CN113830087B - Adaptive cruise control method, system, vehicle, and computer-readable storage medium - Google Patents
Adaptive cruise control method, system, vehicle, and computer-readable storage medium Download PDFInfo
- Publication number
- CN113830087B CN113830087B CN202111132663.5A CN202111132663A CN113830087B CN 113830087 B CN113830087 B CN 113830087B CN 202111132663 A CN202111132663 A CN 202111132663A CN 113830087 B CN113830087 B CN 113830087B
- Authority
- CN
- China
- Prior art keywords
- time
- time interval
- preset
- real
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
Abstract
The invention discloses a self-adaptive cruise control method, which comprises the following steps: when the ACC function of the vehicle is monitored to be started, recording the real-time workshop time distance of the vehicle; when the time interval key is monitored to be pressed, obtaining the pressing duration; judging whether the pressing duration is longer than a first preset duration or not; if the time length is longer than a first preset time length, generating a self-defined time distance according to the workshop time distance; and taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval. The invention also discloses an adaptive cruise control system, a vehicle and a computer readable storage medium. The invention realizes the purpose that the adaptive cruise control system is adaptive to the driving behavior habits of different drivers or the driving behavior habits of the same driver under different environments.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to an adaptive cruise control method, an adaptive cruise control system, a vehicle, and a computer-readable storage medium.
Background
With the rise of the concept of automatic driving in the automobile industry, adaptive Cruise Control (ACC) is becoming more and more popular. The adaptive cruise control system can automatically control the acceleration and deceleration of the vehicle in the longitudinal direction according to the traffic condition of the vehicle driving direction, thereby reducing the operation burden of a driver. The self-adaptive cruise control system runs at the cruise speed set by the driver when no vehicle exists in front or the front vehicle is far away, and keeps the distance from the front vehicle according to the vehicle following distance selected by the driver when the front vehicle is close. Existing adaptive cruise control systems typically provide a number of fixed vehicle following distances for the driver to select. However, the fixed following distance causes the adaptive cruise control system to be difficult to adapt to the driving behavior habits of different drivers or the driving behavior habits of the same driver under different environments.
The above is only for the purpose of assisting understanding of the technical solution of the present invention, and does not represent an admission that the above is the prior art.
Disclosure of Invention
The invention mainly aims to provide an adaptive cruise control method, and aims to solve the problem that an adaptive cruise control system is difficult to adapt to different driving behavior habits.
To achieve the above object, the present invention provides an adaptive cruise control method including the steps of:
when the ACC function of the vehicle is monitored to be started, recording the real-time workshop time distance of the vehicle;
when the current time interval key is monitored to be pressed, obtaining the duration of pressing;
judging whether the pressing duration is longer than a first preset duration or not;
if the time length is longer than a first preset time length, generating a self-defined time distance according to the real-time workshop time distance;
and taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval.
Preferably, the step of taking the self-defined time interval as an expected time interval and controlling the vehicle to travel according to the expected time interval includes:
judging whether the self-defined time interval is smaller than a first preset safety threshold value or not;
if the current time is less than the first preset safety threshold, executing a preset reminding operation;
if the current value is not less than the first preset safety threshold value, executing the following steps: and taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval.
Preferably, the step of judging whether the custom time interval is smaller than a preset safety threshold value comprises:
acquiring the current speed of the vehicle;
and obtaining a corresponding preset safety threshold value based on a pre-stored mapping table according to the current vehicle speed.
Preferably, if the value is smaller than the first preset safety threshold, the step of executing the preset reminding operation further includes:
acquiring the reminding duration time for executing the preset reminding operation;
judging whether the reminding duration is longer than a second preset duration or not;
and if the time length is greater than a second preset time length, increasing the self-defined time distance.
Preferably, the step of generating the custom time span according to the real-time vehicle-to-vehicle time span includes:
acquiring the recording duration of a real-time workshop time interval from the beginning of recording to the end of recording;
judging whether the recording duration is longer than a third preset duration or not;
if the time length is longer than the third preset time length, acquiring the real-time workshop time distance within the third preset time length before the time of ending the recording of the real-time workshop time distance;
if the time length is not more than the third preset time length, acquiring the recorded real-time workshop time distance;
and generating a custom time interval according to the acquired real-time workshop time interval.
Preferably, the step of generating the custom time interval according to the acquired real-time vehicle time interval includes:
and taking the obtained average value of the real-time workshop time intervals as a self-defined time interval.
Preferably, the step of generating the custom time span according to the obtained real-time vehicle time span further includes:
filtering abnormal values in the real-time workshop time intervals to obtain the filtered real-time workshop time intervals;
judging whether the number of the filtered real-time workshop time intervals is smaller than a preset number or not;
if the number is smaller than the preset number, taking the preset fixed time interval as a self-defined time interval;
and if the number is not less than the preset number, generating a custom time interval according to the filtered real-time workshop time interval.
Further, to achieve the above object, the present invention also provides an adaptive cruise control system including:
the first monitoring module is used for recording the real-time following distance of the vehicle when the ACC function of the vehicle is monitored to be started;
the second monitoring module is used for acquiring the duration of pressing when the time interval key is pressed;
the judging module is used for judging whether the pressing duration is longer than a preset duration or not;
the calculation module is used for generating a self-defined time interval according to the real-time following vehicle interval if the time is longer than the preset time length;
and the execution module is used for taking the self-defined time interval as an expected time interval and controlling the vehicle to run according to the expected time interval.
Further, to achieve the above object, the present invention also provides a vehicle comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the adaptive cruise control method according to any of the preceding claims.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon an adaptive cruise control program, which when executed by a processor, implements the steps of the adaptive cruise control method according to any one of the above.
The invention provides a self-adaptive cruise control method, which is used for recording the real-time workshop time distance between a vehicle and a front vehicle when the ACC function of the vehicle is monitored to be started. Then when the current time interval key is monitored to be pressed, obtaining the pressing duration, and judging whether the pressing duration is longer than a first preset duration or not; and judging whether the driver has the requirement of adopting the self-defined time interval or not according to the pressing time of the time interval key. If the time length is longer than the first preset time length, determining that the driver has the requirement of adopting the custom time distance, and then generating the custom time distance according to the recorded real-time workshop time distance, wherein the custom time distance embodies the car following time distance expected to be kept by the driver in the latest period of time, and the obtained custom time distance is more fit with the current driving state of the driver relative to the fixed time distance. And finally, taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval. The self-defined time interval generated by the real-time workshop time interval replaces the fixed time interval, so that the aim that the self-adaptive cruise control system is adaptive to the driving behavior habits of different drivers or the driving behavior habits of the same driver in different environments is fulfilled.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of an adaptive cruise control method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of an adaptive cruise control method according to the present invention;
FIG. 4 is a partial flow chart of a third embodiment of the adaptive cruise control method according to the present invention;
fig. 5 is a schematic diagram of a system structure related to the adaptive cruise control method of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the terminal in the embodiment of the present invention is a vehicle, such as a fuel automobile, a hybrid automobile, or a pure electric automobile. The terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of ambient light. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), and can detect the magnitude and direction of gravity when the device is stationary, so as to identify the posture of the device, and identify the related functions of vibration (such as pedometer and knocking); of course, other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor may be further configured, which are not further described herein.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
Referring to fig. 2, a first embodiment of the present invention provides an adaptive cruise control method including the steps of:
step S100, when the ACC function of the vehicle is monitored to be started, recording the time interval between vehicles of the vehicle;
specifically, ACC function on means that the ACC function is in a standby or activated state. When the ACC function of the vehicle is monitored to be started, the fact that the driver intends to use the ACC function or uses the ACC function at the moment can be shown, and the real-time inter-vehicle time distance between the vehicle and the front vehicle is recorded. When no vehicle exists in the preset distance in front of the vehicle, the real-time distance between vehicles can not be recorded.
Step S200, when it is monitored that the time interval key of the vehicle is pressed, obtaining the duration of pressing;
step S300, judging whether the pressing duration is longer than a first preset duration;
specifically, the adaptive cruise control system often sets several time-distance-adjusted gears, each corresponding to a preset fixed time distance. The user can select the corresponding gear through the time interval key. When the fact that the time interval key of the vehicle is pressed is detected, whether the intention of the driver is to select the preset fixed time interval or the custom time interval is determined by acquiring the pressing duration and determining whether the pressing duration is greater than a first preset duration (such as 0.8 second, 1.0 second or 1.5 second). If the first preset time period is 0.8 second, when the acquired duration of the press is greater than 0.8 second, it indicates that the driver selects to adopt the custom time interval. When the acquired duration of the pressing is not more than 0.8 second, it indicates that the intention of the driver is to select the preset fixed time interval.
Step S400, if the time length is longer than a first preset time length, generating a self-defined time distance according to the real-time workshop time distance;
and S500, taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval.
Specifically, when the duration of the time interval key of the vehicle is pressed is longer than a first preset time interval, the fact that the driver selects to adopt the custom time interval is described, the real-time inter-vehicle time interval of the vehicle is recorded at the moment, the custom time interval is generated, and the custom time interval generated through the real-time inter-vehicle time interval is more in line with the driving behavior habit of the driver compared with the fixed inter-vehicle time interval. Further, the user-defined time interval can be obtained by filtering abnormal values, taking the average value of the residual non-abnormal values after filtering the abnormal values as the user-defined time interval, or correcting the abnormal values through the average value and the variance, and taking the average value of all corrected values as the user-defined time interval. And finally, taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval. And if the pressing time length is less than a first preset time length, taking a preset fixed time length corresponding to a time length gear selected by a user as an expected time length, and controlling the vehicle to run according to the expected time length.
The invention provides a self-adaptive cruise control method, which is used for recording the real-time workshop time distance between a vehicle and a front vehicle when the ACC function of the vehicle is monitored to be started. Then when the time interval key is pressed, acquiring pressing duration, and judging whether the pressing duration is longer than a first preset duration; and judging whether the driver has the requirement of adopting the self-defined time interval or not according to the pressing time of the time interval key. And if the time length is longer than the first preset time length, determining that the driver has the requirement of adopting the custom time distance, and then generating the custom time distance according to the recorded real-time workshop time distance, wherein the custom time distance embodies the car following time distance which the driver expects to keep in the current period of time. And finally, taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval. The self-defined time interval generated by the real-time workshop time interval replaces the fixed time interval, so that the aim that the self-adaptive cruise control system is adaptive to the driving behavior habits of different drivers or the driving behavior habits of the same driver in different environments is fulfilled.
Further, referring to fig. 3, a second embodiment of the present invention provides an adaptive cruise control method, based on the above embodiment shown in fig. 2, before step S500, the method includes the following steps:
step S510, judging whether the self-defined time interval is smaller than a preset safety threshold value;
step S511, if the safety threshold is smaller than the preset safety threshold, executing a preset reminding operation;
in step S512, if the threshold is not less than the preset safety threshold, step S500 is executed.
Specifically, since the driver may maintain a small real-time following distance, the custom time distance value obtained from the real-time following distance is also small. When the user-defined time interval is too short, it is likely that the driver is difficult to respond to the operation of the preceding vehicle in time. Therefore, whether the self-vehicle can keep a safe distance with the front vehicle under the self-defined time interval is determined by judging whether the generated self-defined time interval is smaller than a preset safe threshold (such as 0.9 second, 1.0 second or 1.1 second). The preset safety threshold may be a fixed value or a value that varies with speed. When the user-defined time distance is smaller than a preset safety threshold value, the fact that the user-defined time distance is used as the current workshop time distance and the safety distance is difficult to keep is explained, then a driver is reminded to adjust the following time distance by executing preset reminding operation, and the driver can re-select a preset time distance gear or re-start the ACC function in an adjusting mode. The preset reminding operation includes but is not limited to one or a combination of a plurality of reminding operations of displaying a prompt message on a meter display panel, sounding by a buzzer or vibrating a driver seat and the like. When the self-defined time distance is not smaller than a preset safety threshold value, the safe distance between the vehicle and the front vehicle under the self-defined time distance is kept, and then the following steps are executed: and taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval.
In this embodiment, whether the self-defined time interval is smaller than a preset safety threshold is judged, and when the self-defined time interval is smaller than the preset safety threshold, a preset reminding operation is executed, so that whether the self-defined time interval can keep a safety distance with a front vehicle or not can be judged, and the situation that when the self-defined time interval is directly used as the current following time interval by the vehicle, the safety distance with the front vehicle is difficult to keep due to the fact that the self-defined time interval is too small, and the risk of traffic accidents is increased is avoided.
In order to further ensure the safety in driving, in another embodiment, based on the embodiment shown in fig. 3, the step S510 includes the following steps:
step a1, acquiring the current speed of the vehicle;
and a2, acquiring a corresponding preset safety threshold value based on a pre-stored mapping table according to the current vehicle speed.
Specifically, since the faster the vehicle speed is, the greater the braking distance required by the vehicle is, different safety thresholds may be set according to the vehicle speed. For example, a mapping table of a vehicle speed interval and a preset safety threshold is stored in advance, and if the vehicle speed m is greater than 0 and less than 60km/h, the safety threshold n1=1.0s; the vehicle speed m is more than or equal to 60km/h and less than 90km/h, and the safety threshold n2=1.2s; and when the vehicle speed m is more than or equal to 90km/h and less than 120km/h, the safety threshold n3=1.5s. And acquiring the current speed of the vehicle, and acquiring a corresponding preset safety threshold value based on a prestored mapping table. For example, if the current vehicle speed is 75km/h, the corresponding preset safety threshold is 1.2s.
In this embodiment, the mapping table is generated and stored by setting different safety thresholds for different vehicle speed intervals. And then the current speed of the vehicle is acquired, and the preset safety threshold corresponding to the current speed is determined based on the prestored mapping table, so that the time interval between the vehicle and the previous vehicle is further kept, and the safety in the driving process is guaranteed.
In another embodiment, step S511 is followed by the following steps:
step b1, acquiring the reminding duration for executing the preset reminding operation;
step b2, judging whether the reminding duration is longer than a second preset duration or not;
and b3, if the time length is greater than a second preset time length, increasing the self-defined time distance.
Specifically, on the premise that a preset reminding operation has been executed, a reminding duration for executing the preset reminding operation is acquired. And determining whether the driver adjusts the self-defined time interval within the second preset time length or not according to whether the reminding duration time is longer than the second preset time length (such as 2 seconds or 3 seconds). If the time length is longer than the second preset time length, the user-defined time interval is increased, which indicates that the driver may not notice the reminding information. The method for increasing the self-defined time interval may be to use a preset fixed time interval corresponding to a certain time interval gear as the self-defined time interval, or use the sum of the self-defined time interval and a preset coefficient as the self-defined time interval (for example, the self-defined time interval is 0.9s, the correction coefficient is 0.3s, and the corrected self-defined time interval is 1.2 s), and the preset coefficient may be negatively correlated with the generated self-defined time interval, so as to ensure that the vehicle can keep a safe distance from the preceding vehicle at the corrected self-defined time interval. And if the time is less than or equal to the second preset time, the generated self-defined time interval is not adjusted temporarily.
In this embodiment, whether the reminding duration is longer than the second preset time or not is judged, and whether the driver completes the adjustment of the following vehicle distance or not is confirmed. And if the time length is longer than a second preset time length, the fact that the driver possibly does not notice the reminding information is indicated, and the self-defined time interval is corrected. And if the time length is less than or equal to the second preset time length, temporarily not adjusting the user-defined time distance. On one hand, a certain reaction time is left for the driver, and on the other hand, the self-defined time interval is increased when the driver still does not react within the preset time, so that the situation that the self-defined time interval is smaller and the risk of traffic accidents is increased is avoided.
Further, referring to fig. 4, a third embodiment of the present invention provides an adaptive cruise control method, based on the above embodiment shown in fig. 2, step S400 includes the following steps:
step S410, acquiring the recording duration time from the start of recording to the end of recording of the real-time workshop interval;
step S420, judging whether the recording duration is longer than a third preset duration;
step S421, if the time length is longer than a third preset time length, acquiring the real-time workshop time distance within the third preset time length before the time of ending the recording of the real-time workshop time distance;
step S422, if the time length is not longer than a third preset time length, the recorded real-time workshop time distance is obtained;
and step S430, generating a custom time interval according to the acquired real-time workshop time interval.
Specifically, the duration for recording the real-time inter-vehicle time interval is obtained, and the duration is from the time when the ACC function is monitored to the time when the recording is terminated, where the time when the recording is terminated may be the time when the driver presses the time interval key, or the time when the pressing duration is determined to be greater than a first preset time. It is then determined whether the recording duration is greater than a third predetermined duration (e.g., 10 seconds, 15 seconds, or 20 seconds). And when the duration is longer than a third preset time, acquiring a real-time workshop time interval from the ending time to the time before the third preset time, namely the latest real-time workshop time interval. For example, recording the real-time headway for a duration of 100 seconds and the third preset time of 10 seconds, the latest real-time headway obtained is the recorded real-time headway in the range of 90 seconds to 100 seconds. And when the duration is not more than a third preset duration, acquiring the recorded real-time inter-vehicle time interval, for example, the duration is 8 seconds, and when the third preset duration is 10 seconds, acquiring the real-time inter-vehicle time interval within the 8 seconds, and taking the average value of the real-time inter-vehicle time interval within the 8 seconds as the self-defined time interval. And finally, generating a custom time interval according to the acquired real-time interval (the real-time interval within a third preset time period before the time when the recording of the real-time interval is ended or the recorded real-time interval). Of course, in consideration of saving the storage space, the recorded data may also be stored by adopting a first-in first-out and cyclic covering principle, that is, when the amount of data stored in the storage space is greater than the preset storage amount of data or the storage duration is greater than the preset storage duration, the data stored at the beginning is covered by the latest data.
In the embodiment, the recording duration from the start of recording to the end of recording is obtained by acquiring the real-time inter-vehicle time distance; judging whether the recording duration is longer than a third preset time length or not, and if so, only acquiring the real-time workshop time distance within the third preset time length before the time of the termination of the recording of the real-time workshop time distance; and when the time length is less than or equal to the third preset time length, acquiring all recorded real-time workshop time distances. And generating a custom time interval according to the obtained real-time workshop time interval. The obtained real-time workshop time interval is the real-time workshop time interval in the latest period of time, so that the finally obtained customized time interval reflects the real-time workshop time interval condition of the vehicle in the latest period of time, and the obtained customized time interval is more suitable for the driving state of the driver at the moment.
In another embodiment, step S430 includes the steps of:
and taking the obtained average value of the real-time workshop time intervals as the self-defined time interval.
Specifically, the obtained average value of the real-time inter-vehicle time intervals is used as the custom time interval. Wherein the average may be an arithmetic average; the influence caused by extreme values generated by accidental factors can be reduced by deleting part of extreme values and then calculating the arithmetic mean value; but also a weighted average, etc.
In another embodiment, the adaptive cruise method further comprises:
step c1, filtering abnormal values in the real-time workshop time interval to obtain the filtered real-time workshop time interval;
step c2, judging whether the number of the filtered real-time workshop time intervals is smaller than a preset number;
step c3, if the number is smaller than the preset number, taking the preset fixed time interval as a self-defined time interval;
and c4, if the number is not less than the preset number, generating a custom time interval according to the filtered real-time workshop time interval.
Specifically, the obtained real-time workshop time interval is filtered, and abnormal data in the real-time workshop time interval are filtered to obtain the filtered non-abnormal real-time workshop time interval. The abnormal data filtering manner may be program judgment filtering, mean filtering, median filtering, weighted average, filtering, mode filtering, first-order lag filtering, motion filtering, composite filtering, and the like, and the specific filtering manner is not limited in this embodiment. And judging whether the number of the filtered non-abnormal real-time workshop time intervals is smaller than a preset number (such as 20, 30 or 50). And when the number of the non-abnormal real-time workshop time intervals is smaller than the preset number, the obtained real-time workshop time intervals are lower in representativeness, and the preset fixed time intervals are used as the user-defined time intervals. And when the number of the non-abnormal real-time workshop time intervals is not less than the preset number, indicating that the obtained real-time workshop time intervals are representative, and generating the self-defined time intervals according to the filtered non-abnormal real-time workshop time intervals.
In this embodiment, the influence of an abnormal value on the custom time interval generated according to the real-time interval between plants is reduced by filtering the obtained real-time interval between plants. Then, judging whether the number of the filtered real-time workshop time intervals is smaller than a preset number or not; and judging whether the number of the filtered real-time workshop time intervals is smaller than the preset number or not so as to determine whether the user-defined time intervals generated according to the filtered real-time workshop time intervals have enough representativeness or not. If the number of the filtered real-time inter-vehicle time intervals is smaller than the preset number, the obtained real-time inter-vehicle time intervals are less, the obtained customized time intervals may not be enough to represent the real-time driving state of the driver in the recent period of time, and the preset fixed time intervals are used as the customized time intervals. If the number of the filtered real-time workshop time intervals is not smaller than the preset number, the obtained real-time workshop time intervals are more, the obtained custom time intervals are enough to represent the real-time driving state of the driver in the latest period of time, the custom time intervals are generated according to the real-time workshop time intervals, and the obtained custom time intervals are more suitable for the current driving state of the driver.
In addition, an embodiment of the present invention further provides an adaptive cruise control system, including:
the first monitoring module 10 is used for recording the real-time following distance of the vehicle when the ACC function of the vehicle is monitored to be started;
the second monitoring module 20 is configured to obtain a duration of pressing when it is monitored that the time interval key is pressed;
the judging module 30 is configured to judge whether the pressing duration is longer than a preset duration;
the calculating module 40 is used for generating a self-defined time interval according to the real-time car following time interval if the time length is longer than the preset time length;
and the execution module 50 is configured to use the customized time interval as an expected time interval, and control the vehicle to run according to the expected time interval.
Still further, the adaptive cruise control system further comprises a second determination module:
the second judgment module is used for judging whether the self-defined time interval is smaller than a first preset safety threshold value or not; if the current time is less than the first preset safety threshold, executing a preset reminding operation; if the current value is not less than the first preset safety threshold value, executing the following steps: and taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval.
Still further, the adaptive cruise control system further comprises an obtaining module:
acquiring the current speed of the vehicle;
and obtaining a corresponding preset safety threshold value based on a pre-stored mapping table according to the current vehicle speed.
Still further, the adaptive cruise control system further comprises a third determination module:
the third judgment module is used for acquiring the reminding duration for executing the preset reminding operation; judging whether the reminding duration is longer than a second preset duration or not; and if the time length is greater than a second preset time length, increasing the self-defined time distance.
Still further, the adaptive cruise control system further comprises a fourth determination module and a second calculation module:
the fourth judgment module is used for acquiring the recording duration time from the recording start to the recording end of the real-time workshop time interval; judging whether the recording duration is longer than a third preset duration or not; if the time length is longer than the third preset time length, acquiring the real-time workshop time distance within the third preset time length before the time of ending the recording of the real-time workshop time distance; if the time length is not more than the third preset time length, acquiring the recorded real-time workshop time interval;
and the second calculation module is used for generating a custom time interval according to the acquired real-time workshop time interval.
Still further, the adaptive cruise control system further comprises:
and the second calculation module is also used for taking the obtained average value of the real-time workshop time intervals as the self-defined time interval.
Still further, the adaptive cruise control system further comprises a filtering module and a fifth judging module:
the filtering module is used for filtering abnormal values in the real-time workshop time interval to obtain the filtered real-time workshop time interval;
the fifth judging module is used for judging whether the number of the filtered real-time workshop time intervals is smaller than the preset number or not; if the number is smaller than the preset number, taking the preset fixed time interval as a self-defined time interval; and if the number is not less than the preset number, generating a custom time interval according to the filtered real-time workshop time interval.
In addition, the embodiment of the invention also provides a computer storage medium.
The computer storage medium stores thereon a computer program, and the computer program, when executed by a processor, implements the operations in the adaptive cruise control method provided by the above embodiments, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or the portions contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for enabling a terminal device (which may be a mobile phone, a portable computer, a desktop computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (8)
1. An adaptive cruise control method, characterized by comprising the steps of:
when the ACC function of the vehicle is monitored to be started, recording the real-time vehicle time distance of the vehicle;
when the current time interval key is monitored to be pressed, obtaining the duration of pressing;
judging whether the pressing duration is longer than a first preset duration or not;
if the time length is longer than a first preset time length, generating a self-defined time distance according to the real-time workshop time distance;
taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval;
the step of generating the custom time interval according to the real-time workshop time interval comprises the following steps:
acquiring the recording duration time of the real-time workshop time interval from the beginning of recording to the end of recording;
judging whether the recording duration is longer than a third preset duration or not;
if the time length is longer than the third preset time length, acquiring the real-time workshop time distance within the third preset time length before the time of ending the recording of the real-time workshop time distance;
if the time length is not more than the third preset time length, acquiring the recorded real-time workshop time distance;
generating a self-defined time interval according to the acquired real-time workshop time interval;
the step of generating the custom time interval according to the acquired real-time workshop time interval comprises the following steps:
and taking the obtained average value of the real-time workshop time intervals as the self-defined time interval.
2. The adaptive cruise control method according to claim 1, wherein said step of taking said custom time interval as a desired time interval and controlling the host vehicle to travel according to said desired time interval comprises, before said step of:
judging whether the self-defined time interval is smaller than a preset safety threshold value or not;
if the current time is less than the preset safety threshold value, executing preset reminding operation;
if the safety threshold is not less than the preset safety threshold, executing the following steps: and taking the self-defined time interval as an expected time interval, and controlling the vehicle to run according to the expected time interval.
3. The adaptive cruise control method according to claim 2, wherein said step of determining if said custom time interval is less than a preset safety threshold value is preceded by:
acquiring the current speed of the vehicle;
and obtaining a corresponding preset safety threshold value based on a pre-stored mapping table according to the current vehicle speed.
4. The adaptive cruise control method according to claim 2, wherein said step of performing a preset alert operation if it is less than a first preset safety threshold value further comprises:
acquiring the reminding duration time for executing the preset reminding operation;
judging whether the reminding duration is longer than a second preset duration or not;
and if the time length is greater than a second preset time length, increasing the self-defined time distance.
5. The adaptive cruise control method according to claim 1, wherein said step of generating a custom time horizon from an acquired real-time inter-vehicle time horizon further comprises:
filtering abnormal values in the real-time workshop time intervals to obtain filtered real-time workshop time intervals;
judging whether the number of the filtered real-time workshop time intervals is smaller than a preset number or not;
if the number is smaller than the preset number, taking the preset fixed time interval as a self-defined time interval;
and if the number is not less than the preset number, generating a custom time interval according to the filtered real-time workshop time interval.
6. An adaptive cruise control system, comprising:
the first monitoring module is used for recording the real-time following distance of the vehicle when the ACC function of the vehicle is monitored to be started;
the second monitoring module is used for acquiring the duration of pressing when the time interval key is pressed;
the judging module is used for judging whether the pressing duration is greater than a preset duration or not;
the calculation module is used for generating a self-defined time interval according to the real-time following vehicle interval if the time is longer than the preset time length;
the execution module is used for taking the self-defined time interval as an expected time interval and controlling the vehicle to run according to the expected time interval;
the adaptive cruise control system further comprises a fourth judgment module and a second calculation module:
the fourth judgment module is used for acquiring the recording duration time from the recording start to the recording end of the real-time workshop time interval; judging whether the recording duration is longer than a third preset duration or not; if the time length is longer than the third preset time length, acquiring the real-time workshop time distance within the third preset time length before the time of ending the recording of the real-time workshop time distance; if the time length is not more than the third preset time length, acquiring the recorded real-time workshop time distance;
the second calculation module is used for generating a custom time interval according to the acquired real-time workshop time interval;
and the second calculation module is also used for taking the obtained average value of the real-time workshop time intervals as the self-defined time interval.
7. A vehicle, characterized in that the vehicle comprises: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the adaptive cruise control method according to any of claims 1 to 5.
8. A computer readable storage medium, characterized in that it has stored thereon an adaptive cruise control program which, when executed by a processor, carries out the steps of an adaptive cruise control method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111132663.5A CN113830087B (en) | 2021-09-26 | 2021-09-26 | Adaptive cruise control method, system, vehicle, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111132663.5A CN113830087B (en) | 2021-09-26 | 2021-09-26 | Adaptive cruise control method, system, vehicle, and computer-readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113830087A CN113830087A (en) | 2021-12-24 |
| CN113830087B true CN113830087B (en) | 2023-03-14 |
Family
ID=78970533
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111132663.5A Active CN113830087B (en) | 2021-09-26 | 2021-09-26 | Adaptive cruise control method, system, vehicle, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113830087B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1521041A (en) * | 2003-01-17 | 2004-08-18 | �����Զ�����ʽ���� | Following distance control apparatus |
| JP2007223489A (en) * | 2006-02-24 | 2007-09-06 | Mazda Motor Corp | Traveling controller for vehicle |
| KR20080028527A (en) * | 2006-09-27 | 2008-04-01 | 현대자동차주식회사 | Driver variable type setting system of headway time and method thereof |
| CN102365195A (en) * | 2009-04-08 | 2012-02-29 | 丰田自动车株式会社 | Vehicle travel control device |
| CN107757621A (en) * | 2017-09-11 | 2018-03-06 | 吉利汽车研究院（宁波）有限公司 | A kind of adaptive cruise method and system for remembering driving behavior custom |
| CN107839684A (en) * | 2016-09-20 | 2018-03-27 | 丰田自动车株式会社 | Controlling device for vehicle running |
| CN109466554A (en) * | 2018-11-22 | 2019-03-15 | 广州小鹏汽车科技有限公司 | Adaptive cruise is jumped a queue prevention and control method, system, device and storage medium |
| CN110641467A (en) * | 2018-06-25 | 2020-01-03 | 广州汽车集团股份有限公司 | Vehicle distance control method and device of adaptive cruise system |
| CN110843779A (en) * | 2019-10-16 | 2020-02-28 | 华为技术有限公司 | Method and device for controlling vehicle running |
| CN111572345A (en) * | 2020-05-01 | 2020-08-25 | 东风汽车集团有限公司 | Arrangement structure and control method of intelligent steering wheel function keys |
| JP2020200039A (en) * | 2016-08-25 | 2020-12-17 | スズキ株式会社 | Travel control device of vehicle |
| CN112389429A (en) * | 2020-10-23 | 2021-02-23 | 上汽通用五菱汽车股份有限公司 | Adaptive cruise control method, adaptive cruise system, vehicle, and storage medium |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8615352B2 (en) * | 2010-03-30 | 2013-12-24 | Fuji Jukogyo Kabushiki Kaisha | Driving support apparatus for vehicle |
| DE102018000101A1 (en) * | 2018-01-09 | 2019-07-11 | Lucas Automotive Gmbh | A control system and control method for a motor vehicle having a database |
-
2021
- 2021-09-26 CN CN202111132663.5A patent/CN113830087B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1521041A (en) * | 2003-01-17 | 2004-08-18 | �����Զ�����ʽ���� | Following distance control apparatus |
| JP2007223489A (en) * | 2006-02-24 | 2007-09-06 | Mazda Motor Corp | Traveling controller for vehicle |
| KR20080028527A (en) * | 2006-09-27 | 2008-04-01 | 현대자동차주식회사 | Driver variable type setting system of headway time and method thereof |
| CN102365195A (en) * | 2009-04-08 | 2012-02-29 | 丰田自动车株式会社 | Vehicle travel control device |
| JP2020200039A (en) * | 2016-08-25 | 2020-12-17 | スズキ株式会社 | Travel control device of vehicle |
| CN107839684A (en) * | 2016-09-20 | 2018-03-27 | 丰田自动车株式会社 | Controlling device for vehicle running |
| CN107757621A (en) * | 2017-09-11 | 2018-03-06 | 吉利汽车研究院（宁波）有限公司 | A kind of adaptive cruise method and system for remembering driving behavior custom |
| CN110641467A (en) * | 2018-06-25 | 2020-01-03 | 广州汽车集团股份有限公司 | Vehicle distance control method and device of adaptive cruise system |
| CN109466554A (en) * | 2018-11-22 | 2019-03-15 | 广州小鹏汽车科技有限公司 | Adaptive cruise is jumped a queue prevention and control method, system, device and storage medium |
| CN110843779A (en) * | 2019-10-16 | 2020-02-28 | 华为技术有限公司 | Method and device for controlling vehicle running |
| CN111572345A (en) * | 2020-05-01 | 2020-08-25 | 东风汽车集团有限公司 | Arrangement structure and control method of intelligent steering wheel function keys |
| CN112389429A (en) * | 2020-10-23 | 2021-02-23 | 上汽通用五菱汽车股份有限公司 | Adaptive cruise control method, adaptive cruise system, vehicle, and storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 基于车队稳定性的安全时距及其确定方法;王锋辉等;《上海交通大学学报》;20100628(第06期);全文 * |
| 汽车自适应巡航线性参变间距控制算法;高振海等;《吉林大学学报(工学版)》;20160715(第04期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113830087A (en) | 2021-12-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11077858B2 (en) | Vehicle driver state determination apparatus | |
| JP6638608B2 (en) | Driving support system | |
| US20090021356A1 (en) | Method and Device for Recognizing Tiredness | |
| US11027746B2 (en) | Drive mode switching control device, method and program | |
| CN107042827B (en) | System and method for dynamic display of vehicle | |
| CN110816534B (en) | Vehicle lane change early warning method, device, storage medium and device | |
| JP2019144748A (en) | Information processing system, on-vehicle control device, and information processing device | |
| JP4529394B2 (en) | Driver's vehicle driving characteristic estimation device | |
| JP6447465B2 (en) | Driving assistance device | |
| US20150002286A1 (en) | Display control apparatus | |
| US10369943B2 (en) | In-vehicle infotainment control systems and methods | |
| CN114074670A (en) | Adaptive user-specific automated driver assistance system warnings | |
| JP2019008777A (en) | Driving support device, recording apparatus, driving support system, driving support method and program | |
| CN110949404B (en) | Warning method and device, central control equipment, storage medium and system | |
| JP6273994B2 (en) | Vehicle notification device | |
| CN113830087B (en) | Adaptive cruise control method, system, vehicle, and computer-readable storage medium | |
| JP2018151684A (en) | Device and method for controlling switching between driving modes and program | |
| JP6587438B2 (en) | Inter-vehicle information display device | |
| WO2020079755A1 (en) | Information providing device and information providing method | |
| CN113436464B (en) | Vehicle danger early warning method, device, equipment and storage medium | |
| CN110962743A (en) | Driving prompting method, vehicle-mounted terminal, electronic terminal, vehicle and storage medium | |
| JP2008059059A (en) | Portable telephone terminal and program | |
| US20210018908A1 (en) | Remote driving system | |
| JP6357939B2 (en) | Vehicle control device | |
| JP5299704B2 (en) | Driving assistance device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |