CN110949384B - Cruise control state display method and device and vehicle - Google Patents

Abstract

The embodiment of the invention discloses a cruise control state display method, a cruise control state display device and a vehicle. The method comprises the following steps: the method comprises the steps of obtaining vehicle data corresponding to current running of a vehicle, determining usability of a cruise control system on the vehicle according to the vehicle data, controlling a state indicator lamp arranged on the vehicle to indicate in a first indication state when the cruise control system is available, and controlling the state indicator lamp arranged on the vehicle to indicate in a second indication state when a cruise activation operation instruction of the cruise control system is received. Compared with the prior art, the embodiment of the invention visually displays the state of the cruise control system to the driver, so that the driver can conveniently know the current state of the cruise control system and can adopt corresponding operation according to the state to meet the driving requirement.

Description

Cruise control state display method and device and vehicle

Technical Field

The embodiment of the invention relates to the technical field of auxiliary driving, in particular to a cruise control state display method and device and a vehicle.

Background

With the intelligent advance of vehicles, more and more vehicles are provided with Cruise Control Systems (CCS) so that the vehicles can stably run at a set speed or follow the vehicles or run along the center line of a lane, and a driver does not need to Control an accelerator pedal, a brake pedal and a steering wheel, so that particularly when the vehicles run on a highway, the frequent accelerator, brake and steering operations of the driver can be omitted, the fatigue degree of the driver is greatly reduced, and the running stability and safety are improved.

When it is desired to implement cruise control using a CCS, it is first necessary to determine whether the CCS is available, and cruise control is implemented by activating the CCS on the basis of the availability of the CCS. In a traditional cruise control mode, when a driver needs to be switched to cruise control through manual control, the driver cannot visually determine whether the current cruise control is available, due to the influence of factors such as lane lines, the position relation between a vehicle and the lane lines, and the environment, the condition that CCS cannot be activated due to the fact that the CCS does not meet the conditions often exists, when CCS activation fails, the driver cannot determine the reason of CCS activation failure, and therefore driving of the driver is affected, and even certain risks exist.

Disclosure of Invention

The embodiment of the invention provides a method and a device for displaying the state of cruise control and a vehicle, which are used for displaying the state of the cruise control, so that a driver can know the current state of the cruise control and the driving requirement is met.

In a first aspect, an embodiment of the present invention provides a method for displaying a cruise control state, including:

acquiring vehicle data corresponding to the current running of a vehicle;

determining an availability of a cruise control system on the vehicle based on the vehicle data;

when the cruise control system is available, the state indicator lamp arranged on the vehicle is controlled to indicate in a first indication state, and when a cruise activation operation instruction of the cruise control system is received, the state indicator lamp arranged on the vehicle is controlled to indicate in a second indication state.

In a second aspect, an embodiment of the present invention further provides a cruise control status display device, including:

the data acquisition module is used for acquiring vehicle data corresponding to the current running of the vehicle;

an availability determination module to determine availability of a cruise control system on the vehicle based on the vehicle data;

the control module is used for controlling a state indicator lamp arranged on the vehicle to indicate in a first indication state when the cruise control system is available, and controlling the state indicator lamp arranged on the vehicle to indicate in a second indication state when a cruise activation operation instruction of the cruise control system is received.

In a third aspect, an embodiment of the present invention further provides a vehicle, including:

a brake pedal;

a steering wheel for controlling a traveling direction of the vehicle;

the forward-looking camera is used for collecting lane line images;

an adaptive cruise control subsystem for causing the vehicle to travel in an adaptive cruise drive mode;

an advanced cruise control subsystem for causing the vehicle to travel in an advanced cruise drive mode;

the state indicator lamp is used for indicating the current corresponding state of the vehicle;

the interactive interface is used for displaying the vehicle and the current running environment of the vehicle;

a cruise controller;

a memory for storing one or more programs;

the one or more programs, when executed by the cruise controller, cause the cruise controller to implement the cruise-control status display method according to the first aspect.

The embodiment of the invention provides a method and a device for displaying the state of cruise control and a vehicle. Compared with the prior art, the embodiment of the invention visually displays the state of the cruise control system to the driver, so that the driver can conveniently know the current state of the cruise control system and can adopt corresponding operation according to the state to meet the driving requirement.

Drawings

Fig. 1 is a flowchart of a cruise control status display method according to an embodiment of the present invention;

FIG. 2 is a flowchart of a cruise control status display method according to a second embodiment of the present invention;

FIG. 3 is a flowchart of another method for displaying the status of cruise control according to a second embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating a cruise control status display according to a second embodiment of the present invention;

fig. 5 is a structural diagram of a cruise control status display device according to a third embodiment of the present invention;

fig. 6 is a structural diagram of a vehicle according to a fourth embodiment of the present invention;

fig. 7 is a schematic diagram of an interactive interface according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.

Example one

Fig. 1 is a flowchart of a cruise control status display method according to an embodiment of the present invention, where the embodiment is applicable to a case where a cruise control status is displayed, and the method may be executed by a cruise control status display device, which may be implemented by software and/or hardware and integrated in a vehicle, and specifically, referring to fig. 1, the method includes the following steps:

and S110, acquiring vehicle data corresponding to the current running of the vehicle.

The vehicle data is parameter information corresponding to vehicle driving, and may include, but is not limited to, an open/close state of a vehicle door, a usage of a seat belt, a definition of a lane line of a lane where the vehicle is located, a position of the vehicle in the lane line, a driver's hand holding a steering wheel, and a braking state of a brake pedal, where the open/close state of the vehicle door is whether the vehicle door is closed, and may be determined by detecting a vehicle door state signal, for example, whether the vehicle door is closed, where the corresponding vehicle door state signal is "0", the vehicle door is not closed, and the corresponding vehicle door state signal is "1", and whether the vehicle door is closed may be determined by detecting whether the vehicle door state signal is "0", where it is to be added that the open/close state of the vehicle door includes open/close states of four vehicle doors, and the open/close states of the four vehicle doors are all received separately. The braking state of the brake pedal is whether the driver steps on the brake pedal, and can be determined by detecting the state of a brake switch above the brake pedal or the pressure of a master cylinder, for example, when the driver steps on the brake pedal, the brake pedal moves downwards to touch the brake switch, the brake switch is conducted, and when the brake switch is detected to be conducted, the driver can be determined to step on the brake pedal; alternatively, the master cylinder pressure is detected, and when the master cylinder pressure is greater than or equal to the pressure threshold, it can be determined that the driver depresses the brake pedal. The use condition of the safety belt is whether the driver fastens the safety belt or not, and can be determined according to the state of a contact switch in the safety belt buckle beside the driver seat. The safety belt buckle beside the seat is internally provided with a contact switch, when the safety belt is inserted into the safety belt buckle, the contact switch is switched on and sends an indication signal that the driver fastens the safety belt to the cruise controller, when the indication signal that the driver fastens the safety belt is received, the driver can be determined to fasten the safety belt, and otherwise, the driver is determined not to fasten the safety belt. The position of the vehicle in the lane line refers to the lateral distance between the vehicle and the center line or the virtual center line of the lane line, and the direction of the vehicle head facing the center line. The driver's hand holding the steering wheel may be whether the driver holds the steering wheel with one or both hands, and may be determined based on a sensor on the steering wheel or a steering torque, for example, when the steering torque is greater than a set threshold, the driver's hand holding the bidirectional steering wheel is determined. It should be noted that since the steering torque is used for indirect determination, it is not possible to distinguish between a one-handed or two-handed bidirectional disk. The definition of the lane line is the definition of the lane line, a front-view camera of the vehicle can be used for collecting lane line images, and the definition of the lane line of the lane where the vehicle is located is determined by recognizing the lane line images. The present embodiment does not limit the specific recognition process of the lane line image.

Further, the vehicle data may further include a vehicle shift state corresponding to the running of the vehicle, which may include a P range, an R range, an N range, and a D range, and an EPB (Electrical Park Brake) applied state of the vehicle, which includes EPB applied and EPB not applied, which indicates parking, and the like.

And S120, determining the usability of the cruise control system on the vehicle according to the vehicle data.

The cruise control system is used for controlling the vehicle to run at a set speed, when the target vehicle exists at the front side, the vehicle runs with the vehicle, when the target vehicle disappears, the vehicle runs at a set cruise speed or runs along the center line of a lane, and the existence of the cruise control system frees the hands and feet of a driver to a certain extent and relieves the fatigue degree of the driver. The availability of the cruise control system refers to whether the cruise control system is available on the vehicle. Because the usability of the cruise control system is often strongly related to the self condition of the vehicle, the surrounding environment and the behavior of the driver, and the vehicle can jump back and forth between usable and unusable states at any time, the prior art lacks judgment on the usability or certain state display, so that the driver cannot determine whether the cruise control system is usable at present, and the manual switching to the cruise control is easy to cause failure in activation, thus causing distraction of the driver and having certain potential safety hazard. The present embodiment determines whether the cruise control system is available based on the acquired vehicle data.

Different Cruise Control systems can realize different Cruise Control, for example, some Cruise Control systems can only realize longitudinal Control, some Cruise Control systems can realize longitudinal Control, and some Cruise Control systems can realize transverse Control, wherein a Cruise Control system capable of realizing longitudinal Control is called an Adaptive Cruise Control (ACC) system, and a Cruise Control system capable of realizing longitudinal Control, and a Cruise Control system capable of realizing transverse Control is called a Super Autonomous Cruise Control (SACC) system. Optionally, the cruise control system of this embodiment takes an SACC system as an example, and the SACC system has a lateral control function and a longitudinal control function of an ACC system.

Determining whether the SACC system is available may determine whether lateral control and longitudinal control of the SACC system are available, respectively. The longitudinal control is mainly related to the open/close state of the door, the use of the seat belt, the vehicle shift position state, the EPB application state, the driver's grip of the steering wheel, the brake state of the brake pedal, and the like, and the embodiment takes the open/close state of the door, the use of the seat belt, the driver's grip of the steering wheel, the brake state of the brake pedal, the vehicle shift position state, and the EPB application state as examples, and determines whether the longitudinal control is available or not according to the open/close state of the door, the use of the seat belt, the driver's grip of the steering wheel, the brake state of the brake pedal, the vehicle shift position state, and the EPB application state. For example, when the four doors are all closed, the driver is wearing a seat belt, the driver is holding the steering wheel, the brake pedal is not depressed, the vehicle is in D range, and the EPB is not applied, it may be determined that longitudinal control is available. The lateral control is mainly related to the longitudinal control, the position of the vehicle on a lane line, the definition of the lane line, and the Steering intention of the driver, wherein the Steering intention of the driver can be determined by the Steering torque of an Electric Power Steering (EPS) on the vehicle or the operation state of a turn signal switch, for example, when the Steering torque is greater than or equal to a set threshold value or the operation of the turn signal switch is effective for either left turn or right turn, the driver can be determined to have the Steering intention, otherwise, the driver is determined not to have the Steering intention. Alternatively, it may be determined that lateral control is available when longitudinal control is available, the vehicle is within a range of center positions of the lane line, the lane line is clear, and the driver has no intention to turn.

It should be noted that, when the longitudinal control is available, it indicates that the ACC function is available, when the ACC function is triggered, the adaptive cruise control for the vehicle may be implemented, that is, the longitudinal automatic control for the vehicle may be implemented, when both the lateral control and the longitudinal control are available, it indicates that both the ACC function and the SACC function are available, a suitable control may be selected according to the requirement, when the lateral control is unavailable and the longitudinal control is available, it indicates that only the ACC function is available, and when the longitudinal control is actually applied, even if the SACC function is triggered, the SACC function may not be used.

S130, when the cruise control system is available, controlling a state indicator lamp arranged on the vehicle to indicate in a first indication state, and when a cruise activation operation instruction of the cruise control system is received, controlling the state indicator lamp arranged on the vehicle to indicate in a second indication state.

The first indication state is a state which indicates that the cruise control system is available, and can prompt the current availability of the cruise control system for the driver through characters or prompt the current availability of the cruise control system for the driver through the state of a state indicator lamp. In the embodiment, the status indicator light is taken as an example, optionally, the availability of the cruise control system may be indicated by the color of the status indicator light, and the specific color is not limited in the embodiment. For example, the status indicator light may be controlled to indicate white when the cruise control system is available and may be controlled to indicate gray when the cruise control system is not available. The driver can confirm whether the cruise control system is available at present according to the color of the state indicator lamp, and basis is provided for subsequent operation of the driver. It should be noted that before determining whether the cruise control system is available, the main switch of the cruise control system needs to be in an on state, and after the main switch of the cruise control system is turned on, it can be determined whether the cruise control system is currently available according to the acquired vehicle data, if so, the status indicator lamp is changed from grey to white, and if not, the status indicator lamp is continuously kept grey.

Alternatively, in order to clarify whether the lateral control and the longitudinal control of the cruise control system are available, corresponding status indicators may be provided for the lateral control and the longitudinal control, respectively, and the availability of the lateral control and the longitudinal control may be determined according to the colors of the status indicators. For example, when the lateral control is available, the status indicator lamp corresponding to the lateral control indicates white, when the longitudinal control is available, the status indicator lamp corresponding to the longitudinal control indicates white, and a driver can determine whether the lateral control and the longitudinal control are available by observing the color of the status indicator lamp, so as to determine whether the corresponding cruise control is triggered. The color of the indicator light can be set as desired, and the color given in the embodiment is only one example.

The cruise activation operation command is an operation command for activating the cruise control system to cause the vehicle to automatically run under the control of the cruise control system, and the cruise control system can be activated by the operation of the cruise activation switch by the driver. The cruise control system may also be activated by triggering an activation button of the interactive interface. The cruise activation operation command comprises an ACC function activation operation command and an SACC function activation operation command, when only the ACC function of the cruise control system is available, the ACC function can be activated through the ACC function activation operation command to enable the vehicle to run under the ACC control, and when the SACC function of the cruise control system is available, the cruise activation operation command can be the ACC function activation operation command or the SACC function activation operation command and can be specifically selected according to actual needs. For example, taking the cruise control system as an example activated by triggering the cruise activation switch, whether the ACC function or the SACC function is activated may be determined according to the number of triggers, for example, triggering the cruise activation switch once indicates activating the ACC function, and triggering the cruise activation switch twice in succession, for example, 1.5s for a certain time period indicates activating the SACC function.

The second indication state is a state indicating activation of the cruise control system, and similar to the first indication state, the second indication state may indicate that the driver cruise control system is currently in an activated state through a text, or may indicate that the driver cruise control system is currently in an activated state through a status indicator lamp.

Illustratively, when only the ACC function is available and the ACC function is activated, the status indicator light corresponding to the portrait control is green and the status indicator light corresponding to the landscape control is gray. When the SACC function is available and the SACC function is activated, the status indicator lamp corresponding to the transverse control and the status indicator lamp corresponding to the longitudinal control are both green. When the SACC function is available and the ACC function is activated, the status indicator lamp corresponding to the vertical control is green, and the status indicator lamp corresponding to the horizontal control is white. Note that when the SACC function is available, the ACC function is also available. The state of the cruise control system is reflected in real time through the state indicator lamp, so that a driver can know the state in time, and reference is provided for subsequent driving.

The embodiment of the invention provides a method for displaying the state of cruise control, which comprises the steps of obtaining vehicle data corresponding to the current running of a vehicle, determining the usability of a cruise control system on the vehicle according to the vehicle data, controlling a state indicator lamp arranged on the vehicle to indicate in a first indication state when the cruise control system is available, and controlling the state indicator lamp arranged on the vehicle to indicate in a second indication state when a cruise activation operation instruction of the cruise control system is received. Compared with the prior art, the embodiment of the invention visually displays the state of the cruise control system to the driver, so that the driver can conveniently know the current state of the cruise control system and can adopt corresponding operation according to the state to meet the driving requirement.

Example two

Fig. 2 is a flowchart of a cruise control status display method according to a second embodiment of the present invention, where the present embodiment is optimized based on the foregoing embodiment, specifically, the method includes the following steps:

and S210, acquiring vehicle data corresponding to the current running of the vehicle.

Optionally, the vehicle data includes an open/close state of a door, a use state of a seat belt, a braking state of a brake pedal, a vehicle gear state, an EPB application state, a definition of a lane line of a lane where the vehicle is located, a position of the vehicle in the lane line, a steering state, and a state where a driver holds a steering wheel. The cruise control system includes: the system comprises an adaptive cruise control subsystem and an advanced cruise control subsystem, wherein the adaptive cruise control subsystem can realize an ACC function, the advanced cruise control subsystem can realize an SACC function, the adaptive cruise control subsystem is integrated in the advanced cruise control subsystem, and the adaptive cruise control subsystem can be used when the advanced cruise control subsystem is available.

It should be noted that it is not contradictory that the cruise control system includes the adaptive cruise control subsystem and the advanced cruise control subsystem, and the aforementioned cruise control system includes the SACC system, and the SACC system adds a lateral control function on the basis of the ACC system, so when the cruise control system includes the SACC system, the ACC system is necessarily included.

And S220, judging whether the opening and closing state of the vehicle door, the using state of the safety belt, the gear state of the vehicle, the EPB applying state, the braking state of the brake pedal and the state of the driver holding the steering wheel meet a first set condition, if so, executing S230, and otherwise, executing S280.

Optionally, the first setting condition is: the door is closed, the driver is wearing a seat belt, the vehicle is in D range, the EPB is not applied, the driver is not stepping on the brake pedal, and the driver's hands are not disengaged from the steering wheel. When the fact that the vehicle door is completely closed, the driver wears a safety belt, the vehicle is in a D gear, the EPB is not applied, the driver does not step on a brake pedal, and hands are not separated from a steering wheel is detected, it can be determined that the adaptive cruise control subsystem is available, namely, the ACC function is available, and if any one of the conditions is detected to be not in accordance with the first set condition, the adaptive cruise control subsystem is considered to be unavailable, namely, the ACC function is unavailable. For example, detecting that the driver is not belted, the adaptive cruise control subsystem is determined to be unavailable.

And S230, determining that the adaptive cruise control subsystem is available.

S240, searching a preset indication rule base to obtain an available state indication command corresponding to the adaptive cruise control subsystem.

The indication rule base is used for storing the association relationship between the availability of the adaptive cruise control subsystem and the status indicator lamps, for example, when the adaptive cruise control subsystem is available, the corresponding status indicator lamp indicates white, and when the adaptive cruise control subsystem is unavailable, the corresponding status indicator lamp indicates gray. The status indication command is a command for controlling the status indicator lamp to display a corresponding color. For example, when the adaptive cruise control subsystem is available, the corresponding status indicator light indicates white, and the status indication command is a command for indicating the corresponding status indicator light to display white.

And S250, controlling a state indicator lamp corresponding to the adaptive cruise control subsystem on the vehicle to indicate in a first sub-indication state according to the state indication command.

The first sub-indicating state is the state of the corresponding status indicator light when the adaptive cruise control subsystem is available. Illustratively, the status indication command is a command for indicating that the corresponding status indicator lamp displays white, and the cruise controller of the cruise control system controls the corresponding status indicator lamp to indicate white according to the status indication command. When the driver sees the status indicator light indicating white, it may be determined that the adaptive cruise control subsystem is currently available.

And S260, when the received cruise activation operation instruction is an adaptive cruise activation operation instruction, controlling a state indicator lamp corresponding to the adaptive cruise control subsystem on the vehicle to indicate in a third sub-indication state, and controlling the vehicle to run in an adaptive cruise driving mode.

And the third sub-indication state is the state of the corresponding state indicator lamp when the adaptive cruise control subsystem is activated. When the ACC function is determined to be available, if an adaptive cruise active operation instruction, namely the ACC function active operation instruction, is received, the ACC function can be activated, so that the vehicle runs in an adaptive cruise driving mode, and the fatigue degree of a driver is relieved to a certain extent. When the ACC function is activated, the corresponding status indicator light may be controlled to indicate, for example, the corresponding status indicator light may be controlled to indicate green, where green is the third sub-indication status, and is used to indicate that the ACC function is activated and the vehicle is currently running in the adaptive cruise driving mode.

And S270, when the vehicle data meet the second set condition in the driving process, controlling the vehicle to be switched from the self-adaptive cruise driving mode to the high-level cruise driving mode.

The second setting condition is a condition that the vehicle has to travel in the advanced cruise driving mode, and optionally, the second setting condition is that longitudinal control is available, the vehicle is within the range of the center line of the lane line, the lane line of the lane where the vehicle is located is clear, and the driver has no steering intention. During driving, if the longitudinal control is still available, when the vehicle is within the central line range of the lane line, the lane line of the lane where the vehicle is located is clear, and the driver has no steering intention, the transverse control is available, namely the vehicle can drive in the advanced cruise driving mode, so that the vehicle can be controlled to be switched from the adaptive cruise driving mode to the advanced cruise driving mode. In practical application, the driving modes can be automatically switched according to vehicle data, or manually switched according to the triggering of the driver, for example, when the driving mode switching condition is met, the driver can be prompted whether to switch the driving modes currently, if the driver agrees, the switching is performed, otherwise, the driver continues to drive in the current driving mode.

When the driving mode is switched, the color indication of the corresponding status indicator lamp is correspondingly changed, for example, in the adaptive cruise driving mode, the status indicator lamp for longitudinal control indicates green, the status indicator lamp for transverse control indicates white, and when the driving mode is switched to the advanced cruise driving mode, the status indicator lamp for longitudinal control and the status indicator lamp for transverse control both indicate green. Optionally, in order to make the driver clear the change of the current vehicle driving state, when the driving mode is switched, the white indicator light may be controlled to flash for a certain time, such as 3s, with a frequency of 1Hz, and then turned into green, so that the driver can clearly know the intervention or exit of the lateral control, and the safety of the driver is enhanced.

And S280, determining that the adaptive cruise control subsystem is unavailable.

And S290, controlling a state indicator lamp corresponding to the adaptive cruise control subsystem on the vehicle to indicate in a fifth sub-indication state.

And the fifth sub-indication state is the state of the corresponding state indicator lamp when the adaptive cruise control subsystem is unavailable. And when the adaptive cruise control subsystem is unavailable, controlling the state indicator lamp to correspondingly indicate so that the driver determines that the adaptive cruise control subsystem is currently unavailable according to the indication of the state indicator lamp. Optionally, the fifth sub-indication state is gray, that is, when it is determined that the adaptive cruise control subsystem is not currently available, the control state indicator light indicates gray.

And S2100, when receiving an adaptive cruise activation operation instruction, determining the reason why the adaptive cruise control subsystem is unavailable according to the vehicle data.

When the adaptive cruise control subsystem is unavailable and an adaptive cruise activation operation command is received, determining the reason for the unavailability of the adaptive cruise control subsystem according to vehicle data, and optionally: one or more of the driver not wearing a seat belt, the door not closed, the vehicle being in a non-D range, the EPB being applied, the driver applying the brake, and the driver disengaging the hand from the steering wheel. And S2110, displaying the reason in a first preset display form.

In order to facilitate the driver to know the reason why the adaptive cruise control subsystem is unavailable, the determined reason why the adaptive cruise control subsystem is unavailable can be displayed on the interactive interface in a first preset display mode, and the first preset display mode can be set according to needs, for example, the first preset display mode can be displayed through characters, or voice broadcasting can be added.

It should be noted that, in the ACC function activation control process, if any one of the first setting conditions is not satisfied, the adaptive cruise subsystem exits the control and prompts the user for a specific reason. Or when the vehicle runs under special working conditions, the adaptive cruise control subsystem can exit the control and prompt a user for a specific reason, wherein the special working conditions can be illustrated by referring to the description of the related content of the advanced cruise control subsystem. In addition, during the ACC function activation control process, the ACC can be manually controlled to quit working.

On the basis of the second embodiment, various states of the adaptive cruise control subsystem are indicated through the state indicator lamps, so that a driver can know the cruise control state in real time, and the safety of the driver is improved.

On the basis of the above embodiment, referring to fig. 3, fig. 3 is a flowchart of another method for displaying the state of cruise control according to the second embodiment of the present invention, when the adaptive cruise control subsystem is available, it may be further determined whether the advanced cruise control subsystem is available according to vehicle data, and the state of the advanced cruise control subsystem is displayed to increase driver's awareness. Specifically, the method comprises the following steps:

and S310, determining that the adaptive cruise control subsystem is available.

The above embodiments may be referred to for the determination process available to the adaptive cruise control subsystem, and details thereof are not repeated herein.

S320, whether the definition of the lane line of the lane where the vehicle is located, the position of the vehicle in the lane line and the steering intention of the driver meet second set conditions or not is judged, if yes, S330 is executed, and if not, S380 is executed.

Optionally, the second setting condition is that the vehicle is within a center line range of the lane line, the lane line of the lane where the vehicle is located is clear, and the driver does not intend to turn, where the vehicle is within the center line range of the lane line, and it is determined that the vehicle is within the center position range of the lane line only when the vehicle deviates from the center line by less than a certain distance and the included angle between the heading direction of the vehicle and the center line is less than a certain angle. When the definition of the lane line is greater than the set threshold, the lane line is considered to be clear, the set threshold can be set according to needs, the definition of the lane line can be determined by recognizing the lane line image, and a specific determination process embodiment is not limited. The steering intention of the driver may be determined according to the steering torque or the operation state of the turn light switch, and the specific determination process may refer to the above-described embodiment, which is not described herein again. When the adaptive cruise control subsystem is available, the vehicle is within the range of the center line of the lane line, the lane line of the lane where the vehicle is located is clear, and the driver has no steering intention, it is determined that the advanced cruise control subsystem is available, that is, the SACC function is available. Fig. 3 is an exemplary illustration of further determining whether an advanced cruise control subsystem is available based on the availability of an adaptive cruise control subsystem.

And S330, determining that the advanced cruise control subsystem is available.

S340, searching a preset indication rule base to obtain an available state indication command corresponding to the advanced cruise control subsystem.

For convenience of viewing, corresponding status indicator lamps can be respectively arranged according to the advanced cruise control subsystem and the adaptive cruise control subsystem, and the status indication process of the advanced cruise control subsystem is similar to that of the adaptive cruise control subsystem, and is not described herein again.

And S350, controlling a state indicator lamp corresponding to the advanced cruise control subsystem on the vehicle to indicate in a second sub-indication state according to the state indication command.

The second sub-indicating state is the state of the corresponding status indicator light when the advanced cruise control subsystem is available. For example, when the advanced cruise control subsystem is available, the corresponding status indicator lamp of the advanced cruise control subsystem can be controlled to indicate white.

And S360, when the received cruise activation operation instruction is an advanced cruise activation operation instruction, controlling a state indicator lamp corresponding to the advanced cruise control subsystem on the vehicle to indicate in a fourth sub-indication state, and controlling the vehicle to run in an advanced cruise driving mode.

The fourth sub-indicating state is the state of the corresponding status indicator light when the advanced cruise control subsystem is activated. For example, when the advanced cruise control subsystem is activated, the corresponding status indicator lamp of the advanced cruise control subsystem can be controlled to indicate green.

And S370, controlling the vehicle to be switched from the advanced cruise driving mode to the adaptive cruise driving mode when the vehicle data are determined to meet the first set condition but not meet the second set condition during the running process.

The method comprises the steps that a vehicle runs in an advanced cruise driving mode, in the running process, if vehicle data meet the requirement that longitudinal control is available but not meet the requirement that transverse control is available, at the moment, transverse control quits working, only longitudinal control is reserved, accordingly, the vehicle is controlled to be switched from the advanced cruise driving mode to an adaptive cruise driving mode, correspondingly, a state indicator lamp of the transverse control is changed from green to grey, the state indicator lamp of the longitudinal control is still kept green, and a driver can know the current driving mode of the vehicle according to the color change of the state indicator lamp. Under the working condition, within a certain time (such as 1min), after the second set condition is met again, the system can be automatically switched to the advanced cruise driving mode, and the white indicator lamp can twinkle for 3s (with the frequency of 1Hz) before switching and then turns into green.

And S380, determining that the advanced cruise control subsystem is unavailable.

And S390, controlling a state indicator lamp corresponding to the advanced cruise control subsystem on the vehicle to indicate in a sixth sub-indication state.

And the sixth sub-indication state is the state of the corresponding state indicator lamp when the advanced cruise control subsystem is unavailable. For example, when the advanced cruise control subsystem is not available, the corresponding status indicator lamp of the advanced cruise control subsystem can be controlled to indicate gray.

And if the vehicle is out of the range of the central line of the lane line, the lane line is unclear and/or the driver has a steering intention, indicating that the transverse control is unavailable, namely the SACC function is unavailable, controlling the corresponding state indicator lamp to indicate according to the set sixth sub-indication state, for example, displaying the gray state of the state indicator lamp of the transverse control.

And S3100, when receiving an advanced cruise activation operation command, determining a reason why the advanced cruise control subsystem is unavailable according to the vehicle data.

And S3110, displaying the reason in a second preset display form.

Similar to the adaptive cruise control subsystem, when determining that the SACC function is unavailable and receiving an advanced cruise activation operation instruction, displaying the reason that the SACC function is unavailable according to a second preset display form, optionally displaying the SACC function on an interactive interface through characters, and adding voice broadcasting.

It should be added that, on the basis of the above embodiment, optionally, if the vehicle runs in the cruise control mode corresponding to the cruise control system, when it is detected that the vehicle data or the road condition within the set range in front of the vehicle meets the cruise exit condition, the vehicle is controlled to exit the cruise control mode, and a corresponding prompt is performed.

Specifically, in the ACC function activation control process, if any one of the first setting conditions is not satisfied, the adaptive cruise subsystem may exit the control, or the adaptive cruise subsystem may exit the control when a vehicle runs under a special condition. In the SACC function activation control process, if any one of the first set conditions is not met, the advanced cruise subsystem exits control, if any one of the second set conditions is not met, only the advanced cruise subsystem exits transverse control, and if special working conditions are met, the advanced cruise subsystem also exits control. The reason prompt is carried out when the control is quitted no matter the adaptive cruise subsystem or the advanced cruise subsystem.

In addition, when special road conditions are met, whether the user exits immediately or exits in a delayed mode can be determined according to the specific road conditions.

For example, in the SACC function activation control process, the vehicle may run along a center line of a lane at a certain speed or with the vehicle, and in the running process, if there is a danger in the detected road condition ahead, for example, a continuous curve ahead is detected, an accident road section ahead is detected, a tunnel ahead is detected, a merging intersection or a branch intersection ahead, and the like, the driver is prompted to exit the SACC control at present, and manual control is required, and a specific reason is also included. If the front road condition is detected to be uncontrollable, for example, the curvature of the front road is detected to be smaller than the controllable curvature of the system, traffic jam caused by a front accident, a front ice and snow road surface, traffic control or construction road section and the like, the driver is prompted to exit the SACC control currently and specific reasons. The embodiment does not limit the prompting manner of the specific reason.

It should be noted that, in the process of controlling the activation of the SACC function, the SACC can be controlled manually to exit from the operation. For example, a cruise exit switch may be triggered to deactivate the cruise control system.

The status display process of the advanced cruise control subsystem is similar to that of the adaptive cruise control subsystem, and reference may be made to the above-described embodiment for specific details.

It should be noted that, several color examples of the status indicator light are given by way of example only, and other colors may be set as long as different statuses can be distinguished. Of course, the prompt may also be made in conjunction with a flashing status indicator light or a change in brightness.

Now, briefly describing the status display process of the cruise control, referring to fig. 4, fig. 4 is a schematic diagram of the status display process of the cruise control according to the second embodiment of the present invention.

Before the cruise main switch is pressed, the cruise control system is in an off state, the corresponding status indicator lamp does not indicate in any color, after the cruise main switch is pressed, whether the transverse control and the longitudinal control are available or not can be respectively determined, if the transverse control and the longitudinal control are available, the corresponding status indicator lamp indicates white, if the transverse control and the longitudinal control are unavailable, the corresponding status indicator lamp still indicates gray, then the indication of the active status is carried out according to the received cruise active operation instruction, for example, only the longitudinal control is available, the received cruise active operation instruction is an ACC function active operation instruction, the status indicator lamp of the longitudinal control indicates green, and the status indicator lamp of the transverse control indicates gray. And if the received cruise activation operation instruction is an SACC function activation operation instruction, displaying the reason why the SACC function cannot be activated. When both the lateral control and the longitudinal control are available, the corresponding functions can be activated and correspondingly instructed according to the received cruise activation operation command. In the driving process, when the fact that a driver has steering intention or the lane line is unclear or the vehicle is out of the range of the center line of the lane line is detected, the transverse control quits the work, and the vehicle drives under the ACC function. And if the cruise control is unavailable before the cruise is activated, displaying the reason of the unavailable activation according to the cruise activation operation instruction. The cruise control is exited when the vehicle has been running under the ACC or SACC during which the longitudinal control is changed from available to unavailable. In addition, when the vehicle runs in the cruise control mode, the driver can be prompted to take over the vehicle according to vehicle data or a detection result of the road condition in front, and automatically quit the cruise control according to the requirement, and corresponding prompt is carried out, or the driver can manually quit the cruise control.

EXAMPLE III

Fig. 5 is a structural diagram of a cruise control status display device according to a third embodiment of the present invention, which can execute the cruise control status display method according to the third embodiment of the present invention, specifically, the device includes:

the data acquisition module 310 is configured to acquire vehicle data corresponding to current driving of a vehicle;

an availability determination module 320 for determining availability of a cruise control system on the vehicle based on the vehicle data;

the first control module 330 is configured to control a status indicator lamp provided on the vehicle to indicate in a first indication state when the cruise control system is available, and to control the status indicator lamp provided on the vehicle to indicate in a second indication state when a cruise activation operation instruction of the cruise control system is received.

The third embodiment of the invention provides a cruise control state display device, which is characterized in that vehicle data corresponding to current running of a vehicle are acquired, the usability of a cruise control system on the vehicle is determined according to the vehicle data, when the cruise control system is available, a state indicator lamp arranged on the vehicle is controlled to indicate in a first indication state, and when a cruise activation operation instruction of the cruise control system is received, the state indicator lamp arranged on the vehicle is controlled to indicate in a second indication state. Compared with the prior art, the embodiment of the invention visually displays the state of the cruise control system to the driver, so that the driver can conveniently know the current state of the cruise control system and can adopt corresponding operation according to the state to meet the driving requirement.

On the basis of the above embodiment, the apparatus further includes:

and the second control module is used for controlling a state indicator lamp arranged on the vehicle to indicate in a third indication state when the cruise control system is unavailable, and displaying the unavailable reason of the cruise control system in a preset display mode when the cruise control system receives the cruise activation operation instruction.

On the basis of the above embodiment, the vehicle data includes: the parking brake system comprises a vehicle door, a safety belt, a brake pedal, a lane line definition of a lane where the vehicle is located, a position of the vehicle in the lane line, a steering state, a driver holding a steering wheel, a vehicle gear state and an electronic parking brake system (EPB) applying state, wherein the vehicle door is opened or closed;

the cruise control system includes: an adaptive cruise control subsystem and an advanced cruise control subsystem;

an availability determination module 320 comprising:

a first determination unit configured to determine that the adaptive cruise control subsystem is available when an open/close state of the door, a use state of a seatbelt, a vehicle shift position state, an EPB applied state, a brake state of a brake pedal, and a state in which a driver holds a steering wheel satisfy a first set condition; otherwise, determining that the adaptive cruise control subsystem is unavailable;

a second determination unit configured to determine that the advanced cruise control subsystem is available when the adaptive cruise control subsystem is available and a definition of a lane line of a lane in which the vehicle is located, a position of the vehicle in the lane line, and a steering intention of the driver satisfy a second set condition; otherwise, determining that the advanced cruise control subsystem is unavailable.

On the basis of the above embodiment, the first indication state includes: a first sub indication state and a second sub indication state;

a first control module 330 comprising:

the first searching unit is used for searching a preset indication rule base when the adaptive cruise control subsystem is available to obtain a state indication command corresponding to the adaptive cruise control subsystem;

the first control unit is used for controlling a state indicator lamp corresponding to the adaptive cruise control subsystem on the vehicle to indicate in a first sub-indication state according to the state indication command;

the second searching unit is used for searching a preset indication rule base when the advanced cruise control subsystem is available, and obtaining a state indication command which corresponds to the availability of the advanced cruise control subsystem;

and the second control unit is used for controlling a status indicator lamp corresponding to the advanced cruise control subsystem on the vehicle to indicate in a second sub-indication state according to the status indication command.

On the basis of the above embodiment, the second indication state includes: a third sub indication state and a fourth sub indication state;

a first control module 330 comprising:

the third control unit is used for controlling a state indicator lamp corresponding to the adaptive cruise control subsystem on the vehicle to indicate in a third sub-indication state and controlling the vehicle to run in an adaptive cruise driving mode when the adaptive cruise control subsystem is available and the received cruise activation operation instruction is the adaptive cruise activation operation instruction;

and the fourth control unit is used for controlling a state indicator lamp corresponding to the advanced cruise control subsystem on the vehicle to indicate in a fourth sub-indication state and controlling the vehicle to run in an advanced cruise driving mode when the advanced cruise control subsystem is available and the received cruise activation operation instruction is the advanced cruise activation operation instruction.

On the basis of the above embodiment, the third indication state includes: a fifth sub indication state and a sixth sub indication state;

the second control module is specifically configured to:

if the adaptive cruise control subsystem is unavailable, controlling a state indicator lamp on the vehicle corresponding to the adaptive cruise control subsystem to indicate in a fifth sub-indication state;

when an adaptive cruise activation operation instruction is received, determining the reason why the adaptive cruise control subsystem is unavailable according to the vehicle data;

displaying the reason in a first preset display form;

if the advanced cruise control subsystem is unavailable, controlling a status indicator lamp on the vehicle corresponding to the advanced cruise control subsystem to indicate in a sixth sub-indication state;

when an advanced cruise activation operation instruction is received, determining the reason why the advanced cruise control subsystem is unavailable according to the vehicle data;

and displaying the reason in a second preset display form.

On the basis of the above embodiment, the apparatus further includes:

the first switching module is used for controlling the vehicle to be switched from the adaptive cruise driving mode to the high-level cruise driving mode when the vehicle data meet second set conditions during driving if the vehicle runs in the adaptive cruise driving mode;

and the second switching module is used for controlling the vehicle to be switched from the advanced cruise driving mode to the adaptive cruise driving mode when the vehicle data is determined to meet the first set condition but not meet the second set condition during driving if the vehicle runs in the advanced cruise driving mode.

On the basis of the above embodiment, the apparatus further includes:

and the risk prompting module is used for controlling the vehicle to exit the cruise control mode and carrying out corresponding prompting when the vehicle data or the road condition in the set range in front of the vehicle meets the cruise exit condition if the vehicle runs in the cruise control mode corresponding to the cruise control system.

The cruise control state display device provided by the third embodiment of the invention can execute the cruise control state display method provided by the third embodiment of the invention, and has corresponding functions and beneficial effects.

Example four

Fig. 6 is a structural diagram of a vehicle according to a fourth embodiment of the present invention, and referring to fig. 6, the vehicle includes: the cruise controller 410, the memory 420, the steering wheel 430, the forward looking camera 440, the adaptive cruise control subsystem 450, the advanced cruise control subsystem 460, the status indicator light 470, the interface 480, and the brake pedal 490, and the cruise controller 410, the memory 420, the steering wheel 430, the forward looking camera 440, the adaptive cruise control subsystem 450, the advanced cruise control subsystem 460, the status indicator light 470, the interface 480, and the brake pedal 490 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 6.

The steering wheel 430 is used for controlling the driving direction of the vehicle. And the forward-looking camera 440 is used for acquiring a lane line image. An adaptive cruise control subsystem 450 for causing the vehicle to travel in an adaptive cruise drive mode. An advanced cruise control subsystem 460 for causing the vehicle to travel in an advanced cruise drive mode. And a status indicator lamp 470 for indicating the current corresponding status of the vehicle. And the interactive interface 480 is used for displaying the vehicle and the running environment where the vehicle is currently located. Optionally, status indicator lights 470 may be disposed on the outer edge of the interface 480, and include status indicator lights corresponding to the lateral control and status indicator lights corresponding to the longitudinal control, so that the status of the lateral control and the longitudinal control may be displayed in real time, and the driver may know whether the adaptive cruise control subsystem 450 and the advanced cruise control subsystem 460 are available.

The adaptive cruise control subsystem 450 is used for realizing longitudinal control, and the advanced cruise control subsystem 460 is used for realizing transverse control and longitudinal control, when the adaptive cruise control subsystem 450 is available, namely an ACC function is available, the longitudinal automatic control of the vehicle can be realized by activating the ACC function, and when the advanced cruise control subsystem 460 is available, namely an SACC function is available, the transverse and longitudinal automatic control of the vehicle can be realized by activating the SACC function. If an advanced cruise control subsystem 460 is available, i.e., both lateral and longitudinal control are available, then the adaptive cruise control subsystem 450 is also available. The setting of the interactive interface 480 increases the interactive experience of the driver, for example, referring to fig. 7, fig. 7 is a schematic diagram of an interactive interface provided in the fourth embodiment of the present invention, information such as the indication states of the host vehicle 4801, the cruising target vehicle speed 4808, the current vehicle speed 4809, the target vehicle 4802, the ACC indicator lamps 4806, and the SACC indicator lamps 4807, the lane line 4804, and the inter-vehicle distance line 4805 may be displayed on the interactive interface 480, wherein the text prompt area 4803 may display a reason for prompting that the driver is unavailable when determining that the lateral control or the longitudinal control is unavailable and receiving the corresponding cruising activation operation instruction. The driver can know the distance between the host vehicle 4801 and the target vehicle 4802 in time through the interactive interface 480, so as to avoid the occurrence of rear-end collision accidents, wherein the target vehicle 4802 is a vehicle in front of the host vehicle 4801 and in the same lane as the host vehicle 4801. Fig. 7 is only an exemplary illustration of partial information displayed on the interactive interface, and has no limiting effect, and the ACC indicator 4806 and the SACC indicator 4807 in fig. 7 are also only an example, and the specific structure may be set as required.

The memory 420 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the cruise control status display method according to the embodiment of the present invention. The cruise controller 410 executes various functional applications of the vehicle and data processing, that is, implements the cruise control status display method of the above-described embodiment, by running software programs, instructions, and modules stored in the memory 420.

The memory 420 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 420 may further include memory located remotely from the cruise controller 410, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The vehicle according to the fourth embodiment of the present invention is the same as the method for displaying the state of the cruise control according to the first embodiment of the present invention, and the details of the technique not described in detail in the present embodiment can be referred to the above embodiments, and the present embodiment has the same advantageous effects as the method for displaying the state of the cruise control.

EXAMPLE five

Fifth embodiment of the present invention also provides a storage medium having stored thereon a computer program that, when executed by a cruise controller, implements the cruise control status display method according to the fifth embodiment of the present invention.

Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the operations in the method for displaying the state of the cruise control described above, and may also perform the related operations in the method for displaying the state of the cruise control provided by any embodiment of the present invention, and has corresponding functions and advantages.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the method for displaying the state of the cruise control according to the embodiments of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (7)

1. A cruise control status display method, characterized by comprising:

acquiring vehicle data corresponding to the current running of a vehicle;

determining an availability of a cruise control system on the vehicle based on the vehicle data;

when the cruise control system is available, controlling a status indicator lamp arranged on the vehicle to indicate in a first indication state, and when a cruise activation operation instruction of the cruise control system is received, controlling the status indicator lamp arranged on the vehicle to indicate in a second indication state;

if the vehicle runs in a cruise control mode corresponding to the cruise control system, when the fact that the vehicle data or the road condition in the set range in front of the vehicle meets the cruise exit condition is detected, the vehicle is controlled to exit the cruise control mode, and corresponding prompt is carried out;

when the cruise control system is unavailable, controlling a state indicator lamp arranged on the vehicle to indicate in a third indication state, and when the cruise activation operation instruction is received, displaying the reason that the cruise control system is unavailable in a preset display mode;

the vehicle data includes: the parking brake system comprises a vehicle door, a safety belt, a brake pedal, a lane line definition of a lane where the vehicle is located, a position of the vehicle in the lane line, a steering state, a driver holding a steering wheel, a vehicle gear state and an electronic parking brake system (EPB) applying state, wherein the vehicle door is opened or closed;

the cruise control system includes: an adaptive cruise control subsystem and an advanced cruise control subsystem;

said determining availability of a cruise control system on said vehicle based on said vehicle data, comprising:

determining that the adaptive cruise control subsystem is available when the open-close state of the vehicle door, the use state of a safety belt, the gear state of the vehicle, the application state of the EPB, the braking state of a brake pedal and the state of the driver holding a steering wheel meet a first set condition; otherwise, determining that the adaptive cruise control subsystem is unavailable;

determining that the advanced cruise control subsystem is available when the adaptive cruise control subsystem is available and the definition of the lane line of the lane in which the vehicle is located, the position of the vehicle in the lane line and the steering intention of the driver meet a second set condition; otherwise, determining that the advanced cruise control subsystem is unavailable;

wherein the status indicator lights comprise at least status indicator lights separately provided for the adaptive cruise control subsystem and the advanced cruise control subsystem, respectively.

2. The method of claim 1, wherein the first indication state comprises: a first sub indication state and a second sub indication state;

when the cruise control system is available, the method for controlling a state indicator lamp arranged on the vehicle to indicate in a first indication state comprises the following steps:

when the adaptive cruise control subsystem is available, searching a preset indication rule base to obtain an available state indication command corresponding to the adaptive cruise control subsystem;

according to the state indication command, controlling a state indicator lamp corresponding to the adaptive cruise control subsystem on the vehicle to indicate in a first sub-indication state;

when the advanced cruise control subsystem is available, searching a preset indication rule base to obtain an available state indication command corresponding to the advanced cruise control subsystem;

and controlling a state indicator lamp corresponding to the advanced cruise control subsystem on the vehicle to indicate in a second sub-indication state according to the state indication command.

3. The method of claim 1, wherein the second indication state comprises: a third sub indication state and a fourth sub indication state;

when a cruise activation operation instruction of the cruise control system is received, controlling a state indicator lamp arranged on the vehicle to indicate in a second indication state comprises the following steps:

when the adaptive cruise control subsystem is available and the received cruise activation operation instruction is the adaptive cruise activation operation instruction, controlling a state indicator lamp corresponding to the adaptive cruise control subsystem on the vehicle to indicate in a third sub-indication state, and controlling the vehicle to run in an adaptive cruise driving mode;

and when the advanced cruise control subsystem is available and the received cruise activation operation instruction is the advanced cruise activation operation instruction, controlling a state indicator lamp corresponding to the advanced cruise control subsystem on the vehicle to indicate in a fourth sub-indication state, and controlling the vehicle to run in an advanced cruise driving mode.

4. The method of claim 1, wherein the third indication state comprises: a fifth sub indication state and a sixth sub indication state;

when the cruise control system is unavailable, controlling a state indicator lamp arranged on the vehicle to indicate in a third indication state, and when the cruise activation operation instruction is received, displaying the reason that the cruise control system is unavailable in a preset display mode, wherein the method comprises the following steps:

if the adaptive cruise control subsystem is unavailable, controlling a state indicator lamp on the vehicle corresponding to the adaptive cruise control subsystem to indicate in a fifth sub-indication state;

when an adaptive cruise activation operation instruction is received, determining the reason why the adaptive cruise control subsystem is unavailable according to the vehicle data;

displaying the reason in a first preset display form;

if the advanced cruise control subsystem is unavailable, controlling a status indicator lamp on the vehicle corresponding to the advanced cruise control subsystem to indicate in a sixth sub-indication state;

when an advanced cruise activation operation instruction is received, determining the reason why the advanced cruise control subsystem is unavailable according to the vehicle data;

and displaying the reason in a second preset display form.

5. The method of claim 3, further comprising:

if the vehicle runs in the adaptive cruise driving mode, controlling the vehicle to be switched from the adaptive cruise driving mode to a high-level cruise driving mode when the vehicle data meet a second set condition during running;

and if the vehicle runs in the advanced cruise driving mode, controlling the vehicle to be switched from the advanced cruise driving mode to the adaptive cruise driving mode when the vehicle data is determined to meet the first set condition but not meet the second set condition during running.

6. A cruise control status display device, comprising:

the data acquisition module is used for acquiring vehicle data corresponding to the current running of the vehicle; the vehicle data includes: the parking brake system comprises a vehicle door, a safety belt, a brake pedal, a lane line definition of a lane where the vehicle is located, a position of the vehicle in the lane line, a steering state, a driver holding a steering wheel, a vehicle gear state and an electronic parking brake system (EPB) applying state, wherein the vehicle door is opened or closed;

an availability determination module to determine availability of a cruise control system on the vehicle based on the vehicle data;

the control module is used for controlling a state indicator lamp arranged on the vehicle to indicate in a first indication state when the cruise control system is available, and controlling the state indicator lamp arranged on the vehicle to indicate in a second indication state when a cruise activation operation instruction of the cruise control system is received;

the risk prompting module is used for controlling the vehicle to exit from the cruise control mode and carrying out corresponding prompting when the vehicle data or the road condition in the set range in front of the vehicle meets the cruise exit condition if the vehicle runs in the cruise control mode corresponding to the cruise control system;

the second control module is used for controlling a state indicator lamp arranged on the vehicle to indicate in a third indication state when the cruise control system is unavailable, and displaying the unavailable reason of the cruise control system in a preset display mode when the cruise control system receives the cruise activation operation instruction; the cruise control system includes: an adaptive cruise control subsystem and an advanced cruise control subsystem;

the availability determination module includes:

a first determination unit configured to determine that the adaptive cruise control subsystem is available when an open/close state of the door, a use state of a seatbelt, a vehicle shift position state, an EPB applied state, a brake state of a brake pedal, and a state in which a driver holds a steering wheel satisfy a first set condition; otherwise, determining that the adaptive cruise control subsystem is unavailable;

a second determination unit configured to determine that the advanced cruise control subsystem is available when the adaptive cruise control subsystem is available and a definition of a lane line of a lane in which the vehicle is located, a position of the vehicle in the lane line, and a steering intention of the driver satisfy a second set condition; otherwise, determining that the advanced cruise control subsystem is unavailable;

wherein the status indicator lights comprise at least status indicator lights separately provided for the adaptive cruise control subsystem and the advanced cruise control subsystem, respectively.

7. A vehicle, characterized by comprising:

a status indicator light;

a brake pedal;

a steering wheel for controlling a traveling direction of the vehicle;

the forward-looking camera is used for collecting lane line images;

an adaptive cruise control subsystem for causing the vehicle to travel in an adaptive cruise drive mode;

an advanced cruise control subsystem for causing the vehicle to travel in an advanced cruise drive mode;

the interactive interface is used for displaying the vehicle and the current running environment of the vehicle;

a cruise controller;

a memory for storing one or more programs;

the one or more programs, when executed by the cruise controller, cause the cruise controller to implement the cruise-control status display method according to any one of claims 1-5.

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