CN117922563A - Auxiliary car following control method and device - Google Patents
Auxiliary car following control method and device Download PDFInfo
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Abstract
The embodiment of the disclosure discloses an auxiliary car following control method and device. One embodiment of the method comprises the following steps: if the target vehicle tracked by the vehicle is lost, acquiring driver information, vehicle running state information and surrounding vehicle information of the vehicle; generating driver state information of the vehicle according to the driver information; generating speed control information of the vehicle according to the driver state information, the vehicle running state information and surrounding vehicle information; and sending the speed control information to the vehicle body electronic stability system so that the vehicle body electronic stability system controls the vehicle according to the speed control information. The embodiment realizes dynamic adjustment of acceleration, improves driving experience, and enhances safety of vehicles.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of driving assistance, in particular to an auxiliary vehicle following control method and device.
Background
The auxiliary driving system can provide auxiliary support during driving of the vehicle by the driver, so that the driver can drive the vehicle more easily and safely. The auxiliary follow-up function may make an adaptive speed adjustment based on a speed change of the target vehicle.
However, during the auxiliary following process, when the tracked target vehicle is lost, the system controls the vehicle to accelerate rapidly to the target set vehicle speed. Especially when the difference between the vehicle speed and the target set vehicle speed is large, the system can control the vehicle to quickly increase the vehicle speed to the target set vehicle speed with the maximum allowable driving torque or maximum acceleration, so that discomfort is brought to a driver, the comfort of the driver is influenced, and even potential safety risks are caused to the driver.
The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, may contain information that does not form the prior art that is already known to those of ordinary skill in the art in this country.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
The invention provides a method for controlling acceleration after target loss in the process of assisting vehicle following driving, which aims to solve one or more of the technical problems in the background art.
In a first aspect, the present invention provides an auxiliary following control method, in which if a target vehicle tracked by a vehicle is lost, driver information, vehicle driving state information, and surrounding vehicle information of the vehicle are collected; generating driver state information of the vehicle according to the driver information; generating speed control information of the vehicle according to the driver state information, the vehicle running state information and surrounding vehicle information; and sending the speed control information to the vehicle body electronic stability system so that the vehicle body electronic stability system controls the vehicle according to the speed control information.
Optionally, collecting driver information, vehicle driving state information and vehicle environment information of the vehicle includes at least one of the following: acquiring facial features and pupil features of a driver through an in-cabin camera; collecting a driver image through a driver monitoring system; acquiring the speed, braking deceleration and vehicle driving acceleration of a vehicle through a plurality of sensors contained in the vehicle body electronic stability system; acquiring surrounding vehicle information by a radar installed to a vehicle, the surrounding vehicle information including rear vehicle flag information indicating whether a vehicle exists behind the vehicle and a rear vehicle speed; and generating driver status information of the vehicle from the driver information, comprising: establishing human identification information of a driver through facial features and pupil features; or analyzing and processing the driver image through the driver monitoring system to obtain the driver attentive driving vehicle zone bit information, wherein the driver attentive driving vehicle zone bit information represents whether the driver is in an attentive driving state.
Optionally, generating the speed control information of the vehicle according to the driver state information, the vehicle running state information and the surrounding vehicle information includes: if the driver is focused on driving the vehicle zone bit information to indicate that the driver is not in a focused driving state and the rear vehicle zone bit information indicates that no vehicle exists behind the vehicle, generating first speed control information, wherein the first speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of re-identifying the target vehicle by a first acceleration; if the driver is focused on driving the vehicle and the driver is not in a focused driving state, the rear vehicle zone information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, first speed control information is generated, and the first speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through first acceleration.
Optionally, generating the speed control information of the vehicle according to the driver state information, the vehicle running state information and the surrounding vehicle information includes: if the driver is focused on driving the vehicle and the driver is not in a focused driving state, the rear vehicle zone information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is greater than or equal to that of the vehicle, second speed control information is generated, and the second speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through second acceleration.
Optionally, generating the speed control information of the vehicle according to the driver state information, the vehicle running state information and the surrounding vehicle information includes: if the driver is focused on driving the vehicle zone bit information to indicate that the driver is in a focused driving state and the rear vehicle zone bit information indicates that no vehicle exists behind the vehicle, generating second speed control information, and accelerating the second speed control information to a set vehicle speed or accelerating the second speed control information to a vehicle speed of the target vehicle.
Optionally, generating the speed control information of the vehicle according to the driver state information, the vehicle running state information and the surrounding vehicle information includes: if the driver focuses on driving the vehicle zone bit information to indicate that the driver is in a focusing driving state, the rear vehicle zone bit information indicates that a vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, third speed control information is generated, and the third speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again by third acceleration; if the driver is focused on driving the vehicle zone bit information to indicate that the driver is in a focused driving state, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is greater than or equal to the speed of the vehicle, fourth speed control information is generated, and the fourth speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through fourth acceleration.
Optionally, generating the speed control information of the vehicle according to the driver state information, the vehicle running state information and the surrounding vehicle information includes: if the driver is focused on driving the vehicle and the driver is not in a focused driving state, the rear vehicle zone information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is larger than or equal to that of the vehicle, fifth speed control information is generated, the fifth speed control information indicates that the vehicle is accelerated by second acceleration until the second acceleration is equal to the first acceleration, and the vehicle is accelerated to a set speed or accelerated to a speed for re-identifying the target vehicle by the first acceleration, wherein the second acceleration is determined according to a speed difference between the speed of the rear vehicle and the speed of the vehicle and is dynamically reduced along with the reduction of the speed difference.
Optionally, generating the speed control information of the vehicle according to the driver state information, the vehicle running state information and the surrounding vehicle information includes: if the driver is focused on driving the vehicle, the driver is in a focused driving state, the rear vehicle marker information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, sixth speed control information is generated, the sixth speed control information indicates that the third acceleration is accelerated until the third acceleration is equal to the target acceleration, and then the third acceleration is accelerated to a set speed or accelerated to a speed for re-identifying the target vehicle, wherein the target acceleration is an autonomous acceleration corresponding to the human identification information of the current driver, which is output by using a big data model.
Optionally, generating the speed control information of the vehicle according to the driver state information, the vehicle running state information and the surrounding vehicle information includes: if the driver is focused on driving the vehicle zone bit information to indicate that the driver is focused on driving, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is larger than or equal to that of the vehicle, seventh speed control information is generated, the seventh speed control information indicates that the vehicle is accelerated to be the same as that of the rear vehicle by fourth acceleration, and then the vehicle is accelerated to be the set speed or accelerated to be the speed of the target vehicle again by third acceleration.
In a second aspect, some embodiments of the present disclosure provide an auxiliary following drive control apparatus, the apparatus comprising: a parameter acquisition unit configured to acquire driver information of the vehicle, vehicle running state information, and surrounding vehicle information if the target vehicle tracked by the vehicle is lost; a state judgment unit configured to generate driver state information of the vehicle from the driver information; an acceleration calculating unit configured to generate speed control information of the vehicle based on the driver state information, the vehicle running state information, and surrounding vehicle information; and the control unit is configured to send the speed control information to the vehicle body electronic stability system so that the vehicle body electronic stability system controls the vehicle according to the speed control information.
The above embodiments of the present disclosure have the following advantageous effects: when the target vehicle tracked by the vehicle is lost, the system can gradually increase the vehicle speed to the target set vehicle speed according to the environment of the vehicle and the driving habit of the driver, instead of suddenly decelerating or braking, so that the comfort of the driver is improved; the speed and the acceleration can be dynamically adjusted according to different conditions, so that the acceleration change of the vehicle in the acceleration process is smoother and more comfortable, and the uncomfortable feeling of rapid acceleration or rapid deceleration to passengers is avoided, thereby enhancing the safety of the vehicle.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
FIG. 1 is a flow chart of some embodiments of a method of assisted heel control according to the present disclosure;
Fig. 2 is a schematic structural view of some embodiments of an auxiliary heel control device according to the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
FIG. 1 illustrates a flow 100 of some embodiments of the auxiliary heel control method of the present disclosure. The auxiliary car following control method comprises the following steps:
Step 101, if the target vehicle tracked by the vehicle is lost, acquiring driver information, vehicle running state information and surrounding vehicle information of the vehicle.
The above-described execution body may be a vehicle, and the vehicle may be equipped with a driver monitoring system, a vehicle body electronic stability system, an advanced cruise assist system, a radar device, and the like, as required.
On the basis, driver information, vehicle running state information and vehicle environment information of the vehicle are collected, and the method comprises at least one of the following steps: the driver monitoring system captures images of the driver through the high-definition camera in the cabin, and further analyzes facial features, pupil features, behavior features (sight line direction and action) and the like of the driver. The driver image is acquired by a driver monitoring system. The vehicle body electronic stability system can acquire data such as the speed, braking deceleration, driving acceleration and the like of the vehicle in real time through a plurality of sensors such as a vehicle speed sensor, a braking sensor and an acceleration sensor. A radar apparatus mounted outside the vehicle body can detect and identify surrounding vehicles, thereby obtaining surrounding vehicle information. Wherein the surrounding vehicle information includes rear vehicle flag information indicating whether a vehicle is present behind the vehicle and a rear vehicle speed.
After the advanced cruising auxiliary system of the vehicle is started, the target vehicle can be automatically tracked, and the speed of the self-adaptive vehicle can be performed according to the speed change of the target vehicle. When the target vehicle is lost, the above-described apparatus may collect driver information of the vehicle, vehicle running state information, and surrounding vehicle information. The vehicle running state information includes the vehicle speed, braking deceleration, and vehicle driving acceleration of the vehicle.
Step 102, generating the driver state information of the vehicle according to the driver information.
The executive body can capture biological characteristics such as facial characteristics, pupil characteristics and the like of the driver through the driver monitoring system, and establish identity identification information of the driver. Specifically, the facial features, pupil features, and driver ID may be determined together as the identification information of the driver.
Optionally, the executing body may further capture the biological characteristics (facial characteristics and pupil characteristics) of the driver and the action behavior characteristics such as the sight direction of the driver through the driver monitoring system, so as to establish the person identification information of the driver.
In addition, the execution main body can analyze and process the collected driver image through the driver monitoring system to obtain the information of the marker bit of the driver focusing on driving the vehicle. The driving vehicle zone information characterizes whether the driver is in a state of attentive driving, such as distraction, fatigue, or driving violations.
Step 103, generating speed control information of the vehicle according to the driver state information, the vehicle running state information and surrounding vehicle information. The method specifically comprises the following steps:
if the driver is not in the concentrated driving state and the vehicle is not behind the vehicle, generating first speed control information, wherein the first speed control information is accelerated to a set vehicle speed or accelerated to a vehicle speed of the target vehicle again by a first acceleration.
If the driver is focused on driving the vehicle and the driver is not in a focused driving state, the rear vehicle zone information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, first speed control information is generated, and the first speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through first acceleration.
If the driver is focused on driving the vehicle and the driver is not in a focused driving state, the rear vehicle zone information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is greater than or equal to that of the vehicle, second speed control information is generated, and the second speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through second acceleration.
If the driver is focused on driving the vehicle zone bit information to indicate that the driver is in a focused driving state and the rear vehicle zone bit information indicates that no vehicle exists behind the vehicle, generating second speed control information, and accelerating the second speed control information to a set vehicle speed or accelerating the second speed control information to a vehicle speed of the target vehicle.
If the driver is focused on driving the vehicle zone bit information to indicate that the driver is in a focused driving state, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, third speed control information is generated, and the third speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through third acceleration.
If the driver is focused on driving the vehicle zone bit information to indicate that the driver is in a focused driving state, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is greater than or equal to the speed of the vehicle, fourth speed control information is generated, and the fourth speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through fourth acceleration.
If the driver is focused on driving the vehicle and the driver is not in a focused driving state, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is larger than or equal to that of the vehicle, fifth speed control information is generated, the fifth speed control information indicates that the vehicle is accelerated by the second acceleration until the second acceleration is equal to the first acceleration, and then the vehicle is accelerated to a set speed by the first acceleration or accelerated to the speed of the target vehicle again. Wherein the second acceleration is determined from a speed difference between a vehicle speed of the rear vehicle and a vehicle speed of the vehicle and dynamically decreases as the speed difference decreases.
If the driver is focused on driving the vehicle and the driver is in a focused driving state, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle and the speed of the rear vehicle is smaller than that of the vehicle, sixth speed control information is generated, and the sixth speed control information indicates that the vehicle is accelerated to a set speed or accelerated to the speed of the re-identified target vehicle by the target acceleration after the third acceleration is accelerated by the third acceleration until the third acceleration is equal to the target acceleration. The target acceleration is an autonomous acceleration corresponding to the human identification information of the current driver output by the big data model.
If the driver is focused on driving the vehicle zone bit information to indicate that the driver is focused on driving, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is larger than or equal to that of the vehicle, seventh speed control information is generated, the seventh speed control information indicates that the vehicle is accelerated to be the same as that of the rear vehicle by fourth acceleration, and then the vehicle is accelerated to be the set speed or accelerated to be the speed of the target vehicle again by third acceleration.
And 104, transmitting the speed control information to the vehicle body electronic stability system so that the vehicle body electronic stability system controls the vehicle according to the speed control information.
In practice, the speed control information is sent to an electronic stability system (ESP) of the vehicle body, which receives the speed control information, calculates and decides based on the speed control information, and then controls the vehicle accordingly.
In some embodiments, when the target vehicle tracked by the vehicle is lost, the system can gradually increase the vehicle speed to the target set vehicle speed according to the environment of the vehicle and the driving habit of the driver, instead of suddenly decelerating or braking, so that the comfort of the driver is improved; the speed and the acceleration can be dynamically adjusted according to different conditions, so that the acceleration change of the vehicle in the acceleration process is smoother and more comfortable, and the uncomfortable feeling of rapid acceleration or rapid deceleration to passengers is avoided, thereby enhancing the safety of the vehicle.
With further reference to fig. 2, a schematic structural view of some embodiments of the auxiliary heel control device according to the present disclosure is shown. These apparatus embodiments correspond to those of the method embodiment shown in fig. 1, and the apparatus is particularly applicable to various electronic devices.
As shown in fig. 2, the auxiliary following control device 200 of some embodiments includes: a parameter acquisition unit 201, a state judgment unit 202, an acceleration calculation unit 203, and an acceleration control unit 204.
Wherein the parameter acquisition unit 201 is configured to acquire driver information of the vehicle, vehicle running state information, and surrounding vehicle information if the target vehicle tracked by the vehicle is lost. The state determination unit 202 is configured to generate driver state information of the vehicle from the driver information. An acceleration calculating unit 203 configured to generate speed control information of the vehicle based on the driver state information, the vehicle running state information, and surrounding vehicle information; the acceleration control unit 204 is configured to send the speed control information to the vehicle body electronic stability system, so that the vehicle body electronic stability system controls the vehicle according to the speed control information.
In an alternative implementation of some embodiments, the parameter acquisition unit 201 of the auxiliary following control device 200 is further configured to: acquiring facial features and pupil features of a driver through an in-cabin camera; collecting a driver image through a driver monitoring system; acquiring the speed, braking deceleration and vehicle driving acceleration of a vehicle through a plurality of sensors contained in the vehicle body electronic stability system; surrounding vehicle information including rear vehicle flag information indicating whether a vehicle is present behind the vehicle and a rear vehicle speed is acquired by a radar mounted to the vehicle.
Optionally, the state determining unit 202 is further configured to: generating driver status information of the vehicle from the driver information, comprising: establishing human identification information of a driver through facial features and pupil features; or analyzing and processing the driver image through the driver monitoring system to obtain the driver attentive driving vehicle zone bit information, wherein the driver attentive driving vehicle zone bit information represents whether the driver is in an attentive driving state.
Optionally, the acceleration calculation unit 203 is further configured to: if the driver is focused on driving the vehicle zone bit information to indicate that the driver is not in a focused driving state and the rear vehicle zone bit information indicates that no vehicle exists behind the vehicle, generating first speed control information, wherein the first speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of re-identifying the target vehicle by a first acceleration; if the driver is focused on driving the vehicle and the driver is not in a focused driving state, the rear vehicle zone information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, first speed control information is generated, and the first speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through first acceleration.
Optionally, the acceleration calculation unit 203 is further configured to: if the driver is focused on driving the vehicle and the driver is not in a focused driving state, the rear vehicle zone information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is greater than or equal to that of the vehicle, second speed control information is generated, and the second speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through second acceleration.
Optionally, the acceleration calculation unit 203 is further configured to: if the driver is focused on driving the vehicle zone bit information to indicate that the driver is in a focused driving state and the rear vehicle zone bit information indicates that no vehicle exists behind the vehicle, generating second speed control information, and accelerating the second speed control information to a set vehicle speed or accelerating the second speed control information to a vehicle speed of the target vehicle.
Optionally, the acceleration calculation unit 203 is further configured to: if the driver focuses on driving the vehicle zone bit information to indicate that the driver is in a focusing driving state, the rear vehicle zone bit information indicates that a vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, third speed control information is generated, and the third speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again by third acceleration; if the driver is focused on driving the vehicle zone bit information to indicate that the driver is in a focused driving state, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is greater than or equal to the speed of the vehicle, fourth speed control information is generated, and the fourth speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of the target vehicle again through fourth acceleration.
Optionally, the acceleration calculation unit 203 is further configured to: if the driver is focused on driving the vehicle and the driver is not in a focused driving state, the rear vehicle zone information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is larger than or equal to that of the vehicle, fifth speed control information is generated, the fifth speed control information indicates that the vehicle is accelerated by second acceleration until the second acceleration is equal to the first acceleration, and the vehicle is accelerated to a set speed or accelerated to a speed for re-identifying the target vehicle by the first acceleration, wherein the second acceleration is determined according to a speed difference between the speed of the rear vehicle and the speed of the vehicle and is dynamically reduced along with the reduction of the speed difference.
Optionally, the acceleration calculation unit 203 is further configured to: if the driver is focused on driving the vehicle, the driver is in a focused driving state, the rear vehicle marker information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, sixth speed control information is generated, the sixth speed control information indicates that the third acceleration is accelerated until the third acceleration is equal to the target acceleration, and then the third acceleration is accelerated to a set speed or accelerated to a speed for re-identifying the target vehicle, wherein the target acceleration is an autonomous acceleration corresponding to the human identification information of the current driver, which is output by using a big data model.
Optionally, the acceleration calculation unit 203 is further configured to: if the driver is focused on driving the vehicle zone bit information to indicate that the driver is focused on driving, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is larger than or equal to that of the vehicle, seventh speed control information is generated, the seventh speed control information indicates that the vehicle is accelerated to be the same as that of the rear vehicle by fourth acceleration, and then the vehicle is accelerated to be the set speed or accelerated to be the speed of the target vehicle again by third acceleration.
In some embodiments, the specific implementation of each unit included in the auxiliary vehicle following control device and the technical effects brought by the same may refer to those embodiments corresponding to fig. 1, which are not described herein again.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (10)
1. An auxiliary vehicle following control method, comprising:
If the target vehicle tracked by the vehicle is lost, acquiring driver information, vehicle running state information and surrounding vehicle information of the vehicle;
Generating driver state information of the vehicle according to the driver information;
Generating speed control information of the vehicle according to the driver state information, the vehicle running state information and the surrounding vehicle information;
and sending the speed control information to a vehicle body electronic stability system so that the vehicle body electronic stability system controls the vehicle according to the speed control information.
2. The auxiliary following control method according to claim 1, wherein the collecting of the driver information, the vehicle running state information, and the vehicle environment information of the vehicle includes at least one of:
acquiring facial features and pupil features of a driver through an in-cabin camera;
Collecting a driver image through a driver monitoring system;
acquiring the speed, braking deceleration and vehicle driving acceleration of the vehicle through a plurality of sensors contained in the vehicle body electronic stability system;
acquiring the surrounding vehicle information by a radar installed to the vehicle, the surrounding vehicle information including rear vehicle flag information indicating whether a vehicle exists behind the vehicle and a rear vehicle speed; and
The generating driver state information of the vehicle according to the driver information includes:
Establishing human identification information of the driver through the facial features and the pupil features; or (b)
And analyzing and processing the driver image through the driver monitoring system to obtain the driver concentration driving vehicle zone bit information, wherein the driver concentration driving vehicle zone bit information represents whether the driver is in a concentration driving state or not.
3. The auxiliary following control method according to claim 2, wherein the generating speed control information of the vehicle based on the driver state information, the vehicle running state information, and the surrounding vehicle information includes:
If the driver is focused on driving the vehicle zone bit information to indicate that the driver is not in a focused driving state, and the rear vehicle zone bit information indicates that no vehicle exists behind the vehicle, generating first speed control information, wherein the first speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed for re-identifying the target vehicle by a first acceleration;
And if the driver is focused on driving the vehicle zone bit information to indicate that the driver is not in a focused driving state, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, first speed control information is generated, and the first speed control information indicates that the vehicle is accelerated to a set speed or accelerated to the speed of the target vehicle again by a first acceleration.
4. The auxiliary following control method according to claim 2, wherein the generating speed control information of the vehicle based on the driver state information, the vehicle running state information, and the surrounding vehicle information includes:
And if the driver is focused on driving the vehicle zone bit information to indicate that the driver is not focused on driving, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is larger than or equal to that of the vehicle, and second speed control information is generated, wherein the second speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of re-identifying the target vehicle at a second acceleration.
5. The auxiliary following control method according to claim 4, wherein the generating speed control information of the vehicle based on the driver state information, the vehicle running state information, and the surrounding vehicle information includes:
and if the driver is focused on driving the vehicle zone bit information to indicate that the driver is focused on driving, and the rear vehicle zone bit information indicates that no vehicle exists behind the vehicle, generating second speed control information, wherein the second speed control information indicates that the vehicle is accelerated to a set speed or accelerated to a speed of re-identifying the target vehicle by a second acceleration.
6. The auxiliary following control method according to claim 5, wherein the generating speed control information of the vehicle based on the driver state information, the vehicle running state information, and the surrounding vehicle information includes:
If the driver is focused on driving the vehicle zone bit information to indicate that the driver is focused on driving, the rear vehicle zone bit information indicates that a vehicle exists behind the vehicle, the rear vehicle speed is smaller than the vehicle speed of the vehicle, third speed control information is generated, and the third speed control information indicates that the vehicle is accelerated to a set vehicle speed or accelerated to the vehicle speed of the re-identified target vehicle at a third acceleration;
And if the driver is focused on driving the vehicle zone bit information to indicate that the driver is focused on driving, the rear vehicle zone bit information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is larger than or equal to that of the vehicle, fourth speed control information is generated, and the fourth speed control information indicates that the vehicle is accelerated to a set speed or accelerated to the speed of the target vehicle again by fourth acceleration.
7. The auxiliary following control method according to claim 2, wherein the generating speed control information of the vehicle based on the driver state information, the vehicle running state information, and the surrounding vehicle information includes:
And if the driver is focused on driving the vehicle zone bit information to indicate that the driver is not in a focused driving state, the rear vehicle zone bit information indicates that a vehicle exists behind the vehicle, the rear vehicle speed is greater than or equal to the vehicle speed of the vehicle, fifth speed control information is generated, the fifth speed control information indicates that the vehicle is accelerated by a second acceleration until the second acceleration is equal to a first acceleration, and then the vehicle is accelerated by the first acceleration to a set vehicle speed or accelerated to a vehicle speed for re-identifying the target vehicle, wherein the second acceleration is determined according to a speed difference between the rear vehicle speed and the vehicle speed, and is dynamically reduced along with the reduction of the speed difference.
8. The auxiliary following control method according to claim 5, wherein the generating speed control information of the vehicle based on the driver state information, the vehicle running state information, and the surrounding vehicle information includes:
And if the driver is focused on driving the vehicle, the driver is in a focused driving state, the rear vehicle marker information indicates that a vehicle exists behind the vehicle, the speed of the rear vehicle is smaller than that of the vehicle, sixth speed control information is generated, the sixth speed control information indicates that the vehicle is accelerated by third acceleration until the third acceleration is equal to a target acceleration, and then the vehicle is accelerated to a set speed or accelerated to a speed for re-identifying the target vehicle by the target acceleration, wherein the target acceleration is an autonomous acceleration corresponding to the human identification information of the current driver output by a big data model.
9. The auxiliary following control method according to claim 5, wherein the generating speed control information of the vehicle based on the driver state information, the vehicle running state information, and the surrounding vehicle information includes:
And if the driver is focused on driving the vehicle, the driver is focused on driving, the rear vehicle marker information indicates that the vehicle exists behind the vehicle, the speed of the rear vehicle is larger than or equal to that of the vehicle, seventh speed control information is generated, the seventh speed control information indicates that the vehicle is accelerated to be the same as that of the rear vehicle by fourth acceleration, and the vehicle is accelerated to be set to be the same as that of the rear vehicle or accelerated to be re-identified to be the target vehicle by third acceleration.
10. An auxiliary vehicle following control device, comprising:
a parameter acquisition unit configured to acquire driver information of a vehicle, the vehicle running state information, and surrounding vehicle information if a target vehicle tracked by the vehicle is lost;
a state judgment unit configured to generate driver state information of the vehicle from the driver information;
An acceleration calculation unit configured to generate speed control information of the vehicle based on the driver state information, the vehicle running state information, and the surrounding vehicle information;
and the control unit is configured to send the speed control information to a vehicle body electronic stability system so that the vehicle body electronic stability system controls the vehicle according to the speed control information.
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