passenger.
In some embodiments, above-mentioned steps S104 may include:
S202 is based on the road environment information, determine first distance between described vehicle and adjacent lane line and
The adjacent lane line type；The lane line type includes dotted line and solid line.
Road environment information locating for this vehicle is acquired by acquisition module, obtains corresponding road image information.Identification should
Road image information obtains the position of adjacent lane line and the type of adjacent lane line.This vehicle is determined according to the position of this vehicle
With the first distance of adjacent lane line.
The adjacent lane line type can be based on existing image recognition algorithm, and road image information is identified and detected
With determination.Certainly, which can also be by obtaining the location of vehicle information and server end or cloud
Road information, determine the adjacent lane line type at vehicle present position.The lane line type includes dotted line and solid line.The void
Line include but is not limited to be discontinuous road marking line.The solid line example include but is not limited to be continuous road marking line,
It can be curb or the virtual lane line based on determined by the marginal information of road.
S204 is based on first running information and the first distance, judges the institute in the default feedback time
It states whether first distance is decreased to less than being equal to first threshold, obtains the first judging result.
The first distance between this vehicle and adjacent lane line at current time is obtained, according to included in the first running information
This vehicle speed and direction of traffic, anticipation in the default feedback time first distance whether can reduce.If anticipation
The first distance can be reduced, then judge whether the first distance can be reduced to first threshold according to the amplitude that may reduce, obtain
To corresponding first judging result.The first threshold can be zero and positive value.Wherein, the zero pressure wheel lane line for representing vehicle；Just
Value corresponding default spacing d1 when representing vehicle in this lane, the d1 can be 0 < d1≤50cm.
S206 is based on first judging result and the adjacent lane line type, determines and work as locating for described vehicle
Preceding danger classes.
In the present embodiment, basic first judging result and adjacent lane line type are prejudged in the default feedback
The interior degree caused danger, and then the corresponding current dangerous grade of this vehicle is determined according to the degree caused danger.
In some alternative embodiments, step S206 can specifically include:
S302, if first judging result is to be and the adjacent lane line is dotted line, it is determined that the current dangerous
Grade is the first danger classes.
S304, if first judging result is to be and the adjacent lane line is solid line, it is determined that the current dangerous
Grade is the second danger classes, and the degree of danger of second danger classes is higher than the degree of danger of first danger classes.
In the present embodiment, by combining the first judging result and adjacent lane line type, to integrate working as determining vehicle
Preceding danger classes.In the case of being solid line and dotted line due to adjacent lane line, carriageway type locating for vehicle is differentiated.It is real
The degree of danger of line is higher than the degree of danger of dotted line.
It should be noted that above-mentioned lane line type is not limited to solid line and dotted line, can also include lane line color and
Shape information etc., to obtain more fully lane line type.Later, sentence further combined with newly determining lane line type and first
It is disconnected as a result, further being refined to current dangerous grade and grade classification.
In some embodiments, above-mentioned steps S104 can also include:
S208 is based on first running information and the first distance, judges described in the default feedback time
The wheel of this vehicle whether hyperline, obtain the second judging result.
Specifically, being based on first running information, the driving of this vehicle wheel described in the default feedback time is predicted
Distance；Later, determine the running distance perpendicular to the component distance on adjacent lane line.Whether it is greater than according to component distance
First distance under current time, to determine whether this vehicle vehicle can hyperline.
S210, if second judging result is yes, it is determined that the current dangerous grade is third danger classes.
Specifically, if component distance is greater than the first distance under current time, it is determined that this vehicle vehicle meeting hyperline obtains
Second judging result is yes.If second judging result be it is yes, further determine that the current dangerous grade be third
Danger classes.If second judging result be it is no, prejudge dangerous situation of the vehicle in this lane.The danger of each danger classes
The sequence of degree can are as follows: third danger classes > the second danger classes the first danger classes of >.
It should be noted that may also be combined with the type and the second judging result of adjacent lane line, to danger locating for vehicle
Dangerous grade makees further divide.
By judge wheel of vehicle whether can hyperline, and then to determine current dangerous grade locating for vehicle.In this way, being convenient for root
According to different dangerous situations, reasonable intelligent follow the bus control strategy is made in time, the generation of harm is avoided, improves driving safety
Property.
In some embodiments, target control strategy can include at least following at least one: danger warning prompt, with work as
Preceding follow the bus control contrary course changing control, control for brake, control described vehicle travelled along the adjacent lane line and
Activate vehicle supplementary controlled system.Wherein, vehicle supplementary controlled system may include deviation prevention module, lane holding mould
Block etc..Vehicle supplementary controlled system could trigger response, such as the situation of scorch under special circumstances.Target of the invention
Control strategy includes activation vehicle supplementary controlled system, can play the advantage of vehicle supplementary controlled system in advance, and can reduce
The component for installing response, incorporates vehicle resources, reduces cost.If danger classes is higher, corresponding target control strategy
Type can be more.
In a specific embodiment, as shown in Fig. 2, above-mentioned S106 may include:
S402 determines corresponding target follow the bus control according to the corresponding relationship of follow the bus control strategy and preset danger classes
System strategy.
Specifically, follow the bus control strategy and the corresponding relationship of preset danger classes are storable on vehicle.If it is determined that
The current danger classes of this vehicle passes through target corresponding to acquisition and current dangerous grade of tabling look-up according to the corresponding relationship prestored
Follow the bus control strategy.
S404, if the current dangerous grade is the first danger classes, according to corresponding with first danger classes
First follow the bus control strategy, to provide danger warning prompt to driver.
The first follow the bus control strategy can prompt for danger warning.At this time, however, it is determined that be the first danger classes, then according to
The first follow the bus control strategy provides hydropac prompt to driver.Specifically, hydropac prompt can be voice broadcast
Prompt form, such as the voice broadcasts such as capable of emitting " primary alarm ", " dangerous driving " or other alarm sounds.The hydropac mentions
Show also to be the prompt form of vibration, for example, shaking seat and/or control wheel etc. according to different frequency and intensity.In addition,
Hydropac prompt can also remind for indication character over the display and/or the prompt form of indicator light alarm.Pass through these
Danger warning prompt, to remind driver's adapter tube steering wheel and brake pedal.
S406, if the current dangerous grade is the second danger classes, according to corresponding with second danger classes
Second follow the bus control strategy controls contrary course changing control or activation vehicle with current follow the bus to execute to described vehicle
Supplementary controlled system.
A kind of embodiment, the second follow the bus control strategy are Vehicular turn control.At this time, however, it is determined that dangerous for second
Grade, then according to the second follow the bus control strategy, by sending flywheel moment request to electrical steering force aid system EPS, with right
This vehicle, which is executed, controls contrary course changing control with current follow the bus.
Another embodiment, the second follow the bus control strategy are activation vehicle supplementary controlled system.At this time, however, it is determined that
Vehicle supplementary controlled system, and then vehicle auxiliary control are activated then according to the second follow the bus control strategy for the second danger classes
Deviation prevention module work in system, control electrical steering force aid system EPS work, with to this vehicle execute with it is current
Follow the bus controls contrary course changing control, and then realizes and retract this vehicle.
S408, if the current dangerous grade is third danger classes, according to corresponding with the third danger classes
Third follow the bus control strategy controls contrary course changing control and braking control with current follow the bus to execute to described vehicle
It makes, and/or travels, and/or activate vehicle supplementary controlled system to control described vehicle along the adjacent lane line.
The third follow the bus control strategy can be vehicle speed control and Vehicular turn control.At this time, however, it is determined that be third
Danger classes, illustrate this vehicle may hyperline, then according to the third follow the bus control strategy, by electrical steering force aid system EPS
It sends flywheel moment request and sends brake request, control contrary turn with current follow the bus to be performed simultaneously to this vehicle
To control and control for brake.In addition, can also adjust steering and braking, make vehicle along adjacent lane line traveling or close to adjacent vehicle
Diatom traveling.Further, it is also possible to directly activate vehicle supplementary controlled system, and then ring the deviation prevention module in system
It answers, is retracted this vehicle with realizing.
It should be noted that carrying out course changing control and when control for brake, if danger classes is higher, settable its is corresponding
The change rate and braking rate of steering angle are higher.In addition, above-mentioned second follow the bus control strategy and third follow the bus control strategy are not
It is limited to this, the two can also include that hydropac prompts.
In some embodiments, the road environment information further includes road barrier information；The method can also wrap
It includes:
S502, if detecting, there are barriers in road environment, preferentially to execute and current follow the bus to described vehicle
Control contrary course changing control and control for brake.
The barrier include but is not limited to be trees, house, railing, pedestrian etc..Camera or supersonic sensing can be passed through
Device detects the barrier.If once detecting, there are barriers in front of this vehicle driving direction, preferentially execute back this vehicle
Torque control and control for brake.It causes danger in this way, this vehicle can be further avoided, improves travel safety.
In some embodiments, the method can also include:
S602 obtains the count value of current dangerous grade locating for this vehicle, detects the counting in scheduled time threshold value
Whether value reaches statistical threshold.
The current danger classes may include the first danger classes, the second danger classes and third danger classes.According to right
The danger classes answered, determines whether the count value in scheduled time threshold value reaches the statistical threshold of corresponding grade.If being detected as
Reach corresponding statistical threshold, then enters in next step.
S604, if detecting, the count value reaches statistical threshold in scheduled time threshold value, it is determined that front truck whether be
Dangerous driving.
If detecting the count value is to reach corresponding statistical threshold, illustrate with wheel paths exception.At this point, front truck can be passed through
Driving parameters and road information, to determine whether front truck is dangerous driving.The dangerous driving includes but is not limited to be different
Normal " S-shaped " drives, driving direction mutation etc..
S606, however, it is determined that front truck is dangerous driving, then redefines and follow target or exit current Car following model.
If it is determined that front truck is dangerous driving, then the vehicle condition of ambient enviroment is detected, if it exists suitable target vehicle, then
It redefines and follows target.If it is determined that front truck is dangerous driving, driver's adapter tube vehicle can also be reminded, in driver's adapter tube vehicle
The current Car following model of backed off after random.
Below with reference to concrete application scene, the present invention is described in detail, and Fig. 3 illustrates the applied field in " S-shaped " follow the bus
Four kinds of different follow the buses under scape control situation:
Situation one:
Continue as shown in figure 3, lane line is dotted line, however, it is determined that above-mentioned first judging result is yes, it is determined that described current
Danger classes is the first danger classes.Later, according to the first follow the bus control strategy corresponding with first danger classes, with control
Vehicle supplementary controlled system processed provides danger warning prompt to driver, and then reminds driver's adapter tube vehicle.
Situation two:
Continue as shown in figure 3, lane line is solid line, however, it is determined that above-mentioned first judging result is yes, it is determined that described current
Danger classes is the second danger classes.Later, according to the second follow the bus control strategy corresponding with second danger classes, then swash
Deviation prevention module LDP module work in vehicle supplementary controlled system living, with to described vehicle execute with it is current with
Vehicle controls contrary course changing control, i.e. control LDP work pulls back this vehicle.
Situation three:
Continue as shown in Figure 3, however, it is determined that above-mentioned second judging result is yes, it is determined that the current dangerous grade is third
Danger classes.Later, according to third follow the bus control strategy corresponding with the third danger classes, then vehicle auxiliary control is activated
The work of LDP module and control vehicle power control system work in system, to be executed and current follow the bus control to described vehicle
Make contrary course changing control and control for brake (speed is down to 20km/h by 25km/h), and/or to control described vehicle
It is travelled along the adjacent lane line.
Situation four:
Continue as shown in figure 3, there are barriers in the road environment of this vehicle.If detecting, there are obstacles in road environment
Object then activates deviation prevention module LDP module to work and control vehicle power control system work, to described Che You
It first carries out and controls contrary course changing control and control for brake with current follow the bus (speed is down to 20km/h by 25km/h).
Fig. 4 is a kind of schematic diagram of the intelligence shown according to an example embodiment with truck control device.Referring to shown in Fig. 4,
The intelligence may include: with truck control device
Module 410 is obtained, for obtaining the first running information of road environment information and Ben Che under Car following model；
Determining module 420, when for based on the road environment information, first running information and default feedback
Between, determine current dangerous grade locating for described vehicle；Before the default feedback time is followed for characterizing the response of described vehicle
The reaction time of vehicle；
First control module 430, for being based on the corresponding target follow the bus control strategy of the current dangerous grade, to institute
It states this vehicle and carries out follow the bus control.
In some embodiments, the determining module 420 may include:
Line type determination module determines the wheel and adjacent lane line of this vehicle for being based on the road environment information
Between first distance and the adjacent lane line type；The lane line type includes dotted line and solid line；
First judging submodule judges for being based on first running information and the first distance described pre-
If whether the first distance is decreased to less than being equal to first threshold in feedback time, the first judging result is obtained；
Danger classes determines submodule, for being based on first judging result and the adjacent lane line type, really
Current dangerous grade locating for fixed described vehicle.
In some embodiments, the danger classes determines that submodule may include:
First dangerous determination unit, if being to be and the adjacent lane line is dotted line for first judging result,
Determine that the current dangerous grade is the first danger classes；
Second dangerous determination unit, if being to be and the adjacent lane line is solid line for first judging result,
Determine that the current dangerous grade is the second danger classes, it is dangerous that the degree of danger of second danger classes is higher than described first
The degree of danger of grade.
In some embodiments, the determining module 420 may include:
Second judgment submodule judges for being based on first running information and the first distance described pre-
If the wheel of this vehicle described in feedback time whether hyperline, obtain the second judging result；
Third danger determination unit, if being yes for second judging result, it is determined that the current dangerous grade is
Third danger classes.
In some embodiments, the target control strategy include at least following at least one: danger warning prompt, with
Current follow the bus controls described contrary course changing control, control for brake and control vehicle along the adjacent lane line row
It sails.
In some embodiments, first control module 430 may include:
Strategy determines submodule, for the corresponding relationship according to follow the bus control strategy and preset danger classes, determining pair
The target follow the bus control strategy answered；
First control submodule, if being the first danger classes for the current dangerous grade, according to described first
The corresponding first follow the bus control strategy of danger classes provides danger warning prompt to driver with control；
Second control submodule, if being the second danger classes for the current dangerous grade, according to described second
The corresponding second follow the bus control strategy of danger classes controls contrary steering with current follow the bus to execute to described vehicle
Control；
Third control submodule, if for the current dangerous grade be third danger classes, according to the third
The corresponding third follow the bus control strategy of danger classes controls contrary steering with current follow the bus to execute to described vehicle
It control and control for brake, and/or is travelled with controlling described vehicle along the adjacent lane line.
In some embodiments, the road environment information further includes road barrier information；Described device further include:
Second control submodule, if there are barriers in road environment for detecting, preferentially to hold to described vehicle
It is capable to control contrary course changing control and control for brake with current follow the bus.
Intelligence of the invention can be come pre- in advance with truck control device according to the running information of road environment information and Ben Che
Sentence the danger classes of this vehicle；And then according to the danger classes of anticipation, corresponding target follow the bus control strategy is executed, it can be achieved that more smart
Quasi-, more stable intelligent follow the bus drives, and ensure that the safety of passenger.
Fig. 5 is a kind of intelligence shown according to an example embodiment with vehicle control.Referring to shown in Fig. 4, the intelligence with
Vehicle control may include environment acquisition device 510, intelligence with truck control device 520, vehicle supplementary controlled system 530 and vehicle
Power control system 540.
Environment acquisition device 510 may include sensor, such as image acquisition device, and/or radar sensor, and/or milli
Metre wave radar sensor.Image acquisition device may be, for example, several cameras being installed on vehicle and/or camera or environment
Scanner etc..Image acquisition device is for acquiring road environment information, such as the road informations such as lane line information of vehicle periphery.Thunder
Be used to detect the obstacle information of road up to sensor and/or ultrasonic sensor, the barrier include but is not limited to be trees,
House, railing, pedestrian etc..
Intelligence is connect with truck control device 520 with environment acquisition device 510, for according to acquired in environment acquisition device
Information generates corresponding first instruction.The intelligence is the control device of any description above with truck control device.
Vehicle supplementary controlled system 530 may include deviation prevention module, lane holding module etc..The deviation
Prevention module is connect with intelligence with truck control device, for responding first instruction of the intelligence with truck control device, is executed corresponding
Ancillary control function.
Vehicle power control system 540 is connect with vehicle supplementary controlled system 530, for responding vehicle supplementary controlled system
Instruction, execute corresponding control operation to adjust the direction of traffic and speed of vehicle.Vehicle power control system may include
Electrical steering force aid system EPS, engine controller EMS and body stabilization system ESC.
Above-mentioned intelligence is with vehicle control, by setting intelligence with truck control device 520, according to environment acquisition device 510
Information collected, activates and controls vehicle supplementary controlled system 530 and execute corresponding ancillary control function, and then controls vehicle
Power control system 540 executes corresponding vehicle control system, and then adjusts the follow the bus traveling of vehicle.In this way, being greatly improved
The controlling extent of entire intelligent follow the bus, especially under the operating condition run at a low speed and under the operating condition of low speed S-shaped follow the bus, intelligence with
Truck control device directly activates and vehicle supplementary controlled system is called to carry out corresponding auxiliary adjustment, can meet actual application need
It asks, improves the safety that intelligent follow the bus drives.
It should be understood that when intelligence provided by the above embodiment is with truck control device and control system, only with above-mentioned each
The division progress of functional module can according to need and for example, in practical application by above-mentioned function distribution by different function
Energy module is completed, i.e., the internal structure of device and system is divided into different functional modules, to complete whole described above
Or partial function.In addition, intelligence provided by the above embodiment belongs to same structure with truck control device and control system and method
Think, specific implementation process is detailed in embodiment of the method, and which is not described herein again.
The present invention also provides a kind of terminals.The terminal includes processor and memory, is stored at least in the memory
One instruction, at least a Duan Chengxu, code set or instruction set, at least one instruction, an at least Duan Chengxu, the generation
Code collection or instruction set are loaded by the processor and are executed to realize the intelligent follow the bus control method such as any description above.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of intelligence follow the bus control method, which is characterized in that the described method includes:
Under Car following model, the first running information of road environment information and Ben Che is obtained；
Based on the road environment information, first running information and default feedback time, determine locating for described vehicle
Current dangerous grade；The default feedback time is used to characterize the reaction time that described vehicle response follows front truck；
Based on the corresponding target follow the bus control strategy of the current dangerous grade, to carry out follow the bus control to described vehicle.
2. intelligence follow the bus control method according to claim 1, which is characterized in that described to be believed based on the road environment
Breath, first running information and default feedback time, the step of determining current dangerous grade locating for described vehicle, packet
It includes:
Based on the road environment information, first distance between the wheel of this vehicle and adjacent lane line and described adjacent is determined
Lane line type；The lane line type includes dotted line and solid line；
Based on first running information and the first distance, the first distance in the default feedback time is judged
Whether it is decreased to less than being equal to first threshold, obtains the first judging result；
Based on first judging result and the adjacent lane line type, current dangerous locating for described vehicle etc. is determined
Grade.
3. intelligence follow the bus control method according to claim 2, which is characterized in that described to be based on first judging result
And the adjacent lane line type, the step of determining current dangerous grade locating for described vehicle, comprising:
If first judging result is, it is determined that the current dangerous grade is first
Danger classes；
If first judging result is, it is determined that the current dangerous grade is second
Danger classes, the degree of danger of second danger classes are higher than the degree of danger of first danger classes.
4. intelligence follow the bus control method according to claim 3, which is characterized in that described to be believed based on the road environment
Breath, first running information and default feedback time, also wrap at the step of determining current dangerous grade locating for described vehicle
It includes:
Based on first running information and the first distance, the wheel of this vehicle described in the default feedback time is judged
Whether hyperline, obtain the second judging result；
If second judging result is yes, it is determined that the current dangerous grade is third danger classes.
5. intelligence follow the bus control method according to claim 1 to 4, the target control strategy includes at least following
At least one: danger warning prompt controls contrary course changing control, control for brake, described of control with current follow the bus
Vehicle travels and activates vehicle supplementary controlled system along the adjacent lane line.
6. intelligence follow the bus control method according to claim 4, which is characterized in that described to be based on the current dangerous grade
Corresponding target follow the bus control strategy, with the step of to described vehicle progress follow the bus control, comprising:
According to the corresponding relationship of follow the bus control strategy and preset danger classes, corresponding target follow the bus control strategy is determined；
If the current dangerous grade is the first danger classes, according to the first follow the bus control corresponding with first danger classes
System strategy provides danger warning prompt to driver with control；
If the current dangerous grade is the second danger classes, according to the second follow the bus control corresponding with second danger classes
System strategy controls contrary course changing control or activation vehicle auxiliary control system with current follow the bus to execute to described vehicle
System；
If the current dangerous grade is third danger classes, according to third follow the bus control corresponding with the third danger classes
System strategy, with to described vehicle execute with current follow the bus control contrary course changing control and control for brake, and/or with
It controls described vehicle and travels, and/or activate vehicle supplementary controlled system along the adjacent lane line.
7. intelligence follow the bus control method according to claim 1 to 4, which is characterized in that the road environment information is also
Including road barrier information；The method also includes:
If detecting, there are barriers in road environment, control direction phase with current follow the bus preferentially to execute to described vehicle
Anti- course changing control and control for brake.
8. a kind of intelligence is with truck control device, which is characterized in that described device includes:
Module is obtained, for obtaining the first running information of road environment information and Ben Che under Car following model；
Determining module determines institute for being based on the road environment information, first running information and default feedback time
State current dangerous grade locating for this vehicle；When the default feedback time follows the reaction of front truck for characterizing described vehicle response
Between；
Control module, for being based on the corresponding target follow the bus control strategy of the current dangerous grade, to described Che Jinhang
Follow the bus control.
9. a kind of intelligence is with vehicle control, which is characterized in that the system comprises intelligent follow the buses according to any one of claims 8 to control
Device, environment acquisition device, vehicle supplementary controlled system and vehicle power control system, the intelligence with truck control device one
End is connect with environment acquisition device, and the other end is connect with vehicle supplementary controlled system, the vehicle supplementary controlled system and vehicle
Power control system connection.
10. a kind of terminal, which is characterized in that including processor and memory,
At least one instruction, at least a Duan Chengxu, code set or instruction set are stored in the memory, described at least one refers to
It enables, an at least Duan Chengxu, the code set or instruction set are loaded by the processor and executed to realize such as claim
Any intelligent follow the bus control method of 1-7.
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