CN110435661B - Switching control method of vehicle driving modes and related device - Google Patents

Switching control method of vehicle driving modes and related device Download PDF

Info

Publication number
CN110435661B
CN110435661B CN201910764854.XA CN201910764854A CN110435661B CN 110435661 B CN110435661 B CN 110435661B CN 201910764854 A CN201910764854 A CN 201910764854A CN 110435661 B CN110435661 B CN 110435661B
Authority
CN
China
Prior art keywords
vehicle
speed
distance
actual
self
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910764854.XA
Other languages
Chinese (zh)
Other versions
CN110435661A (en
Inventor
章军辉
祝婉凡
李庆
陈大鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuxi Internet Of Things Innovation Center Co ltd
Original Assignee
Wuxi Internet Of Things Innovation Center Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuxi Internet Of Things Innovation Center Co ltd filed Critical Wuxi Internet Of Things Innovation Center Co ltd
Priority to CN201910764854.XA priority Critical patent/CN110435661B/en
Publication of CN110435661A publication Critical patent/CN110435661A/en
Application granted granted Critical
Publication of CN110435661B publication Critical patent/CN110435661B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a switching control method of vehicle running modes, which comprises the steps of determining correction parameters according to the group type of a driver of a vehicle; when the current lane has the front vehicle, acquiring a set vehicle speed of the self vehicle, an actual driving vehicle speed of the self vehicle, a driving vehicle speed of the front vehicle and an actual vehicle distance between the self vehicle and the front vehicle in a constant speed driving mode, and calculating to obtain a reference vehicle distance according to the set vehicle speed of the self vehicle, the actual driving vehicle speed of the self vehicle, the driving vehicle speed of the front vehicle and the correction parameter; judging whether the actual vehicle distance is smaller than or equal to the reference vehicle distance; and if the actual vehicle distance is smaller than or equal to the reference vehicle distance, switching the running mode of the vehicle from the constant-speed running mode to the self-adaptive following mode. The switching control method can better adapt to the working condition of the front vehicle and meet the following habits of different driving groups. The application also discloses a switching control device and equipment of the vehicle running mode and a computer readable storage medium, which have the technical effects.

Description

Switching control method of vehicle driving modes and related device
Technical Field
The application relates to the technical field of vehicle control, in particular to a switching control method for a vehicle running mode; also relates to a switching control device, equipment and a computer readable storage medium of the vehicle running mode.
Background
At present, for a semi-automatic driving vehicle, a fixed vehicle distance is preset in a traditional vehicle mode switching mode, and when the vehicle distance between a self vehicle and a front vehicle reaches the fixed vehicle distance, an adaptive following cruise mode is started. The method has limited working condition adaptability, cannot better adapt to light braking working conditions, deep braking working conditions and emergency braking working conditions, and cannot adaptively change the following vehicle distance according to the critical degree of the working conditions. In addition, the conventional method cannot satisfy following habits of different driving groups. Therefore, how to better adapt to the working conditions of the front vehicle and meet the following habits of different driving groups becomes a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The method aims to provide a switching control method of the vehicle running modes, which can better adapt to the working conditions of the front vehicle and meet the following habits of different driving groups; another object of the present application is to provide a switching control device, an apparatus, and a computer-readable storage medium for vehicle driving mode, all having the above technical effects.
In order to solve the above technical problem, the present application provides a method for controlling switching of a vehicle driving mode, including:
determining correction parameters according to the group type of the driver of the vehicle;
when the current lane has the front vehicle, acquiring a set vehicle speed of the self vehicle, an actual driving vehicle speed of the self vehicle, a driving vehicle speed of the front vehicle and an actual vehicle distance between the self vehicle and the front vehicle in a constant speed driving mode, and calculating to obtain a reference vehicle distance according to the set vehicle speed of the self vehicle, the actual driving vehicle speed of the self vehicle, the driving vehicle speed of the front vehicle and the correction parameter;
judging whether the actual vehicle distance is smaller than or equal to the reference vehicle distance;
and if the actual vehicle distance is smaller than or equal to the reference vehicle distance, switching the running mode of the vehicle from the constant-speed running mode to the self-adaptive following mode.
Optionally, the calculating a reference vehicle distance according to the set vehicle speed of the vehicle, the actual running vehicle speed of the vehicle, the running vehicle speed of the preceding vehicle and the correction parameter includes:
based on d being η dtemp，
Figure BDA0002171610880000021
λ＝(2vset-vp)/vfObtaining the reference vehicle distance;
wherein d represents the reference vehicle distance, η represents the correction parameter, λ represents a correction coefficient, τhRepresenting a fixed time interval, vfRepresenting the actual running speed of the vehicle, d0Indicating zero-speed distance, vsetIndicates the set speed v of the vehiclepAnd the running speed of the front vehicle is represented.
Optionally, the population types include a cautious population, an aggressive population, and a novice population, and when the population type is a cautious population, the η is 1, when the population type is an aggressive population, the η < 1, and when the population type is a novice population, the η > 1.
Optionally, the method further includes:
and collecting the driving parameters of the self-vehicle and updating the group type according to the driving parameters.
Optionally, before the switching the driving mode of the vehicle from the constant speed driving mode to the adaptive following mode, the method further includes:
judging whether the times that the actual vehicle distance is smaller than or equal to the reference vehicle distance reaches preset times or not;
and if the preset times are reached, switching the running mode of the vehicle from the constant-speed running mode to the self-adaptive following mode.
Optionally, the method further includes:
judging whether the actual vehicle distance is smaller than the limit safe vehicle distance;
and if the actual vehicle distance is smaller than the limit safe vehicle distance, switching the running mode of the vehicle from the constant speed running mode or the self-adaptive following mode to an automatic emergency braking mode.
In order to solve the above technical problem, the present application further provides a switching control device of a vehicle driving mode, including:
the correction parameter determining module is used for determining correction parameters according to the group type of the driver of the vehicle;
the reference vehicle distance calculation module is used for acquiring a set vehicle speed of the vehicle, an actual driving vehicle speed of the vehicle, a driving vehicle speed of the vehicle and an actual vehicle distance between the vehicle and the vehicle in a constant speed driving mode when the vehicle in front exists in a current lane, and calculating to obtain a reference vehicle distance according to the set vehicle speed of the vehicle, the actual driving vehicle speed of the vehicle, the driving vehicle speed of the vehicle in front and the correction parameters;
the first judgment module is used for judging whether the actual vehicle distance is smaller than or equal to the reference vehicle distance;
and the first switching module is used for switching the running mode of the self-vehicle from the constant-speed running mode to the self-adaptive following mode if the actual vehicle distance is equal to the reference vehicle distance.
Optionally, the reference vehicle distance calculation module is specifically configured to calculate the reference vehicle distance based on
Figure BDA0002171610880000031
dtemp＝λ·τh·vf+d0，λ＝(2vset-vp)/vfObtaining the reference vehicle distance, wherein d represents the reference vehicle distance, η represents the correction parameter, lambda represents the correction coefficient, and tauhRepresenting a fixed time interval, vfRepresenting the actual running speed of the vehicle, d0Indicating zero-speed distance, vsetIndicates the set speed v of the vehiclepAnd the running speed of the front vehicle is represented.
In order to solve the above technical problem, the present application further provides a switching control apparatus of a vehicle running mode, including:
a memory for storing a computer program;
a processor for implementing the steps of the method for controlling switching of the vehicle running mode as described above when executing the computer program.
In order to solve the above technical problem, the present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the switching control method of the vehicle running mode as described above.
The switching control method of the vehicle running modes comprises the steps of determining correction parameters according to the group type of a driver of the vehicle; when the current lane has the front vehicle, acquiring a set vehicle speed of the self vehicle, an actual driving vehicle speed of the self vehicle, a driving vehicle speed of the front vehicle and an actual vehicle distance between the self vehicle and the front vehicle in a constant speed driving mode, and calculating to obtain a reference vehicle distance according to the set vehicle speed of the self vehicle, the actual driving vehicle speed of the self vehicle, the driving vehicle speed of the front vehicle and the correction parameter; judging whether the actual vehicle distance is smaller than or equal to the reference vehicle distance; and if the actual vehicle distance is smaller than or equal to the reference vehicle distance, switching the running mode of the vehicle from the constant-speed running mode to the self-adaptive following mode.
Therefore, the switching control method of the vehicle running modes can be better adapted to the working condition of the front vehicle compared with the traditional technical scheme of adopting the fixed vehicle distance. In addition, the determining factor of the reference vehicle distance also comprises a correction parameter corresponding to the group type to which the driver of the vehicle belongs, and the group type to which the driver belongs is determined according to the following habits of the driver, so that the following habits of different driving groups can be better met.
The switching control device, the equipment and the computer readable storage medium for the vehicle running mode have the technical effects.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the prior art and the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for controlling switching of a vehicle driving mode according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a vehicle driving mode switching control device according to an embodiment of the present application;
fig. 3 is a schematic diagram of a switching control device for a vehicle running mode according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a switching control method of vehicle running modes, which can better adapt to the working conditions of the front vehicle and meet the following habits of different driving groups; another core of the present application is to provide a switching control device, an apparatus and a computer readable storage medium for vehicle driving mode, all having the above technical effects.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a method for controlling switching of a vehicle driving mode according to an embodiment of the present disclosure; referring to fig. 1, the handover control method includes:
s101: determining correction parameters according to the group type of the driver of the vehicle;
specifically, in order to meet the following habits of different driving groups, the driving parameters of the vehicle of the driver of the vehicle can be collected in advance to obtain a training sample set when the driver of the vehicle drives the vehicle, then neural network training is carried out based on the training sample set, a classifier is obtained through learning and deep mining training of the training sample set, the group type of the driver of the vehicle is obtained based on the classifier, and then corresponding correction parameters can be determined according to the group type of the driver of the vehicle.
The driving parameters may include accelerator opening and a rate of change of the accelerator opening, braking depth and a rate of change of the braking depth, the number of sudden braking, sudden acceleration and sudden turning, and average power consumption or oil consumption per unit time. The group types can be divided into three types, namely a cautious group, an aggressive group and a novice group.
Furthermore, in one embodiment the population types may include cautious, aggressive, and novice populations. Specifically, the group types are classified into a cautious group, an aggressive group, and a novice group according to the following habits of different drivers. The following distance of the cautious group is smaller than that of the novice group and larger than that of the aggressive group. For example, the following vehicle distance of a cautious group is 6 meters, the following vehicle distance of an aggressive group is 4 meters, and the following vehicle distance of a novice group is 8 meters.
In addition, in a specific embodiment, the method can further comprise collecting driving parameters of the self-vehicle and updating the group type according to the driving parameters.
Specifically, the following habit of the driver of the self-vehicle may be changed, so that the group type to which the driver of the self-vehicle belongs is also updated according to the acquirable actual driving parameters of the self-vehicle, for example, the group is updated to be a cautious group by a novice group, in order to timely and effectively adapt to the following habit of the driver of the self-vehicle.
S102: when the current lane has the front vehicle, acquiring a set vehicle speed of the self vehicle, an actual driving vehicle speed of the self vehicle, a driving vehicle speed of the front vehicle and an actual vehicle distance between the self vehicle and the front vehicle in a constant speed driving mode, and calculating to obtain a reference vehicle distance according to the set vehicle speed of the self vehicle, the actual driving vehicle speed of the self vehicle, the driving vehicle speed of the front vehicle and the correction parameter;
specifically, in the driving process of the vehicle, if the current lane, namely the lane where the vehicle is located, has no front vehicle, the vehicle can continuously keep the constant-speed driving mode. When the lane where the self-vehicle is located is in front of the self-vehicle, the condition that the vehicle of the adjacent lane cuts into the lane where the self-vehicle is located is included, the self-vehicle set speed, the self-vehicle actual running speed, the front-vehicle running speed and the actual vehicle distance between the self-vehicle and the front-vehicle in the constant speed running mode are obtained, and then on the basis that correction parameters are determined according to the group type of the self-vehicle driver, the reference vehicle distance is obtained through calculation according to the self-vehicle actual running speed, the front-vehicle running speed, the self-vehicle set speed and the correction parameters;
in a specific embodiment, the calculating the reference vehicle distance according to the set vehicle speed, the actual running vehicle speed, the preceding vehicle running vehicle speed and the correction parameter may include calculating the reference vehicle distance according to d- η -dtemp，
Figure BDA0002171610880000051
λ＝(2vset-vp)/vfObtaining the reference vehicle distance; wherein d represents the referenceVehicle distance η represents the correction parameter, λ represents the correction factor, τhRepresenting a fixed time interval, vfRepresenting the actual running speed of the self-vehicle, d0 representing the zero-speed distance, vsetIndicates the set speed v of the vehiclepAnd the running speed of the front vehicle is represented.
In the above formula, η denotes a correction parameter corresponding to a group type, and different group types correspond to different correction parameters as a specific embodiment, η is 1 when the group type is a cautious group, η < 1 when the group type is an aggressive group, and η > 1 when the group type is a novice group.
It is understood that the above-mentioned values of the correction parameters when the population type is a cautious population are only one embodiment provided in the present application, and are not limited only, and can be set appropriately according to actual needs. In addition, the specific numerical values of the correction parameters when the population type is an aggressive population and the correction parameters when the population type is a novice population are not limited uniquely, and the difference setting can be performed in combination with actual needs.
S103: judging whether the actual vehicle distance is smaller than or equal to the reference vehicle distance;
s104: and if the actual vehicle distance is equal to the reference vehicle distance, switching the running mode of the vehicle from the constant-speed running mode to the self-adaptive following mode.
Specifically, on the basis of obtaining the reference vehicle distance by calculation, the step aims to further judge whether the actual vehicle distance between the self vehicle and the front vehicle is smaller than or equal to the reference vehicle distance, and if the actual vehicle distance between the self vehicle and the front vehicle is equal to the reference vehicle distance, the running mode of the self vehicle is switched from the constant speed running mode to the self-adaptive following mode. If the actual vehicle distance is larger than the reference vehicle distance, the driving mode of the vehicle can be kept to be the constant speed driving mode.
Further, in order to prevent the vehicle shaking phenomenon caused by frequent mode switching, in a specific embodiment, before switching the running mode of the vehicle from the constant speed running mode to the adaptive following mode, the step of judging whether the number of times that the actual vehicle distance is less than or equal to the reference vehicle distance reaches a preset number of times may be further included; and if the preset times are reached, switching the running mode of the vehicle from the constant-speed running mode to the self-adaptive following mode.
Specifically, a reference number, i.e., a preset number, for example, 10 times, etc., may be preset. When the number of times that the actual vehicle distance between the self vehicle and the front vehicle is smaller than or equal to the reference vehicle distance reaches the preset number of times in engineering application, the switching control device is started, and the self vehicle is switched from the constant-speed running mode to the self-adaptive following mode. Otherwise, the vehicle is kept in the constant speed running mode.
Further, in a specific embodiment, the method further comprises the following steps: judging whether the actual vehicle distance is smaller than the limit safe vehicle distance or not; and if the actual vehicle distance is smaller than the limit safe vehicle distance, switching the running mode of the vehicle from the constant-speed running mode or the self-adaptive following mode to the automatic emergency braking mode.
Specifically, in the running process of the self-vehicle, whether the actual vehicle distance between the self-vehicle and the front vehicle is smaller than the limit safe vehicle distance or not can be judged in real time, the limit safe vehicle distance is close to the zero-speed vehicle distance, and specific numerical values of the limit safe vehicle distance can be set according to actual requirements. Once the actual distance between the self vehicle and the front vehicle is found to be smaller than the limit safe distance, the driving mode of the self vehicle can be immediately switched to the automatic emergency braking mode, wherein the two conditions are that the constant speed driving mode is switched to the automatic emergency braking mode, and the self adaptive following mode is switched to the automatic emergency braking mode.
Further, after the running mode of the own vehicle is switched to the adaptive following mode, if the preceding vehicle runs away or changes lanes, the running mode of the own vehicle can be restored to the constant speed running mode. And after the running mode of the self-vehicle is switched to the automatic emergency braking mode, the running mode of the self-vehicle can be switched to the automatic emergency braking mode or the constant speed running mode when the actual distance between the self-vehicle and the front vehicle is changed and is larger than the limit safe distance.
In summary, according to the switching control method for the vehicle driving mode provided by the application, in the driving process of the vehicle, the actual driving speed of the vehicle, the driving speed of the preceding vehicle and the set speed of the vehicle are integrated to calculate the reference vehicle distance, so that compared with the traditional technical scheme adopting the fixed vehicle distance, the switching control method provided by the application can better adapt to the working condition of the preceding vehicle. In addition, the determining factor of the reference vehicle distance also comprises a correction parameter corresponding to the group type to which the driver of the vehicle belongs, and the group type to which the driver belongs is determined according to the following habits of the driver, so that the following habits of different driving groups can be better met.
The present application also provides a switching control apparatus of a vehicle running mode, which is described below and to which the above-described method is mutually referred. Referring to fig. 2, the apparatus includes:
the correction parameter determining module 10 is used for determining correction parameters according to the group type of the driver of the vehicle;
the reference vehicle distance calculating module 20 is configured to obtain a set vehicle speed of the vehicle, an actual vehicle speed of the vehicle, a vehicle speed of the vehicle ahead, and an actual vehicle distance between the vehicle and the vehicle ahead in a constant speed driving mode when the vehicle ahead exists in a current lane, and calculate a reference vehicle distance according to the set vehicle speed of the vehicle, the actual vehicle speed of the vehicle ahead, the vehicle speed of the vehicle ahead, and the correction parameter;
the first judging module 30 is configured to judge whether the actual vehicle distance is smaller than or equal to the reference vehicle distance;
and the first switching module 40 is used for switching the running mode of the self-vehicle from the constant-speed running mode to the adaptive following mode if the actual vehicle distance is smaller than or equal to the reference vehicle distance.
In addition to the above embodiments, as a specific implementation manner, the reference vehicle distance calculation module may be specifically configured to calculate the reference vehicle distance based on d- η · dtemp，dtemp＝λ·τh·vf+d0，λ＝(2vset-vp)/vfObtaining the reference vehicle distance, wherein d represents the reference vehicle distance, η represents the correction parameter, lambda represents the correction coefficient, and tauhRepresenting a fixed time interval, vfRepresenting the actual running speed of the vehicle, d0Indicating zero-speed distance, vsetIndicates the set speed v of the vehiclepIndicating the preceding vehicleAnd (5) running vehicle speed.
On the basis of the above embodiment, as a specific implementation manner, the method may further include:
and the updating module is used for acquiring the driving parameters of the self-vehicle and updating the group type according to the driving parameters.
On the basis of the above embodiment, as a specific implementation manner, the method may further include:
the second judgment module is used for judging whether the times that the actual vehicle distance is smaller than or equal to the reference vehicle distance reaches preset times or not; if the preset times are reached, the first switching module 40 switches the running mode of the vehicle from the constant-speed running mode to the adaptive following mode.
On the basis of the above embodiment, as a specific implementation manner, the method may further include:
the third judgment module is used for judging whether the actual vehicle distance is smaller than the limit safe vehicle distance;
and the second switching module is used for switching the running mode of the self-vehicle from the constant-speed running mode or the self-adaptive following mode to the automatic emergency braking mode if the actual vehicle distance is smaller than the limit safe vehicle distance.
The present application also provides a switching control apparatus of a vehicle running mode, please refer to fig. 3, the apparatus includes:
a memory 1 for storing a computer program;
a processor 2 for implementing the following steps when executing the computer program:
determining correction parameters according to the group type of the driver of the vehicle; when the current lane has the front vehicle, acquiring a set vehicle speed of the self vehicle, an actual driving vehicle speed of the self vehicle, a driving vehicle speed of the front vehicle and an actual vehicle distance between the self vehicle and the front vehicle in a constant speed driving mode, and calculating to obtain a reference vehicle distance according to the set vehicle speed of the self vehicle, the actual driving vehicle speed of the self vehicle, the driving vehicle speed of the front vehicle and the correction parameter; judging whether the actual vehicle distance is smaller than or equal to the reference vehicle distance; and if the actual vehicle distance is smaller than or equal to the reference vehicle distance, switching the running mode of the vehicle from the constant-speed running mode to the self-adaptive following mode.
For the introduction of the device provided in the present application, please refer to the embodiment of the above method, which is not described herein again.
The present application further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
determining correction parameters according to the group type of the driver of the vehicle; when the current lane has the front vehicle, acquiring a set vehicle speed of the self vehicle, an actual driving vehicle speed of the self vehicle, a driving vehicle speed of the front vehicle and an actual vehicle distance between the self vehicle and the front vehicle in a constant speed driving mode, and calculating to obtain a reference vehicle distance according to the set vehicle speed of the self vehicle, the actual driving vehicle speed of the self vehicle, the driving vehicle speed of the front vehicle and the correction parameter; judging whether the actual vehicle distance is smaller than or equal to the reference vehicle distance; and if the actual vehicle distance is smaller than or equal to the reference vehicle distance, switching the running mode of the vehicle from the constant-speed running mode to the self-adaptive following mode.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the introduction of the computer-readable storage medium provided in the present application, please refer to the above method embodiments, which are not described herein again.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device, the apparatus and the computer-readable storage medium disclosed by the embodiments correspond to the method disclosed by the embodiments, so that the description is simple, and the relevant points can be referred to the description of the method.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, the device, the equipment and the computer readable storage medium for controlling the switching of the vehicle running modes provided by the application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.

Claims (8)

1. A switching control method of a vehicle running mode, characterized by comprising:
determining correction parameters according to the group type of the driver of the vehicle;
when the current lane has the front vehicle, acquiring a set vehicle speed of the self vehicle, an actual driving vehicle speed of the self vehicle, a driving vehicle speed of the front vehicle and an actual vehicle distance between the self vehicle and the front vehicle in a constant speed driving mode, and calculating to obtain a reference vehicle distance according to the set vehicle speed of the self vehicle, the actual driving vehicle speed of the self vehicle, the driving vehicle speed of the front vehicle and the correction parameter;
judging whether the actual vehicle distance is smaller than or equal to the reference vehicle distance;
if the actual vehicle distance is smaller than or equal to the reference vehicle distance, switching the running mode of the vehicle from the constant-speed running mode to a self-adaptive following mode;
the calculating according to the set speed of the vehicle, the actual running speed of the vehicle, the running speed of the front vehicle and the correction parameter to obtain the reference vehicle distance comprises the following steps:
based on d being η dtemp，dtemp＝λ·τh·vf+d0，λ＝(2vset-vp)/vfObtaining the reference vehicle distance;
wherein d represents the reference vehicle distance, η represents the correction parameter, λ represents a correction coefficient, τhRepresenting a fixed time interval, vfRepresenting the actual running speed of the vehicle, d0Indicating zero-speed distance, vsetIndicates the set speed v of the vehiclepAnd the running speed of the front vehicle is represented.
2. The handover control method according to claim 1, wherein the group types include a cautious group, an aggressive group, and a novice group, and wherein when the group type is cautious group, the η is 1, when the group type is aggressive group, the η < 1, and when the group type is novice group, the η > 1.
3. The handover control method according to claim 2, further comprising:
and collecting the driving parameters of the self-vehicle and updating the group type according to the driving parameters.
4. The switching control method according to any one of claims 1 to 3, wherein before switching the running mode of the host vehicle from the constant speed running mode to the adaptive following mode, further comprising:
judging whether the times that the actual vehicle distance is smaller than or equal to the reference vehicle distance reaches preset times or not;
and if the preset times are reached, switching the running mode of the vehicle from the constant-speed running mode to the self-adaptive following mode.
5. The handover control method according to claim 4, further comprising:
judging whether the actual vehicle distance is smaller than the limit safe vehicle distance;
and if the actual vehicle distance is smaller than the limit safe vehicle distance, switching the running mode of the vehicle from the constant speed running mode or the self-adaptive following mode to an automatic emergency braking mode.
6. A switching control device of a vehicle running mode, characterized by comprising:
the correction parameter determining module is used for determining correction parameters according to the group type of the driver of the vehicle;
the reference vehicle distance calculation module is used for acquiring a set vehicle speed of the vehicle, an actual driving vehicle speed of the vehicle, a driving vehicle speed of the vehicle and an actual vehicle distance between the vehicle and the vehicle in a constant speed driving mode when the vehicle in front exists in a current lane, and calculating to obtain a reference vehicle distance according to the set vehicle speed of the vehicle, the actual driving vehicle speed of the vehicle, the driving vehicle speed of the vehicle in front and the correction parameters;
the first judgment module is used for judging whether the actual vehicle distance is smaller than or equal to the reference vehicle distance;
the first switching module is used for switching the running mode of the self-vehicle from the constant-speed running mode to the self-adaptive following mode if the actual vehicle distance is smaller than or equal to the reference vehicle distance;
the reference vehicle distance calculation module is specifically used for calculating the reference vehicle distance based on d- η dtemp，dtemp＝λ·τh·vf+d0，λ＝(2vset-vp)/vfObtaining the reference vehicle distance, wherein d represents the reference vehicle distance, and η represents the reference vehicle distanceThe correction parameter is represented by λ, a correction coefficient is represented by τhRepresenting a fixed time interval, vfRepresenting the actual running speed of the vehicle, d0Indicating zero-speed distance, vsetIndicates the set speed v of the vehiclepAnd the running speed of the front vehicle is represented.
7. A switching control apparatus of a vehicle running mode, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the switching control method of the vehicle running mode according to any one of claims 1 to 5 when the computer program is executed.
8. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the steps of the switching control method of vehicle travel modes according to any one of claims 1 to 5.
CN201910764854.XA 2019-08-19 2019-08-19 Switching control method of vehicle driving modes and related device Active CN110435661B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910764854.XA CN110435661B (en) 2019-08-19 2019-08-19 Switching control method of vehicle driving modes and related device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910764854.XA CN110435661B (en) 2019-08-19 2019-08-19 Switching control method of vehicle driving modes and related device

Publications (2)

Publication Number Publication Date
CN110435661A CN110435661A (en) 2019-11-12
CN110435661B true CN110435661B (en) 2020-04-24

Family

ID=68436366

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910764854.XA Active CN110435661B (en) 2019-08-19 2019-08-19 Switching control method of vehicle driving modes and related device

Country Status (1)

Country Link
CN (1) CN110435661B (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110949386B (en) * 2019-11-28 2021-07-20 江苏大学 Vehicle adaptive cruise control system and method capable of recognizing driving tendency
CN111267852B (en) * 2020-03-18 2021-06-08 清华大学苏州汽车研究院（相城） Cruise control method for motorcade cooperative driving
CN111845744B (en) * 2020-06-24 2022-10-18 深圳中集智能科技有限公司 Vehicle following control method and device, electronic equipment and storage medium
CN115214565B (en) * 2021-04-21 2024-03-15 上海汽车集团股份有限公司 Method and device for switching brake pedal feel
CN113246980A (en) * 2021-04-22 2021-08-13 前海七剑科技(深圳)有限公司 Vehicle speed planning method and device, vehicle and storage medium
CN113147573A (en) * 2021-04-27 2021-07-23 宝能(广州)汽车研究院有限公司 Vehicle lamp switching method and device, electronic equipment and storage medium
CN116279491B (en) * 2023-03-14 2024-02-02 上海知而行科技有限公司 System and method for switching between automatic driving and automatic following

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3699988B2 (en) * 1997-06-27 2005-09-28 株式会社デンソー Auto cruise control device
CN103963785A (en) * 2014-05-20 2014-08-06 武汉理工大学 Dual-mode control method for automobile self-adaptive cruise system
CN104192146B (en) * 2014-09-12 2017-03-01 辽宁工业大学 Automobile intelligent cruise DAS (Driver Assistant System) control method based on fuzzy control
CN104527644B (en) * 2014-12-29 2017-06-27 江苏大学 A kind of adaptive cruise method
CN104925057A (en) * 2015-06-26 2015-09-23 武汉理工大学 Automotive self-adaptive cruising system with multi-mode switching system and control method thereof
CN106314428B (en) * 2016-09-14 2018-10-09 中国科学院微电子研究所 Collision avoidance system, collision avoidance method and motor vehicle
CN108407810A (en) * 2018-04-13 2018-08-17 浙江吉利控股集团有限公司 Following state method of adjustment, apparatus and system
CN109624986B (en) * 2019-03-01 2021-01-15 吉林大学 Driving style learning cruise control system and method based on mode switching

Also Published As

Publication number Publication date
CN110435661A (en) 2019-11-12

Similar Documents

Publication Publication Date Title
CN110435661B (en) Switching control method of vehicle driving modes and related device
US9221452B2 (en) System and method for optimizing fuel economy using predictive environment and driver behavior information
CN111325230B (en) Online learning method and online learning device for vehicle lane change decision model
CN113071505B (en) Method, device and equipment for determining driving behavior habit and controlling vehicle running
CN109163086B (en) Gear shifting strategy correction method and system
CN111301419A (en) Reinforcement learning based method for SAE4 level automated lane change
DE112010005774T5 (en) Systems and methods for scheduling driver interface tasks based on driver workload
CN109835337B (en) Turning control method and device and automatic driving vehicle
CN111775938B (en) Lane change path planning method, device and system
CN113253739A (en) Driving behavior decision method for expressway
US20220258735A1 (en) Adaptive cruise control method and system
JP2012216203A (en) Information provision timing management device, information provision timing management method and program
US20200298866A1 (en) A method and a control arrangement for determining a control profile for a vehicle
CN111806459A (en) Vehicle track prediction method and device and vehicle
DE102019102760A1 (en) CONTROLLING AN ENGINE IDLE SAIL IN A VEHICLE BY MEANS OF A RELATIVE VEHICLE SPEED
CN110027546B (en) Method and device for optimizing driving behavior
CN112009397A (en) Automatic driving drive test data analysis method and device
CN114802234A (en) Road edge avoiding method and system in intelligent cruise
CN110053626B (en) Vehicle control method and related device
DE102018209753A1 (en) Method, device, mobile user device and computer program for providing information for use in a vehicle
CN110920546B (en) Image recognition control method and device for vehicle
CN111038517B (en) Vehicle running speed determination method and device
CN114056425A (en) Vehicle steering control method and device, vehicle and storage medium
CN112706776A (en) Road calibration data determination method and device, electronic equipment and storage medium
WO2023188274A1 (en) Driving capacity determination system and driving capacity determination method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant