CN113022563A - Vehicle, and control method and control device thereof - Google Patents
Vehicle, and control method and control device thereof Download PDFInfo
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- CN113022563A CN113022563A CN201911347928.6A CN201911347928A CN113022563A CN 113022563 A CN113022563 A CN 113022563A CN 201911347928 A CN201911347928 A CN 201911347928A CN 113022563 A CN113022563 A CN 113022563A
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- 230000003044 adaptive effect Effects 0.000 claims abstract description 54
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- 230000003993 interaction Effects 0.000 claims description 21
- 238000005516 engineering process Methods 0.000 description 5
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- 238000003058 natural language processing Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a vehicle and a control method and a control device thereof, wherein the control method comprises the following steps: acquiring the speed limit of a running road in front of a vehicle under the starting state of the adaptive cruise function; if the limited vehicle speed is not consistent with the current vehicle speed of the vehicle, planning the vehicle speed and the acceleration and deceleration of the vehicle according to the limited vehicle speed, the current vehicle speed and the preset acceleration and deceleration preferred by the driver; and controlling the vehicle to run according to the planned vehicle speed and the acceleration and deceleration. The control method can automatically adjust the cruising speed according to the limited speed of the front road without manual switching by a driver, avoids influencing the driving energy of the driver, avoids driving safety accidents caused by untimely cruise speed adjustment after the driving road is switched, greatly improves the driving safety, and can stably link the speeds after the vehicles are switched, thereby improving the driving experience.
Description
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a method and a device for controlling a vehicle, and a vehicle.
Background
The self-adaptive cruise control is an intelligent automatic control system, and is similar to the traditional constant-speed cruise control; adaptive cruise control is an automotive function that allows a vehicle cruise control system to adapt to traffic conditions by adjusting speed. The self-adaptive cruise control system replaces a driver to control the speed of the vehicle, avoids frequently cancelling and setting cruise control, and provides a more relaxed driving mode for the driver.
However, in the current vehicle with the adaptive cruise function, the setting of the adaptive cruise function needs to be frequently pressed, which affects the driving safety; particularly, after the driving road of the vehicle is switched, due to the difference of the speed limit of the road, the driver needs to set the cruising speed through the keys according to the road condition, so that the driving energy of the driver is not concentrated, and the driving safety is influenced. And the driver is required to quickly set the cruising speed, the operable time of the driver is short, otherwise, the cruising speed is not adjusted timely, and driving safety accidents are caused.
Disclosure of Invention
The present invention is directed to solving at least one of the problems in the art to some extent. Therefore, a first objective of the present invention is to provide a control method for a vehicle, which can automatically adjust a cruising speed according to a limited speed of a road ahead, without manual switching by a driver, thereby avoiding influencing driving energy of the driver, and also avoiding driving safety accidents caused by untimely cruise speed adjustment after switching of driving roads, thereby greatly improving driving safety, and the speed of the vehicle can be smoothly connected after switching of the roads, thereby improving driving experience.
A second object of the present invention is to provide a control device for a vehicle.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention proposes a control method of a vehicle, including: acquiring the speed limit of a running road in front of a vehicle under the starting state of the adaptive cruise function; if the speed limit is not consistent with the current speed of the vehicle, calculating the distance from a speed switching point to a road speed limit switching point according to the speed limit, the current speed and the preset driver preference acceleration and deceleration; before the vehicle reaches the vehicle speed switching point, the vehicle speed plan of the vehicle is the current vehicle speed, and after the vehicle reaches the vehicle speed switching point and before the vehicle reaches the road speed limit switching point, the acceleration and deceleration plan of the vehicle is the acceleration and deceleration preferred by the driver; and controlling the vehicle to run according to the planned vehicle speed and the acceleration and deceleration.
According to the control method of the vehicle, the speed limit of the running road in front of the vehicle is obtained under the starting state of the adaptive cruise function, if the speed limit is inconsistent with the current speed of the vehicle, the speed and the acceleration and deceleration of the vehicle are planned according to the speed limit, the current speed and the preset acceleration and deceleration preferred by a driver, and the vehicle is controlled to run according to the planned speed and the planned acceleration and deceleration. The control method can automatically adjust the cruising speed according to the limited speed of the front road without manual switching by a driver, avoids influencing the driving energy of the driver, avoids driving safety accidents caused by untimely cruise speed adjustment after the driving road is switched, greatly improves the driving safety, and can stably link the speeds after the vehicles are switched, thereby improving the driving experience.
In addition, the control method of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the control method further includes: acquiring the natural language of a driver under the starting state of the self-adaptive cruise function; identifying a driving intention of a driver according to the natural language of the driver; and controlling the vehicle to run according to the driving intention.
According to an embodiment of the present invention, the control method further includes: acquiring road information of a driving road in front of the vehicle; judging whether the front driving road meets the self-adaptive cruise condition or not according to the road information; if yes, keeping the starting state of the self-adaptive cruise function or starting the self-adaptive cruise function; and if not, keeping the closed state of the adaptive cruise function or closing the adaptive cruise function.
According to one embodiment of the present invention, before the starting of the adaptive cruise function, the method further includes: natural language interaction is carried out with a driver, and whether the self-adaptive cruise function is started or not is confirmed; if yes, starting the self-adaptive cruise function; if not, keeping the closing state of the adaptive cruise function.
According to an embodiment of the present invention, before turning off the adaptive cruise function, the method further includes: natural language interaction is carried out with a driver, and whether the self-adaptive cruise function is closed or not is confirmed; if so, closing the self-adaptive cruise function; if not, the self-adaptive cruise function is kept in the starting state.
In order to achieve the above object, a second aspect of the present invention provides a control apparatus for a vehicle, including: the first acquisition module is used for acquiring the speed limit of a running road in front of a vehicle under the starting state of the adaptive cruise function; the planning module is used for calculating the distance from a vehicle speed switching point to a road speed limit switching point according to the vehicle speed limit, the current vehicle speed and the preset driver preference acceleration and deceleration, wherein the vehicle speed of the vehicle is planned to be the current vehicle speed before the vehicle reaches the vehicle speed switching point, and the acceleration and deceleration of the vehicle is planned to be the driver preference acceleration and deceleration after the vehicle reaches the vehicle speed switching point and before the vehicle reaches the road speed limit switching point; and the first control module is used for controlling the vehicle to run according to the planned vehicle speed and the acceleration and deceleration.
According to the control device of the vehicle, the speed limit of the running road in front of the vehicle is obtained through the first obtaining module under the state that the self-adaptive cruise function is started, when the speed limit is inconsistent with the current speed of the vehicle, the planning module plans the speed and the acceleration and deceleration of the vehicle according to the speed limit, the current speed and the preset acceleration and deceleration preferred by a driver, and the first control module controls the vehicle to run according to the planned speed and the planned acceleration and deceleration. From this, the device can be according to the restriction speed of a motor vehicle automatic adjustment speed of a motor vehicle on the road in the place ahead, need not the driver and manually switches, avoids influencing driver's driving energy, has also avoided the driving safety accident that the speed adjustment of cruising after the road switches over causes untimely, has improved the security of driving greatly, and the vehicle is after switching the road, and the speed of a motor vehicle can steadily link up, improves and drives and take experience.
In addition, the control device for a vehicle according to the above embodiment of the present invention may further have the following additional features:
according to an embodiment of the present invention, the control apparatus of a vehicle further includes: the second acquisition module is used for acquiring the natural language of the driver in the starting state of the self-adaptive cruise function; the recognition module is used for recognizing the driving intention of the driver according to the natural language of the driver; and the second control module is used for controlling the vehicle to run according to the driving intention.
According to an embodiment of the present invention, the control device further includes: the third acquisition module is used for acquiring road information of a driving road in front of the vehicle; and the third control module is used for judging whether the front driving road meets the self-adaptive cruise condition or not according to the road information, wherein if the front driving road meets the self-adaptive cruise condition, the self-adaptive cruise function is kept in an opening state or the self-adaptive cruise function is started, and if the front driving road does not meet the self-adaptive cruise condition, the self-adaptive cruise function is kept in a closing state or the self-adaptive cruise function is closed.
According to an embodiment of the invention, the third control module is further configured to: and carrying out natural language interaction with a driver, and confirming whether the self-adaptive cruise function is started or not, if so, starting the self-adaptive cruise function, and if not, keeping the self-adaptive cruise function in a closed state.
In order to achieve the above object, a third aspect of the present invention proposes a vehicle including the control device of the vehicle according to the second aspect of the present invention.
According to the vehicle provided by the embodiment of the invention, the cruising speed can be automatically adjusted according to the limited speed of the front road through the control device of the vehicle, the manual switching by a driver is not needed, the driving energy of the driver is avoided being influenced, the driving safety accident caused by the untimely adjustment of the cruising speed after the driving road is switched is also avoided, the driving safety is greatly improved, the speed of the vehicle can be stably connected after the road is switched, and the driving experience is improved.
Drawings
Fig. 1 is a flowchart of a control method of a vehicle according to a first embodiment of the invention;
FIG. 2 is a schematic diagram of an acceleration-deceleration plan according to one embodiment of the present invention;
fig. 3 is a flowchart of a control method of a vehicle according to a second embodiment of the invention;
fig. 4 is a flowchart of a control method of a vehicle according to a third embodiment of the invention;
fig. 5 is a flowchart of a control method of a vehicle according to a fourth embodiment of the invention;
fig. 6 is a block schematic diagram of a control apparatus of a vehicle according to one embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A control method of a vehicle, a control device of a vehicle, and a vehicle of an embodiment of the invention are described below with reference to the drawings.
Fig. 1 is a flowchart of a control method of a vehicle according to a first embodiment of the invention. As shown in fig. 1, the method comprises the steps of:
and S1, acquiring the speed limit of the running road in front of the vehicle when the adaptive cruise function is in the on state.
And S2, calculating the distance from the vehicle speed switching point to the road speed limit switching point according to the limited vehicle speed, the current vehicle speed and the preset driver preference acceleration and deceleration.
And S3, before the vehicle reaches the vehicle speed switching point, the vehicle speed of the vehicle is planned to be the current vehicle speed, and after the vehicle reaches the vehicle speed switching point and before the vehicle reaches the road speed limit switching point, the acceleration and deceleration of the vehicle is planned to be the acceleration and deceleration preferred by the driver.
The vehicle speed of the vehicle means a cruising speed.
And S4, controlling the vehicle to run according to the planned vehicle speed and the acceleration and deceleration.
Specifically, in the adaptive cruise function on state, the vehicle speed limit of the road ahead may be acquired by a navigation System or a GPS (Global Positioning System) and compared with the current vehicle speed. And if the speed limit of the front running road is not consistent with the current speed of the vehicle, planning the speed and the acceleration and deceleration of the vehicle according to the speed limit, the current speed and the preset driver preference acceleration and deceleration. The driver's preferred acceleration and deceleration includes: the acceleration and the deceleration of the vehicle that driver preference, the acceleration and the different motorcycle types of deceleration of vehicle have different scopes, can provide the driver with the scope, and the driver can select according to self preference, prestores driver identity information and corresponding preference acceleration and deceleration.
For example, as shown in fig. 2, the vehicle needs to be switched from road 1 (current road) to road 2 (front driving road), if the vehicle speed limit of the front driving road is not consistent with the current vehicle speed of the vehicle, the vehicle speed limit V1, the current vehicle speed V2 and the preset driver preference acceleration and deceleration a of the front driving road are obtained according to the formula V12-V22And 2aS, calculating the distance S from the vehicle speed switching point A to the road speed limit switching point B. After the distance S from the vehicle speed switching point A to the road speed limit switching point B is calculated, the vehicle speed of the vehicle is planned to be the current vehicle speed before the vehicle reaches the vehicle speed switching point A, and the acceleration and deceleration of the vehicle is planned to be the acceleration and deceleration preferred by the driver after the vehicle reaches the vehicle speed switching point A and before the vehicle reaches the road speed limit switching point B. Therefore, the cruise speed of the vehicle can be controlled to be adjusted to the speed limit of the road 2 after the vehicle reaches the road speed limit switching point B, automatic switching of the cruise speed is completed, manual switching by a driver is not needed, driving energy of the driver is prevented from being influenced, driving safety accidents caused by untimely cruise speed adjustment after the driving road is switched are avoided, driving safety is greatly improved, the vehicle speed can be stably connected after the road is switched, and driving experience is improved.
According to an embodiment of the present invention, as shown in fig. 3, the control method of the vehicle described above may further include:
and S10, acquiring the natural language of the driver when the adaptive cruise function is in the on state.
And S20, recognizing the driving intention of the driver according to the natural language of the driver.
And S30, controlling the vehicle to run according to the driving intention.
Specifically, when the natural language of the driver is monitored in the on state of the adaptive cruise function, the adaptive cruise system identifies the driving intentions of the driver, such as the following distance, the cruise speed setting, the cruise function on and off, the acceleration and deceleration driving style and the like, through the natural language interactive processing technology, interactively confirms important information and the driver through the natural language, generates driving decision information according to the driving intentions of the driver after the correctness is confirmed, and controls the vehicle according to the driving decision information. Therefore, the intention of the driver is understood by utilizing the natural language processing technology, the driver uses the most used voice to control the vehicle, a large amount of time and energy are not needed to learn various unnatural and used human-computer interaction voices, the driver can timely and conveniently interact with the self-adaptive cruise system of the vehicle, the human-computer interaction is friendly, the operability is high, the practicability is high, and the vehicle can quickly and correctly make corresponding response.
According to an embodiment of the present invention, as shown in fig. 4, the control method of the vehicle described above further includes:
s100, road information of a driving road in front of the vehicle is acquired.
And S200, judging whether the front driving road meets the self-adaptive cruise condition or not according to the road information.
And S300, if so, keeping the starting state of the adaptive cruise function or starting the adaptive cruise function.
And S400, if not, keeping the closing state of the adaptive cruise function or closing the adaptive cruise function.
Specifically, in the driving process of the vehicle, the navigation system and the GPS are used for acquiring road information of a driving road in front of the vehicle in real time, and whether the driving road in front meets the self-adaptive cruise condition or not is judged according to the road information. If the automatic cruise condition is met, if the current adaptive cruise function is in an on state, keeping the on state of the adaptive cruise function; and if the current adaptive cruise function is in the closed state, starting the adaptive cruise function. If the self-adaptive cruise function is not in accordance with the automatic cruise condition, if the current self-adaptive cruise function is in an on state, the self-adaptive cruise function is closed; if the current adaptive cruise function is in the off state, the adaptive cruise function remains off.
According to one embodiment of the invention, before the adaptive cruise function is started, the method further comprises the following steps: and carrying out natural language interaction with a driver to confirm whether the self-adaptive cruise function is started or not. If yes, the self-adaptive cruise function is started. If not, keeping the closing state of the adaptive cruise function.
Before the self-adaptive cruise function is turned off, the method further comprises the following steps: and carrying out natural language interaction with a driver to confirm whether the self-adaptive cruise function is closed or not. If so, the adaptive cruise function is turned off. If not, the self-adaptive cruise function is kept in the starting state.
Specifically, to fully respect the personal preferences of the driver, natural language interaction with the driver is required to confirm whether the driver would like to turn the adaptive cruise function on or off before turning the adaptive cruise function on or off. As shown in fig. 5, during the driving process of the vehicle, the navigation system and the GPS are used to acquire road information of the driving road in front of the vehicle in real time, and whether the driving road in front meets the adaptive cruise condition is determined according to the road information (steps S100-S200). If the automatic cruise condition is met, further judging whether the current adaptive cruise function is in an on state (step S210), if the current adaptive cruise function is in the on state, the on state of the adaptive cruise function is maintained without interactive confirmation with a driver (step S220), and avoiding the driver from being irritated due to frequent inquiry; when the front driving road is judged to accord with the self-adaptive cruise condition, the current self-adaptive cruise function is in a closed state, natural language interaction is required to be carried out with a driver, whether the self-adaptive cruise function is started or not is confirmed (step S230), for example, a voice of ' the front road is suitable for starting the self-adaptive cruise function and whether the self-adaptive cruise function is started or not ' is sent out, and if a user answers positive answers such as ' yes ', ' can ', ' start ', ' and the like, the self-adaptive cruise function is started (step S250); if the user answers negative answers such as "no", "not possible", "off", "not needed", the adaptive cruise function remains off (step S240).
Similarly, when the front driving road is judged not to be in accordance with the adaptive cruise condition, the current adaptive cruise function is in the off state, interactive confirmation with the driver is not needed, and the off state of the adaptive cruise function is kept (step S270), so that the driver is prevented from being irritated due to frequent inquiry. When it is determined that the front road does not meet the adaptive cruise condition and the current adaptive cruise function is in the on state, natural language interaction with the driver is required (step S280), for example, a voice of "the front road is not suitable for turning on the adaptive cruise function and whether the adaptive cruise function is turned off" is uttered, and if the user answers such as "yes", "may", "off", the adaptive cruise function is turned off (step S290); if the user answers "no", "not possible", "not off", and the like, the adaptive cruise function is kept on (step S291).
It can be understood that in the running process of the vehicle, a driver can perform natural language interaction with the vehicle in real time according to actual requirements so as to automatically turn on/off the self-adaptive cruise function according to actual conditions. Therefore, the driver does not need to frequently intervene the self-adaptive cruise system, the self-adaptive cruise function is automatically turned on/off by utilizing natural language interaction, the driver does not need to manually switch, the driving energy of the driver is prevented from being influenced, the vehicle can smoothly run without pause and frustration, and the driving and riding experience is good.
In summary, according to the control method of the vehicle in the embodiment of the present invention, the speed limit of the running road in front of the vehicle is obtained when the adaptive cruise function is turned on, and if the speed limit is not consistent with the current speed of the vehicle, the speed and the acceleration/deceleration of the vehicle are planned, and the vehicle is controlled to run according to the planned speed and the planned acceleration/deceleration, so that manual switching by a driver is not required, thereby avoiding affecting the driving energy of the driver, avoiding a driving safety accident caused by an untimely cruise speed adjustment after the running road is switched, and greatly improving the driving safety. And in addition, under the starting state of the self-adaptive cruise function, the natural language of the driver can be acquired, the driving intention of the driver is identified according to the natural language of the driver, and the vehicle is controlled to run according to the driving intention, so that the intention of the driver is understood by utilizing the natural language processing technology, the driver uses the most used voice to control the vehicle, a large amount of time and energy are not needed to learn various man-machine interaction voices which are not natural and are not used, the driver can timely and conveniently interact with the self-adaptive cruise system of the vehicle, the man-machine interaction is friendly, the operability is high, the practicability is high, and the vehicle can quickly and correctly make corresponding responses.
The invention also provides a control device of the vehicle corresponding to the control method of the vehicle. Apparatus embodiments of the present invention may be configured to perform the method embodiments of the present invention described above. For details that are not disclosed in the embodiments of the apparatus of the present invention, please refer to the above-mentioned embodiments of the method of the present invention, and the details are not repeated in the present invention in order to avoid redundancy.
Fig. 6 is a block schematic diagram of a control apparatus of a vehicle according to one embodiment of the invention. As shown in fig. 6, the apparatus includes: a first acquisition module 1, a planning module 2 and a first control module 3.
The first acquisition module 1 is used for acquiring the speed limit of a running road in front of a vehicle in the state that the self-adaptive cruise function is started; the planning module 2 calculates the distance from the vehicle speed switching point to the road speed limit switching point according to the limited vehicle speed, the current vehicle speed and the preset driver preference acceleration and deceleration, wherein the vehicle speed of the vehicle is planned to be the current vehicle speed before the vehicle reaches the vehicle speed switching point, and the acceleration and deceleration of the vehicle is planned to be the driver preference acceleration and deceleration after the vehicle reaches the vehicle speed switching point and before the vehicle reaches the road speed limit switching point; the first control module 3 is used for controlling the vehicle to run according to the planned vehicle speed and the acceleration and deceleration.
According to an embodiment of the present invention, the control device may further include: the second acquisition module is used for acquiring the natural language of the driver in the starting state of the self-adaptive cruise function; the recognition module is used for recognizing the driving intention of the driver according to the natural language of the driver; and the second control module is used for controlling the vehicle to run according to the driving intention.
According to an embodiment of the present invention, the control device further includes: the third acquisition module is used for acquiring road information of a driving road in front of the vehicle; and the third control module is used for judging whether the front driving road meets the self-adaptive cruise condition or not according to the road information, wherein if the front driving road meets the self-adaptive cruise condition, the self-adaptive cruise function is kept in an opening state or the self-adaptive cruise function is opened, and if the front driving road does not meet the self-adaptive cruise condition, the self-adaptive cruise function is kept in a closing state or the self-adaptive cruise function is closed.
According to an embodiment of the invention, the third control module is further configured to: natural language interaction is carried out with a driver, and whether the self-adaptive cruise function is closed or not is confirmed; if so, closing the self-adaptive cruise function; if not, the self-adaptive cruise function is kept in the starting state.
According to an embodiment of the invention, the third control module is further configured to: and carrying out natural language interaction with a driver, and confirming whether the self-adaptive cruise function is started or not, if so, starting the self-adaptive cruise function, and if not, keeping the self-adaptive cruise function in a closed state.
According to the control device of the vehicle, the speed limit of the running road in front of the vehicle is obtained through the first obtaining module under the starting state of the self-adaptive cruise function, the planning module plans the speed and the acceleration and deceleration of the vehicle according to the speed limit, the current speed and the preset driver preference acceleration and deceleration when the speed limit is inconsistent with the current speed of the vehicle, the first control module controls the vehicle to run according to the planned speed and the acceleration and deceleration, manual switching of the driver is not needed, driving energy of the driver is prevented from being influenced, driving safety accidents caused by untimely cruise speed adjustment after the running road is switched are avoided, driving safety is greatly improved, the speed of the vehicle can be stably connected after the road is switched, and driving experience is improved. And in addition, under the starting state of the self-adaptive cruise function, the natural language of the driver can be acquired, the driving intention of the driver is identified according to the natural language of the driver, and the vehicle is controlled to run according to the driving intention, so that the intention of the driver is understood by utilizing the natural language processing technology, the driver uses the most used voice to control the vehicle, a large amount of time and energy are not needed to learn various man-machine interaction voices which are not natural and are not used, the driver can timely and conveniently interact with the self-adaptive cruise system of the vehicle, the man-machine interaction is friendly, the operability is high, the practicability is high, and the vehicle can quickly and correctly make corresponding responses.
In addition, an embodiment of the present invention also provides a vehicle including the control apparatus of the vehicle of the present invention.
According to the vehicle provided by the embodiment of the invention, the cruising speed can be automatically adjusted according to the limited speed of the front road through the control device of the vehicle, the manual switching by a driver is not needed, the driving energy of the driver is avoided being influenced, the driving safety accident caused by the untimely adjustment of the cruising speed after the driving road is switched is also avoided, the driving safety is greatly improved, the speed of the vehicle can be stably connected after the road is switched, and the driving experience is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A control method of a vehicle, characterized by comprising:
acquiring the speed limit of a running road in front of a vehicle under the starting state of the adaptive cruise function;
if the speed limit is not consistent with the current speed of the vehicle, calculating the distance from a speed switching point to a road speed limit switching point according to the speed limit, the current speed and the preset driver preference acceleration and deceleration;
before the vehicle reaches the vehicle speed switching point, the vehicle speed plan of the vehicle is the current vehicle speed, and after the vehicle reaches the vehicle speed switching point and before the vehicle reaches the road speed limit switching point, the acceleration and deceleration plan of the vehicle is the acceleration and deceleration preferred by the driver;
and controlling the vehicle to run according to the planned vehicle speed and the acceleration and deceleration.
2. The control method according to claim 1, characterized by further comprising:
acquiring the natural language of a driver under the starting state of the self-adaptive cruise function;
identifying a driving intention of a driver according to the natural language of the driver;
and controlling the vehicle to run according to the driving intention.
3. The control method according to claim 1, characterized by further comprising:
acquiring road information of a driving road in front of the vehicle;
judging whether the front driving road meets the self-adaptive cruise condition or not according to the road information;
if yes, keeping the starting state of the self-adaptive cruise function or starting the self-adaptive cruise function;
and if not, keeping the closed state of the adaptive cruise function or closing the adaptive cruise function.
4. The control method according to claim 3, characterized in that, before the turning on the adaptive cruise function, further comprising:
natural language interaction is carried out with a driver, and whether the self-adaptive cruise function is started or not is confirmed;
if yes, starting the self-adaptive cruise function;
if not, keeping the closing state of the adaptive cruise function.
5. The control method according to claim 3, characterized in that, before turning off the adaptive cruise function, it further comprises:
natural language interaction is carried out with a driver, and whether the self-adaptive cruise function is closed or not is confirmed;
if so, closing the self-adaptive cruise function;
if not, the self-adaptive cruise function is kept in the starting state.
6. A control apparatus of a vehicle, characterized by comprising:
the first acquisition module is used for acquiring the speed limit of a running road in front of a vehicle under the starting state of the adaptive cruise function;
the planning module is used for calculating the distance from a vehicle speed switching point to a road speed limit switching point according to the vehicle speed limit, the current vehicle speed and the preset driver preference acceleration and deceleration, wherein the vehicle speed of the vehicle is planned to be the current vehicle speed before the vehicle reaches the vehicle speed switching point, and the acceleration and deceleration of the vehicle is planned to be the driver preference acceleration and deceleration after the vehicle reaches the vehicle speed switching point and before the vehicle reaches the road speed limit switching point;
and the first control module is used for controlling the vehicle to run according to the planned vehicle speed and the acceleration and deceleration.
7. The control device according to claim 6, characterized by further comprising:
the second acquisition module is used for acquiring the natural language of the driver in the starting state of the self-adaptive cruise function;
the recognition module is used for recognizing the driving intention of the driver according to the natural language of the driver;
and the second control module is used for controlling the vehicle to run according to the driving intention.
8. The control device according to claim 6, characterized by further comprising:
the third acquisition module is used for acquiring road information of a driving road in front of the vehicle;
and the third control module is used for judging whether the front driving road meets the self-adaptive cruise condition or not according to the road information, wherein if the front driving road meets the self-adaptive cruise condition, the self-adaptive cruise function is kept in an opening state or the self-adaptive cruise function is started, and if the front driving road does not meet the self-adaptive cruise condition, the self-adaptive cruise function is kept in a closing state or the self-adaptive cruise function is closed.
9. The control device of claim 8, wherein the third control module is further configured to: and carrying out natural language interaction with a driver, and confirming whether the self-adaptive cruise function is started or not, if so, starting the self-adaptive cruise function, and if not, keeping the self-adaptive cruise function in a closed state.
10. A vehicle, characterized by comprising: the control device of the vehicle according to any one of claims 6 to 9.
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