Vehicle cruise control method, device, apparatus and storage medium

Abstract

The application discloses a vehicle cruise control method, comprising: detecting a current cruise mode of a vehicle; wherein the cruise mode comprises a standby mode, an active mode and a driver takeover mode, the standby mode is not adjustable in vehicle speed and is responsive to a longitudinal control operation of the vehicle by a driver, the active mode is adjustable in cruise speed and is responsive to a longitudinal control operation of the vehicle by a cruise system, the driver takeover mode is adjustable in cruise speed and is responsive to a longitudinal control operation of the vehicle by the driver, and the cruise speed is a vehicle speed preset by the cruise system; switching the current cruise mode of the vehicle in response to a cruise mode switching operation; and controlling a current vehicle speed and the cruise speed of the vehicle according to the switched cruise mode. The application also discloses a vehicle cruise control device, a vehicle cruise control equipment and a computer readable storage medium. The application can improve the diversity of the vehicle cruise function and meet the personalized control mode of the driver.

Description

TECHNICAL FIELD

[0001] The present application relates to vehicle control technology, and in particular to a vehicle cruise control method, device, equipment and storage medium. BACKGROUND

[0002] In recent years, intelligent auxiliary driving is becoming more and more popular, and the ACC (Adaptive Cruise Control) function is the most important and practical function in the auxiliary driving function. Through the sensors installed on the vehicle, the driving environment in front of the vehicle is monitored in real time, and the driving speed is automatically adjusted within the set speed range, and the function of decelerating to stop and starting from the stop state is provided to adapt to the driving environment changes caused by the front vehicle and / or road conditions. However, the existing ACC function mode is single, and the control parameters are fixed, which cannot be compatible with the personalized control mode of the driver. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a vehicle cruise control method, device, equipment and storage medium, which can improve the diversity of vehicle cruise function and meet the personalized control mode of the driver.

[0004] To achieve the above-mentioned purpose, the embodiments of the present application provide a vehicle cruise control method of a vehicle, comprising:

[0005] Detecting a cruise mode currently taken by the vehicle; wherein the cruise mode comprises a standby mode, an activated mode and a driver takeover mode, the standby mode is that the cruise speed is not adjustable and responds to the longitudinal control operation of the vehicle by the driver, the activated mode is that the cruise speed is adjustable and responds to the longitudinal control operation of the vehicle by the cruise system, the driver takeover mode is that the cruise speed is adjustable and responds to the longitudinal control operation of the vehicle by the driver, and the cruise speed is the vehicle speed preset by the cruise system;

[0006] Switching the cruise mode currently taken by the vehicle in response to a cruise mode switching operation;

[0007] Controlling the current speed and the cruise speed of the vehicle according to the switched cruise mode.

[0008] As an improvement of the above-mentioned scheme, the controlling the current speed and the cruise speed of the vehicle according to the switched cruise mode comprises:

[0009] When the switched cruise mode is the standby mode, the current speed of the vehicle is the control speed of the vehicle by the driver, and the cruise speed of the vehicle is not adjustable and remains the cruise speed when the standby mode is entered;

[0010] When the cruise mode after switching is the active mode, the current vehicle speed of the vehicle is controlled by the cruise system, and the cruise speed of the vehicle can be adjusted by a cruise speed adjustment button provided in the vehicle.

[0011] When the cruise mode after switching is the driver takeover mode, the current vehicle speed of the vehicle is the control speed of the vehicle by the driver, and the cruise speed of the vehicle is synchronized to the current vehicle speed of the vehicle.

[0012] As an improvement of the above scheme, the cruise mode switching operation includes a cruise function button triggering operation and a driving behavior triggering operation; wherein,

[0013] The cruise function button triggering operation is that a cruise function button provided in the vehicle is triggered, and the cruise function button includes at least one of a cruise function on-off button and a cruise function recovery button;

[0014] The driving behavior triggering operation includes at least one of a throttle pedal pressing operation, a throttle pedal releasing operation, a brake pedal light pressing operation, a brake pedal releasing operation, and an irregular braking operation, and the irregular braking operation includes at least one of a brake button double-clicking operation, a brake pedal deep pressing operation, a gear shifting operation, a main driver safety belt unfastening operation, and a main driver door opening operation.

[0015] As an improvement of the above scheme, when the cruise mode in which the vehicle currently stays is the standby mode, the switching of the cruise mode in which the vehicle currently stays in response to the cruise mode switching operation includes:

[0016] In response to the cruise function button triggering operation, the cruise mode of the vehicle is switched from the standby mode to the active mode;

[0017] Then, the control of the current vehicle speed and the cruise speed of the vehicle according to the cruise mode after switching includes:

[0018] When the cruise mode of the vehicle is switched from the standby mode to the active mode by the cruise function on-off button, the cruise speed is the current vehicle speed when the vehicle in the standby mode enters the active mode; and when the cruise mode of the vehicle is switched from the standby mode to the active mode by the cruise function recovery button, the cruise speed is the cruise speed set when the vehicle last time exited the active mode.

[0019] As an improvement of the above scheme, when the cruise mode in which the vehicle currently stays is the active mode, the switching of the cruise mode in which the vehicle currently stays in response to the cruise mode switching operation includes:

[0020] switching the cruise mode of the vehicle from the active mode to the standby mode in response to a cruise function switch key triggering operation;

[0021] switching the cruise mode of the vehicle from the active mode to the standby mode in response to an irregular brake operation;

[0022] switching the cruise mode of the vehicle from the active mode to the driver takeover mode in response to a brake pedal light pressing operation;

[0023] switching the cruise mode of the vehicle from the active mode to the driver takeover mode in response to a throttle pedal pressing operation.

[0024] As an improvement of the above-mentioned scheme, when the cruise mode of the vehicle currently in is the driver takeover mode, the switching the cruise mode of the vehicle currently in in response to the cruise mode switching operation comprises:

[0025] switching the cruise mode of the vehicle from the driver takeover mode to the standby mode in response to a cruise function switch key triggering operation;

[0026] switching the cruise mode of the vehicle from the driver takeover mode to the standby mode in response to an irregular brake operation;

[0027] switching the cruise mode of the vehicle from the driver takeover mode to the active mode in response to a brake pedal releasing operation;

[0028] switching the cruise mode of the vehicle from the driver takeover mode to the active mode in response to a throttle pedal releasing operation.

[0029] As an improvement of the above-mentioned scheme, before the detecting the cruise mode of the vehicle currently in, the method further comprises:

[0030] setting the cruise mode of the vehicle to the standby mode in response to a first power-on operation of the vehicle.

[0031] To achieve the above-mentioned purpose, the embodiment of the present application further provides a vehicle cruise control device, comprising:

[0032] a cruise mode detection module, configured to detect the cruise mode of the vehicle currently in; wherein the cruise mode comprises a standby mode, an active mode and a driver takeover mode, the standby mode is that the cruise speed is not adjustable and the vehicle is responsive to the longitudinal control operation of the driver, the active mode is that the cruise speed is adjustable and the vehicle is responsive to the longitudinal control operation of the cruise system, the driver takeover mode is that the cruise speed is adjustable and the vehicle is responsive to the longitudinal control operation of the driver, and the cruise speed is the vehicle speed preset by the cruise system;

[0033] The cruise mode switching module is configured to switch the cruise mode in which the vehicle is currently located in response to a cruise mode switching operation.

[0034] The vehicle speed control module is configured to control the current vehicle speed and the cruise speed of the vehicle according to the switched cruise mode.

[0035] To achieve the above object, the embodiment of the present application further provides a vehicle cruise control device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the vehicle cruise control method according to any one of the above embodiments when the computer program is executed.

[0036] To achieve the above object, the embodiment of the present application further provides a computer readable storage medium, which comprises a stored computer program, and the computer readable storage medium performs the vehicle cruise control method according to any one of the above embodiments when the computer program is executed.

[0037] Compared with the prior art, the vehicle cruise control method, device, equipment and storage medium provided by the embodiment of the present application have three cruise modes pre-set in the vehicle, and the three cruise modes correspond to different vehicle speed control modes, so that the diversity of the vehicle cruise function is improved, the individualized control mode of the driver is met, the cruise mode in which the vehicle is currently located is switched in response to a cruise mode switching operation, and the current vehicle speed and the cruise speed of the vehicle are controlled according to the switched cruise mode. In addition, the present application improves the human-machine co-driving experience of the adaptive cruise function. In the present application, the driver's operation of the accelerator and the brake can make the cruise mode freely switch between the active mode and the driver's takeover mode and adjust the cruise speed. However, in the traditional adaptive cruise function, when the driver steps on the brake, the adaptive cruise function will be exited, and the driver needs to press the key again to restore. The cruise mode switching strategy of the present application has a better experience and is more in line with the driving habits of people. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a flowchart of a vehicle cruise control method provided by the embodiment of the present application;

[0039] Figure 2 is a schematic diagram of vehicle cruise mode switching provided by the embodiment of the present application;

[0040] Figure 3 is a structural block diagram of a vehicle cruise control device provided by the embodiment of the present application;

[0041] Figure 4 is a structural block diagram of a vehicle cruise control device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0043] Referring to Figure 1 Figure 1 is a flowchart of a vehicle cruise control method provided by an embodiment of the present application, and the vehicle cruise control method comprises:

[0044] S1, detecting a current cruise mode of a vehicle; wherein the cruise mode comprises a standby mode, an activated mode and a driver takeover mode, the standby mode is that a cruise vehicle speed is not adjustable and is responsive to a longitudinal control operation of the vehicle by a driver, the activated mode is that the cruise vehicle speed is adjustable and is responsive to a longitudinal control operation of the vehicle by a cruise system, and the driver takeover mode is that the cruise vehicle speed is adjustable and is responsive to the longitudinal control operation of the vehicle by the driver, and the cruise vehicle speed is a vehicle speed preset by the cruise system;

[0045] S2, switching the current cruise mode of the vehicle in response to a cruise mode switching operation;

[0046] S3, controlling a current vehicle speed and the cruise vehicle speed of the vehicle according to the switched cruise mode.

[0047] It is worth noting that the vehicle cruise control method described in the embodiments of the present application is implemented by a controller in the vehicle, the controller integrates multiple functions such as data processing and data communication, has powerful service scheduling function and data processing capability. The vehicle described in the embodiments of the present application has an adaptive cruise function, namely ACC, and the processes of steps S1-S3 are all improvements on the traditional ACC function.

[0048] Specifically, the vehicle in the embodiments of the present application is provided with a plurality of cruise keys, including a cruise function key and a cruise speed adjustment key, the cruise function key includes at least one of a cruise function on-off key and a cruise function recovery key. Illustratively, the cruise function on-off key is mainly responsible for activating and exiting the adaptive cruise function of the cruise system; the cruise function recovery key is mainly used for recovering the cruise function, and can be a separate key or shared with other keys (such as shared with other keys in the vehicle); the cruise speed adjustment key is mainly responsible for increasing / decreasing the cruise speed, and can be composed of a scroll wheel key or two separate keys.

[0049] ​Further, the vehicle according to the embodiment of the present application is also provided with an HMI (Human Machine Interface) display device, which can be an instrument, a central control screen, a head-up display or the like display device on the vehicle, and is mainly responsible for informing the driver of the switching state, the set speed and the fault state of the adaptive cruise function and the like.

[0050] Specifically, in step S1, the cruise system in the embodiment of the present application has three cruise modes, namely, a standby mode, an active mode and an override mode. In the standby mode, the cruise system does not control the acceleration and deceleration of the vehicle according to the information such as the detected obstacles and the set cruise speed of the sensor, and the cruise speed in this state is not adjustable, and the longitudinal control of the vehicle is controlled by the driver. In the active mode, the cruise system controls the acceleration and deceleration of the vehicle according to the information such as the detected obstacles and the set cruise speed of the sensor, and the cruise speed in this state is adjustable, and the longitudinal control of the vehicle is controlled by the cruise system. In the override mode, the cruise system does not control the acceleration and deceleration of the vehicle according to the information such as the detected obstacles and the set cruise speed of the sensor, but the cruise speed in this state is adjustable, and the longitudinal control of the vehicle is controlled by the driver.

[0051] Specifically, in step S2, in response to the cruise mode switching operation, the cruise mode in which the vehicle is currently located is switched. At this time, the cruise mode of the vehicle has three modes, and the switching modes are also various. The cruise mode switching mode diagram can be referred to as Figure 2 .

[0052] Specifically, the cruise mode switching operation includes a cruise function key triggering operation and a driving behavior triggering operation; wherein,

[0053] The cruise function key triggering operation is that the cruise function key provided in the vehicle is triggered.

[0054] The driving behavior triggering operation includes at least one of a throttle pedal stepping operation, a throttle pedal releasing operation, a brake pedal stepping operation, a brake pedal releasing operation and an irregular braking operation. The irregular braking operation includes at least one of a brake key double-clicking operation, a brake pedal deep stepping operation, a gear shifting operation, a main driver safety belt unfastening operation and a main driver door opening operation.

[0055] Illustratively, the brake pedal deep stepping operation is that the opening degree of the brake pedal is greater than a preset opening degree threshold, and the brake pedal stepping operation is that the opening degree of the brake pedal is less than or equal to the opening degree threshold. The opening degree threshold can be set by the user according to the actual use, which is not limited in the present application.

[0056] In the first embodiment, when the cruise mode of the vehicle is in standby mode, the step S2 specifically comprises S211:

[0057] S211, in response to the cruise function key triggering operation, switching the cruise mode of the vehicle from standby mode to active mode;

[0058] Then, the step S3 comprises:

[0059] When the cruise mode of the vehicle is switched from standby mode to active mode by the cruise function switch key, the cruise speed will be set as the vehicle speed when the vehicle enters active mode from standby mode; when the cruise mode of the vehicle is switched from standby mode to active mode by the cruise function resume key, the cruise speed is the cruise speed when the vehicle exits active mode last time.

[0060] In the second embodiment, when the cruise mode of the vehicle is in active mode, the step S2 specifically comprises S221-S224:

[0061] S221, in response to the cruise function switch key triggering operation, switching the cruise mode of the vehicle from active mode to standby mode;

[0062] S222, in response to the irregular brake operation, switching the cruise mode of the vehicle from active mode to standby mode;

[0063] S223, in response to the brake pedal light pressing operation, switching the cruise mode of the vehicle from active mode to driver takeover mode;

[0064] S224, in response to the accelerator pedal pressing operation, switching the cruise mode of the vehicle from active mode to driver takeover mode.

[0065] Then, the step S3 comprises:

[0066] When the switched cruise mode is standby mode, the cruise speed remains the cruise speed when entering standby mode; when the switched cruise mode is driver takeover mode, the cruise speed will be synchronized to the current vehicle speed in real time.

[0067] It is worth noting that when the cruise mode of the vehicle is in active mode, pressing the cruise function resume key at this time will not change the cruise mode, i.e. still in active mode, and will not affect the functional parameters of the vehicle. However, in actual use, if the cruise function resume key and the cruise speed adjustment key are shared, pressing the cruise function resume key in the active mode will change the cruise speed.

[0068] In the third embodiment, when the cruise mode of the vehicle is the driver take-over mode, the step S2 specifically comprises S231-S234:

[0069] S231, in response to the cruise function switch button triggering operation, switching the cruise mode of the vehicle from the driver take-over mode to the standby mode;

[0070] S232, in response to the irregular brake operation, switching the cruise mode of the vehicle from the driver take-over mode to the standby mode;

[0071] S233, in response to the brake pedal release operation, switching the cruise mode of the vehicle from the driver take-over mode to the active mode;

[0072] S234, in response to the accelerator pedal release operation, switching the cruise mode of the vehicle from the driver take-over mode to the active mode.

[0073] Then, the step S3 comprises:

[0074] When the switched cruise mode is the standby mode, the cruise speed is kept as the cruise speed when entering the standby mode; when the switched cruise mode is the driver active mode, the cruise speed is kept as the cruise speed when entering the active mode, and the cruise speed can be adjusted by the cruise speed adjustment button arranged in the vehicle.

[0075] Further, when the cruise mode of the vehicle is entered into the driver take-over mode by the step S223 "in response to the brake pedal light pressing operation, switching the cruise mode of the vehicle from the active mode to the driver take-over mode", if the driver releases the brake pedal, the cruise mode is automatically restored to the active mode. When the cruise mode of the vehicle is entered into the driver take-over mode by the step S224 "in response to the accelerator pedal pressing operation, switching the cruise mode of the vehicle from the active mode to the driver take-over mode", if the driver releases the accelerator pedal, the cruise mode is automatically restored to the active mode.

[0076] For example, when the user light presses the brake pedal, it means that the road condition in front needs to be decelerated, at this time, the user wants to control the vehicle speed autonomously, so the cruise function is temporarily exited, and the cruise system does not control the vehicle speed. When the user releases the brake pedal, it means that the emergency situation has disappeared, at this time, the cruise function can be restored, and the cruise system continues to control the vehicle speed. Similarly, when the accelerator pedal is pressed, it means that the user needs to temporarily exit the cruise function, and when the accelerator pedal is released, it means that the user wants to re-enter the cruise function.

[0077] Compared with the adaptive cruise system commonly used at present, the cruise speed can be directly controlled by the brake and the accelerator, which is more in line with the driving habit of a person.

[0078] Specifically, in step S3, the current speed and the cruise speed of the vehicle are controlled according to the switched cruise mode, including steps S31-S33:

[0079] S31, when the switched cruise mode is the standby mode, the current speed of the vehicle is the control speed of the vehicle by the driver, and the cruise speed of the vehicle is not adjustable and remains the cruise speed when the standby mode is entered;

[0080] S32, when the switched cruise mode is the active mode, the current speed of the vehicle is controlled by the cruise system, that is, if there is no following target in front, the vehicle will travel at a preset cruise speed, if there is a following target in front, the vehicle will travel at a preset following distance from the following target, and the current speed of the vehicle will change according to the speed change of the following target, the following target refers to a target whose speed is lower than the speed of the vehicle or the distance from the vehicle is less than the preset following distance; the cruise speed of the vehicle can be adjusted by the cruise speed adjustment button provided in the vehicle;

[0081] S33, when the switched cruise mode is the driver takeover mode, the current speed of the vehicle is the control speed of the vehicle by the driver, and the cruise speed of the vehicle is synchronized to the current speed of the vehicle.

[0082] For example, in the driver takeover mode, the purpose of setting the adjustable cruise speed is that when the cruise mode of the vehicle is switched from the driver takeover mode to the active mode, the cruise speed of the vehicle can be directly set to the cruise speed adjusted in the driver takeover mode, that is, the user can adjust the cruise speed in the driver takeover mode in advance, and once the cruise mode of the vehicle is switched to the active mode, there is no need to adjust the cruise speed of the vehicle again, and the cruise speed set by the cruise system in advance is not used, but the cruise speed set by the user in advance is used, which improves the flexibility of the user in adjusting the cruise speed.

[0083] It is worth noting that when the cruise function is triggered, the cruise system adjusts the speed of the vehicle according to the speed of the front vehicle, which can be realized by requesting acceleration or deceleration to the vehicle actuator (ESP, VCU / EMS) to ensure that the relative speed between the vehicle and the front vehicle is 0 and the distance is constant.

[0084] Further, before the step S1 is performed, the method further comprises:

[0085] S101, in response to a first time power-on operation of the vehicle, setting a cruise mode of the vehicle to a standby mode.

[0086] For example, when the vehicle is powered on for the first time, the cruise mode needs to be set to the standby mode, so that the cruise system can respond quickly. At this time, the vehicle cruise speed is set to an invalid value, and in this case, the first ACC function of the current power-on period must be activated by pressing the cruise function switch button.

[0087] Compared with the prior art, the vehicle cruise control method provided by the embodiment of the application has three cruise modes set in advance, and the three cruise modes correspond to different vehicle speed control modes, which can improve the diversity of the vehicle cruise function and meet the personalized control mode of the driver. In response to a cruise mode switching operation, the current cruise mode of the vehicle is switched to control the current vehicle speed and the cruise speed of the vehicle according to the switched cruise mode. In addition, the application improves the human-machine co-driving experience of the adaptive cruise function. In the application, the driver's operation of the accelerator and the brake can make the cruise mode freely switch between the active mode and the driver's takeover mode and adjust the cruise speed, while on the basis of the traditional adaptive cruise function, when the driver steps on the brake, the adaptive cruise function will be exited and needs to be restored by the driver pressing the button again. The cruise mode switching strategy of the application has a better experience, and the cruise speed can be directly controlled by the brake and the accelerator, which is more in line with the driving habits of people.

[0088] Referring to Figure 3 , Figure 3 is a structural block diagram of a vehicle cruise control device 10 provided by the embodiment of the application, and the vehicle cruise control device 10 comprises:

[0089] A cruise mode detection module 11 is configured to detect a current cruise mode of the vehicle; wherein the cruise mode comprises a standby mode, an active mode and a driver's takeover mode, the standby mode is a cruise speed that cannot be adjusted and responds to the driver's longitudinal control operation on the vehicle, the active mode is a cruise speed that can be adjusted and responds to the longitudinal control operation of the cruise system on the vehicle, and the driver's takeover mode is a cruise speed that can be adjusted and responds to the longitudinal control operation of the driver on the vehicle, and the cruise speed is a vehicle speed preset by the cruise system;

[0090] A cruise mode switching module 12 is configured to switch the current cruise mode of the vehicle in response to a cruise mode switching operation;

[0091] A vehicle speed control module 13 is configured to control the current vehicle speed and the cruise speed of the vehicle according to the switched cruise mode.

[0092] It is worth mentioning that the vehicle cruise control device 10 in the embodiment of the present application is a controller in the vehicle, which integrates multiple functions such as data processing and data communication, has powerful service scheduling function and data processing capacity. The vehicle in the embodiment of the present application has the adaptive cruise function, that is, ACC.

[0093] Specifically, the vehicle in the embodiment of the present application is provided with a plurality of cruise keys, including a cruise function key and a cruise speed adjustment key, the cruise function key includes at least one of a cruise function on-off key and a cruise function recovery key. For example, the cruise function on-off key is mainly responsible for activating and exiting the adaptive cruise function of the cruise system; the cruise function recovery key is mainly used for recovering the cruise function, which can be a separate key or shared with other keys (such as shared with other keys in the vehicle); the cruise speed adjustment key is mainly responsible for increasing / decreasing the cruise speed, which can be composed of a scroll wheel key or two independent keys.

[0094] Further, the vehicle in the embodiment of the present application is also provided with an HMI (Human Machine Interface, human-machine interface) display device, which can be an instrument, a central control screen, a head-up display, etc. on the vehicle, and is mainly responsible for informing the driver of the switching state, the set speed and the fault state of the adaptive cruise function and other information.

[0095] Specifically, the cruise system in the embodiment of the present application has three cruise modes, standby mode, active mode and driver override mode. In the standby mode, the cruise system does not control the vehicle acceleration and deceleration according to the information such as the obstacles detected by the sensor and the set cruise speed, and the cruise speed in this state is not adjustable, and the longitudinal control of the vehicle is controlled by the driver; in the active mode, the cruise system controls the vehicle acceleration and deceleration according to the information such as the obstacles detected by the sensor and the set cruise speed, and the cruise speed in this state is adjustable, and the longitudinal control of the vehicle is controlled by the cruise system; in the driver override mode, the cruise system does not control the vehicle acceleration and deceleration according to the information such as the obstacles detected by the sensor and the set cruise speed, but the cruise speed in this state is adjustable, and the longitudinal control of the vehicle is controlled by the driver.

[0096] Specifically, the cruise mode switching module 12 switches the cruise mode in which the vehicle currently stays in response to the cruise mode switching operation. At this time, the cruise mode of the vehicle has three kinds, and the switching mode also has multiple kinds. The cruise mode switching mode diagram can be referred to Figure 2 .

[0097] Specifically, the cruise mode switching operation includes a cruise function key triggering operation and a driving behavior triggering operation; wherein,

[0098] The cruise function key triggering operation is that a cruise function key provided in the vehicle is triggered;

[0099] The driving behavior triggering operation includes at least one of a throttle pedal stepping operation, a throttle pedal releasing operation, a brake pedal light stepping operation, a brake pedal releasing operation, and an irregular braking operation, the irregular braking operation including at least one of a brake key double-clicking operation, a brake pedal deep stepping operation, a gear shifting operation, a main driver safety belt releasing operation, and a main driver door opening operation.

[0100] For example, the brake pedal deep stepping operation is that the opening degree of the brake pedal is greater than a preset opening degree threshold, and the brake pedal light stepping operation is that the opening degree of the brake pedal is less than or equal to the opening degree threshold, and the opening degree threshold can be set according to the actual use of the user, which is not limited herein.

[0101] In the first embodiment, when the cruise mode of the vehicle is currently in the standby mode, the cruise mode switching module 12 is configured to:

[0102] In response to the cruise function key triggering operation, switch the cruise mode of the vehicle from the standby mode to the active mode;

[0103] Then, the vehicle speed control module 13 is configured to:

[0104] When the cruise mode of the vehicle is switched from the standby mode to the active mode through the cruise function switch key, the cruise vehicle speed is the current vehicle speed when the vehicle is in the standby mode and enters the active mode; when the cruise mode of the vehicle is switched from the standby mode to the active mode through the cruise function recovery key, the cruise vehicle speed is the cruise vehicle speed when the vehicle exits the active mode last time.

[0105] In the second embodiment, when the cruise mode of the vehicle is currently in the active mode, the cruise mode switching module 12 is configured to:

[0106] In response to the cruise function switch key triggering operation, switch the cruise mode of the vehicle from the active mode to the standby mode;

[0107] In response to the irregular braking operation, switch the cruise mode of the vehicle from the active mode to the standby mode;

[0108] In response to the brake pedal light stepping operation, switch the cruise mode of the vehicle from the active mode to the driver takeover mode;

[0109] In response to a throttle pedal pressing operation, the cruise mode of the vehicle is switched from the active mode to the driver takeover mode.

[0110] The vehicle speed control module 13 is configured to:

[0111] When the switched cruise mode is the standby mode, the cruise speed is maintained as the cruise speed when entering the standby mode; when the switched cruise mode is the driver takeover mode, the cruise speed is synchronized to the current vehicle speed in real time.

[0112] It is worth noting that when the current cruise mode of the vehicle is the active mode, pressing the cruise function recovery button at this time will not change the cruise mode, i.e., still in the active mode, and will not affect the functional parameters of the vehicle. However, in actual use, if the cruise function recovery button and the cruise speed adjustment button are shared, pressing the cruise function recovery button in the active mode will change the cruise speed.

[0113] In the third embodiment, when the current cruise mode of the vehicle is the driver takeover mode, the cruise mode switching module 12 is configured to:

[0114] In response to a cruise function switch button triggering operation, the cruise mode of the vehicle is switched from the driver takeover mode to the standby mode;

[0115] In response to an irregular braking operation, the cruise mode of the vehicle is switched from the driver takeover mode to the standby mode.

[0116] In response to a brake pedal releasing operation, the cruise mode of the vehicle is switched from the driver takeover mode to the active mode;

[0117] In response to a throttle pedal releasing operation, the cruise mode of the vehicle is switched from the driver takeover mode to the active mode;

[0118] The vehicle speed control module 13 is configured to:

[0119] When the switched cruise mode is the standby mode, the cruise speed is maintained as the cruise speed when entering the standby mode; when the switched cruise mode is the driver takeover mode, the cruise speed is maintained as the cruise speed when entering the active mode, and the cruise speed can be adjusted through the cruise speed adjustment button provided in the vehicle.

[0120] Further, when the cruise mode of the vehicle is entered into the driver take-over mode through the step of "switching the cruise mode of the vehicle from the active mode to the driver take-over mode in response to the brake pedal depression operation", if the driver releases the brake pedal, the cruise mode is automatically restored to the active mode. When the cruise mode of the vehicle is entered into the driver take-over mode through the step of "switching the cruise mode of the vehicle from the active mode to the driver take-over mode in response to the accelerator pedal depression operation", if the driver releases the accelerator pedal, the cruise mode is automatically restored to the active mode.

[0121] For example, when the user slightly depresses the brake pedal, it is possible that the road ahead requires braking, and at this time the user wants to autonomously control the vehicle speed, so the cruise function is temporarily exited, and the cruise system does not control the vehicle speed. When the user releases the brake pedal, it indicates that the emergency situation has disappeared, and at this time the cruise function can be restored, and the cruise system continues to control the vehicle speed. Similarly, when the accelerator pedal is depressed, it indicates that the user needs to temporarily exit the cruise function, and when the accelerator pedal is released, it indicates that the user wants to re-enter the cruise function.

[0122] In the embodiment of the present application, the three cruise modes are switched by setting multiple cruise mode switching operations, compared with the commonly used adaptive cruise system, after the driver steps on the brake, the adaptive cruise function is exited, and the driver does not need to press the key again to restore it, the experience is better, and the cruise speed can be directly controlled by the brake and the accelerator, which is more in line with human driving habits.

[0123] Specifically, the vehicle speed control module 13 is configured to:

[0124] When the switched cruise mode is the standby mode, the current vehicle speed of the vehicle is the control vehicle speed of the driver on the vehicle, and the cruise speed of the vehicle is not adjustable and remains the cruise speed when the standby mode is entered;

[0125] When the switched cruise mode is the active mode, the current vehicle speed of the vehicle is controlled by the cruise system, that is, if there is no following target in front, the vehicle will travel at a preset cruise speed, if there is a following target in front, the vehicle will travel at a preset following distance from the following target, and the current vehicle speed will change according to the speed of the following target, the following target refers to a target whose speed is lower than the speed of the vehicle or whose distance from the vehicle is less than the preset following distance; wherein the cruise speed of the vehicle can be adjusted by a cruise speed adjustment button provided in the vehicle;

[0126] When the switched cruise mode is the driver take-over mode, the current vehicle speed of the vehicle is the control vehicle speed of the driver on the vehicle, and the cruise speed of the vehicle is synchronized to the current vehicle speed of the vehicle.

[0127] Exemplarily, the purpose of setting the cruise speed adjustable in the driver takeover mode is that when the cruise mode of the vehicle is switched from the driver takeover mode to the active mode, the cruise speed of the vehicle can be directly set as the cruise speed adjusted in the driver takeover mode, that is, the user can pre-adjust the cruise speed in the driver takeover mode, and once the vehicle is switched to the active mode, the cruise speed of the vehicle does not need to be adjusted again, and the cruise speed pre-set by the cruise system is not used, but the cruise speed pre-set by the user is used.

[0128] It is worth noting that when the cruise function is triggered, the cruise system adjusts the speed of the vehicle according to the speed of the preceding vehicle, and can ensure that the relative speed between the vehicle and the preceding vehicle is 0 and the distance is constant by requesting acceleration or deceleration to the vehicle actuator (ESP, VCU / EMS). Further, the cruise mode switching module 12 is further configured to:

[0129] In response to a first power-on operation of the vehicle, set the cruise mode of the vehicle to the standby mode.

[0130] Exemplarily, when the vehicle is powered on for the first time, the cruise mode needs to be set to the standby mode, so that the cruise system can respond quickly. At this time, the cruise speed of the vehicle is set to an invalid value, and in this case, the ACC function of the first power-on period must be activated by pressing the cruise function switch button.

[0131] Compared with the prior art, the vehicle cruise control device 10 of the embodiment of the application has three cruise modes pre-set in the vehicle, and the three cruise modes correspond to different speed control modes, which can improve the diversity of the vehicle cruise function and meet the individualized control mode of the driver. In response to the cruise mode switching operation, the current cruise mode of the vehicle is switched to control the current speed and the cruise speed of the vehicle according to the switched cruise mode. In addition, the application improves the human-machine co-driving experience of the adaptive cruise function. In the application, the driver's operation of the accelerator and the brake can make the cruise mode freely switch between the active mode and the driver takeover mode and adjust the cruise speed. On the basis of the traditional adaptive cruise function, after the driver steps on the brake, the adaptive cruise function is exited, and the driver needs to press the button again to restore it. The cruise mode switching strategy of the application has a better experience, and the cruise speed can be directly controlled by the brake and the accelerator, which is more in line with the driving habits of people.

[0132] Referring to Figure 4 , Figure 4is a structural block diagram of a vehicle cruise control device 20 provided by an embodiment of the present application, the vehicle cruise control device 20 comprising a processor 21, a memory 22, and a computer program stored in the memory 22 and executable on the processor 21. The processor 21 implements the steps in each of the vehicle cruise control method embodiments above when executing the computer program. Alternatively, the processor 21 implements the functions of each module / unit in each of the device embodiments above when executing the computer program.

[0133] By way of example, the computer program can be divided into one or more modules / units, which are stored in the memory 22 and executed by the processor 21 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the vehicle cruise control device 20.

[0134] The vehicle cruise control device 20 can be a desktop computer, a notebook, a palm computer, a cloud server, and the like. The vehicle cruise control device 20 can include, but is not limited to, the processor 21 and the memory 22. Those skilled in the art can understand that the schematic diagram is only an example of the vehicle cruise control device 20, and does not limit the vehicle cruise control device 20, which can include more or fewer components than the diagram, or combine certain components, or different components, for example, the vehicle cruise control device 20 can also include an input / output device, a network access device, a bus, and the like.

[0135] The processor 21 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like. The processor 21 is the control center of the vehicle cruise control device 20, which connects each part of the vehicle cruise control device 20 through various interfaces and lines.

[0136] The memory 22 can be used to store the computer programs and / or modules, and the processor 21 realizes various functions of the vehicle cruise control device 20 by running or executing the computer programs and / or modules stored in the memory 22, and calling the data stored in the memory 22. The memory 22 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), and the like; and the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), and the like. In addition, the memory 22 can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0137] When the modules / units integrated in the vehicle cruise control device 20 are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiments of the method of the application can also be implemented by a computer program instructing related hardware to complete, and the computer program can be stored in a computer readable storage medium. When the processor 21 executes the computer program, the steps of the above-mentioned various method embodiments can be realized. The computer program includes computer program code, which can be in the form of source code, object code, an executable file, or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, a recording medium, a U disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the computer readable medium can include or exclude contents according to the requirements of legislation and patent practice in a jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0138] It should be noted that the apparatus embodiments described above are merely illustrative, and the units described as separate units can or can not be physically separate, and the units shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. In addition, the connection relationship between the modules in the apparatus embodiment provided by the present application indicates that there is a communication connection between them, which can be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement it without creative labor.

[0139] The above is the preferred embodiment of the present application. It should be noted that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements are also considered within the scope of protection of the present application.

Claims

1. A vehicle cruise control method characterized by, The method comprises: detecting a current cruise mode of the vehicle; wherein the cruise mode comprises a standby mode, an active mode and a driver takeover mode, the standby mode being non-adjustable in cruise speed and responsive to driver's longitudinal control operation of the vehicle, the active mode being adjustable in cruise speed and responsive to cruise system's longitudinal control operation of the vehicle, the driver takeover mode being adjustable in cruise speed and responsive to driver's longitudinal control operation of the vehicle, the cruise speed being a vehicle speed preset by the cruise system; switching the current cruise mode of the vehicle in response to a cruise mode switching operation; controlling the current vehicle speed and the cruise speed of the vehicle according to the switched cruise mode; wherein the controlling the current vehicle speed and the cruise speed of the vehicle according to the switched cruise mode comprises: when the switched cruise mode is the standby mode, the current vehicle speed of the vehicle is the control speed of the vehicle by the driver, and the cruise speed of the vehicle is non-adjustable and kept as the cruise speed when the standby mode is entered; when the switched cruise mode is the active mode, the current vehicle speed of the vehicle is controlled by the cruise system, and the cruise speed of the vehicle is adjustable through a cruise speed adjustment button provided in the vehicle; when the switched cruise mode is the driver takeover mode, the current vehicle speed of the vehicle is the control speed of the vehicle by the driver, and the cruise speed of the vehicle is synchronized to the current vehicle speed of the vehicle.

2. The vehicle cruise control method according to claim 1, characterized by, The cruise mode switching operation comprises a cruise function button triggering operation and a driving behavior triggering operation; wherein the cruise function button triggering operation is that a cruise function button provided in the vehicle is triggered, the cruise function button comprising at least one of a cruise function on-off button and a cruise function recovery button; the driving behavior triggering operation comprises at least one of a gas pedal stepping operation, a gas pedal releasing operation, a brake pedal light stepping operation, a brake pedal releasing operation and an irregular braking operation, the irregular braking operation comprising at least one of a double-clicking operation of a brake button, a deep stepping operation of a brake pedal, a gear shifting operation, a main driver safety belt unfastening operation and a main driver door opening operation.

3. The vehicle cruise control method according to claim 2, characterized by, When the current cruise mode of the vehicle is the standby mode, the switching the current cruise mode of the vehicle in response to the cruise mode switching operation comprises: switching the cruise mode of the vehicle from the standby mode to the active mode in response to the cruise function button triggering operation; then, the controlling the current vehicle speed and the cruise speed of the vehicle according to the switched cruise mode comprises: when the cruise mode of the vehicle is switched from the standby mode to the active mode by the cruise function on-off button, the cruise speed is the current vehicle speed of the vehicle when the standby mode is entered into the active mode; when the cruise mode of the vehicle is switched from the standby mode to the active mode by the cruise function recovery button, the cruise speed is the cruise speed set last time when the active mode is exited.

4. The vehicle cruise control method according to claim 2, characterized by, When the cruise mode currently taken by the vehicle is the active mode, the switching the cruise mode currently taken by the vehicle in response to the cruise mode switching operation comprises: switching the cruise mode of the vehicle from the active mode to the standby mode in response to a cruise function switch button triggering operation; switching the cruise mode of the vehicle from the active mode to the standby mode in response to an irregular brake operation; switching the cruise mode of the vehicle from the active mode to the driver take-over mode in response to a brake pedal light pressing operation; switching the cruise mode of the vehicle from the active mode to the driver take-over mode in response to an accelerator pedal pressing operation.

5. The vehicle cruise control method according to claim 2, characterized by, When the cruise mode currently taken by the vehicle is the driver take-over mode, the switching the cruise mode currently taken by the vehicle in response to the cruise mode switching operation comprises: switching the cruise mode of the vehicle from the driver take-over mode to the standby mode in response to a cruise function switch button triggering operation; switching the cruise mode of the vehicle from the driver take-over mode to the standby mode in response to an irregular brake operation; switching the cruise mode of the vehicle from the driver take-over mode to the active mode in response to a brake pedal releasing operation; switching the cruise mode of the vehicle from the driver take-over mode to the active mode in response to an accelerator pedal releasing operation.

6. The vehicle cruise control method according to claim 1, characterized by, Before the detecting the cruise mode currently taken by the vehicle, the method further comprises: setting the cruise mode of the vehicle to the standby mode in response to a first vehicle power-on operation.

7. A vehicle cruise control device characterized by comprising: comprise: a cruise mode detection module configured to detect a cruise mode currently taken by a vehicle, wherein the cruise mode comprises a standby mode, an active mode and a driver take-over mode, the standby mode is a cruise speed non-adjustable mode and is responsive to a driver's longitudinal control operation on the vehicle, the active mode is a cruise speed adjustable mode and is responsive to a cruise system's longitudinal control operation on the vehicle, the driver take-over mode is a cruise speed adjustable mode and is responsive to the driver's longitudinal control operation on the vehicle, and the cruise speed is a cruise speed preset by the cruise system; a cruise mode switching module configured to switch the cruise mode currently taken by the vehicle in response to a cruise mode switching operation; a vehicle speed control module configured to, when the switched cruise mode is the standby mode, a current vehicle speed of the vehicle is a control speed of the vehicle by the driver, a cruise speed of the vehicle is non-adjustable and remains a cruise speed when the vehicle enters the standby mode, when the switched cruise mode is the active mode, the current vehicle speed of the vehicle is controlled by the cruise system, and the cruise speed of the vehicle is adjustable through a cruise speed adjustment button provided in the vehicle, and when the switched cruise mode is the driver take-over mode, the current vehicle speed of the vehicle is the control speed of the vehicle by the driver, and the cruise speed of the vehicle is synchronized to the current vehicle speed of the vehicle.

8. A vehicle cruise control apparatus characterized by comprising: comprise a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the vehicle cruise control method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a stored computer program, wherein the computer readable storage medium controls a device in which the computer readable storage medium is located to execute the vehicle cruise control method according to any one of claims 1 to 6 when the computer program is executed.

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