An adaptive cruise follow-stop control system and method, and a vehicle

Abstract

The application discloses a kind of self-adapting cruise follow-stop control system, method and car, the system includes self-adapting cruise system, the self-adapting cruise system is used to realize the self-adapting cruise function of front car, the follow-stop time in the self-adapting cruise system is set based on red light waiting time;The self-adapting cruise system is connected with dangerous target monitoring system, dangerous target monitoring system monitors the target information around vehicle, and the self-adapting cruise system judges whether there is dangerous target in the advancing direction of vehicle based on the data collected by dangerous target monitoring system when starting automatically following front car, and controls vehicle starting following front car according to dangerous target.The application has the advantages that: by extending follow-stop time, it can also automatically follow front car when waiting for red light.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic driving, in particular to a self-adaptive cruise follow-stop control system and method, and a car. BACKGROUND

[0002] Currently, the follow-stop time of the self-adaptive cruise is mostly 3s, and the time of the red and green lights in China is relatively long, varying from several minutes. When the red light changes to the green light, the preceding vehicle starts, but the ego vehicle cannot follow the preceding vehicle to start, and thus the driver needs to step on the accelerator pedal or press the resume button, so that the ego vehicle can follow the preceding vehicle to start, which makes the self-adaptive cruise function complicated, causes an inconvenient and unintelligent experience, and deviates from the original intention of the function. Moreover, if the follow-stop time of the self-adaptive cruise is simply increased, and there are pedestrians or two-wheeled vehicles crossing, the ego vehicle is likely to automatically follow the preceding vehicle to start after the red light ends, which may cause a traffic accident. Therefore, the control of the self-adaptive cruise in the prior art needs to be further optimized and improved. SUMMARY

[0003] The present application aims at overcoming the deficiencies of the prior art, and provides a self-adaptive cruise follow-stop control system and method, and a car, which can automatically and safely start at a red and green light without stepping on the accelerator pedal or pressing the resume button, by setting and controlling the follow-stop time of the self-adaptive cruise.

[0004] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: a self-adaptive cruise follow-stop control system, comprising a self-adaptive cruise system, wherein the self-adaptive cruise system is used to realize the self-adaptive cruise function of a preceding vehicle, and the follow-stop time in the self-adaptive cruise system is set based on the waiting time of a red and green light; the self-adaptive cruise system is connected with a dangerous target monitoring system, the dangerous target monitoring system monitors the target information around the vehicle, and the self-adaptive cruise system judges whether there is a dangerous target in the advancing direction of the vehicle based on the data collected by the dangerous target monitoring system when automatically following the preceding vehicle to start, and controls the vehicle to follow the preceding vehicle to start according to the dangerous target.

[0005] The follow-stop time set based on the waiting time of the red and green light is greater than or equal to the waiting time of the red and green light.

[0006] The dangerous target screening system comprises a surround-view camera, an ultrasonic radar, and a parking controller, the surround-view camera and the ultrasonic radar send the fused target data to the self-adaptive cruise system after fusion processing of the detected target, a front camera module is used to collect the target data in front of the vehicle, and the output end of the front camera module is connected with the self-adaptive cruise system; the self-adaptive cruise system screens the target in the dangerous target monitoring system, and extracts the dangerous target.

[0007] When starting following the preceding vehicle, the adaptive cruise system directly starts following the preceding vehicle when no dangerous target is extracted, and the adaptive cruise system pauses starting until the dangerous target disappears before starting if the dangerous target is extracted.

[0008] After the adaptive cruise system stops following the preceding vehicle, the state machine of the adaptive cruise system is in standactive state within the follow-stop time, and the state machine of the adaptive cruise system jumps from the standactive state to the standwait state when the stop time is greater than the follow-stop time; the adaptive cruise system starts following the preceding vehicle at any time in the standactive state; and the adaptive cruise system reenters the standactive state after obtaining the accelerator pedal signal or the switch signal of the vehicle in the standwait state.

[0009] An adaptive cruise follow-stop control method comprises,

[0010] Within the follow-stop time, the automatic cruise system of the vehicle detects the start of the preceding vehicle, and judges the target objects in the start direction, and if a dangerous target is screened out from the target objects, the adaptive cruise system waits until the dangerous target disappears before controlling the vehicle to start; otherwise, the adaptive cruise system controls the vehicle to directly start following the preceding vehicle.

[0011] The targets collected by the surround-view camera and the ultrasonic sensor are transmitted to the parking controller; the parking controller performs fusion processing, and the parking controller transmits the fused target information to the front camera module through Ethernet, the front camera module forwards the collected target data in front of the vehicle and the target data from the parking controller to the adaptive cruise system, and the adaptive cruise system judges whether there is a dangerous target.

[0012] The follow-stop time of the adaptive cruise is extended to be greater than or less than the waiting time of the red light.

[0013] A vehicle comprises the adaptive cruise follow-stop control method or the adaptive cruise follow-stop control method.

[0014] The application has the advantages that the follow-stop time is extended, so that the vehicle can automatically start following the preceding vehicle when waiting for the red light; and in order to solve the safety risk caused by the extension of the follow-stop time, the application judges the start safety state by screening the dangerous target when starting, and the vehicle starts only when the start safety state is met, otherwise, the vehicle waits, so that the safety risk caused by the extension of the time is solved. BRIEF DESCRIPTION OF DRAWINGS

[0015] The content expressed by each figure in the specification of the application and the marks in the figures are briefly described as follows:

[0016] Figure 1 The schematic diagram of the object detection range of the application;

[0017] Figure 2 The schematic diagram of the object detection principle of the application;

[0018] Figure 3 The schematic diagram of the control method flow principle of the application. DETAILED DESCRIPTION

[0019] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings.

[0020] At present, most of the automatic cruise systems have a follow-stop time of 3-10 seconds, which will cause the automatic cruise system to be in a dormant waiting state in the case of waiting for a red light, traffic jam, etc. In this state, it is still necessary to manually adjust the RESUME button or step on the accelerator pedal, etc., which brings many inconveniences. The application optimizes and improves the automatic cruise system for this situation, and the specific scheme is as follows:

[0021] An adaptive cruise follow-stop control system, wherein an adaptive cruise system is used to realize the adaptive cruise function of a preceding vehicle, and the follow-stop time in the adaptive cruise system is set based on the red light waiting time; the follow-stop time set based on the red light waiting time is greater than or equal to the red light waiting time, which is generally several minutes, and can be adjusted and set by analysis and statistics or according to the demand. This application takes 5 minutes as an example for illustration. When the adaptive cruise system follows the preceding vehicle to stop and wait for a red light or traffic jam, if the preceding vehicle starts within five minutes, the vehicle can start to follow and realize the adaptive cruise follow function. Compared with the prior art, the application can be more suitable for red light or traffic jam conditions, and does not need to repeatedly press the accelerator or the RESUME button. However, this extension of the follow-stop time will bring a defect, because when the follow-stop time is long, the driver's attention will not be too concentrated, and may play mobile phones, etc., and deviate from the line of sight. If there are pedestrians or two-wheeled vehicles crossing, the vehicle following the preceding vehicle to start may easily cause traffic accidents. In order to avoid the safety risks caused by the extension of the follow-stop time, the application increases multiple cameras and radars for object detection.

[0022] The target detection includes multiple surround-view cameras and ultrasonic radars, the surround-view cameras and ultrasonic radars arranged on the vehicle are used to collect target video data around the vehicle, and the output ends of the surround-view cameras and ultrasonic radars are connected to the parking controller; the parking controller performs fusion processing on the data of the surround-view cameras and ultrasonic radars to realize information such as targets and distances, and sends the fused target data to the adaptive cruise system after the fusion processing on the detected targets; the front camera module is used to collect target data in front of the vehicle, and the output end of the front camera module is connected to the adaptive cruise system; the adaptive cruise system screens the targets in the dangerous target monitoring system and extracts dangerous targets. The adaptive cruise system judges whether there is a dangerous target in the advancing direction of the vehicle based on the data collected by the dangerous target monitoring system when starting to follow the preceding vehicle, and controls the vehicle to start following the preceding vehicle according to the dangerous target.

[0023] When starting to follow the preceding vehicle, if no dangerous target is extracted, the adaptive cruise system directly starts to follow the preceding vehicle; if a dangerous target is extracted, the adaptive cruise system pauses to start until the dangerous target disappears.

[0024] In the present application, the state machine of the adaptive cruise system is provided with two states: standactive state and standwait state; after the adaptive cruise system follows the preceding vehicle to stop, the state machine of the adaptive cruise system is in the standactive state within the follow-stop time; when the parking time is greater than the follow-stop time, the state machine of the adaptive cruise system jumps from the standactive state to the standwait state; in the standactive state, the adaptive cruise system starts to follow the preceding vehicle at any time; in the standwait state, the adaptive cruise system reenters the standactive state after obtaining the accelerator pedal signal or the on-off signal of the vehicle.

[0025] The present application also provides a follow-stop control method of an adaptive cruise system, characterized in that: within the follow-stop time, when the preceding vehicle starts, the adaptive cruise system of the vehicle screens and judges the targets in the starting direction; if a dangerous target is screened out from the targets, the adaptive cruise system waits until the dangerous target disappears before controlling the vehicle to start; otherwise, the adaptive cruise system controls the vehicle to directly start to follow the preceding vehicle.

[0026] The target collected by the surround view camera and the ultrasonic sensor is transmitted to a parking controller; the parking controller performs fusion processing, and the parking controller transmits the fused target information to a front camera module through Ethernet, the front camera module forwards the collected target data in front of the vehicle and the target data transmitted from the parking controller to an adaptive cruise control system, the adaptive cruise control system judges whether there is a dangerous target by screening the target.

[0027] The application also provides an automobile adopting the adaptive cruise control system and the follow-stop control system or method.

[0028] The application mainly focuses on two aspects:

[0029] (1) Application of the surround view camera and the ultrasonic radar, the surround view camera detects the target (two-wheeled vehicle or pedestrian) around the vehicle during driving, the ultrasonic radar detects the obstacle, the parking controller performs target fusion processing on the target detected by the surround view camera and the obstacle detected by the ultrasonic radar, the parking controller transmits the fused target to the front camera module through Ethernet, and the adaptive cruise control system of the front camera module performs target screening on the fused target to determine whether it is a dangerous target, if it is a dangerous target, the adaptive cruise control system needs to wait for the dangerous target to disappear before starting, thereby avoiding accidents.

[0030] (2) Application of extending the follow-stop time of the adaptive cruise control system from 3s to 5 minutes, the front camera module changes the follow-stop time of the adaptive cruise control system from 3s to 5 minutes, that is, the state machine of the adaptive cruise control system jumps from the standactive state to the standwait state, and needs 5 minutes, during the 5 minutes, the adaptive cruise control system is in the standactive state and can start following the preceding vehicle at any time without any operation of the driver, thereby simplifying the operation of the adaptive cruise control system, and while automatically following the preceding vehicle to start, the adaptive cruise control system of the front camera module performs target screening on the target fused by the parking controller to determine whether it is a dangerous target, if it is a dangerous target, the adaptive cruise control system needs to wait for the dangerous target to disappear before starting, thereby avoiding accidents.

[0031] The application demonstrates that the follow-stop time of the adaptive cruise control system is improved by the front camera module, and whether it is risky to start following the preceding vehicle is determined by combining the target fused by the surround view and the ultrasonic radar transmitted by the parking controller, and if it is risky, the vehicle starts after waiting for the dangerous target to disappear.

[0032] As shown in Figure 1 , the single camera of the adaptive cruise control system is further increased by the surround view and the ultrasonic radar, and the field of view around the vehicle is completely covered without blind area, and accurate detection of the dangerous target can be realized. Figure 2As shown, the electronic and electrical architecture of each control module; the surround view camera is connected to the parking controller through LVDS, and the ultrasonic wave is connected to the parking controller through hardwire; after processing by the parking controller, the data is transmitted to the gateway through Ethernet, and the gateway is further transmitted to the front camera module.

[0033] The parking controller fuses the target objects (such as Figure 1 As shown) detected by the surround view camera and the ultrasonic wave radar, and transmits the fused target to the front camera module (such as Figure 2 As shown) through Ethernet; after receiving the target object, the ACC system performs target screening and extracts dangerous targets; at the same time, the adaptive cruise system increases the follow-stop time, that is, the host vehicle can follow the front vehicle and automatically start within 5 minutes before stopping, without the need for driver operation; while automatically starting to follow the front vehicle, the fused target is judged, such as the presence of a dangerous target, and the host vehicle continues to wait, or the dangerous target disappears, and the host vehicle starts, such as the flow Figure 3 As shown.

[0034] Obviously, the specific implementation of the present application is not limited by the above-mentioned manner, and various non-essential improvements using the method concept and technical solution of the present application are within the protection scope of the present application.

Claims

1. An adaptive cruise control system, comprising an adaptive cruise system, wherein the adaptive cruise system is used to realize adaptive cruise function for a vehicle ahead, characterized in that: The following stop time in the adaptive cruise control system is set based on the traffic light waiting time; the adaptive cruise control system is connected to a hazard detection system, which monitors target information around the vehicle; when the adaptive cruise control system automatically follows the vehicle in front, it determines whether there is a hazard in the direction of the vehicle's movement based on the data collected by the hazard detection system and controls the vehicle to follow the vehicle in front based on the hazard. The following stop time is set based on the traffic light waiting time and is greater than or equal to the traffic light waiting time. When starting to follow the vehicle in front, if no dangerous target is detected, the adaptive cruise control will directly follow the vehicle in front; if a dangerous target is detected, the adaptive cruise control will pause the start until the dangerous target disappears before starting. After the adaptive cruise control system stops following the vehicle in front, its state machine remains in the standactive state for the duration of the stop. When the stop time exceeds the following time, the adaptive cruise control system's state machine transitions from the standactive state to the standwait state. In the standactive state, the adaptive cruise control system can start following the vehicle in front at any time. In the standwait state, the adaptive cruise control system re-enters the standactive state after receiving a signal from the vehicle's accelerator pedal or power switch.

2. The adaptive cruise control system as described in claim 1, characterized in that: The hazardous target monitoring system includes a surround-view camera, an ultrasonic radar, and a parking controller. The surround-view camera and ultrasonic radar fuse the detected targets and then send the fused target data to the adaptive cruise control system. The front camera module is used to collect target data in front of the vehicle, and its output is connected to the adaptive cruise control system. The adaptive cruise control system filters the targets in the hazardous target monitoring system and extracts hazardous targets.

3. An adaptive cruise stop-and-go control method, characterized in that: include, During the stop-and-go period, if the vehicle in front is detected to start moving, the vehicle's adaptive cruise control system filters and judges the target objects in the direction of the start. If a dangerous target is selected, the adaptive cruise control system waits until the dangerous target disappears before controlling the vehicle to start moving; otherwise, the adaptive cruise control system controls the vehicle to start moving directly to follow the vehicle in front. The stop-and-go time in the adaptive cruise control system is set based on the traffic light waiting time; the stop-and-go time set based on the traffic light waiting time is greater than or equal to the traffic light waiting time. When starting to follow the vehicle in front, if no dangerous target is detected, the adaptive cruise control will directly follow the vehicle in front; if a dangerous target is detected, the adaptive cruise control will pause the start until the dangerous target disappears before starting. After the adaptive cruise control system stops following the vehicle in front, its state machine remains in the standactive state for the duration of the stop. When the stop time exceeds the following time, the adaptive cruise control system's state machine transitions from the standactive state to the standwait state. In the standactive state, the adaptive cruise control system can start following the vehicle in front at any time. In the standwait state, the adaptive cruise control system re-enters the standactive state after receiving a signal from the vehicle's accelerator pedal or power switch.

4. The adaptive cruise stop-and-go control method as described in claim 3, characterized in that: The system uses surround-view cameras and ultrasonic sensors to transmit the collected target data to the parking controller. The parking controller then performs fusion processing and transmits the fused target information to the front camera module via Ethernet. The front camera module forwards the collected target data in front of the vehicle and the target data from the parking controller to the adaptive cruise control system. The adaptive cruise control system then filters and judges the target objects to determine whether there are any dangerous targets.

5. An adaptive cruise stop-and-go control method as described in claim 3 or 4, characterized in that: The adaptive cruise control stop-and-go time is extended to be greater than or less than the traffic light waiting time.

6. A car, characterized in that: The vehicle includes an adaptive cruise control method as described in claim 1 or 2, or an adaptive cruise control method as described in any one of claims 3-5.

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