Adaptive cruise start control method and device, electronic equipment and storage medium

Abstract

The application provides a kind of adaptive cruise start control method, device, electronic equipment and storage medium.The adaptive cruise start control method includes: judging step, when vehicle needs to start in the state of adaptive cruise function opening and being in the state of following vehicle, it is judged whether the current gear of the vehicle is located in neutral gear;Request step, when the current gear of the vehicle is judged as neutral gear, the gear shift is requested with minimum torque, wherein the minimum torque is the minimum torque that can make the gear of the vehicle shift;And start step, after confirming that the current gear shifts to a gear, start.The application can effectively ensure the normal start of vehicle in adaptive cruise state and the comfort of vehicle.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and in particular to adaptive cruise control methods, devices, electronic devices, and storage media. Background Technology

[0002] Currently, in Level 2 driver assistance systems, the automatic following technology related to ACC (Adaptive Cruise Control) is very mature. It can not only achieve Level 1 automatic cruise control, but also automatically adjust the cruise speed according to the speed of the vehicle in front. With the development of adaptive cruise control technology, it can now adapt to more common urban traffic congestion conditions, allowing the vehicle to automatically restart following the vehicle in front after stopping in congested environments, while maintaining the adaptive cruise control state without disengaging.

[0003] On the other hand, to save energy and improve ride comfort, the transmission shifts to neutral when the vehicle is stationary. However, when the vehicle starts moving after stopping alongside the car in front while in adaptive cruise control, the higher torque due to the neutral transmission can cause excessive acceleration, leading to ride discomfort or disengaging the adaptive cruise control function. Summary of the Invention

[0004] This invention was made to solve the above-mentioned problems, and its purpose is to provide an adaptive cruise start control method, device, electronic device and storage medium that can effectively ensure the normal start of the vehicle and the ride comfort in adaptive cruise mode.

[0005] According to one aspect of the present invention, an adaptive cruise control start-up method is provided, comprising the following steps: a determination step, wherein when a vehicle needs to start while the adaptive cruise control function is activated and the vehicle is stationary in a following position, it is determined whether the current gear of the vehicle is in neutral; a request step, wherein when the current gear of the vehicle is determined to be in neutral, a gear shift is requested with a minimum torque value, wherein the minimum torque value is the minimum torque required to shift the gear of the vehicle; and a start-up step, wherein the start-up is performed after confirming that the current gear has shifted to first gear.

[0006] Preferably, if the determination step determines that the current gear of the vehicle is not neutral, then the vehicle starts moving directly.

[0007] Preferably, the starting step includes: after requesting a gear shift at the minimum torque value, starting a timer to obtain a first timing time, and confirming whether the current gear is first gear at a first time interval; and when the current gear is first gear, issuing a starting request to start.

[0008] Preferably, the starting step further includes: each time it is confirmed that the current gear is not the first gear, comparing the first timing time with a first threshold; if the first timing time is greater than the first threshold, then exiting the adaptive cruise control function and issuing an alarm.

[0009] Preferably, after issuing a start request, the brake is released, and when it is confirmed that the current brake pressure is less than the brake pressure threshold, the torque is gradually increased.

[0010] Preferably, after the brake is released, a timing is started to obtain a second timing time, and the current brake pressure is checked at a second time interval to see if it is less than the brake pressure threshold. Each time the current brake pressure is confirmed to be greater than or equal to the brake pressure threshold, the second timing time is compared with the second threshold. If the second timing time is greater than the second threshold, the adaptive cruise control function is deactivated and an alarm is issued.

[0011] Preferably, the torque increases linearly from the minimum torque value.

[0012] According to another aspect of the present invention, an adaptive cruise control start-up device is provided, characterized in that it includes: a judgment module, which determines whether the current gear of the vehicle is in neutral when the adaptive cruise function is activated and the vehicle is stationary while following another vehicle and needs to start; a request module, which requests gear shifting with a minimum torque value when the current gear of the vehicle is determined to be in neutral, wherein the minimum torque value is the minimum torque required to shift the gear of the vehicle; and a start-up module, which starts the vehicle after confirming that the current gear has shifted to first gear.

[0013] Preferably, if the determination module determines that the current gear of the vehicle is not neutral, then the vehicle starts moving directly.

[0014] Preferably, in the starting module: after requesting a gear shift with the minimum torque value, timing is started to obtain a first timing time, and the current gear is confirmed to be first gear at a first time interval; and when the current gear is first gear, a starting request is issued to start the vehicle.

[0015] Preferably, in the starting module, each time it is confirmed that the current gear is not first gear, the first timing time is compared with a first threshold. If the first timing time is greater than the first threshold, the adaptive cruise control function is exited and an alarm is issued.

[0016] According to another aspect of the present invention, an electronic device is provided, characterized in that the electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by the processor and executed by the processor to perform the above-described adaptive cruise start control method.

[0017] According to another aspect of the present invention, a computer storage medium is provided, characterized in that the storage medium stores at least one instruction or at least one program, wherein the at least one instruction or the at least one program is loaded by a processor and executed by the above-described adaptive cruise start control method.

[0018] According to the present invention, normal vehicle start-up and passenger comfort can be effectively guaranteed in adaptive cruise control mode. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the existing adaptive cruise control start-up process.

[0020] Figure 2 This is a flowchart illustrating the adaptive cruise start control method provided in an embodiment of the present invention.

[0021] Figure 3 This is a flowchart illustrating the starting steps in the adaptive cruise start control method provided in this embodiment of the invention.

[0022] Figure 4 This is a schematic diagram of the start-up process of the adaptive cruise start-up control method provided in the embodiments of the present invention.

[0023] Figure 5 This is a structural block diagram of the adaptive cruise start control device provided in an embodiment of the present invention.

[0024] Figure 6 This is a structural block diagram of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0026] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. As used herein, the singular forms “a” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the said feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded.

[0027] The embodiments described herein can be described with reference to plan views and / or cross-sectional views using the ideal schematic diagrams of this disclosure. Therefore, the example illustrations can be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to those shown in the drawings, but include modifications to configurations formed based on manufacturing processes. Therefore, the areas illustrated in the drawings are schematic in nature, and the shapes of the areas shown in the figures illustrate specific shapes of areas of an element, but are not intended to be limiting.

[0028] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.

[0029] This invention provides an adaptive cruise control method and apparatus, which can effectively ensure normal vehicle start-up and ride comfort during adaptive cruise control. The method and apparatus are based on the same concept. Since the principles by which the method and apparatus solve the problem are similar, their implementations can be mutually referenced, and repeated details will not be elaborated further.

[0030] The adaptive cruise control method provided in this invention is applied to an electronic device, which can be used in vehicles, particularly intelligent vehicles. The vehicle may include, but is not limited to, sensors such as millimeter-wave radar, lidar, ultrasonic radar, cameras, positioning systems such as Global Positioning System (GPS), inertial measurement units (IMUs), speed sensors, acceleration sensors, humidity sensors, light intensity sensors, and microphones. It may also include playback devices such as displays, external amplifiers, and speakers. Other devices may also be included, which will not be listed here.

[0031] Figure 1This is a schematic diagram of the existing adaptive cruise control start-up process. To save energy and improve ride comfort, the transmission shifts to neutral when the vehicle is stationary. Therefore, when the vehicle is stationary next to the vehicle in front while adaptive cruise control is activated, the transmission will also shift to neutral, as shown below. Figure 1 As shown, the initial gear is zero (neutral). In this state, if at time t1 the vehicle's ACC system determines that starting is required based on information detected by various sensors, a start request will be issued, and the brake pressure will be released accordingly. When the brake pressure is less than the brake pressure threshold ThB (time t2), the engine torque increases linearly from zero, and at time t3, the gear shifts from zero to first gear. Figure 1 It can be seen that when shifting gears, the torque becomes a large value, which can cause excessive starting speed, resulting in uncomfortable ride and even causing the adaptive cruise control function to disengage.

[0032] Figure 2 This is a flowchart illustrating the adaptive cruise start control method provided in an embodiment of the present invention. Figure 3 This is a flowchart illustrating the starting steps in the adaptive cruise start control method provided in this embodiment of the invention.

[0033] like Figure 2 As shown, the adaptive cruise start control method provided in this embodiment includes the following steps.

[0034] In step S101, when the vehicle needs to start while the adaptive cruise control function is activated and the vehicle is stationary, it is determined whether the vehicle's current gear is in neutral.

[0035] The vehicle is currently in adaptive cruise control mode with the vehicle in front of it stationary. In this state, if the vehicle's ACC system determines that it needs to start moving based on information detected by various sensors, it first checks whether the vehicle's current gear is in neutral (gear is zero).

[0036] If it is determined in step S101 that the current gear of the vehicle is neutral, then proceed to step S102; if it is determined that the current gear of the vehicle is not zero, then proceed to step S104.

[0037] In step S102, a gear shift is requested with a minimum torque value Torque_min, where Torque_min is the minimum torque required to shift the vehicle's gears. This minimum torque value Torque_min can be preset in memory.

[0038] In step S104, since it was determined in step S101 that the current gear of the vehicle is not zero, the vehicle can start directly, that is, a start request is issued and the brake is released.

[0039] In step S103, the vehicle starts moving after confirming that the current gear has been switched to first gear.

[0040] Specifically, step S103 further has Figure 3 The steps are shown in the flowchart.

[0041] In step S1101, after requesting gear shifting with the minimum torque value Torque_min in step S102, timing begins, the first timing time t1 is obtained as the timing result, and then the process proceeds to step S1102.

[0042] In step S1102, it is confirmed whether the current gear is first gear at a first time interval i1. If it is confirmed that the current gear is first gear, proceed to step S1103; if it is confirmed that the current gear is not first gear, proceed to step S1104. In this embodiment, the first time interval i1 can be set to 50 milliseconds (ms). Of course, the first time interval i1 is not limited to this and can be set as needed.

[0043] In step S1103, since the gear has been switched to first gear, a start request is issued and the brake is released, and then the process proceeds to step S1106.

[0044] In step S1104, the first timing time t1 is compared with the first threshold Th1. If the first timing time t1 is greater than the first threshold Th1, proceed to step S1105; if the first timing time t1 is less than or equal to the first threshold Th1, return to step S1102. In step S1105, the adaptive cruise control function is deactivated, and an alert is issued to the driver. In this embodiment, the first threshold can be set to 1 second (s). Of course, the first threshold is not limited to this and can be set as needed.

[0045] In step S1106, timing begins after the brake is released, and a second timing time t2 is obtained as the timing result, and then the process proceeds to step S1107.

[0046] After the brakes are released, the brake pressure gradually decreases. In step S1107, it is confirmed whether the current brake pressure is less than the brake pressure threshold ThB using a second time interval i2. If the current brake pressure is less than the brake pressure threshold ThB, proceed to step S1108; if the current brake pressure is greater than or equal to the brake pressure threshold ThB, proceed to step S1109. In this embodiment, the second time interval i2 can be set to 50 milliseconds (ms). Of course, this second time interval i2 is not limited to this and can be set as needed.

[0047] In step S1108, the torque increases linearly starting from the minimum torque value Torque_min.

[0048] In step S1109, the second timing time t2 is compared with the second threshold Th2. If the second timing time t2 is greater than the second threshold Th2, proceed to step S1110; if the second timing time t2 is less than or equal to the second threshold Th2, return to step S1107. In step S1110, the adaptive cruise control function is deactivated, and an alert is issued to the driver. In this embodiment, the second threshold can be set to 1 second (s). Of course, the second threshold is not limited to this and can be set as needed.

[0049] Figure 4 This is a schematic diagram of the start-up process based on the adaptive cruise start-up control method provided in this embodiment of the invention. During the start-up process according to the above adaptive cruise start-up control method, as follows... Figure 4 As shown, the initial gear is zero (neutral). In this state, if the vehicle's ACC system determines that a start is needed at time t1' based on information detected by various sensors, it first checks if the current gear is neutral. Since the current gear is neutral, it requests a gear shift based on the minimum torque value. At time t2', it confirms that the current gear is first gear, so it issues a start request and releases the brakes. When the brake pressure is less than the brake pressure threshold ThB (time t3'), the engine torque increases linearly from the minimum torque value.

[0050] According to the adaptive cruise start control method provided in this embodiment, a small torque is first requested to switch gears, and then the brake is released. Therefore, excessive starting speed can be avoided, thereby ensuring ride comfort and effectively guaranteeing normal start of the vehicle in adaptive cruise control mode.

[0051] Figure 5 This is a structural block diagram of the adaptive cruise start control device provided in an embodiment of the present invention.

[0052] like Figure 2 As shown, the adaptive cruise start control device 200 includes: a judgment module 201, a request module 202, and a start module 203.

[0053] Specifically, when a vehicle needs to start while the adaptive cruise control is activated and it is stationary, the determination module 201 determines whether the vehicle's current gear is in neutral. The request module 202, if the vehicle's current gear is determined to be in neutral, requests a gear shift with a minimum torque value, where the minimum torque value is the minimum torque required to shift the vehicle's gear. The start module 203 initiates the start after confirming that the current gear has shifted to first gear.

[0054] Figure 6 This is a structural block diagram of the electronic device 300 provided in an embodiment of the present invention. Figure 3As shown, the present invention also provides an electronic device 300, which includes a processor and a memory. The memory stores at least one instruction or at least one program, which is loaded by the processor and executed by the adaptive cruise start control method described in the above embodiments.

[0055] The present invention also provides a computer storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the adaptive cruise start control method described in the above embodiments.

[0056] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0057] Those skilled in the art will recognize that the modules, units, and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can implement the described functions using different methods for each specific application, but such implementations should not be considered beyond the scope of the invention.

[0058] Although the present invention has been described with reference to specific embodiments, those skilled in the art should recognize that the scope of the invention is not limited to the specific combinations of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the present invention.

Claims

1. An adaptive cruise start-up control method, characterized in that, Includes the following steps: The judgment step is as follows: when the vehicle needs to start while the adaptive cruise control function is activated and it is in a stationary following state, it is determined whether the current gear of the vehicle is in neutral. The request step involves requesting a gear shift with a minimum torque value when the current gear of the vehicle is determined to be neutral, without releasing the brake. The minimum torque value is the minimum torque required to shift the gear of the vehicle. as well as The starting procedure involves requesting a gear shift at the minimum torque value, then checking whether the current gear is first gear at a first time interval. Upon confirming that the current gear has shifted to first gear, a starting request is issued and the brake is released. When it is confirmed that the current brake pressure is less than the brake pressure threshold, the torque is gradually increased starting from the minimum torque value.

2. The adaptive cruise start control method as described in claim 1, characterized in that, If the determination step determines that the current gear of the vehicle is not neutral, then the vehicle will start moving directly.

3. The adaptive cruise start control method as described in claim 1, characterized in that, The starting steps also include: After requesting a gear shift at the minimum torque value, timing begins to obtain the first timing time.

4. The adaptive cruise start control method as described in claim 3, characterized in that, The initiation steps further include: Each time it is confirmed that the current gear is not the first gear, the first timing time is compared with the first threshold. If the first timing time is greater than the first threshold, the adaptive cruise control function is deactivated and an alarm is issued.

5. The adaptive cruise start control method as described in any one of claims 1 to 4, characterized in that, After the brake is released, a timer is started to obtain a second timing period, and the current brake pressure is checked at the second time interval to see if it is less than the brake pressure threshold. Each time it is confirmed that the current brake pressure is greater than or equal to the brake pressure threshold, the second timing time is compared with the second threshold. If the second timing time is greater than the second threshold, the adaptive cruise control function is deactivated and an alarm is issued.

6. The adaptive cruise start control method as described in any one of claims 1 to 4, characterized in that, The torque increases linearly from its minimum value.

7. An adaptive cruise start control device, characterized in that, include: The judgment module determines whether the vehicle's current gear is in neutral when the adaptive cruise control function is activated and the vehicle is stationary while following another vehicle and needs to start. The request module requests a gear shift with a minimum torque value when the current gear of the vehicle is determined to be neutral. At this time, the brake is not released. The minimum torque value is the minimum torque required to shift the gear of the vehicle. as well as The starting module, after requesting a gear shift at the minimum torque value, checks whether the current gear is first gear at a first time interval. When it is confirmed that the current gear has shifted to first gear, it issues a starting request and releases the brake. When it is confirmed that the current brake pressure is less than the brake pressure threshold, it gradually increases the torque starting from the minimum torque value.

8. The adaptive cruise start control device as described in claim 7, characterized in that, If the determination module determines that the current gear of the vehicle is not neutral, then the vehicle will start moving directly.

9. The adaptive cruise start control device as described in claim 8, characterized in that, In the start-up module: After requesting a gear shift at the minimum torque value, timing begins to obtain the first timing time.

10. The adaptive cruise start control device as described in claim 9, characterized in that, In the starting module Each time it is confirmed that the current gear is not the first gear, the first timing time is compared with the first threshold. If the first timing time is greater than the first threshold, the adaptive cruise control function is deactivated and an alarm is issued.

11. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor as described in any one of claims 1 to 6.

12. A computer storage medium, characterized in that, The storage medium stores at least one instruction or at least one program segment, which is loaded and executed by a processor according to any one of claims 1 to 6.

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