Methods, systems, state machines, and storage media for adjusting time intervals

Abstract

The application discloses a method, system, state machine and storage medium for adjusting time interval. The method comprises the following steps: receiving the speed of a preceding vehicle and the distance difference, distance change, relative speed and distance intrusion amount between the preceding vehicle and a current vehicle; outputting a preceding vehicle low-speed working condition start prohibition flag according to the distance difference and the speed of the preceding vehicle; determining the target speed of the current vehicle according to the preceding vehicle low-speed working condition start prohibition flag; outputting a longitudinal following state flag according to the speed of the preceding vehicle, the distance change, the relative speed and the distance intrusion amount; determining the speed difference according to the target speed and the current speed of the current vehicle; determining a target time interval gear position flag according to the speed difference and the longitudinal following state flag; and adjusting the time interval between the current vehicle and the preceding vehicle according to the target time interval gear position flag. The application can improve the timeliness and accuracy of time interval adjustment by outputting multiple flags and vehicle speed and distance information according to a state machine.

Description

Technical Field

[0001] This application relates to the field of driver assistance systems, specifically to a method, system, state machine, and storage medium for adjusting time distance. Background Technology

[0002] In current technologies, distance control settings typically use a fixed gear and calculate the following distance by multiplying the vehicle's speed by a certain amount of time. This method doesn't consider specific driving conditions, leading to situations like traffic jams where a fixed, higher gear results in a longer following distance, causing more vehicles from adjacent lanes to cut in. It also forces the vehicle to brake frequently, even stopping completely in its own lane, to maintain the desired following distance, impacting vehicles to the side and in front and behind, resulting in a poor driving experience. Furthermore, fixed-gear following distance settings are inflexible and cannot meet the personalized needs of different drivers. Therefore, traditional technologies suffer from low accuracy and timeliness in distance adjustment. Summary of the Invention

[0003] The purpose of this application is to provide a method, system, state machine, and storage medium for adjusting time distance, so as to solve the problem in the prior art that time distance cannot be adjusted in a timely and accurate manner under different driving conditions.

[0004] To achieve the above objectives, the first aspect of this application provides a method for adjusting time intervals, applied to a state machine, wherein the state machine communicates with a data acquisition device, the method comprising:

[0005] The system receives data from the data acquisition device, including the speed of the vehicle in front, the distance difference between the vehicle in front and the current vehicle, the distance change, the relative speed, and the distance intrusion.

[0006] Based on the distance difference and the speed of the vehicle in front, output the "No Starting" sign for the vehicle in front under low-speed operating conditions.

[0007] Determine the target speed of the current vehicle based on the sign indicating that the vehicle ahead is operating at low speed and is prohibited from starting.

[0008] Based on the speed of the vehicle in front, the change in distance, the relative speed, and the distance intrusion, output the longitudinal following status flag.

[0009] Determine the speed difference based on the target speed and the current speed of the vehicle.

[0010] Determine the target distance gear position marker based on the speed difference and longitudinal following status marker;

[0011] Adjust the time distance between the current vehicle and the vehicle in front according to the target time distance gear position indicator.

[0012] In this embodiment of the application, the "prohibit starting under low-speed conditions" sign position includes a first sign position and a second sign position. The output of the "prohibit starting under low-speed conditions" sign position based on the distance difference and the speed of the preceding vehicle includes:

[0013] If the distance difference is less than the first preset distance difference and the speed of the vehicle in front is less than the first preset speed of the vehicle in front, the low-speed driving condition prohibition starting sign position of the vehicle in front shall be determined as the first sign position.

[0014] If the distance difference is greater than the first preset distance difference, the low-speed start prohibition sign of the preceding vehicle will be determined as the second sign.

[0015] If the speed of the vehicle in front meets the first preset condition and the distance difference is greater than the first preset distance difference, the low-speed driving condition prohibition starting sign of the vehicle in front is determined as the second sign.

[0016] The first preset condition is that the speed of the vehicle preceding the first preset period is greater than the second preset speed of the vehicle preceding the first preset period, and the current speed of the vehicle preceding the first preset period is greater than the speed of the vehicle preceding the first preset period.

[0017] In this embodiment of the application, determining the target speed of the current vehicle based on the low-speed driving condition prohibition sign of the preceding vehicle includes:

[0018] When the sign prohibiting starting under low-speed conditions for the vehicle in front is in the first position, the target vehicle speed is determined to be zero.

[0019] When the sign prohibiting starting at low speeds for the vehicle in front is in the second position, the target speed is determined as the initial target speed.

[0020] In this embodiment of the application, the longitudinal following status flag includes a transitional status flag and a non-transitional status flag. Based on the preceding vehicle's speed, distance change, relative speed, and distance intrusion, the output of the longitudinal following status flag includes:

[0021] When the speed of the vehicle in front, the relative speed, the distance intrusion, and the distance change meet the second preset conditions, the longitudinal following status flag will be determined as the transition status flag.

[0022] If the speed of the vehicle in front, the relative speed, the distance intrusion, and the change in distance meet the third preset condition, the longitudinal following status flag will be set as a non-transitional status flag.

[0023] In this embodiment of the application, the second preset condition includes:

[0024] The preceding vehicle's speed is greater than the third preset preceding vehicle speed, the relative speed is less than the first preset relative speed, the distance intrusion is less than the first preset distance intrusion, and the distance change within the first preset period is greater than the first preset distance change; or

[0025] The vehicle speed in front is greater than the third preset vehicle speed, the relative speed is less than the first preset relative speed, the distance intrusion is less than the first preset distance intrusion, the longitudinal following state is active, and the longitudinal following state is inactive within the second preset period.

[0026] In this embodiment of the application, the third preset condition includes:

[0027] The preceding vehicle is detected, the preceding vehicle's speed is less than the fourth preset preceding vehicle speed, the current vehicle's current speed is less than the first preset current speed, and the current vehicle's current speed is less than the first preset current speed within the second preset period; or

[0028] The presence of a vehicle ahead is detected, the distance intrusion is greater than a second preset distance intrusion, and the relative vehicle speed is greater than a second preset relative vehicle speed; or

[0029] Currently, no preceding vehicle is detected, and no preceding vehicle is detected within the second preset period. Furthermore, the longitudinal following status is inactive.

[0030] In this embodiment of the application, the target distance gear position flag includes an adjusted distance flag and a non-adjusted distance flag. Determining the target distance gear position flag based on the speed difference and the longitudinal following status flag includes:

[0031] When the speed difference is less than the first preset speed difference, the longitudinal following status flag is the transition status flag, and the longitudinal following status flag is switched within the third preset cycle, the target time distance gear position flag is determined as the time distance adjustment flag.

[0032] If the speed difference is greater than the second preset speed difference and the longitudinal following status flag is a non-transition status flag, the target time distance gear position flag will be set to the no-adjustment time distance flag.

[0033] A second aspect of this application provides a state machine, comprising:

[0034] The memory is configured to store instructions; and

[0035] The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the method of adjusting the time interval as described above.

[0036] A third aspect of this application provides a system for adjusting time intervals, comprising:

[0037] Based on the state machine described above;

[0038] The data acquisition device, which communicates with the state machine, is configured to acquire the speed of the vehicle in front, as well as the distance difference between the vehicle in front and the current vehicle, the distance change, the relative speed, and the distance intrusion.

[0039] A fourth aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform the time interval adjustment method described above.

[0040] The beneficial effects of this application are:

[0041] (1) This application can determine the target speed of the vehicle by outputting the prohibition of starting sign for low-speed operation of the preceding vehicle through the state machine, so as to avoid frequent start-stop when close to the preceding vehicle.

[0042] (2) This application can determine whether the current situation of the vehicle is relatively urgent by outputting the longitudinal following status flag bit of the state machine, so as to adjust the target of the vehicle and improve the smoothness of the braking process.

[0043] (3) This application determines the starting prohibition sign, longitudinal following status sign, and target time distance gear position sign respectively by the state machine, and adjusts the time distance in combination with vehicle speed and distance information, which can improve the accuracy of time distance adjustment. Attached Figure Description

[0044] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0045] Figure 1 A flowchart illustrating a method for adjusting time intervals according to an embodiment of this application is shown schematically;

[0046] Figure 2 A schematic diagram illustrating the structure of a state machine according to an embodiment of this application is shown.

[0047] Figure 3 The diagram schematically illustrates a structural diagram of a system for adjusting time intervals according to an embodiment of this application.

[0048] Explanation of reference numerals in the attached figures

[0049] 210 Memory 220 Processor

[0050] 310 State Machine 320 Data Acquisition Device Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0052] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0053] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0054] Figure 1 A flowchart illustrating a method for adjusting time intervals according to an embodiment of this application is shown schematically. Figure 1 As shown in the figure, this application provides a method for adjusting the time interval, applied to a state machine, the state machine communicating with a data acquisition device, the method may include the following steps:

[0055] Step 101: Receive the speed of the vehicle in front, as well as the distance difference between the vehicle in front and the current vehicle, the distance change, the relative speed, and the distance intrusion amount sent by the data acquisition device;

[0056] Step 102: Output the "Prohibit Starting" sign for the vehicle in front at low speed based on the distance difference and the speed of the vehicle in front;

[0057] Step 103: Determine the target speed of the current vehicle based on the sign indicating that the vehicle ahead is prohibited from starting at low speed.

[0058] Step 104: Output the longitudinal following status flag based on the speed of the vehicle in front, the change in distance, the relative speed, and the distance intrusion.

[0059] Step 105: Determine the speed difference based on the target speed and the current speed of the vehicle;

[0060] Step 106: Determine the target distance gear position marker based on the speed difference and longitudinal following status marker.

[0061] Step 107: Adjust the time distance between the current vehicle and the vehicle in front according to the target time distance gear position indicator.

[0062] In this embodiment, a state machine refers to a system composed of a state register and combinational logic circuits, capable of transitioning between pre-set states according to control signals. It serves as a control center coordinating related signal actions to complete specific operations. In one example, the data acquisition device may include multiple sensors. When adjusting the time distance, the state machine can communicate with these sensors. These sensors can measure the speed of the vehicle ahead, the distance difference between the preceding vehicle and the current vehicle, the distance change, relative speed, and distance intrusion. The distance difference refers to the difference between the actual distance between the current vehicle and the preceding vehicle and the minimum safe distance. The distance change refers to the change in distance between the preceding vehicle and the current vehicle. Relative speed refers to the speed of an object with a certain velocity relative to another non-stationary object. Distance intrusion refers to the distance between the vehicle's body and the bollard after a powerful impact.

[0063] In this embodiment, the "prohibit starting under low-speed conditions" flag is used to determine the target speed of the current vehicle. The state machine can determine the target speed of the current vehicle based on the "prohibit starting under low-speed conditions" flag. The "prohibit starting under low-speed conditions" flag can include 0 and 1. When the "prohibit starting under low-speed conditions" flag is 0, the initial target speed of the current vehicle is maintained. When the "prohibit starting under low-speed conditions" flag is 1, the target speed of the current vehicle is set to 0. In one example, the state machine can output the "prohibit starting under low-speed conditions" flag by judging the relationship between the distance difference and the first preset distance difference, and the relationship between the speed of the preceding vehicle and the first preset speed of the preceding vehicle.

[0064] In this embodiment, the longitudinal following status flag is used to determine the current longitudinal following status. The state machine can also determine and output the longitudinal following status flag based on the relationship between the speed of the preceding vehicle, the distance change, the relative speed, the distance intrusion, and the preset values ​​corresponding to each parameter. The longitudinal following status flag can also include 0 and 1. When the longitudinal following status flag is 0, it indicates that the following status is a non-transitional state. When the longitudinal following status flag is 1, it indicates that the following status is a transitional state. The transitional state represents a relatively urgent situation, while the non-transitional state represents a non-urgent situation. After determining the target speed, the speed difference can be determined based on the difference between the target speed and the current speed of the current vehicle. The speed difference refers to the difference between the target speed and the current speed of the current vehicle. The target time-distance gear position flag is used to adjust the time-distance, which refers to the time difference between the front ends of the two vehicles passing the same point. The state machine determines the target time-distance gear position flag based on the relationship between the speed difference and the preset value and the current longitudinal following status. The target time-distance gear position flag is used to determine whether to adjust the time-distance. After obtaining the target gear position indicator, the time distance is adjusted according to the target gear position indicator. By adjusting the time distance based on information such as the preceding vehicle's low-speed start prohibition indicator, the longitudinal following status indicator, the target gear position indicator, and the vehicle's speed and distance, the timeliness and accuracy of time distance adjustment can be improved.

[0065] The above technical solution receives the speed of the preceding vehicle, as well as the distance difference, distance change, relative speed, and distance intrusion between the preceding and current vehicles, from the acquisition device via a state machine. Based on the distance difference and the preceding vehicle's speed, it outputs a "no starting under low-speed conditions" flag for the preceding vehicle. Then, based on this flag, it determines the target speed for the current vehicle. Based on the preceding vehicle's speed, distance change, relative speed, and distance intrusion, it outputs a longitudinal following status flag. Based on the target speed and the current vehicle's speed, it determines the speed difference. Based on the speed difference and the longitudinal following status flag, it determines the target time-distance gear position flag. Finally, based on the target time-distance gear position flag, it adjusts the time-distance between the current and preceding vehicles, thus improving the timeliness and accuracy of time-distance adjustment.

[0066] In this embodiment of the application, the "prohibit starting under low-speed conditions" sign position includes a first sign position and a second sign position. Outputting the "prohibit starting under low-speed conditions" sign position based on the distance difference and the speed of the preceding vehicle may include:

[0067] If the distance difference is less than the first preset distance difference and the speed of the vehicle in front is less than the first preset speed of the vehicle in front, the low-speed driving condition prohibition starting sign position of the vehicle in front shall be determined as the first sign position.

[0068] If the distance difference is greater than the first preset distance difference, the low-speed start prohibition sign of the preceding vehicle will be determined as the second sign.

[0069] If the speed of the vehicle in front meets the first preset condition and the distance difference is greater than the first preset distance difference, the low-speed driving condition prohibition starting sign of the vehicle in front is determined as the second sign.

[0070] The first preset condition is that the speed of the vehicle preceding the first preset period is greater than the second preset speed of the vehicle preceding the first preset period, and the current speed of the vehicle preceding the first preset period is greater than the speed of the vehicle preceding the first preset period.

[0071] Specifically, the "prohibit starting under low-speed conditions" sign can include a first sign and a second sign. The first sign is set to 1, meaning the target speed of the current vehicle is set to 0 when the sign is set to 1. The second sign is set to 0, meaning the target speed is not forcibly set to zero when the sign is set to 0, and the initial target speed of the current vehicle is maintained. The first preset distance difference refers to a pre-set benchmark value for the difference between the actual distance between the current vehicle and the vehicle in front and the minimum safe distance. The first preset vehicle speed refers to a pre-set first benchmark value for the speed of the vehicle in front. When the distance difference is less than the first preset distance difference and the speed of the vehicle in front is less than the first preset speed of the vehicle in front, the "prohibit starting under low-speed conditions" sign is set to the first sign, i.e., 1. When the distance difference is greater than the first preset distance difference, the sign is set to the second sign, i.e., 0. The first preset condition refers to the vehicle speed being greater than the second preset speed of the vehicle in front two cycles ago, and the current speed of the vehicle in front being greater than the speed of the vehicle in front two cycles ago. The first preset cycle refers to the pre-set baseline value for judging the speed of the vehicle in front. The second preset vehicle speed refers to the pre-set second baseline value for the speed of the vehicle in front. When the speed of the vehicle in front meets the first preset condition and the distance difference is greater than the first preset distance difference, the low-speed driving condition prohibition of starting flag is set to the second flag, i.e., 0. In one example, the first preset distance difference can be 0.5m, the first preset vehicle speed can be 0.3m / s, the first preset cycle can be two cycles, and the second preset vehicle speed can be 1m / s. That is, when the distance difference is less than 0.5m and the speed of the vehicle in front is less than 0.3m / s, the low-speed driving condition prohibition of starting flag outputs 1; when the distance difference is greater than 0.5m, the low-speed driving condition prohibition of starting flag outputs 0; when the speed of the vehicle in front is greater than 1m / s two cycles ago and the current speed of the vehicle in front is greater than the speed of the vehicle in front two cycles ago, and the distance difference is greater than 0.5m, the low-speed driving condition prohibition of starting flag outputs 0. By determining the position of the "no starting" sign for the vehicle ahead at low speed based on the distance difference and the speed of the vehicle ahead, the target speed can be determined.

[0072] In this embodiment of the application, determining the target speed of the current vehicle based on the low-speed driving condition prohibition sign of the preceding vehicle may include:

[0073] When the sign prohibiting starting under low-speed conditions for the vehicle in front is in the first position, the target vehicle speed is determined to be zero.

[0074] When the sign prohibiting starting at low speeds for the vehicle in front is in the second position, the target speed is determined as the initial target speed.

[0075] Specifically, after identifying the "No Start-from-Low-Speed" sign for the vehicle ahead, the target speed for the current vehicle can be determined based on this sign. If the sign is at the first position, it indicates that the current vehicle is very close to the vehicle ahead and the speed of the vehicle ahead is low; therefore, the target speed is set to zero. If the sign is at the second position, it indicates that the current vehicle is maintaining a safe distance from the vehicle ahead and the speed of the vehicle ahead is higher; therefore, the initial target speed is set. By determining the target speed based on the "No Start-from-Low-Speed" sign, frequent starts and stops at close range can be avoided, improving the user experience.

[0076] In this embodiment of the application, the longitudinal following status flag includes a transitional status flag and a non-transitional status flag. The output of the longitudinal following status flag based on the preceding vehicle's speed, distance change, relative speed, and distance intrusion may include:

[0077] When the speed of the vehicle in front, the relative speed, the distance intrusion, and the distance change meet the second preset conditions, the longitudinal following status flag will be determined as the transition status flag.

[0078] If the speed of the vehicle in front, the relative speed, the distance intrusion, and the distance change meet the third preset condition, the longitudinal following status flag will be set as a non-transitional status flag.

[0079] Specifically, the longitudinal following status indicator can include a transitional status indicator and a non-transitional status indicator. A transitional status indicates a relatively urgent situation, while a non-transitional status indicates a non-urgent situation. The longitudinal following status indicator can be determined based on the preceding vehicle's speed, distance change, relative speed, and distance intrusion. If the preceding vehicle's speed, relative speed, distance intrusion, and distance change meet a second preset condition, the longitudinal following status indicator can be designated as a transitional status indicator. The second preset condition refers to the pre-set conditions that the preceding vehicle's speed, relative speed, distance intrusion, and distance change must meet when determining the longitudinal following status indicator as a transitional status indicator. If the preceding vehicle's speed, relative speed, distance intrusion, and distance change meet a third preset condition, the longitudinal following status indicator can be designated as a non-transitional status indicator. The third preset condition refers to the pre-set conditions that the preceding vehicle's speed, relative speed, distance intrusion, and distance change must meet when determining the longitudinal following status indicator as a non-transitional status indicator. By determining the longitudinal following status marker based on the speed of the vehicle in front, relative speed, distance intrusion, and distance change, the accuracy of vehicle status judgment can be improved.

[0080] In this embodiment of the application, the second preset condition may include:

[0081] The preceding vehicle's speed is greater than the third preset preceding vehicle speed, the relative speed is less than the first preset relative speed, the distance intrusion is less than the first preset distance intrusion, and the distance change within the first preset period is greater than the first preset distance change; or

[0082] The vehicle speed in front is greater than the third preset vehicle speed, the relative speed is less than the first preset relative speed, the distance intrusion is less than the first preset distance intrusion, the longitudinal following state is active, and the longitudinal following state is inactive within the second preset period.

[0083] Specifically, when the longitudinal following status indicator changes from a non-transitional following state to a transitional following state, the speed of the preceding vehicle, relative speed, distance intrusion, and distance change must meet a second preset condition. The second preset condition can refer to pre-set conditions that the speed of the preceding vehicle, relative speed, distance intrusion, and distance change must meet when the longitudinal following status indicator is determined to be in a transitional state. The third preset preceding vehicle speed can refer to a pre-set third reference value for the speed of the preceding vehicle when determining the longitudinal following status. The first preset relative speed can refer to a pre-set first reference value for the relative speed when determining the longitudinal following status. The first preset distance intrusion can refer to a pre-set first reference value for the distance intrusion when determining the longitudinal following status. The first preset distance change can refer to a pre-set first reference value for the distance change when determining the longitudinal following status. This means that the following conditions are met: the speed of the vehicle in front is greater than the third preset speed, the relative speed is less than the first preset relative speed, the distance intrusion is less than the first preset distance intrusion, and the distance change within the first preset period is greater than the first preset distance change; or the speed of the vehicle in front is greater than the third preset speed, the relative speed is less than the first preset relative speed, the distance intrusion is less than the first preset distance intrusion, the longitudinal following state is active, and the longitudinal following state is inactive within the second preset period. The second preset period can refer to a pre-set second benchmark value for the period when judging the longitudinal following state. In one example, the third preset speed of the vehicle in front can be 0 m / s, the first preset relative speed can be -0.3 m / s, the first preset distance intrusion can be 0.5 m, the first preset distance change can be 1 m, and the second preset period can be 20 periods. That is, the speed of the vehicle in front is greater than 0 m / s, and the actual distance change exceeds 1 m within two periods; or the change in the speed of the vehicle in front exceeds 1 m / s, the relative speed is less than -0.3 m / s, and the distance intrusion is less than 0.5 m. Alternatively, the following vehicle speed can be greater than 0 m / s, the current longitudinal speed is active, the longitudinal speed was inactive 20 cycles ago, the relative speed is less than -0.3 m / s, and the distance intrusion is less than 0.5 m. By determining the longitudinal following status based on the speed of the preceding vehicle, the relative speed, the distance intrusion, and the change in distance, the accuracy of the judgment can be improved.

[0084] In this embodiment of the application, the third preset condition may include:

[0085] The preceding vehicle is detected, the preceding vehicle's speed is less than the fourth preset preceding vehicle speed, the current vehicle's current speed is less than the first preset current speed, and the current vehicle's current speed is less than the first preset current speed within the second preset period; or

[0086] The presence of a vehicle ahead is detected, the distance intrusion is greater than a second preset distance intrusion, and the relative vehicle speed is greater than a second preset relative vehicle speed; or

[0087] Currently, no preceding vehicle is detected, and no preceding vehicle is detected within the second preset period. Furthermore, the longitudinal following status is inactive.

[0088] Specifically, when the longitudinal following status indicator switches from a transitional following state to a non-transitional following state, the speed of the preceding vehicle, relative speed, distance intrusion, and distance change must meet a third preset condition. The third preset condition can refer to pre-set conditions that the speed of the preceding vehicle, relative speed, distance intrusion, and distance change must meet when the longitudinal following status indicator is determined to be a non-transitional state indicator. The fourth preset preceding vehicle speed can refer to a pre-set fourth reference value for the preceding vehicle speed when determining the longitudinal following status. The first preset current speed can refer to a pre-set first reference value for the current speed when determining the longitudinal following status. The second preset distance intrusion can refer to a pre-set second reference value for the distance intrusion when determining the longitudinal following status. The second preset relative speed can refer to a pre-set second reference value for the relative speed when determining the longitudinal following status. This means that the following conditions are met: A preceding vehicle is detected, its speed is less than a fourth preset preceding vehicle speed, the current vehicle's current speed is less than a first preset current speed, and the current speed is less than the first preset current speed within a second preset period; or a preceding vehicle is detected, the distance intrusion is greater than a second preset distance intrusion, and the relative speed is greater than a second preset relative speed; or no preceding vehicle is currently detected, no preceding vehicle is detected within a second preset period, and the longitudinal following state is inactive. In one example, the fourth preset preceding vehicle speed can be 0.2 m / s, the first preset current speed can be 0.1 m / s, the second preset distance intrusion can be -0.15 m, and the second preset relative speed can be 0.1 m / s. The following conditions are defined as follows: a preceding vehicle exists, the distance intrusion is greater than -0.15m, and the relative speed is greater than 0.1m / s; or a preceding vehicle exists, its speed is less than 0.2m / s, the current vehicle's speed is less than 0.1m / s, and the current vehicle's speed was less than 0.1m / s 20 cycles ago; or a preceding vehicle does not exist, and it has not existed within the past 20 cycles, and the longitudinal following status is inactive. Determining the longitudinal following status based on the preceding vehicle's speed, relative speed, distance intrusion, and distance change improves the accuracy of the judgment.

[0089] In this embodiment of the application, the target distance gear position flag includes an adjusted distance flag and a non-adjusted distance flag. Determining the target distance gear position flag based on the speed difference and the longitudinal following status flag may include:

[0090] When the speed difference is less than the first preset speed difference, the longitudinal following status flag is the transition status flag, and the longitudinal following status flag is switched within the third preset cycle, the target time distance gear position flag is determined as the time distance adjustment flag.

[0091] If the speed difference is greater than the second preset speed difference and the longitudinal following status flag is a non-transition status flag, the target time distance gear position flag will be set to the no-adjustment time distance flag.

[0092] Specifically, the target distance gear position indicator includes an adjustable distance indicator and a non-adjustable distance indicator. The target distance gear position indicator can be determined based on the speed difference and the longitudinal following status indicator. The first preset speed difference refers to a pre-set first reference value of the speed difference when the target distance gear position indicator is determined. The third preset cycle refers to a pre-set third reference value of the cycle when the target distance gear position indicator is determined. If the speed difference is less than the first preset speed difference, the longitudinal following status indicator is in a transition state, and the longitudinal following status indicator changes within the third preset cycle, the target distance gear position indicator is determined as the adjustable distance indicator. The second preset speed difference refers to a pre-set second reference value of the speed difference when the target distance gear position indicator is determined. If the speed difference is greater than the second preset speed difference, and the longitudinal following status indicator is in a non-transition state, the target distance gear position indicator is determined as the non-adjustable distance indicator. In one example, the first preset speed difference can be -0.4 m / s, the third preset cycle can be 10 cycles, and the second preset speed difference can be -0.1 m / s. That is, if the speed difference is less than -0.4 m / s, the longitudinal following status indicator is in a transitional state, and the longitudinal following status indicator changes within 10 cycles, the target distance gear position indicator is set as the distance adjustment indicator; or if the speed difference is greater than -0.1 m / s, and the longitudinal following status indicator is in a non-transitional state, the target distance gear position indicator is set as the no-distance adjustment indicator. Determining the target distance gear position indicator based on the speed difference and the longitudinal following status indicator improves the accuracy of the judgment.

[0093] This application uses a state machine to receive the speed of the preceding vehicle, as well as the distance difference, distance change, relative speed, and distance intrusion between the preceding and current vehicles, sent by the acquisition device. Based on the distance difference and the preceding vehicle's speed, it outputs a "no starting under low-speed conditions" flag for the preceding vehicle. Then, based on this flag, it determines the target speed of the current vehicle. Based on the preceding vehicle's speed, distance change, relative speed, and distance intrusion, it outputs a longitudinal following status flag. Based on the target speed and the current vehicle's speed, it determines the speed difference. Based on the speed difference and the longitudinal following status flag, it determines the target time-distance gear position flag. Finally, it adjusts the time-distance between the current vehicle and the preceding vehicle based on the target time-distance gear position flag. This technical solution uses the state machine to output the "no starting under low-speed conditions" flag, the longitudinal following status flag, and the target time-distance gear position flag to determine whether time-distance adjustment is needed, which can improve the timeliness and accuracy of time-distance adjustment.

[0094] Figure 2 A schematic block diagram of a state machine according to an embodiment of this application is shown. Figure 2 As shown, this application embodiment provides a state machine, which may include:

[0095] Memory 210 is configured to store instructions; and

[0096] Processor 220 is configured to retrieve instructions from memory 210 and to implement the aforementioned method of adjusting the time interval when executing instructions.

[0097] Specifically, in this embodiment of the application, the processor 220 can be configured to:

[0098] The system receives data from the data acquisition device, including the speed of the vehicle in front, the distance difference between the vehicle in front and the current vehicle, the distance change, the relative speed, and the distance intrusion.

[0099] Based on the distance difference and the speed of the vehicle in front, output the "No Starting" sign for the vehicle in front under low-speed operating conditions.

[0100] Determine the target speed of the current vehicle based on the sign indicating that the vehicle ahead is operating at low speed and is prohibited from starting.

[0101] Based on the speed of the vehicle in front, the change in distance, the relative speed, and the distance intrusion, output the longitudinal following status flag.

[0102] Determine the speed difference based on the target speed and the current speed of the vehicle.

[0103] Determine the target distance gear position marker based on the speed difference and longitudinal following status marker;

[0104] Adjust the time distance between the current vehicle and the vehicle in front according to the target time distance gear position indicator.

[0105] Furthermore, the processor 220 can also be configured to:

[0106] The "No Starting at Low Speed" sign for the vehicle ahead includes a first sign and a second sign. The "No Starting at Low Speed" sign is output based on the distance difference and the speed of the vehicle ahead.

[0107] If the distance difference is less than the first preset distance difference and the speed of the vehicle in front is less than the first preset speed of the vehicle in front, the low-speed driving condition prohibition starting sign position of the vehicle in front shall be determined as the first sign position.

[0108] If the distance difference is greater than the first preset distance difference, the low-speed start prohibition sign of the preceding vehicle will be determined as the second sign.

[0109] If the speed of the vehicle in front meets the first preset condition and the distance difference is greater than the first preset distance difference, the low-speed driving condition prohibition starting sign of the vehicle in front is determined as the second sign.

[0110] The first preset condition is that the speed of the vehicle preceding the first preset period is greater than the second preset speed of the vehicle preceding the first preset period, and the current speed of the vehicle preceding the first preset period is greater than the speed of the vehicle preceding the first preset period.

[0111] Furthermore, the processor 220 can also be configured to determine the target speed of the current vehicle based on the low-speed driving condition prohibition sign of the preceding vehicle, including:

[0112] When the sign prohibiting starting under low-speed conditions for the vehicle in front is in the first position, the target vehicle speed is determined to be zero.

[0113] When the sign prohibiting starting at low speeds for the vehicle in front is in the second position, the target speed is determined as the initial target speed.

[0114] Furthermore, the processor 220 can also be configured to:

[0115] The longitudinal following status flags include transitional and non-transitional status flags. Based on the preceding vehicle's speed, distance change, relative speed, and distance intrusion, the output longitudinal following status flags include:

[0116] When the speed of the vehicle in front, the relative speed, the distance intrusion, and the distance change meet the second preset conditions, the longitudinal following status flag will be determined as the transition status flag.

[0117] If the speed of the vehicle in front, the relative speed, the distance intrusion, and the change in distance meet the third preset condition, the longitudinal following status flag will be set as a non-transitional status flag.

[0118] Furthermore, the processor 220 can also be configured to:

[0119] The second pre-defined condition includes:

[0120] The preceding vehicle's speed is greater than the third preset preceding vehicle speed, the relative speed is less than the first preset relative speed, the distance intrusion is less than the first preset distance intrusion, and the distance change within the first preset period is greater than the first preset distance change; or

[0121] The vehicle speed in front is greater than the third preset vehicle speed, the relative speed is less than the first preset relative speed, the distance intrusion is less than the first preset distance intrusion, the longitudinal following state is active, and the longitudinal following state is inactive within the second preset period.

[0122] Furthermore, the processor 220 can also be configured to:

[0123] The third pre-defined condition includes:

[0124] The preceding vehicle is detected, the preceding vehicle's speed is less than the fourth preset preceding vehicle speed, the current vehicle's current speed is less than the first preset current speed, and the current vehicle's current speed is less than the first preset current speed within the second preset period; or

[0125] The presence of a vehicle ahead is detected, the distance intrusion is greater than a second preset distance intrusion, and the relative vehicle speed is greater than a second preset relative vehicle speed; or

[0126] Currently, no preceding vehicle is detected, and no preceding vehicle is detected within the second preset period. Furthermore, the longitudinal following status is inactive.

[0127] Furthermore, the processor 220 can also be configured to:

[0128] The target distance gear position indicator includes an adjusted distance indicator and a non-adjusted distance indicator. The target distance gear position indicator is determined based on the speed difference and longitudinal following status indicator.

[0129] When the speed difference is less than the first preset speed difference, the longitudinal following status flag is the transition status flag, and the longitudinal following status flag is switched within the third preset cycle, the target time distance gear position flag is determined as the time distance adjustment flag.

[0130] If the speed difference is greater than the second preset speed difference and the longitudinal following status flag is a non-transition status flag, the target time distance gear position flag will be set to the no-adjustment time distance flag.

[0131] This application receives the speed of the preceding vehicle, the distance difference between the preceding vehicle and the current vehicle, the distance change, the relative speed, and the distance intrusion from the acquisition device via a state machine; it outputs a "no starting" flag for the preceding vehicle under low-speed conditions based on the distance difference and the preceding vehicle's speed; it then determines the target speed of the current vehicle based on the "no starting" flag for the preceding vehicle under low-speed conditions; it outputs a longitudinal following status flag based on the preceding vehicle's speed, distance change, relative speed, and distance intrusion; it determines the speed difference based on the current vehicle's target speed and current speed; it determines the target time-distance gear position flag based on the speed difference and the longitudinal following status flag; and finally, it adjusts the time distance between the current vehicle and the preceding vehicle based on the target time-distance gear position flag. The above technical solution uses the state machine to output the following flags: a prohibition on starting under low-speed conditions of the preceding vehicle, a longitudinal following status flag, and a target distance gear position flag. This method can improve the timeliness and accuracy of distance adjustment.

[0132] Figure 3A schematic diagram illustrates the structure of a system for adjusting time intervals according to an embodiment of this application. For example... Figure 3 As shown, the system may include:

[0133] Based on the state machine 310 described above;

[0134] The data acquisition device 320 communicates with the state machine 310 and is configured to acquire the speed of the vehicle in front, as well as the distance difference between the vehicle in front and the current vehicle, the distance change, the relative speed, and the distance intrusion.

[0135] In this embodiment, the system for adjusting time intervals may include a state machine 310 and a data acquisition device 320. The data acquisition device 320 communicates with the state machine 310 and is configured to acquire the speed of the preceding vehicle, as well as the distance difference, distance change, relative speed, and distance intrusion between the preceding vehicle and the current vehicle. After acquiring the speed of the preceding vehicle, as well as the distance difference, distance change, relative speed, and distance intrusion between the preceding vehicle and the current vehicle, the data acquisition device 320 can send the speed of the preceding vehicle, as well as the distance difference, distance change, relative speed, and distance intrusion between the preceding vehicle and the current vehicle, to the state machine 310. The state machine 310 first receives the speed of the preceding vehicle, as well as the distance difference, distance change, relative speed, and distance intrusion between the preceding and current vehicles, sent by the acquisition device 320. Then, based on the distance difference and the preceding vehicle's speed, it outputs a "prohibit starting under low-speed conditions" flag for the preceding vehicle. For example, the acquisition device 320 can be multiple sensors. Based on the "prohibit starting under low-speed conditions" flag, it determines the target speed of the current vehicle. Based on the preceding vehicle's speed, distance change, relative speed, and distance intrusion, it outputs a longitudinal following status flag. Based on the current vehicle's target speed and current speed, it determines the speed difference. Based on the speed difference and the longitudinal following status flag, it determines the target time-distance gear position flag. Finally, it adjusts the time-distance between the current vehicle and the preceding vehicle based on the target time-distance gear position flag. By adjusting the time-distance based on information such as the "prohibit starting under low-speed conditions" flag, the longitudinal following status flag, the target time-distance gear position flag, and the vehicle's speed and distance determined by the state machine, the timeliness and accuracy of time-distance adjustment can be improved.

[0136] This application uses a state machine to receive the speed of the preceding vehicle, as well as the distance difference, distance change, relative speed, and distance intrusion between the preceding and current vehicles, sent by the acquisition device. Based on the distance difference and the preceding vehicle's speed, it outputs a "no starting under low-speed conditions" flag for the preceding vehicle. Then, based on this flag, it determines the target speed of the current vehicle. Based on the preceding vehicle's speed, distance change, relative speed, and distance intrusion, it outputs a longitudinal following status flag. Based on the target speed and the current vehicle's speed, it determines the speed difference. Based on the speed difference and the longitudinal following status flag, it determines the target time-distance gear position flag. Finally, it adjusts the time-distance between the current vehicle and the preceding vehicle based on the target time-distance gear position flag. This technical solution uses the state machine to output the "no starting under low-speed conditions" flag, the longitudinal following status flag, and the target time-distance gear position flag to determine whether time-distance adjustment is needed, which can improve the timeliness and accuracy of time-distance adjustment.

[0137] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described method for adjusting the time interval.

[0138] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0139] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0140] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0141] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0142] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0143] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0144] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0145] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0146] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for adjusting time intervals, characterized in that, Applied to a state machine, wherein the state machine communicates with a data acquisition device, the method includes: The system receives the speed of the vehicle ahead, as well as the distance difference, distance change, relative speed, and distance intrusion amount between the vehicle ahead and the current vehicle, sent by the data collection device. The distance difference refers to the difference between the actual distance between the current vehicle and the vehicle ahead and the minimum safe distance. The distance intrusion amount refers to the distance between the main body of the vehicle and the bollard after the vehicle has a strong impact with the bollard. Based on the distance difference and the speed of the vehicle in front, a "prohibit starting" sign for the vehicle in front under low-speed operating conditions is output. The target speed of the current vehicle is determined based on the "no starting under low speed conditions" sign of the preceding vehicle. Based on the speed of the vehicle in front, the distance change, the relative speed, and the distance intrusion, output the longitudinal following status flag. The speed difference is determined based on the target speed and the current speed of the current vehicle. The target time distance gear position position is determined based on the speed difference and the longitudinal following status position position; Adjust the time distance between the current vehicle and the vehicle in front according to the target time distance gear position flag.

2. The method for adjusting time interval according to claim 1, characterized in that, The "prohibit starting under low-speed conditions" sign position includes a first sign position and a second sign position. The step of outputting the "prohibit starting under low-speed conditions" sign position based on the distance difference and the speed of the preceding vehicle includes: When the distance difference is less than the first preset distance difference and the speed of the vehicle in front is less than the first preset speed of the vehicle in front, the low-speed driving condition prohibition starting flag position of the vehicle in front is determined as the first flag position. If the distance difference is greater than the first preset distance difference, the low-speed driving condition prohibition starting sign of the preceding vehicle is determined as the second sign; If the speed of the preceding vehicle meets the first preset condition and the distance difference is greater than the first preset distance difference, the preceding vehicle's low-speed condition prohibition of starting flag is determined as the second flag. The first preset condition is that the speed of the vehicle preceding a first preset period is greater than the speed of the second preset vehicle preceding a second preset period, and the current speed of the vehicle preceding a second preset period is greater than the speed of the vehicle preceding a second preset period.

3. The method for adjusting time interval according to claim 2, characterized in that, Determining the target speed of the current vehicle based on the preceding vehicle's low-speed operating condition prohibition sign includes: When the sign indicating that the vehicle ahead is prohibited from starting at low speed is the first sign, the target vehicle speed is determined to be zero. When the sign indicating that the vehicle ahead is prohibited from starting at low speed is set to the second sign, the target vehicle speed is determined as the initial target vehicle speed.

4. The method for adjusting time interval according to claim 2, characterized in that, The longitudinal following status flag includes a transition status flag and a non-transition status flag. The step of outputting the longitudinal following status flag based on the preceding vehicle speed, the distance change, the relative vehicle speed, and the distance intrusion includes: When the speed of the preceding vehicle, the relative speed, the distance intrusion, and the distance change meet the second preset condition, the longitudinal following status flag is determined as the transition status flag. When the speed of the preceding vehicle, the relative speed, the distance intrusion, and the distance change meet the third preset condition, the longitudinal following status flag is determined as the non-transition status flag.

5. The method for adjusting time interval according to claim 4, characterized in that, The second preset condition includes: The preceding vehicle speed is greater than a third preset preceding vehicle speed, the relative vehicle speed is less than a first preset relative vehicle speed, the distance intrusion is less than a first preset distance intrusion, and the distance change is greater than a first preset distance change within the first preset period; or The preceding vehicle speed is greater than the third preset preceding vehicle speed, the relative speed is less than the first preset relative speed, the distance intrusion is less than the first preset distance intrusion, the longitudinal following state is active, and the longitudinal following state is inactive within the second preset period.

6. The method for adjusting time interval according to claim 5, characterized in that, The third preset condition includes: The presence of a preceding vehicle is detected, the speed of the preceding vehicle is less than a fourth preset preceding vehicle speed, the current speed of the current vehicle is less than a first preset current speed, and the current speed is less than the first preset current speed within a second preset period; or The presence of the preceding vehicle is detected, the distance intrusion is greater than a second preset distance intrusion, and the relative vehicle speed is greater than the second preset relative vehicle speed; or The preceding vehicle is not currently detected, nor is it detected within the second preset period, and the longitudinal following state is the inactive state.

7. The method for adjusting time interval according to claim 1, characterized in that, The target distance gear position flag includes an adjusted distance flag and a non-adjusted distance flag. Determining the target distance gear position flag based on the speed difference and the longitudinal following status flag includes: When the speed difference is less than the first preset speed difference, the longitudinal following status flag is a transition status flag, and the longitudinal following status flag is switched within the third preset period, the target time distance gear position flag is determined as the adjustment time distance flag. When the speed difference is greater than the second preset speed difference s, and the longitudinal following status flag is a non-transitional status flag, the target distance gear position flag is determined as the non-adjustable distance flag.

8. A state machine, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method of adjusting the time interval according to any one of claims 1 to 7.

9. A system for adjusting time intervals, characterized in that, include: The state machine according to claim 8; The data acquisition device, which communicates with the state machine, is configured to acquire the speed of the vehicle in front, as well as the distance difference between the vehicle in front and the current vehicle, the distance change, the relative speed, and the distance intrusion.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method of adjusting the time interval according to any one of claims 1 to 7.

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