Adjustment method of adaptive cruise system, vehicle and storage medium

Abstract

The invention provides an adaptive cruise system adjusting method, a vehicle and a storage medium, the method is applied to the field of automatic driving, and the method comprises the following steps: determining a target control factor of an adaptive cruise system based on an attention parameter of a driver of the vehicle and an initial control factor of the adaptive cruise system of the vehicle, the target control factor is used for adjusting a control parameter of the adaptive cruise system, and the attention parameter is used for evaluating the concentration degree of the driver driving the vehicle; determining a target control parameter of the adaptive cruise system based on the target control factor and an initial control parameter of the adaptive cruise system; and driving control is conducted on the vehicle through the self-adaptive cruise control system according to the target control parameters. According to the method, the control factor of the self-adaptive cruise system can be dynamically adjusted according to the real-time state of the driver, and the vehicle is controlled in real time according to the control factor, so that the vehicle is controlled to run safely under the condition that the driver is in a distraction state, and the probability of accidents of the vehicle is reduced.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and more specifically, to an adjustment method, vehicle, and storage medium for an adaptive cruise control system in the vehicle field. Background Art

[0002] Adaptive Cruise Control (ACC) is a system that determines road conditions based on the speed of objects approaching the vehicle and controls the vehicle's driving state. It can brake to control the vehicle's speed and provide assisted driving, thereby improving driving safety and comfort.

[0003] In related technologies, adaptive cruise control systems can only control the vehicle's speed based on the road conditions. However, in practice, drivers may be fatigued or distracted while driving. If the adaptive cruise control system is not adjusted in a timely manner, it may not be able to effectively avoid the risk of collision in an emergency, affecting vehicle driving safety. Summary of the Invention

[0004] The present application provides an adjustment method for an adaptive cruise control system, a vehicle, and a storage medium. The method can dynamically adjust a control factor of the adaptive cruise control system according to the real-time status of the driver, and control the vehicle in real time according to the control factor, thereby controlling the vehicle to drive safely when the driver is distracted, thereby reducing the probability of vehicle accidents.

[0005] In a first aspect, a method for adjusting an adaptive cruise control system is provided, the method comprising:

[0006] determining a target control factor of the adaptive cruise system based on an attention parameter of the vehicle driver and an initial control factor of the adaptive cruise system of the vehicle, wherein the target control factor is used to adjust the control parameters of the adaptive cruise system, and the attention parameter is used to evaluate the driver's concentration in driving the vehicle;

[0007] determining a target control parameter of the adaptive cruise system based on the target control factor and an initial control parameter of the adaptive cruise system;

[0008] The vehicle is controlled by the adaptive cruise control system using the target control parameter.

[0009] Through the above solution, if a driver is fatigued while driving, a safety hazard may easily arise. Therefore, a target control factor for the adaptive cruise system is determined based on the driver's attention parameter and the initial control factor of the vehicle's adaptive cruise system. This target control factor is used to adjust the control parameters of the adaptive cruise system. In this case, the target control parameters of the adaptive cruise system can be determined based on the target control factor and the initial control parameters of the adaptive cruise system, and the vehicle is controlled using the adaptive cruise system and the target control parameters. In other words, the control parameters of the vehicle's adaptive cruise system are adjusted based on the driver's attention parameter, thereby reducing the probability of safety accidents caused by driver inattention.

[0010] In conjunction with the first aspect, in some possible implementations, the vehicle-based driver attention parameter includes:

[0011] Acquire the driver's state parameter and the vehicle's environmental parameter, wherein the state parameter is used to represent the driver's state when driving the vehicle, and the environmental parameter is used to describe the vehicle's driving road conditions;

[0012] The attention parameter is determined based on the state parameter, or the attention parameter is determined based on the state parameter and the environment parameter.

[0013] Through the above method, during the driving process of the vehicle, the driver's state parameters and the environmental parameters around the vehicle can affect the driver's attention. Therefore, determining the attention parameter based on the state parameters and the environmental parameters or according to the state parameters can increase the safety redundancy of the vehicle.

[0014] In conjunction with the first aspect, in certain possible implementations, the state parameter includes the driver's blink frequency, the driver's head parameter, and the driver's grip strength parameter, and determining the attention parameter based on the state parameter includes:

[0015] determining a first reference attention parameter of the driver based on the blink frequency, a reference blink frequency of the driver, and a blink weight factor corresponding to the blink frequency, wherein the reference blink frequency is an average blink frequency of multiple historical blink frequencies of the driver;

[0016] determining a second reference attention parameter of the driver based on the head parameter and the head weight factor;

[0017] determining a third reference attention parameter of the driver based on the grip strength parameter, a reference grip strength parameter of the driver, and a grip strength weight factor corresponding to the grip strength parameter, wherein the reference grip strength parameter is an average grip strength parameter of multiple historical grip strength parameters of the driver;

[0018] The first reference attention, the second reference attention and the third reference attention are added together to obtain the attention parameter.

[0019] Through the above method, since the driver's state parameters can indicate the driver's current physiological state, the driver's attention parameters determined based on the driver's state parameters are more accurate, that is, whether the driver is in fatigue driving can be determined based on the driver's state parameters.

[0020] In conjunction with the first aspect, in some possible implementations, determining the attention parameter based on the state parameter and the environment parameter includes:

[0021] Adding the first reference attention parameter, the second reference attention parameter, and the third reference attention parameter to obtain a total reference attention parameter;

[0022] The total reference attention parameter is multiplied by the environment weight factor corresponding to the environment parameter to obtain the attention parameter.

[0023] Through the above method, since the driver's state parameters can indicate the driver's current physiological state, and the vehicle's environmental parameters can determine the vehicle's current driving conditions, the driver's attention parameters determined based on the driver's state parameters and the environmental parameters are more accurate, that is, based on the driver's state parameters and the environmental parameters, it can be determined whether the driver is in fatigue driving.

[0024] In conjunction with the first aspect, in certain possible implementations, determining a target control factor of the adaptive cruise system based on the vehicle driver's attention parameter and the initial control factor of the vehicle's adaptive cruise system includes:

[0025] Obtaining the driver's preset attention parameters;

[0026] The target control factor is determined based on the preset attention parameter, the attention parameter, and the initial control factor.

[0027] Through the above method, since the initial control factor can control the control parameters of the vehicle during the vehicle driving process, and the preset attention parameters and attention parameters are influencing factors affecting the driving parameters of the vehicle, the control parameters of the vehicle can be adjusted based on the preset attention parameters and attention parameters.

[0028] In conjunction with the first aspect, in certain possible implementations, the initial control parameter includes an initial following headway of the vehicle, and determining the target control parameter of the adaptive cruise system based on the target control factor and the initial control parameter of the adaptive cruise system includes:

[0029] Obtaining a safety factor of the adaptive cruise control system, where the safety factor is used to adjust the following distance of the vehicle;

[0030] A target following time headway in the target control parameter is determined based on the initial following time headway, the target control factor, and the safety factor.

[0031] Through the above method, since the target control factor is calculated by the attention parameter, the target following distance of the vehicle can be adjusted in real time according to the driver's attention based on the target control factor, the initial following distance and the safety factor, thereby increasing the safety redundancy design of the vehicle and reducing the probability of vehicle accidents.

[0032] In conjunction with the first aspect, in certain possible implementations, the initial control parameters include the initial acceleration of the vehicle, the compensated deceleration of the vehicle, the actual following distance of the vehicle, and the safe following distance of the vehicle. Determining the target control parameters of the adaptive cruise system based on the target control factor and the initial control parameters of the adaptive cruise system includes:

[0033] determining an error factor of the adaptive cruise control system based on the actual following distance, the safe following distance, and the target control factor, wherein the error factor is used to reduce an error between the actual following distance and the safe following distance;

[0034] The target acceleration in the target control parameter is determined based on the initial acceleration, the compensation deceleration, and the error factor. The compensation deceleration is used to compensate for the braking deceleration of the vehicle during driving.

[0035] Through the above method, since the error factor can reduce the error between the actual following distance and the safe following distance and the compensating deceleration is used to compensate for the braking deceleration of the vehicle during driving, the initial acceleration of the vehicle and the compensating deceleration of the vehicle are adjusted based on the error factor to obtain a target acceleration that meets the safe driving standards, thereby reducing the probability of vehicle accidents.

[0036] In conjunction with the first aspect, in some possible implementations, determining the error factor of the adaptive cruise control system based on the actual following distance, the safe following distance, and the target control factor includes:

[0037] Get the current speed and maximum speed of the vehicle;

[0038] determining a response factor for adjusting a target control parameter of the vehicle based on the current vehicle speed and the maximum vehicle speed, the response factor being used to reduce a deviation between an actual following distance of the vehicle when the driver is in a fatigued state and when the driver is in a normal state;

[0039] The error factor is determined based on the response factor, the actual following distance, the safe following distance, and the target control factor.

[0040] Through the above method, since the error factor can reduce the error between the actual following distance and the safe following distance and the compensating deceleration is used to compensate for the braking deceleration of the vehicle during driving, the initial acceleration of the vehicle and the compensating deceleration of the vehicle are adjusted based on the error factor to obtain a target acceleration that meets the safe driving standards, thereby reducing the probability of vehicle accidents.

[0041] In a second aspect, an adjustment device for an adaptive cruise control system is provided, the device comprising:

[0042] a control factor determination module, configured to determine a target control factor of the adaptive cruise system based on an attention parameter of the vehicle driver and an initial control factor of the adaptive cruise system of the vehicle, wherein the target control factor is used to adjust a control parameter of the adaptive cruise system, and the attention parameter is used to evaluate the degree of concentration of the driver in driving the vehicle;

[0043] a control parameter determination module, configured to determine a target control parameter of the adaptive cruise system based on the target control factor and an initial control parameter of the adaptive cruise system;

[0044] The control module is used to control the vehicle's travel using the adaptive cruise control system with the target control parameter.

[0045] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the method described above for adjusting the adaptive cruise control system.

[0046] In a fourth aspect, a computer program product is provided, which includes: computer program code, which, when running on a computer, enables the computer to execute the method executed by the above-mentioned method for adjusting the adaptive cruise system.

[0047] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code is run on a computer, the computer executes the method executed by the above-mentioned method for adjusting the adaptive cruise system. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 1 is a schematic diagram of an implementation environment of an adaptive cruise control system adjustment method provided in an embodiment of the present application;

[0049] Figure 2 is a schematic flow chart of an adjustment method for an adaptive cruise control system provided in an embodiment of the present application;

[0050] Figure 3 is a schematic flow chart of another method for adjusting an adaptive cruise control system provided in an embodiment of the present application;

[0051] Figure 4 This is a schematic structural diagram of an adjustment device for an adaptive cruise control system provided in an embodiment of the present application;

[0052] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0054] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0055] Figure 1 This is a schematic diagram of an implementation environment of an adaptive cruise system adjustment method provided in an embodiment of the present application.

[0056] For example, Figure 1 As shown, the implementation environment includes a vehicle controller 110 and an adaptive cruise control system 120 .

[0057] The vehicle controller 110 is a key control unit for the vehicle. It can obtain relevant vehicle data and control the vehicle to perform corresponding operations based on this data. For example, the vehicle controller 110 can obtain the vehicle's driving parameters and adjust the control parameters of the adaptive cruise control system 120 based on these parameters to ensure safe driving.

[0058] The adaptive cruise control system 120 is an intelligent automatic control system. The adaptive cruise control system 120 obtains image information and vehicle driving parameters collected by the vehicle controller 110 to monitor the traffic conditions in front of the vehicle in real time, and automatically adjusts the vehicle speed and following distance according to the speed and distance of the vehicle in front, thereby improving driving safety and driving comfort. In some embodiments, the adaptive cruise control system 120 includes a perception layer, a decision layer, and an execution layer. The perception layer is used to determine the driver's status based on the image information collected by the vehicle controller 110, the decision layer is used to determine the control parameters of the adaptive cruise control system based on the driver's status and the control factors of the adaptive cruise control system, and the execution layer is used to control the vehicle's driving according to the control parameters determined by the decision layer.

[0059] Figure 2 This is a schematic flowchart of an adjustment method for an adaptive cruise control system provided in an embodiment of the present application.

[0060] For example, Figure 2 As shown, taking the execution subject as the vehicle controller as an example, an adjustment method of an adaptive cruise control system of the present application is described, and the method 200 includes the following steps 201-203.

[0061] Step 201, based on the vehicle driver's attention parameter and the initial control factor of the vehicle's adaptive cruise system, determine the target control factor of the adaptive cruise system, the target control factor is used to adjust the control parameters of the adaptive cruise system, and the attention parameter is used to evaluate the driver's concentration in driving the vehicle.

[0062] It should be understood that while a vehicle is in motion, an adaptive cruise control system can be used to control its speed to prevent a collision with the vehicle ahead. However, in actual use, the driver may be distracted. If an emergency situation arises, the driver may need to promptly control the vehicle. However, if the driver is distracted while driving, they may be unable to promptly control the vehicle, meaning they may be unable to avoid danger. In this case, the adaptive cruise control system can adjust the vehicle's control parameters to enable timely braking and reduce the probability of a collision with the vehicle ahead. Specifically, a target control factor for the adaptive cruise control system can be determined based on the driver's attention parameter and the initial control factor of the adaptive cruise control system, and the vehicle's control parameters can then be adjusted based on this target control factor.

[0063] Among them, the attention parameter is used to evaluate the driver's concentration in driving the vehicle. That is, the attention parameter can monitor whether the driver can drive the vehicle safely. The attention parameters include blinking frequency, head parameters and grip parameters. Blinking frequency is the frequency of the driver's blinking during driving. Head parameters are the driver's head deflection angle. Grip parameters are the driver's grip on the steering wheel. The initial control factor is the control parameter for initially adjusting the adaptive cruise system. The initial control factor is a factor or value that specifically adjusts and influences the effect. That is, the initial control factor can correct the impact of the driver's inattention on the adaptive cruise system.

[0064] The adaptive cruise control system is an intelligent vehicle driver assistance system. In practice, it uses sensors to monitor surrounding road conditions in real time, controlling the vehicle's speed to maintain a safe distance from the vehicle ahead. The target control factor is used to adjust the adaptive cruise control system's control parameters.

[0065] Step 202 : Determine target control parameters of the adaptive cruise system based on the target control factor and initial control parameters of the adaptive cruise system.

[0066] Since the target control factor is used to adjust the control parameters of the adaptive cruise system, and the initial control parameters are used to control the driving of the vehicle, the target control parameters can be determined based on the target control factor and the initial control parameters.

[0067] The initial control parameters are parameters used to control the safe distance between the vehicle and the vehicle ahead during initial travel. In some embodiments, the initial control parameters include the vehicle's initial acceleration, the vehicle's compensatory deceleration, the vehicle's actual following distance, and the vehicle's safe following distance. The target control parameters are used to control the vehicle's braking or acceleration to reduce the probability of a collision with the vehicle ahead.

[0068] It should be understood that since the adaptive cruise control system is used to control the vehicle's speed and the driver's attention affects the vehicle's driving safety in real time, the target control parameters of the adaptive cruise control system are determined, so that the safe distance between the vehicle and the vehicle in front can be controlled in real time through the target control parameters.

[0069] Step 203: Controlling the vehicle by using the adaptive cruise control system with the target control parameter.

[0070] Since the target control parameter can control the vehicle speed in real time so that the vehicle can drive safely in the lane, the adaptive cruise control system can control the vehicle's driving with the target control parameter to ensure the vehicle's driving safety.

[0071] An embodiment of the present application provides a method for adjusting an adaptive cruise control system. This method can determine a target control factor for the adaptive cruise control system based on the vehicle's driver's attention parameter and the initial control factor of the vehicle's adaptive cruise control system during vehicle driving, which can easily lead to safety hazards. The target control factor is used to adjust the control parameters of the adaptive cruise control system. In this case, based on the target control factor and the initial control parameters of the adaptive cruise control system, the target control parameters of the adaptive cruise control system can be determined, and the vehicle can be controlled using the adaptive cruise control system and the target control parameters. In other words, the control parameters of the vehicle's adaptive cruise control system are adjusted based on the driver's attention parameter to reduce the probability of safety accidents caused by the driver's inattention.

[0072] It should be noted that the above steps 201-203 are a brief description of an adjustment method for an adaptive cruise control system provided in an embodiment of the present application. The adjustment method for an adaptive cruise control system provided in an embodiment of the present application will be described in more detail below with reference to some examples. Figure 3 Taking the execution subject as the vehicle controller as an example, the method includes the following steps 301 to 304.

[0073] Step 301: Determine the driver's attention parameter.

[0074] It should be understood that during vehicle driving, the driver's attention when driving the vehicle can affect the vehicle's driving safety, so it is necessary to determine the driver's attention parameter, which is a quantitative representation of the driver's attention.

[0075] The following describes the content of determining the driver's attention parameter based on the driver's state parameter.

[0076] It should be understood that in actual applications, when the adaptive cruise control system is activated, the driver's state parameters can affect the driver's response speed in taking over vehicle control. If the vehicle encounters an emergency, the driver must take over the vehicle immediately. However, if the driver is not paying attention, it can easily lead to a traffic accident. In this case, the driver's state parameters can be used to determine the driver's theoretical parameters.

[0077] In a possible implementation, the state parameter of the driver is obtained; and based on the state parameter of the driver, the attention parameter of the driver is determined.

[0078] State parameters include the driver's blink rate, head parameters, and grip strength parameters. Blink rate refers to the driver's blink frequency per unit time while driving. Head parameters refer to the driver's head deflection angle. Grip strength refers to the driver's grip on the steering wheel. Attention parameters are used to assess driver fatigue. These state parameters represent the driver's physiological state while driving the vehicle.

[0079] Under this embodiment, since the driver's state parameters can indicate the driver's current physiological state, the driver's attention parameters determined based on the driver's state parameters are more accurate, that is, whether the driver is in fatigue driving can be determined based on the driver's state parameters.

[0080] In order to explain the above embodiment in more detail, the following describes the above embodiment in several parts.

[0081] The first part describes the content of obtaining the driver's status parameters.

[0082] In some embodiments, within a first preset time period, the number of blinks of the driver is obtained based on an image sensor; and the blink frequency of the driver is determined based on the number of blinks of the driver and the first preset time period.

[0083] For example, in one minute, the driver blinks 20 times as captured by the in-car camera of the Driver Monitoring System (DMS). The DMS is the core sensor for real-time monitoring of the driver's status. Therefore, the driver's blink frequency is 20 times per minute (blinks / minute).

[0084] In some embodiments, the driver's head parameters are acquired based on an image sensor, where the head parameters include the driver's head deflection angle.

[0085] The head deflection angle is a deflection angle determined based on the driver's pitch angle. For example, if the driver's head is facing downward at an angle of 10° as captured by the in-car camera, the driver's head deflection angle is 10°.

[0086] In some embodiments, the driver's grip force parameters on the steering wheel are obtained based on a pressure sensor.

[0087] For example, a driver's grip force parameter on the steering wheel obtained based on a pressure sensor installed on the steering wheel is 10 Newtons (N).

[0088] The second part explains the content of determining the driver's attention parameter based on the driver's state parameter.

[0089] In a possible implementation, the driver's attention parameter is determined based on the blink frequency, the driver's head parameter, and the grip strength parameter.

[0090] It should be understood that if the driver is in a fatigued state while driving a vehicle, the driver's blinking frequency will be more frequent, or the driver will lower his head, or the driver's hands will release the steering wheel. Therefore, the driver's attention parameters can be determined based on the blinking frequency, the driver's head parameters and grip parameters.

[0091] In some embodiments, multiple historical blink frequencies of the driver are obtained, and the multiple historical blink frequencies of the driver are summed and averaged to obtain a reference blink frequency of the driver.

[0092] It should be understood that in actual applications, the average blinking frequency calculated through multiple historical blinking frequencies may be larger or smaller, so it is necessary to correct the blinking frequency through a correction factor, that is, multiply the correction factor by the reference blinking frequency to obtain the reference blinking frequency.

[0093] It should be understood that in actual applications, different drivers have different blinking frequencies. Therefore, in order to avoid misjudging people who blink less frequently as fatigued drivers, it is also necessary to obtain the driver's reference blinking frequency.

[0094] The reference blink frequency is an average blink frequency of multiple historical blink frequencies of the driver.

[0095] In some embodiments, a first reference attention parameter of the driver is determined based on the blink frequency, a reference blink frequency of the driver, and a blink weight factor corresponding to the blink frequency.

[0096] It should be understood that since the driver's attention parameter needs to be evaluated according to multiple parameters, the first reference attention parameter of the driver can be determined based on the blink weight factor corresponding to the blink frequency and the blink frequency.

[0097] In some embodiments, the formula for calculating the first reference attention parameter of the driver is as follows.

[0098]

[0099] Among them, W is the first reference attention parameter, α is the blink weight factor, β is used to amplify the difference between abnormal blink frequency and normal blink frequency, B eye B is the preset blink frequency, eye_max is the reference blink frequency. For example, α can be 0.5.

[0100] It is understandable that in actual applications, the difference between a user's blinking frequency when fatigued and their normal blinking frequency is small. Therefore, to avoid confusion between abnormal blinking frequency and normal blinking frequency, the difference between abnormal blinking frequency and normal blinking frequency needs to be amplified. For example, β can be 5.

[0101] It is understandable that, since different drivers have different blinking frequencies, it is possible to determine whether a driver's blinking frequency is an abnormal blinking frequency based on the driver's maximum blinking frequency. That is, whether the driver's blinking frequency is an abnormal blinking frequency is determined based on the reference blinking frequency. For example, B eye_max 30 times / minute.

[0102] In some embodiments, a second reference attention parameter of the driver is determined based on the head parameter and the head weight factor.

[0103] It should be understood that since the driver's attention parameter needs to be evaluated according to multiple parameters, the second reference attention parameter of the driver can be determined based on the head parameter and the head weight factor.

[0104] In some embodiments, the formula for calculating the second reference attention parameter of the driver is as follows.

[0105] Y=γ×Cosθ head

[0106] Among them, Y is the second reference attention parameter, γ is the head weight factor, θ head is the driver's head deflection angle. For example, γ can be 0.3.

[0107] It should be understood that in actual applications, different drivers have different grip strength parameters. Therefore, in order to avoid misjudging people with smaller grip strength parameters as fatigue driving, it is also necessary to obtain the driver's reference grip strength parameter.

[0108] In some embodiments, multiple historical grip strength parameters of the driver are obtained, and the multiple historical grip strength parameters of the driver are summed and averaged to obtain a reference grip strength parameter of the driver.

[0109] It should be understood that in actual applications, the average grip strength parameter calculated through multiple historical grip strength parameters may be larger or smaller, so it is necessary to correct the reference grip strength parameter through a correction factor, that is, multiply the correction factor by the reference grip strength parameter to obtain the reference grip strength parameter.

[0110] It should also be understood that, since the driver's hand grip on the steering wheel can be used to evaluate the driver's attention parameter, the driver's second reference attention parameter can be determined based on the grip parameter and the head weight factor.

[0111] In some embodiments, a third reference attention parameter of the driver is determined based on the grip strength parameter, the driver's reference grip strength parameter, and a grip strength weight factor corresponding to the grip strength parameter.

[0112] The reference grip strength parameter is an average grip strength parameter of multiple historical grip strength parameters of the driver.

[0113] In some embodiments, the formula for calculating the driver's third reference attention parameter is as follows.

[0114]

[0115] Among them, Z is the third reference attention parameter, δ is the grip weight factor, G hand is the driver's grip on the steering wheel, G hand_max is the driver's reference grip force on the steering wheel. For example, δ is 0.2.

[0116] It is understandable that since different drivers have different grip strength parameters, it is possible to determine whether the driver is in a fatigue state based on the driver's maximum grip strength parameter on the steering wheel. That is, whether the driver is in a fatigue state is determined based on the reference grip strength parameter. For example, G hand_max 50N.

[0117] In some embodiments, the first reference attention, the second reference attention, and the third reference attention are added together to obtain the attention parameter.

[0118] Among them, the calculation formula for calculating the attention parameter is as follows.

[0119]

[0120] Among them, α is the blink weight factor corresponding to the blink frequency, β is used to amplify the difference between abnormal blink frequency and normal blink frequency, B eye B is the preset blink frequency, eye_max is the reference blink frequency; γ is the head weight factor corresponding to the head parameter, θ head is the driver's head deflection angle; δ is the grip weight factor corresponding to the grip parameter, G hand is the driver's grip on the steering wheel, G hand_max is the driver's reference grip on the steering wheel.

[0121] Optionally, in actual applications, environmental parameters during vehicle operation may also affect the adaptive cruise control system's response speed. For example, if the vehicle is traveling in a heavy traffic environment and the driver is fatigued, the adaptive cruise control system may need to adjust the distance between the vehicle and the vehicle ahead as quickly as possible to reduce the probability of an accident. If the vehicle is traveling in a light traffic environment and the driver is fatigued, the traffic volume is low and the likelihood of a collision with the vehicle ahead is low. Therefore, the adaptive cruise control system may respond more slowly to reduce the vehicle's computing power.

[0122] The following describes the content of determining the driver's attention parameter based on the driver's state parameters and the vehicle's environmental parameters.

[0123] In a possible implementation, the state parameter of the driver and the environmental parameter of the vehicle are acquired, and the attention parameter is determined based on the state parameter and the environmental parameter.

[0124] The environmental parameter is used to describe the vehicle's driving conditions, and the attention parameter is used to assess whether the driver is in a fatigue state.

[0125] In this embodiment, the environmental parameters of the vehicle can affect the response speed of the driver in controlling the vehicle, so the attention parameter can be determined based on the state parameter and the environmental parameter.

[0126] The first part describes the content of obtaining the state parameters of the driver and the environmental parameters of the vehicle.

[0127] It can be understood that the specific implementation method of obtaining the driver's status parameters can refer to the specific implementation method of obtaining the driver's status parameters in the aforementioned steps, which will not be described in detail here.

[0128] In some embodiments, the environmental parameters of the vehicle are obtained based on navigation information of the vehicle.

[0129] Among them, the environmental parameters of the vehicle include the driving scene of the vehicle.

[0130] For example, it is determined through the vehicle's navigation information that the vehicle is in a congested scene or a high-speed scene.

[0131] The second part explains how to determine the attention parameter based on the state parameter and the environment parameter.

[0132] In one possible implementation, the first reference attention parameter, the second reference attention parameter, and the third reference attention parameter are added to obtain a total reference attention parameter; and the total reference attention parameter is multiplied by an environmental weight factor corresponding to the environmental parameter to obtain the attention parameter.

[0133] Among them, the calculation formula for calculating the attention parameter is as follows.

[0134]

[0135] Among them, α is the blink weight factor corresponding to the blink frequency, β is used to amplify the difference between abnormal blink frequency and normal blink frequency, B eye B is the preset blink frequency, eye_max is the reference blink frequency; γ is the head weight factor corresponding to the head parameter, θ head is the driver's head deflection angle; δ is the grip weight factor corresponding to the grip parameter, G hand is the driver's grip on the steering wheel, G hand_max is the driver’s reference grip force on the steering wheel, and f is the environmental weight factor.

[0136] For example, in a high-speed scenario, the environmental weighting factor may be 0.5, and in a city congestion scenario, the environmental weighting factor may be 0.6.

[0137] Step 302 : determining a target control factor of the adaptive cruise system based on the driver's attention parameter and the initial control factor of the adaptive cruise system of the vehicle. The target control factor is used to adjust the control parameters of the adaptive cruise system.

[0138] The attention parameter is used to evaluate the driver's concentration in driving the vehicle. The initial control factor is a control parameter for initially adjusting the adaptive cruise control system.

[0139] It should be understood that while a vehicle is in motion, an adaptive cruise control system can control its speed to prevent a collision with the vehicle ahead. However, in practice, the driver may be distracted. If an emergency situation arises, the driver needs to promptly control the vehicle. However, if the driver is fatigued, they may not be able to do so. In this case, the adaptive cruise control system needs to adjust the vehicle's control parameters. Therefore, the target control factor of the adaptive cruise control system can be determined based on the driver's attention parameter and the initial control factor of the adaptive cruise control system. Specifically, the target control factor is determined using a hyperbolic tangent function.

[0140] In a possible implementation, a preset attention parameter of the driver is obtained, and the target control factor is determined based on the preset attention parameter, the attention parameter, and an initial control factor.

[0141] The preset attention parameter is a critical threshold of the driver's attention. In actual applications, if the driver's attention is lower than the preset attention parameter, it means that the driver's attention has decreased. If the driver's attention is higher than the preset attention parameter, it means that the driver's attention is relatively focused.

[0142] It should be understood that in actual applications, the closer the driver's attention parameter is to the critical attention threshold, the more the driver's attention continues to decline. In this case, the target control factor of the adaptive control system should be larger, so as to enhance the control parameters of the adaptive cruise system.

[0143] In some embodiments, the calculation formula for calculating the target control factor is as follows.

[0144]

[0145] Among them, S(t) is the target control factor, S base is the initial control factor, X is the adjustment gain coefficient (initial setting is), A Thd is the preset attention parameter, and A(t) is the attention parameter. For example, S base is 1, X is 0.3, A Thd is 0.6.

[0146] In this embodiment, since the initial control factor can control the control parameters of the vehicle during vehicle driving, and the preset attention parameters and attention parameters are influencing factors affecting the driving parameters of the vehicle, the control parameters of the vehicle can be adjusted based on the preset attention parameters and attention parameters.

[0147] In some embodiments, the acceleration and deceleration of a vehicle during driving should be smooth to make the vehicle more stable and provide a more comfortable experience for the user. In this case, the target control factor change rate needs to be controlled. For example, the slope of the target control factor may be limited to 0.2 per second.

[0148] Step 303 : Determine target control parameters of the adaptive cruise system based on the target control factor and the initial control parameters of the adaptive cruise system.

[0149] It should be understood that since the target control factor can adjust the control parameters of the adaptive cruise system, and the initial control parameters of the adaptive cruise system are the driving parameters of the vehicle during driving, the target control parameters of the adaptive cruise system can be adjusted based on the target control factor and the initial control parameters.

[0150] The initial control parameters include the initial following distance of the vehicle, the initial acceleration of the vehicle, the compensated deceleration of the vehicle, the actual following distance of the vehicle, and the safe following distance of the vehicle.

[0151] In a possible implementation, a safety factor of the adaptive cruise control system is obtained; and a target following time distance in the target control parameter is determined based on the initial following time distance, the target control factor, and the safety factor.

[0152] The safety factor is used to adjust the following distance of the vehicle.

[0153] In some embodiments, the safety factor of the adaptive cruise control system is obtained based on a controller area network.

[0154] It should be understood that other vehicles around the vehicle may change lanes while the vehicle is driving. Therefore, to avoid collision with the vehicle ahead, the vehicle's following distance needs to be adjusted in real time based on the vehicle's target control factor, safety factor, and initial following distance. For example, if the vehicle ahead slows down, the vehicle's speed should also be reduced to maintain a safe distance between the two vehicles.

[0155] In some embodiments, the target following distance is calculated using the following formula.

[0156]

[0157] Among them, T normal is the initial following distance, S safe is the safety factor, and S(t) is the target control factor. For example, S safe is 1.

[0158] Under this implementation, since the target control factor is calculated from the attention parameter, the target following distance of the vehicle can be adjusted in real time according to the driver's attention based on the target control factor, the initial following distance and the safety factor, thereby increasing the safety redundancy design of the vehicle and reducing the probability of vehicle accidents.

[0159] In one possible implementation, an error factor of the adaptive cruise control system is determined based on the actual following distance, the safe following distance, and the target control factor; and a target acceleration in the target control parameter is determined based on the initial acceleration, the compensated deceleration, and the error factor.

[0160] The error factor is used to reduce the error between the actual following distance and the safe following distance; and the compensation deceleration is used to compensate for the braking deceleration of the vehicle during driving.

[0161] It should be understood that in actual applications, the actual following distance of the vehicle will change with the changes in the vehicle's environmental parameters and the driver's attention parameters. Since the vehicle's environmental parameters and the driver's attention parameters will affect the vehicle's target control factor, the actual following distance of the vehicle will change with the changes in the target control factor of the adaptive cruise system. In this case, the actual following distance of the vehicle is changing at any time, so the safe following distance of the vehicle is also changing in real time. In order to promptly eliminate the error between the actual following distance and the safe following distance of the vehicle, it is necessary to determine the error factor of the adaptive cruise system based on the actual following distance, the safe following distance and the target control factor.

[0162] It should also be understood that factors affecting the safe driving of a vehicle include the vehicle's speed, acceleration, and deceleration. Therefore, after determining the vehicle's error factor, the vehicle's initial acceleration and the vehicle's compensatory deceleration can be adjusted according to the error factor to obtain a target acceleration that meets the safe driving standards.

[0163] In this embodiment, since the error factor can reduce the error between the actual following distance and the safe following distance and the compensating deceleration is used to compensate for the braking deceleration of the vehicle during driving, the initial acceleration of the vehicle and the compensating deceleration of the vehicle are adjusted based on the error factor to obtain a target acceleration that meets the safe driving standards, thereby reducing the probability of the vehicle having an accident.

[0164] In order to explain the above-mentioned embodiment, the following description is divided into several parts.

[0165] The first part describes the content of determining the error factor of the adaptive cruise control system based on the actual following distance, the safe following distance and the target control factor.

[0166] In one possible implementation, the current speed of the vehicle and the maximum speed of the vehicle are obtained; a response factor for adjusting a target control parameter of the vehicle is determined based on the current speed and the maximum speed; and the error factor is determined based on the response factor, the actual following distance, the safe following distance, and the target control factor.

[0167] The response factor is used to reduce the deviation between the actual following distance of the vehicle when the driver is in a fatigued state and when the driver is in a normal state.

[0168] In some embodiments, the current speed of the vehicle and the maximum speed of the vehicle are obtained based on a speed sensor of the vehicle.

[0169] In some embodiments, the error factor is calculated as follows.

[0170]

[0171] Among them, k d is the response factor, which is used to amplify the deviation between the actual following distance of the vehicle when the driver is in a normal state and when the driver is in a fatigued state. real is the actual following distance measured by the adaptive cruise control system, D safe is the safe following distance, μ(d) is the error factor, v is the current speed of the vehicle, v max is the maximum speed of the vehicle. For example, the maximum speed of the vehicle is 120 kilometers per hour (kph).

[0172] In some embodiments, while a vehicle is driving, the distance between the vehicle and the vehicle in front changes in real time. Therefore, the vehicle speed needs to be adjusted in real time to ensure that the vehicle maintains a safe following distance from the vehicle in front to reduce the probability of a vehicle accident.

[0173] In some embodiments, the initial following distance is multiplied by the current speed of the vehicle to obtain the safe following distance of the vehicle.

[0174] It should be understood that in actual applications, the initial following distance of a vehicle is the following distance when the vehicle just starts to move. During the driving process, the vehicle speed changes in real time, so a safe following distance can be obtained based on the speed and the initial distance.

[0175] In some embodiments, the actual following distance of a vehicle is positively correlated with its speed. For example, if the vehicle's speed is higher, the actual following distance will decrease, so the adaptive cruise control system's response speed should be faster. If the vehicle's speed is lower, the actual following distance will increase, so the adaptive cruise control system's response speed can be slower. In this case, to account for the impact of the vehicle's current speed and the actual following distance, a response factor is used to determine the error factor affecting the target control parameter.

[0176] In some embodiments, the response factor is positively correlated with the current speed of the vehicle, that is, when the vehicle speed is high, the response factor of the vehicle is increased, and when the vehicle speed is low, the response factor of the vehicle is decreased, thereby avoiding frequent adjustments to the determination method of the error factor.

[0177] In some embodiments, due to D safe The safe following distance is calculated based on the vehicle's current speed. Therefore, the safe following distance of the vehicle is adjusted based on the vehicle's target control factor, taking into account the driver's driving state, to obtain the target following distance. In other words, target following distance = = S(t) × D safe .

[0178] In this embodiment, the safe following distance is adjusted according to the driver's attention parameter, thereby avoiding rear-end collision accidents when the driver is not paying attention.

[0179] The second part describes the content of determining the target acceleration in the target control parameter based on the initial acceleration, the compensation deceleration and the error factor.

[0180] In some embodiments, a calculation formula for calculating the target acceleration in the target control parameter is as follows.

[0181] a cmd =a base ×μ(d)+a brake ×(1-μ(d))

[0182] Where μ(d) is the error factor, a base is the initial acceleration, a base To maintain the base acceleration of the vehicle at its current speed, a brake To compensate for deceleration.

[0183] It should be understood that in actual applications, if the distance between a vehicle and the vehicle in front is relatively close, the vehicle needs to brake, that is, the braking deceleration of the vehicle needs to be compensated in real time.

[0184] It should also be understood that if the driver is not paying attention, then the driver will not be able to control the vehicle in time, and it will be necessary to increase the braking amplitude of the vehicle, that is, to increase the compensatory deceleration of the vehicle to increase the following distance of the vehicle and avoid the distance between the vehicle and the vehicle in front being too close.

[0185] In some embodiments, a calculation formula for calculating the compensated deceleration of the vehicle is as follows.

[0186] a brake =a base [1+K(1-S(t)) 2 ]

[0187] Where K is the magnitude of braking enhancement when attention is reduced, a base is the initial acceleration, S(t) is the target control factor. For example, K can be 0.5.

[0188] It should be understood that in actual applications, vehicles may encounter emergency situations, such as when the driver loses consciousness. In such cases, if the vehicle is not controlled in time, a traffic accident may easily occur. Therefore, an adaptive control system is required to control the vehicle more quickly.

[0189] Optionally, you can also perform the following steps based on actual conditions.

[0190] In a possible implementation, whether the driver has lost consciousness is determined based on the driver's attention parameter, a preset attention parameter, and a preset control factor.

[0191] In some embodiments, if the driver's attention parameter is less than a preset attention parameter and the duration for which the driver's attention parameter is less than the preset attention parameter is greater than or equal to a second preset duration, it is determined that the driver has lost consciousness.

[0192] In some embodiments, if the driver's attention parameter is greater than a preset attention parameter or the duration for which the driver's attention parameter is less than the preset attention parameter is less than a second preset duration, it is determined that the driver has not lost consciousness.

[0193] In some embodiments, when the driver loses consciousness, the adaptive cruise control system is determined to enter a rapid response mode, and a warning message regarding the driver losing consciousness is triggered.

[0194] Among them, the adaptive cruise system is in the fast response mode, which means that the vehicle needs to brake and stop as soon as possible. Then the relationship between the target acceleration of the vehicle and the initial acceleration of the vehicle can be controlled as a cmd =1.5a base , which allows the vehicle to brake quickly.

[0195] In some embodiments, when the driver is not unconscious, it is determined to control the vehicle based on the target control factor.

[0196] In a possible implementation, when the driver loses consciousness, an alarm prompt text and an alarm prompt audio are generated, and then the alarm prompt text is displayed and the alarm prompt audio is broadcast.

[0197] In some embodiments, the warning prompt text is displayed on the vehicle's dashboard or on-board screen, and the warning prompt audio is played on the vehicle's on-board speakers.

[0198] For example, the alarm prompt text or alarm prompt audio may be "Danger, please take control of the vehicle immediately."

[0199] In this embodiment, if the driver loses consciousness, continuing to drive the vehicle will cause a driving safety hazard. Therefore, the driver is promptly reminded to take control of the vehicle in time through the alarm information regarding the driver losing consciousness.

[0200] In some embodiments, based on the alarm information that the driver has lost consciousness indicated by a light-emitting diode (LED), the LED light is highlighted on the instrument panel or flashes on the vehicle screen to prompt the driver to be awake.

[0201] In some embodiments, the driver is promptly reminded to wake up and take control of the vehicle based on seat vibration.

[0202] In this embodiment, the alarm prompt text and the alarm prompt audio are stored in the alarm prompt storage medium, so that the vehicle controller can read the alarm prompt text and the alarm prompt audio.

[0203] Step 304 : Controlling the vehicle by using the adaptive cruise control system with the target control parameter.

[0204] It should be understood that after determining the target control parameters in the adaptive cruise control system, the vehicle's driving control can be carried out according to the target acceleration, compensation deceleration, following time distance, and target following distance in the target control parameters to ensure a safe distance between the vehicle and the vehicle in front.

[0205] In some embodiments, based on the correspondence between the target acceleration in the target control parameter and the accelerator pedal stroke of the vehicle, the accelerator pedal stroke of the vehicle is determined to control the vehicle according to the accelerator pedal stroke.

[0206] For example, when the target acceleration of the vehicle is positive, the accelerator pedal is pressed to control the vehicle to accelerate.

[0207] In some embodiments, based on the correspondence between the compensated deceleration in the target control parameter and the brake pedal stroke, the brake pedal stroke of the vehicle is determined to control the vehicle according to the brake pedal stroke.

[0208] For another example, when the target acceleration of the vehicle is negative, the brake pedal is actuated to control the vehicle to decelerate.

[0209] It should be understood that in order to ensure smooth acceleration or deceleration of the vehicle and to prevent sudden changes in the accelerator pedal or brake pedal, a slope limit is imposed on the pedal change rate, that is, the accelerator pedal stroke slope of the vehicle is set to 20% / s, and the brake pedal stroke slope is set to 50% / s.

[0210] An embodiment of the present application provides a method for adjusting an adaptive cruise control system. The method can determine the driver's attention parameter. If the driver is in a fatigued state while the vehicle is driving, a safety hazard is likely to occur. Therefore, based on the vehicle's driver's attention parameter and the initial control factor of the vehicle's adaptive cruise system, a target control factor of the adaptive cruise system is determined. The target control factor is used to adjust the control parameters of the adaptive cruise system. In this case, based on the target control factor and the initial control parameters of the adaptive cruise system, the target control parameters of the adaptive cruise system can be determined, and the vehicle is controlled by the adaptive cruise system and the target control parameters. In other words, the control parameters of the vehicle's adaptive cruise system are adjusted by the driver's attention parameter to reduce the probability of safety accidents caused by the driver's inattention.

[0211] Figure 4 It is a structural schematic diagram of an adjustment device for an adaptive cruise system provided in an embodiment of the present application.

[0212] Exemplarily, the apparatus 400 includes:

[0213] a control factor determination module 401 for determining a target control factor of the adaptive cruise system based on a driver's attention parameter and an initial control factor of the adaptive cruise system of the vehicle, wherein the target control factor is used to adjust a control parameter of the adaptive cruise system, and the attention parameter is used to evaluate the driver's concentration in driving the vehicle;

[0214] a control parameter determination module 402 for determining a target control parameter of the adaptive cruise system based on the target control factor and the initial control parameter of the adaptive cruise system;

[0215] The control module 403 is configured to control the vehicle's travel using the adaptive cruise control system with the target control parameter.

[0216] In one possible implementation, the device 400 includes:

[0217] An acquisition module is used to acquire the state parameters of the driver and the environmental parameters of the vehicle, wherein the state parameters are used to represent the state of the driver when driving the vehicle, and the environmental parameters are used to describe the road conditions of the vehicle;

[0218] An attention parameter determination module is used to determine the attention parameter based on the state parameter, or to determine the attention parameter based on the state parameter and the environment parameter.

[0219] In one possible implementation, the device 400 includes:

[0220] an attention parameter determination module, configured to determine a first reference attention parameter of the driver based on the blink frequency, a reference blink frequency of the driver, and a blink weight factor corresponding to the blink frequency, wherein the reference blink frequency is an average blink frequency of multiple historical blink frequencies of the driver;

[0221] an attention parameter determination module, configured to determine a second reference attention parameter of the driver based on the head parameter and the head weight factor;

[0222] an attention parameter determination module, configured to determine a third reference attention parameter of the driver based on the grip strength parameter, a reference grip strength parameter of the driver, and a grip strength weight factor corresponding to the grip strength parameter, wherein the reference grip strength parameter is an average grip strength parameter of multiple historical grip strength parameters of the driver;

[0223] An attention parameter determination module is used to add the first reference attention, the second reference attention and the third reference attention to obtain the attention parameter.

[0224] In one possible implementation, the device 400 includes:

[0225] an attention parameter determination module, configured to add the first reference attention parameter, the second reference attention parameter, and the third reference attention parameter to obtain a total reference attention parameter;

[0226] An attention parameter determination module is used to multiply the total reference attention parameter by an environmental weight factor corresponding to the environmental parameter to obtain the attention parameter.

[0227] In one possible implementation, the device 400 includes:

[0228] An acquisition module, used to acquire the driver's preset attention parameters;

[0229] The control factor determination module 401 is configured to determine the target control factor based on the preset attention parameter, the attention parameter, and the initial control factor.

[0230] In one possible implementation, the device 400 includes:

[0231] A control parameter determination module 402 is configured to obtain a safety factor of the adaptive cruise control system, wherein the safety factor is used to adjust the following distance of the vehicle;

[0232] The control parameter determination module 402 is configured to determine a target following time headway in the target control parameter based on the initial following time headway, the target control factor, and the safety factor.

[0233] In one possible implementation, the device 400 includes:

[0234] a control parameter determination module 402 for determining an error factor of the adaptive cruise control system based on the actual following distance, the safe following distance, and the target control factor, wherein the error factor is used to reduce an error between the actual following distance and the safe following distance;

[0235] The control parameter determination module 402 is configured to determine a target acceleration in the target control parameter based on the initial acceleration, the compensation deceleration, and the error factor, wherein the compensation deceleration is used to compensate for the braking deceleration of the vehicle during driving.

[0236] In one possible implementation, the device 400 includes:

[0237] An error factor determination module is used to obtain the current speed of the vehicle and the maximum speed of the vehicle;

[0238] an error factor determination module, configured to determine a response factor for adjusting a target control parameter of the vehicle based on the current vehicle speed and the maximum vehicle speed, the response factor being configured to reduce a deviation between an actual following distance of the vehicle when the driver is fatigued and when the driver is in a normal state;

[0239] The error factor determination module is configured to determine the error factor based on the response factor, the actual following distance, the safe following distance, and the target control factor.

[0240] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0241] For example, Figure 5 As shown, the vehicle 500 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 503, and the processor 502 is used to call and execute the executable program code 503 to perform an adjustment method for an adaptive cruise system.

[0242] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform an adjustment method of an adaptive cruise system provided in an embodiment of the present application.

[0243] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0244] In the case of dividing the functional modules into corresponding functional modules, the device may further include an acquisition module, an error factor determination module, and an attention parameter determination module. It should be noted that all relevant contents of the various steps involved in the above method embodiment can be referred to the functional description of the corresponding functional modules and will not be repeated here.

[0245] It should be understood that the device provided in this embodiment is used to execute the above-mentioned adjustment method of the adaptive cruise system, and thus can achieve the same effect as the above-mentioned implementation method.

[0246] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of relevant program codes.

[0247] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor (DSP) and a microprocessor, and the storage module may be a memory.

[0248] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute an adjustment method of an adaptive cruise system provided in the above embodiment.

[0249] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement an adjustment method for an adaptive cruise system provided in the above embodiment.

[0250] This embodiment further provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement the adjustment method of the adaptive cruise system provided in the above embodiment.

[0251] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0252] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0253] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0254] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for adjusting an adaptive cruise control system, characterized in that: The method comprises: determining a target control factor of the adaptive cruise system based on an attention parameter of the vehicle driver and an initial control factor of the adaptive cruise system of the vehicle, wherein the target control factor is used to adjust the control parameters of the adaptive cruise system, and the attention parameter is used to evaluate the degree of concentration of the driver in driving the vehicle; determining a target control parameter of the adaptive cruise system based on the target control factor and an initial control parameter of the adaptive cruise system; The vehicle is controlled by the adaptive cruise control system using the target control parameter.

2. The method according to claim 1, characterized in that The vehicle-based driver attention parameters include: Acquiring a state parameter of the driver and an environmental parameter of the vehicle, wherein the state parameter is used to represent the state of the driver when driving the vehicle, and the environmental parameter is used to describe the road condition of the vehicle; The attention parameter is determined based on the state parameter, or the attention parameter is determined based on the state parameter and the environment parameter.

3. The method according to claim 2, characterized in that The state parameters include the driver's blink frequency, the driver's head parameters, and the driver's grip strength parameters. Determining the attention parameter based on the state parameters includes: determining a first reference attention parameter of the driver based on the blink frequency, a reference blink frequency of the driver, and a blink weight factor corresponding to the blink frequency, wherein the reference blink frequency is an average blink frequency of multiple historical blink frequencies of the driver; determining a second reference attention parameter of the driver based on the head parameter and the head weight factor; determining a third reference attention parameter of the driver based on the grip force parameter, a reference grip force parameter of the driver, and a grip force weight factor corresponding to the grip force parameter, wherein the reference grip force parameter is an average grip force parameter of multiple historical grip force parameters of the driver; Add the first reference attention, the second reference attention and the third reference attention to obtain the attention parameter.

4. The method according to claim 3, characterized in that The determining the attention parameter based on the state parameter and the environment parameter includes: Adding the first reference attention parameter, the second reference attention parameter, and the third reference attention parameter to obtain a total reference attention parameter; The total reference attention parameter is multiplied by the environmental weight factor corresponding to the environmental parameter to obtain the attention parameter.

5. The method according to claim 1, characterized in that The determining of a target control factor of the adaptive cruise system based on the attention parameter of the vehicle driver and the initial control factor of the adaptive cruise system of the vehicle includes: Obtaining a preset attention parameter of the driver; The target control factor is determined based on the preset attention parameter, the attention parameter, and the initial control factor.

6. The method according to claim 1, characterized in that The initial control parameter includes an initial following distance of the vehicle. Determining a target control parameter of the adaptive cruise system based on the target control factor and the initial control parameter of the adaptive cruise system includes: Obtaining a safety factor of the adaptive cruise control system, wherein the safety factor is used to adjust a following distance of the vehicle; A target following time distance in the target control parameter is determined based on the initial following time distance, the target control factor, and the safety factor.

7. The method according to claim 1, characterized in that The initial control parameters include an initial acceleration of the vehicle, a compensated deceleration of the vehicle, an actual following distance of the vehicle, and a safe following distance of the vehicle. Determining target control parameters of the adaptive cruise system based on the target control factor and the initial control parameters of the adaptive cruise system includes: determining an error factor of the adaptive cruise control system based on the actual following distance, the safe following distance, and the target control factor, wherein the error factor is used to reduce an error between the actual following distance and the safe following distance; A target acceleration in the target control parameter is determined based on the initial acceleration, the compensation deceleration, and the error factor, wherein the compensation deceleration is used to compensate for the braking deceleration of the vehicle during driving.

8. The method according to claim 7, characterized in that The determining of the error factor of the adaptive cruise control system based on the actual following distance, the safe following distance, and the target control factor includes: Obtaining the current speed of the vehicle and the maximum speed of the vehicle; determining a response factor for adjusting a target control parameter of the vehicle based on the current vehicle speed and the maximum vehicle speed, the response factor being used to reduce a deviation between an actual following distance of the vehicle when the driver is in a fatigued state and when the driver is in a normal state; The error factor is determined based on the response factor, the actual following distance, the safe following distance, and the target control factor.

9. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 8 is implemented.

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