CN115649163A - Cruise mode switching method, device, equipment and storage medium - Google Patents

Abstract

The application relates to a cruise mode switching method, a cruise mode switching device, cruise mode switching equipment and a cruise mode switching storage medium. The cruise mode switching method comprises the following steps: receiving a cruise command for starting a cruise mode in the running process of the automobile, wherein the cruise mode comprises a first mode and a second mode, and the cruise level of the second mode is higher than that of the first mode; when a cruise instruction is received for the first time, if the fact that the automobile has no first inhibition condition is determined, starting a first mode, wherein the first inhibition condition is a condition for inhibiting the first mode from being started; when the cruise instruction is received again, if the fact that the automobile has no second inhibition condition is determined, switching to a second mode; if it is determined that a second inhibit condition exists for the vehicle, the first mode is maintained, wherein the second inhibit condition is a condition for inhibiting the second mode from being activated. By adopting the cruise mode switching method provided by the application, the problem of low cruise efficiency in the prior art can be improved.

Description

Cruise mode switching method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of automatic control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for switching a cruise mode.

Background

With the development of automatic driving technology, more and more automobiles are equipped with an Automatic Driving Assistance System (ADAS) to realize an automatic driving function, wherein the ADAS System can realize various cruise modes.

In this regard, the user may manually select a cruise mode appropriate for the current driving conditions as desired.

However, when the user selects the cruise mode that is not in accordance with the current driving situation, the automobile cannot start the cruise mode selected by the user, and cannot start other cruise modes, so that the cruise efficiency is greatly reduced. Therefore, the prior art has the problem of low cruising efficiency.

Disclosure of Invention

Based on this, the application provides a cruise mode switching method, device, equipment and storage medium, which improve the problem of low cruise efficiency in the prior art.

In a first aspect, the present application provides a cruise mode switching method, comprising: during the driving process of the automobile, receiving a cruise command for starting a cruise mode, wherein the cruise mode comprises a first mode and a second mode, and the cruise level of the second mode is higher than that of the first mode; when a cruise instruction is received for the first time, if the fact that the automobile has no first inhibition condition is determined, starting a first mode, wherein the first inhibition condition is a condition for inhibiting the first mode from being started; when the cruise instruction is received again, if the fact that the automobile has no second inhibition condition is determined, switching to a second mode; and if the automobile is determined to have a second inhibition condition, maintaining the first mode, wherein the second inhibition condition is a condition for inhibiting the second mode from being started.

With reference to the first aspect, in a first implementable manner of the first aspect, the types of the second suppression conditions include a recoverable type and an unrecoverable type; after the step of maintaining the first mode if it is determined that the second suppression condition exists for the vehicle, the method further comprises: if the type of the second inhibition condition existing in the automobile is a recoverable type, continuously monitoring until the automobile releases the second inhibition condition, and switching to a second mode; if the type of the second suppression condition existing in the automobile is the unrecoverable type, the first mode is maintained.

With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of continuously monitoring until the vehicle releases the second suppression condition, and switching to the second mode includes: continuously monitoring the driving condition of the automobile within a first preset time period; and if the second inhibition condition of the automobile is monitored to be released within the first preset time, switching to the second mode, and otherwise, keeping the first mode.

With reference to the first possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the second mode is integrated adaptive cruise; the second suppression condition of the type recoverable includes: the steering wheel torque is greater than the preset torque, the lane line width is outside the preset width, the lane line curve radius is greater than the preset radius, the lane lines on two sides are lost, the loss distance of the lane line on one side is greater than the preset distance, the steering lamp is turned off, the tire pressing line and the camera are shielded, the corner rate of the steering wheel is greater than the preset corner rate, and the opening and closing rate of the accelerator pedal is greater than the preset opening and closing rate.

With reference to the first possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the second mode is integrated adaptive cruise; the second suppression condition of the type being the unrecoverable type includes: the windscreen wiper is in a high-speed gear, the yaw rate of the automobile is larger than a preset value, and the electric power steering system of the automobile is not started.

With reference to the first aspect, in a fifth possible implementation manner of the first aspect, after the starting of the first mode, the method further includes: continuously monitoring the cruise command within a second preset time length; and if the cruise command is monitored within the second preset time length, determining that the cruise command is received again.

With reference to the first aspect, in a sixth possible implementation manner of the first aspect, the first mode is an adaptive cruise control mode; the first inhibition condition includes: at least one of the vehicle body electronic stability system is not activated, the anti-lock braking system is not activated, the hill descent control system is not activated, the traction control system is not activated, the vehicle driving dynamics control system is not activated, the automatic emergency braking system is not activated, and the deceleration control system is not activated, and/or the vehicle is in at least one of a rolling state, a high speed state, a braking state, and a limp home state.

In a second aspect, the present application provides a cruise mode switching device comprising: the cruise control system comprises a receiving unit, a cruise control unit and a control unit, wherein the receiving unit is used for receiving a cruise command for starting a cruise mode in the running process of an automobile, the cruise mode comprises a first mode and a second mode, and the cruise level of the second mode is higher than that of the first mode; the starting unit is used for starting the first mode if the automobile is determined to have no first inhibition condition when the cruise instruction is received for the first time, wherein the first inhibition condition is a condition for inhibiting the first mode from being started; the switching unit is used for switching to a second mode if the fact that the automobile has no second inhibition condition is determined when the cruise instruction is received again; if it is determined that a second inhibit condition exists for the vehicle, the first mode is maintained, wherein the second inhibit condition is a condition for inhibiting the second mode from being activated.

With reference to the second aspect, in a first possible implementation manner of the second aspect, the types of the second suppression conditions include a recoverable type and an unrecoverable type; the switching unit is further configured to: if the type of the second inhibition condition existing in the automobile is a recoverable type, continuously monitoring until the automobile releases the second inhibition condition, and switching to a second mode; if the type of the second suppression condition existing in the vehicle is the unrecoverable type, the first mode is maintained.

With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the switching unit is further configured to: continuously monitoring the driving condition of the automobile within a first preset time length; and if the second inhibition condition of the automobile is monitored to be released within the first preset time, switching to the second mode, and otherwise, keeping the first mode.

With reference to the first possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, the second mode is integrated adaptive cruise; the second suppression condition of the type recoverable includes: the steering wheel torque is greater than the preset torque, the lane line width is outside the preset width, the lane line curve radius is greater than the preset radius, the lane lines on two sides are lost, the loss distance of the lane line on one side is greater than the preset distance, the steering lamp is turned off, the tire pressing line and the camera are shielded, the corner rate of the steering wheel is greater than the preset corner rate, and the opening and closing rate of the accelerator pedal is greater than the preset opening and closing rate.

With reference to the first possible implementation manner of the second aspect, in a fourth possible implementation manner of the second aspect, the second mode is integrated adaptive cruise; the second suppression condition of type unrecoverable type includes: the windscreen wiper is in a high-speed gear, the yaw rate of the automobile is larger than a preset value, and the electric power steering system of the automobile is not started.

With reference to the second aspect, in a fifth implementable manner of the second aspect, the receiving unit is specifically configured to: continuously monitoring the cruise command within a second preset time length; and if the cruise command is monitored within the second preset time length, determining that the cruise command is received again.

With reference to the second aspect, in a sixth possible implementation manner of the second aspect, the first mode is an adaptive cruise control mode; the first inhibition condition includes: at least one of the vehicle body electronic stability system is not activated, the anti-lock braking system is not activated, the hill descent control system is not activated, the traction control system is not activated, the vehicle driving dynamics control system is not activated, the automatic emergency braking system is not activated, and the deceleration control system is not activated, and/or the vehicle is in at least one of a rolling state, a high speed state, a braking state, and a limp home state.

In a third aspect, the present application further provides a cruise mode switching device, including a processor, a transceiver, and a memory, the processor, the transceiver, and the memory being connected by a bus; a processor for executing a plurality of instructions; the transceiver is used for carrying out data interaction with other equipment; a memory for storing a plurality of instructions adapted to be loaded by the processor and to perform the cruise mode switching method according to the first aspect or any one of the embodiments of the first aspect.

In a fourth aspect, the present application further provides a computer-readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor and execute the cruise mode switching method according to the first aspect or any one of the embodiments of the first aspect.

In summary, the present application provides a method, an apparatus, a device and a storage medium for switching cruise modes, wherein the cruise mode switching apparatus determines whether to start a first mode with a lower cruise level when receiving a cruise command for the first time, then determines whether to start a second mode with a higher cruise level when entering the first mode and receiving the cruise command again, and switches from the first mode to the second mode if the first mode is started, and otherwise, the first mode is continuously maintained, so that even if a user selects the second mode that does not meet the current driving situation, the situation that the vehicle cannot start the second mode and cannot start the first mode does not occur. Therefore, the cruise control system can solve the problem that the cruise control efficiency is not high in the prior art.

Drawings

FIG. 1 is a diagram of an embodiment of a cruise mode switching method;

FIG. 2 is a flow diagram illustrating a method for cruise mode switching according to one embodiment;

FIG. 3 is a schematic block diagram of a cruise mode switching apparatus;

fig. 4 is a structural block diagram of a cruise mode switching apparatus.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Since the embodiments of the present application relate to relatively many terms of art, the following description will first describe terms and concepts related to the embodiments of the present application in order to facilitate understanding.

1. Adaptive Cruise Control (ACC) and Integrated Adaptive Cruise Control (IACC)

Cruise control refers to a mode that an automobile keeps the automobile automatically running at a constant speed by using an electronic control technology, the speed per hour of the automobile can be locked according to the requirements of users, the automobile can be kept at a relatively stable speed without stepping on an accelerator pedal, and the automobile can be driven automatically and safely in a lane or along the track of a target automobile in front.

The cruise control function may be implemented by an Automated Driver Assistance System (ADAS), which may include cruise modes such as ACC and IACC. The ACC is equivalent to the L1 level automatic driving, the longitudinal control of the automobile can be realized, and a user does not need to operate an accelerator and a brake in the ACC mode; the IACC is equivalent to the L2 level automatic driving, the transverse control and the longitudinal control of the automobile can be realized, and under the IACC mode, a user does not need to operate an accelerator and a brake and also does not need to operate a steering wheel.

The specific cruise mode to be used needs to be determined according to the driving situation, and the IACC is more limited to be started than the ACC is to be started. This is because the IACC can realize not only the longitudinal control function of the ACC but also the lateral control function, and therefore the restriction condition of the IACC is a restriction condition for the ACC. The longitudinal control means that the running speed of the automobile is controlled, so that the automobile keeps a relatively stable speed and a safe distance between the automobile and the front and rear adjacent automobiles; lateral control refers to keeping the vehicle in a lane neutral position by controlling the steering and speed of the vehicle, and the like.

2. Other automotive electronic control systems to which this application relates

The electronic control system of the automobile refers to a system which is arranged on the automobile and used for collecting automobile information, executing corresponding actions according to the automobile information or instructions of a user and realizing certain predetermined functions, such as the ADAS and the like. The electronic control system of the vehicle related to the present application mainly includes other electronic control systems of the vehicle that can be used for assisting the ACC and IACC to normally operate, and next, the present application will explain the other electronic control systems of the vehicle related to:

an Electronic Stability Program (ESP) is also called an Electronic Stability Control (ESC). The ESP/ESC is intended to improve the handling behavior of the vehicle while effectively preventing the vehicle from running away when it reaches its dynamic limits. The ESP may determine to detect a yaw rate of the vehicle and may also determine whether the vehicle is in a non-rolling state, a non-high speed state, a non-braking state, etc.

Anti-lock brake systems (ABS) are also known as electronic anti-lock systems for vehicle bodies. The ABS is used for forcing the tires to be incapable of starting a locked state when the automobile is braked emergently, so that the automobile obtains the direction right under the condition of obtaining braking force, and the automobile is prevented from sliding linearly only due to the locking of the tires, and finally rear-end collision or collision is caused.

The high grade Descent Control (HDC) system is also called a slope Control system, and the HDC enables the automobile to pass through a steep downhill slope section at a speed slightly faster than the walking speed by automatically controlling each wheel without the user stepping on a brake pedal, and does not require the user to operate a brake or an accelerator.

The TSC determines whether the driving wheel slips based on the number of revolutions of the driving wheel and the number of revolutions of the driving wheel, and when the number of revolutions is larger than the latter, the TSC suppresses the rotational speed of the driving wheel.

A Vehicle Running Dynamic Control System (VDC), which can cooperate with ABS and TCS systems to realize the function of actively controlling the Dynamic behavior of the Vehicle, so as to Control the rotational speeds of the four wheels of the Vehicle to change the posture of the Vehicle during Running, so that the Vehicle Running in a non-linear state can run according to an optimal Running route, thereby improving the stability of the Vehicle during Running and the safety of the Vehicle during wet slippery road or cornering.

An automatic Emergency Braking system (AEB) actively brakes when a vehicle encounters an Emergency or the distance between the vehicle and a preceding vehicle or a pedestrian is less than a safe distance, so as to avoid or reduce collision accidents such as rear-end collision and the like, thereby improving the driving safety.

A Deceleration control system (CDP) decelerates a vehicle to a standstill in response to a user request.

An Auto Vehicle Hold (AVH) system allows a Vehicle to automatically achieve braking while parked without requiring a user to manually pull the brake or frequently switch between a forward gear and a park gear.

An Electric Power Steering (EPS) is a Power Steering system that relies on an Electric motor to provide an assist torque. The EPS may detect the steering of the steering wheel and the magnitude of the steering wheel torque, and issue a command to the motor controller to generate assist power according to the detection result.

A Vehicle Control Unit (VCU) is a central control unit of an automobile, can control the operation of other electronic devices on the automobile, and is the core of the whole control system. The VCU may collect an accelerator pedal signal to determine whether the vehicle is in a non-high speed state (e.g., detecting that the vehicle speed is less than 150 km/h, determining that the vehicle is in a non-high speed state), may collect a brake pedal signal to determine whether the vehicle is in a non-braking state (e.g., detecting that the vehicle is in a non-braking state when the vehicle pedal is depressed), and may further determine whether the vehicle is in a limp-home state.

It should be noted that the cruise mode switching device or the cruise mode switching device referred to in the following of the present application may include, but is not limited to, a dedicated cruise mode switching device/device, an Automatic Driving Assistance System (ADAS), an Electronic Control Unit (ECU), and the like, and will not be described herein again. A processor may include, but is not limited to, a Central Processing Unit (CPU), a general purpose processor, a coprocessor, a Digital Signal Processor (DSP), an application-specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, transistor logic, hardware components, or any combination thereof. It should be noted that the server, the cruise mode switching device, and the electronic control unit all include processors, and the processors may implement the cruise mode switching method described in this application, for example, the processors in the cruise mode switching device may activate the first mode or the second mode, and the like, which is not described herein again.

It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated. The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and are not essential to the art, and any structural modifications, changes in proportions, or adjustments in size, which do not affect the efficacy and attainment of the same are intended to fall within the scope of the present disclosure. Meanwhile, the directions or positional relationships referred to in the specification as "upper", "lower", "left", "right", "middle", "longitudinal", "lateral", "horizontal", "inner", "outer", "radial", "circumferential", and the like are directions or positional relationships based on the directions or positional relationships shown in the drawings, and are merely for convenience of description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operated in a specific direction, and that changes or adjustments of the relative relationships thereof are considered to be within the scope of the present invention without substantial technical changes. And therefore should not be construed as limiting the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

At present, when the user selects the cruise mode, the cruise mode which does not accord with the current driving situation is selected, so that the automobile cannot start the cruise mode selected by the user and cannot start another cruise mode. The driving conditions comprise automobile working conditions, weather, road conditions and the like. Taking two Cruise modes of an automatic driving assistance system including an Adaptive Cruise Control (ACC) and an Integrated Adaptive Cruise Control (IACC) as an example: when the condition that the starting of the IACC is limited exists in the driving situation, but the condition that the starting of the ACC is limited does not exist, the user selects the IACC, and the automobile cannot start the IACC and the ACC. Therefore, the problem of low cruising efficiency exists in the prior art.

In view of the above, the present application provides a cruise mode switching method, which improves the problem of low cruise efficiency in the prior art by actively selecting a cruise mode that meets the current driving situation when a user selects the cruise mode that does not meet the current driving situation through a cruise mode switching device. Specifically, as shown in the application scenario diagram of fig. 1, the cruise mode switching method of the present application is mainly applied to an automobile, and the method is implemented by a cruise mode switching device (or cruise mode switching apparatus) 120 on the automobile 110. Next, the method will be described with the cruise mode switching device as an execution subject.

In one implementable manner, the cruise mode switching means receives a cruise command to activate the cruise mode while the automobile is running, wherein the cruise mode includes a first mode and a second mode, and the cruise level of the second mode is higher than that of the first mode; when a cruise instruction is received for the first time, if the fact that the automobile has no first inhibition condition is determined, starting a first mode, wherein the first inhibition condition is a condition for inhibiting the first mode from being started; and when the cruise instruction is received again, if the automobile is determined to have no second inhibition condition, switching to the second mode, and if the automobile is determined to have the second inhibition condition, keeping the first mode, wherein the second inhibition condition is a condition for inhibiting the second mode from being started.

To better understand the implementation of the above-described implementable method, the present application provides an example of a cruise mode switching method, as shown in the flowchart of fig. 2. Next, the cruise mode switching method provided in this embodiment will be described with the cruise mode switching device as an execution subject. Specifically, the method comprises the following steps:

201: during the running of the automobile, a cruise command for starting a cruise mode is received.

Wherein the cruise modes include a first mode and a second mode, the second mode having a higher cruise level than the first mode. The cruise level of the second mode is higher than that of the first mode, which means that the second mode includes all functions of the first mode, and the conditions for activating the second mode are strictly the first mode, and when the second mode can be activated, the first mode can also be activated, for example, the first mode can be ACC, and the second mode can be IACC. The cruise mode switching device receives and monitors data sent by a user or other equipment during the running process of the automobile, such as a cruise command sent by the user for starting the cruise mode. The cruise command for starting the cruise mode may be a cruise command that is sent by a user by dialing a lever or pressing a button, or the like, and when the cruise command is received by the cruise mode switching device, it indicates that the user requests the start of the cruise mode. In addition, to determine the specific cruise mode that needs to be activated, the cruise mode switching means determines whether the first mode or the second mode is requested to be activated by the user, depending on how many times the cruise command is received. Specifically, when a cruise command is received once, it is determined that a user requests to start the first mode, and when a cruise command is received twice, it is determined that a user requests to start the second mode.

It should be noted that, in order to determine whether the automobile is in the driving process, the cruise mode switching device may detect whether the automobile is in a ready state, whether the driving speed of the automobile is greater than a preset speed (e.g., 5 km/h), whether a main driving safety belt is fastened, whether a hand brake is put down, whether a gear is in a forward gear, whether a main driving door is closed, the automobile slides, whether an APA is opened, and whether an AVH is opened, so as to determine whether the automobile is in the driving process, for example, if the result of each of the aforementioned detections is yes, it is determined that the automobile is in the driving process.

202: when the cruise command is received for the first time, if the automobile is determined to have no first inhibition condition, the first mode is started.

When the cruise command is received for the first time, the cruise mode switching device firstly determines whether the automobile has a first inhibition condition or not, starts the first mode if the automobile does not have the first inhibition condition, does not enter the first mode if the automobile has the first inhibition condition, and does not judge whether the automobile enters the second mode if the cruise command is received again subsequently. In addition, no matter whether the cruise command is received again or not, the cruise mode switching device can control the automobile to start the first mode firstly, so that the first mode can be kept continuously even if the second mode cannot be entered subsequently, and the cruise mode cannot be completely exited. The first suppression condition is a condition for suppressing the first mode from being activated, such as the vehicle body electronic stability system being inactive and the vehicle being in a rolling state.

203: when the cruise instruction is received again, if the fact that the automobile has no second inhibition condition is determined, switching to a second mode; if the second suppression condition is determined to exist in the automobile, the first mode is maintained.

After the first mode is started, the cruise mode switching device continuously monitors a cruise command sent by a user, if the cruise command is received again, whether a second inhibition condition exists in the automobile at the moment or not is judged, and if the second inhibition condition does not exist, the first mode is switched to the second mode; if the cruise command is not monitored or when the cruise command is received again, the automobile has a second inhibition condition, the first mode is kept, so that even if the user selects the second mode which does not accord with the current driving condition, the cruise mode is not completely exited, and the first mode with the level lower than that of the second mode is continuously kept. The second suppression condition is a condition for suppressing the second mode from being activated, for example, the steering wheel torque is larger than a preset torque and the weather is a heavy rain weather or the like.

Based on the above descriptions of step 201 to step 203, the cruise mode switching method provided by the present application may, according to the level of the first mode and the second mode, activate the first mode when the cruise command is received for the first time, and then activate the second mode when the cruise command is received again. Therefore, the cruise control system can be kept in the first mode even when the second mode fails to start, so that the cruise efficiency is improved, and the problem of low cruise efficiency in the prior art is solved.

In another implementable manner, the types of the second suppression conditions include a recoverable type and an unrecoverable type; after the step 203 of maintaining the first mode, the method further includes: if the type of the second inhibition condition existing in the automobile is a recoverable type, continuously monitoring until the automobile releases the second inhibition condition, and switching to a second mode; if the type of the second suppression condition existing in the vehicle is the unrecoverable type, the first mode is maintained.

In order to further improve the cruise efficiency, the present embodiment classifies the second suppression conditions, and the types of the second suppression conditions include a recoverable type and an unrecoverable type. The second suppression condition of the type of the recoverable type is a condition that a restriction effect on starting the second mode is small, and the second suppression condition of the type of the recoverable type is easily released by the automobile in a short time, for example, the second suppression condition of the type of the recoverable type may be that a steering wheel torque is larger than a preset torque, a lane line width is outside a preset width, and the like; the second suppression condition of the type unrecoverable type is a condition in which the restriction effect on the start of the second mode is large, and it is difficult for the automobile to release the second suppression condition of the type unrecoverable type in a short time, for example, the second suppression condition of the type unrecoverable type may be that the wiper is in a high-speed gear (in this case, the weather is heavy rain) or the like.

Specifically, the classification is performed according to whether the type of the second suppression condition existing in the automobile is a recoverable type or an unrecoverable type, and there are two cases: in the first case, when the second suppression condition that the type of the vehicle is a restorable type exists, the cruise mode switching device continues to monitor the second suppression condition that the type of the vehicle is a restorable type while maintaining the first mode, and switches from the first mode to the second mode when it is monitored that the vehicle releases the second suppression condition that the type of the vehicle is a restorable type, although the switching of the second mode fails at this time. In another case, when the vehicle has the second suppression condition of the type being the unrecoverable type, the cruise mode switching means does not need to continue the monitoring and continues to maintain the first mode regardless of whether the vehicle subsequently releases the second suppression condition of the type being the unrecoverable type.

For example, if the vehicle receives the cruise command again, if the vehicle steering wheel torque is 5 nm, the second suppression condition of the type recoverable exists, that is, "the steering wheel torque is greater than 1.5 nm", so that failure to start the second mode is caused, the first mode is maintained, and then the second suppression condition of the type recoverable is continuously monitored until the vehicle releases the second suppression condition of the type recoverable, that is, when the vehicle steering wheel torque is less than or equal to 1.5 nm, the first mode is switched to the second mode; if the automobile receives the cruise instruction again, the second inhibition condition of the type being the unrecoverable type exists because the wiper is in the high-speed gear, so that the second mode is failed to start, the first mode is kept, and the driving condition of the automobile does not need to be monitored continuously.

It can be seen that the cruise mode switching device in this implementable manner distinguishes whether the type of the second suppression condition existing in the vehicle is the recoverable type or the unrecoverable type, continuously monitors the driving condition of the vehicle when the type of the second suppression condition existing in the vehicle is the recoverable type, and restarts the second mode when the vehicle releases the second suppression condition of which the type is the recoverable type, thereby starting the second mode as much as possible and further improving the cruise efficiency.

Further, in combination with the foregoing implementable manner, the present application also proposes an implementable manner in which the step of switching to the second mode while continuing to monitor until the vehicle releases the second suppression condition includes: continuously monitoring the driving condition of the automobile within a first preset time length; and if the second inhibition condition of the automobile is monitored to be released within the first preset time, switching to the second mode, and otherwise, keeping the first mode.

The practical mode is a further improvement of the practical mode, namely when the cruise mode switching device continuously monitors the driving condition of the automobile, the monitoring duration is not infinitely long, the cruise mode switching device continuously monitors the automobile within a first preset duration after the cruise instruction is received again, if the fact that the automobile releases a second inhibition condition of a recoverable type is monitored within the first preset duration, the cruise mode switching device is switched to a second mode, and otherwise the first mode is kept. It should be noted that the first preset time and the second preset time mentioned later may be preset to any positive number, for example, the first preset time may be 60 seconds, and the second preset time may be 500 milliseconds. The terms "first" and "second" are used only for distinguishing two preset times, and do not mean other meanings, and the first preset time and the second preset time may be identical or not.

For example, if the vehicle receives the cruise command again, and therefore there is a second suppression condition of the recoverable type, that is, "the steering wheel torque is greater than 1.5 nm", which results in a failure to start the second mode, the vehicle is maintained in the first mode, and then the vehicle is continuously monitored for 60 seconds from the time when the cruise command is received again until the steering wheel torque of the vehicle is less than or equal to 1.5 nm, and then the vehicle is switched from the first mode to the second mode, and vice versa, the first mode is maintained.

It can be seen that the cruise mode switching device in this implementable manner further improves cruise efficiency by limiting the duration of the continuous monitoring. This is because the continuous monitoring of the vehicle consumes computational resources, is not conducive to maintaining the first mode, but rather reduces the cruise efficiency, and thus the present implementable approach may further improve cruise efficiency.

In another implementable manner, the second mode may be activated for accurate identification of whether the cruise command is received again to determine whether the user needs to activate. Specifically, the method comprises the following steps: the cruise mode switching device continuously monitors the cruise command within a second preset time length after the first mode is started; and if the cruise instruction is received within the second preset time length, determining that the cruise instruction is received again.

Wherein the cruise mode switching means determines whether the user needs to turn on the first mode or the second mode by the number of times the cruise command is received. Receiving the cruise command once indicates that the user needs to turn on the first mode, and receiving the cruise command twice indicates that the user needs to turn on the second mode. If the time delay between two cruise instructions is not limited, the cruise mode switching device is easy to generate misunderstanding, and the user indicates to start the first mode twice and misunderstands to start the second mode. In order to improve the accuracy of the recognition, the cruise mode switching device limits the time delay from the first time when the cruise command is received to the second time when the cruise command is received, and specifically, if the cruise command is received within a second preset time period after the cruise command is received for the first time, the cruise command is determined to be received again.

For example, if the vehicle receives the cruise command from the user within 500 milliseconds after the vehicle starts the first mode and the cruise command is received again, the cruise command is determined to be received again.

Therefore, the practical mode can improve the accuracy of recognizing the cruise command, and further improve the cruise efficiency.

In another practical manner, the first mode may be an adaptive cruise control mode; the first inhibition condition includes: at least one of the vehicle body electronic stability system is not activated, the anti-lock braking system is not activated, the hill descent control system is not activated, the traction control system is not activated, the vehicle driving dynamics control system is not activated, the automatic emergency braking system is not activated, and the deceleration control system is not activated, and/or the vehicle is in at least one of a rolling state, a high speed state, a braking state, and a limp home state.

Wherein the first inhibiting condition may include that the vehicle's electronic control system for assisting cruise is inactive, such as at least one of a body electronic stability system, an anti-lock braking system, a hill descent control system, a traction control system, a vehicle driving dynamics control system, an automatic emergency braking system, and a deceleration control system is inactive. In addition, the first suppression condition may further include that the vehicle is in at least one of a rolling state, a high speed state, a braking state, and a limp home state.

In another practical manner, the second mode may be an integrated adaptive cruise mode; the first suppression condition of the type recoverable includes: the steering wheel torque is greater than the preset torque, the lane line width is outside the preset width, the lane line curve radius is greater than the preset radius, the lane lines on two sides are lost, the loss distance of the lane line on one side is greater than the preset distance, the steering lamp is turned off, the tire pressing line and the camera are shielded, the corner rate of the steering wheel is greater than the preset corner rate, and the opening and closing rate of the accelerator pedal is greater than the preset opening and closing rate.

For example, the second suppression condition of the type recoverable includes: the steering wheel torque is more than 1.5 Nm, the lane line width is less than 4.5 m or more than 2.8m, the radius of a lane line curve is more than 100 m, lane lines on two sides are lost, the loss distance of a lane line on one side is more than 200 m, a steering lamp is turned off, a tire is pressed, a camera is shielded, the turning angle rate of the steering wheel is more than 55 degrees per second, and the opening and closing rate of an accelerator pedal is more than 240 percent per second.

In another practical manner, the second mode is an integrated adaptive cruise mode; the second suppression condition of type unrecoverable type includes: the weather is at least one of rainstorm weather, the windscreen wiper is in a high-speed gear, the yaw rate of the automobile is greater than a preset value, and the electric power steering system of the automobile is not started.

For example, unrecoverable types include: the weather is at least one of rainstorm weather, the windscreen wiper is in third gear, the yaw rate of the automobile is more than 10 radians per second, and the electric power steering system of the automobile is not started.

In another embodiment, the present implementation also provides a cruise mode switching device, see fig. 3. The embodiments of the present invention may perform functional unit division on the device according to the above method examples, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. It should be noted that the division of the unit in the embodiment of the present invention is schematic, and is only a logic function division, and there may be another division manner in actual implementation. As shown in fig. 3, the cruise mode switching device includes a receiving unit 310, an activating unit 320, and a switching unit 330, specifically: the cruise control system comprises a receiving unit 310, a cruise control unit and a cruise control unit, wherein the receiving unit 310 is used for receiving a cruise command for starting a cruise mode in the running process of an automobile, the cruise mode comprises a first mode and a second mode, and the cruise level of the second mode is higher than that of the first mode; the starting unit 320 is used for starting the first mode if the automobile is determined to have no first inhibition condition when the cruise instruction is received for the first time, wherein the first inhibition condition is a condition for inhibiting the first mode from being started; the switching unit 330 is configured to, when the cruise instruction is received again, switch to the second mode if it is determined that the vehicle does not have the second suppression condition; if it is determined that a second inhibit condition exists for the vehicle, the first mode is maintained, wherein the second inhibit condition is a condition for inhibiting the second mode from being activated.

In an implementation manner, the types of the second suppression conditions include a recoverable type and an unrecoverable type; the switching unit 330 is further configured to: if the type of the second inhibition condition existing in the automobile is a recoverable type, continuously monitoring until the automobile releases the second inhibition condition, and switching to a second mode; if the type of the second suppression condition existing in the vehicle is the unrecoverable type, the first mode is maintained.

In an implementation manner, the switching unit 330 is further configured to: continuously monitoring the driving condition of the automobile within a first preset time length; and if the second inhibition condition of the automobile is removed within the first preset time, switching to a second mode, otherwise, keeping the first mode.

In one embodiment, the second mode is an integrated adaptive cruise mode; the second suppression condition of the type recoverable includes: the steering wheel torque is greater than the preset torque, the lane line width is outside the preset width, the lane line curve radius is greater than the preset radius, the lane lines on two sides are lost, the loss distance of the lane line on one side is greater than the preset distance, the steering lamp is turned off, the tire pressing line and the camera are shielded, the corner rate of the steering wheel is greater than the preset corner rate, and the opening and closing rate of the accelerator pedal is greater than the preset opening and closing rate.

In one embodiment, the second mode is an integrated adaptive cruise mode; the second suppression condition of type unrecoverable type includes: the windscreen wiper is in a high-speed gear, the yaw rate of the automobile is larger than a preset value, and the electric power steering system of the automobile is not started.

In an implementation manner, the receiving unit 310 is specifically configured to: continuously monitoring the cruise command within a second preset time length; and if the cruise command is monitored within the second preset time length, determining that the cruise command is received again.

In one possible embodiment, the first mode is an adaptive cruise control mode; the first inhibition condition includes: at least one of the vehicle body electronic stability system is not activated, the anti-lock braking system is not activated, the hill descent control system is not activated, the traction control system is not activated, the vehicle driving dynamics control system is not activated, the automatic emergency braking system is not activated, and the deceleration control system is not activated, and/or the vehicle is in at least one of a rolling state, a high speed state, a braking state, and a limp home state.

In another embodiment, the present application also provides a cruise mode switching device, see fig. 4. The cruise mode switching device can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices and servers, and the servers can be implemented by independent servers or a server cluster formed by a plurality of servers. The cruise mode switching device in the present embodiment as shown in fig. 4 may include: a processor 410, a transceiver 420, and a memory 430. The processor 410, transceiver 420, and memory 430 are coupled by a bus 440. A processor 410 for executing a plurality of instructions; a transceiver 420 for data interaction with other devices; memory 430 is used to store a plurality of instructions suitable for loading by processor 410 and performing the cruise mode switching method as in the embodiments described above.

The processor 410 may be a Central Processing Unit (CPU), a general purpose processor, a coprocessor, a Digital Signal Processor (DSP), an application-specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor 410 may also be a combination of computing functions, e.g., comprising one or more microprocessors, a combination of a DSP and a microprocessor, or the like. In this embodiment, the processor 410 may adopt a single chip, and various control functions may be implemented by programming the single chip, for example, in this embodiment, functions of starting the first mode and switching from the first mode to the second mode are implemented, and the processor has the advantages of strong computing capability and fast processing speed. Specifically, the method comprises the following steps: the transceiver 420 is configured to perform the function of the receiving unit 310, and is configured to receive a cruise command for activating a cruise mode during driving of the vehicle, where the cruise mode includes a first mode and a second mode, and a cruise level of the second mode is higher than that of the first mode; the processor 420 is configured to execute the function of the starting unit 320, and is configured to, when the cruise instruction is received for the first time, start the first mode if it is determined that the vehicle does not have a first suppression condition, where the first suppression condition is a condition for suppressing the first mode from being started; the processor 410 is further configured to execute the function of the switching unit 330, when the cruise instruction is received again, if it is determined that the automobile has no second suppression condition, switching to the second mode; if it is determined that a second inhibit condition exists for the vehicle, the first mode is maintained, wherein the second inhibit condition is a condition for inhibiting the second mode from being activated.

In an implementation manner, the types of the second suppression conditions include a recoverable type and an unrecoverable type; the processor 410 is further configured to: if the type of the second inhibition condition existing in the automobile is a recoverable type, continuously monitoring until the automobile releases the second inhibition condition, and switching to a second mode; if the type of the second suppression condition existing in the vehicle is the unrecoverable type, the first mode is maintained.

In one implementation, the processor 410 is further configured to: continuously monitoring the driving condition of the automobile within a first preset time length; and if the second inhibition condition of the automobile is monitored to be released within the first preset time, switching to the second mode, and otherwise, keeping the first mode.

In one embodiment, the second mode is an integrated adaptive cruise mode; the second suppression condition of the type recoverable includes: the steering wheel torque is greater than the preset torque, the lane line width is outside the preset width, the lane line curve radius is greater than the preset radius, the lane lines on two sides are lost, the loss distance of the lane line on one side is greater than the preset distance, the steering lamp is turned off, the tire pressing line and the camera are shielded, the corner rate of the steering wheel is greater than the preset corner rate, and the opening and closing rate of the accelerator pedal is greater than the preset opening and closing rate.

In one embodiment, the second mode is an integrated adaptive cruise mode; the second suppression condition of type unrecoverable type includes: the windscreen wiper is in a high-speed gear, the yaw rate of the automobile is larger than a preset value, and the electric power steering system of the automobile is not started.

In one implementation, the processor 410 is specifically configured to: continuously monitoring the cruise command within a second preset time length; and if the cruise command is monitored within the second preset time length, determining that the cruise command is received again.

In one possible embodiment, the first mode is an adaptive cruise control mode; the first inhibition condition includes: at least one of the vehicle body electronic stability system is not activated, the anti-lock braking system is not activated, the hill descent control system is not activated, the traction control system is not activated, the vehicle driving dynamics control system is not activated, the automatic emergency braking system is not activated, and the deceleration control system is not activated, and/or the vehicle is in at least one of a rolling state, a high speed state, a braking state, and a limp home state.

In another embodiment, the present application further provides a computer-readable storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor and to perform the method of any of the preceding embodiments. A processor for executing a plurality of instructions; a memory for storing a plurality of instructions adapted to be loaded by the processor and to perform the cruise mode switching method as in the above embodiments.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A cruise mode switching method, comprising:

receiving a cruise command for starting a cruise mode during running of an automobile, wherein the cruise mode comprises a first mode and a second mode, and the cruise level of the second mode is higher than that of the first mode;

when the cruise instruction is received for the first time, if the automobile is determined to have no first inhibition condition, the first mode is started, wherein the first inhibition condition is a condition for inhibiting the first mode from being started;

when the cruise instruction is received again, if the fact that the automobile has no second inhibition condition is determined, switching to the second mode; and if the automobile is determined to have a second inhibition condition, maintaining the first mode, wherein the second inhibition condition is a condition for inhibiting the second mode from being started.

2. The method according to claim 1, wherein the type of the second suppression condition comprises a recoverable type and an unrecoverable type; after the step of maintaining the first mode if it is determined that the second suppression condition exists for the vehicle, the method further comprises:

if the type of the second inhibition condition existing in the automobile is the recoverable type, continuously monitoring until the automobile releases the second inhibition condition, and switching to the second mode;

if the type of the second suppression condition existing in the automobile is the unrecoverable type, the first mode is maintained.

3. The method of claim 2, wherein the step of switching to the second mode while continuing to monitor until the vehicle releases the second inhibit condition comprises:

continuously monitoring the driving condition of the automobile within a first preset time length;

and if the automobile is monitored to release the second inhibition condition within the first preset time, switching to the second mode, otherwise, keeping the first mode.

4. The method of claim 2, wherein the second mode is integrated adaptive cruise; the second suppression condition of which the type is the recoverable type comprises: the steering wheel torque is greater than the preset torque, the lane line width is outside the preset width, the lane line curve radius is greater than the preset radius, the lane lines on two sides are lost, the loss distance of the lane line on one side is greater than the preset distance, the steering lamp is turned off, the tire pressing line and the camera are shielded, the corner rate of the steering wheel is greater than the preset corner rate, and the opening and closing rate of the accelerator pedal is greater than the preset opening and closing rate.

5. The method of claim 2, wherein the second mode is integrated adaptive cruise; the second suppression condition of which the type is the unrecoverable type includes: the windscreen wiper is in at least one of a high-speed gear, the yaw rate is greater than a preset value and the electric power steering system is not started.

6. The method of claim 1, wherein after initiating the first mode, the method further comprises:

continuously monitoring the cruise instruction within a second preset time length;

and if the cruise instruction is monitored within the second preset time, determining that the cruise instruction is received again.

7. The method of claim 1, wherein the first mode is an adaptive cruise control mode; the first inhibition condition includes: at least one of a vehicle body electronic stability system not activated, an anti-lock braking system not activated, a hill descent control system not activated, a traction control system not activated, a vehicle driving dynamics control system not activated, an automatic emergency braking system not activated, and a deceleration control system not activated, and/or the vehicle is in at least one of a rolling state, a high speed state, a braking state, and a limp home state.

8. A cruise mode switching device, comprising:

the device comprises a receiving unit, a cruise control unit and a control unit, wherein the receiving unit is used for receiving a cruise command for starting a cruise mode in the process of driving an automobile, the cruise mode comprises a first mode and a second mode, and the cruise level of the second mode is higher than that of the first mode;

the starting unit is used for starting the first mode if the automobile is determined to have no first inhibition condition when the cruise instruction is received for the first time, wherein the first inhibition condition is a condition for inhibiting the first mode from being started;

the switching unit is used for switching to the second mode if the fact that the automobile has no second inhibition condition is determined when the cruise instruction is received again; and if the automobile is determined to have a second inhibition condition, maintaining the first mode, wherein the second inhibition condition is a condition for inhibiting the second mode from being started.

9. A cruise mode switching device, characterized in that the device comprises a processor and a memory, the processor and the memory being connected by a bus; the processor is used for executing a plurality of cruise instructions; the storage medium storing the plurality of cruise instructions, the cruise instructions being adapted to be loaded by the processor and to perform a cruise mode switching method according to any of claims 1-7.

10. A computer-readable storage medium having stored therein a plurality of cruise instructions adapted to be loaded by a processor and to perform a cruise mode switching method according to any of claims 1-7.

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