Following distance determination method, device, machine-readable storage medium and vehicle

Abstract

This invention relates to a method, apparatus, machine-readable storage medium, and vehicle for determining following distance, belonging to the field of automotive control technology. The method includes: determining that the vehicle is in adaptive cruise control mode; acquiring the vehicle speed, gear adjustment command, and current following distance gear; the gear adjustment command is determined through vehicle button input, voice input, or weather data; based on the gear adjustment command, correcting the current following distance gear to obtain a corrected following distance gear; and determining the following distance based on the corrected following distance gear and the vehicle speed. This invention dynamically calculates and adjusts the following distance based on vehicle button input, voice input, or weather data. The method is simple and accurate, ensuring vehicle driving safety and reducing the risk of rear-end collisions.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, specifically to a method for determining following distance, a device for determining following distance, a machine-readable storage medium, and a vehicle. Background Technology

[0002] Autonomous vehicles are a future trend in automotive development, and the application of related technologies is booming. In autonomous driving following scenarios, following distance is a crucial indicator that directly impacts the safety and comfort of autonomous driving functions.

[0003] In existing technologies, the following distance is usually adjusted manually by the driver, which has certain limitations. In addition, the method of automatically adjusting the following distance by integrating multiple parameters such as speed, road surface, ambient temperature, humidity, and weather has complex control methods and inaccurate calculation of the following distance, resulting in the problem of close following distance, which poses certain safety risks such as rear-end collisions and threatens the safety of vehicles and occupants. Summary of the Invention

[0004] One objective of this invention is to provide a method for determining following distance, thereby addressing the problem in existing technologies that rely on multiple parameters such as speed, road surface, ambient temperature, humidity, and weather to adjust following distance. This method is complex and the calculated following distance is inaccurate, leading to close following distances and posing a safety risk such as rear-end collisions, which threatens the safety of the vehicle and its occupants. A second objective is to provide a device for determining following distance. A third objective is to provide a machine-readable storage medium. A fourth objective is to provide a vehicle.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A method for determining following distance, the method comprising:

[0007] Confirm that the vehicle is in adaptive cruise control mode;

[0008] The system acquires the vehicle's speed, gear adjustment command, and current gear position; the gear adjustment command is determined via vehicle button input, voice input, or weather data.

[0009] Based on the gear adjustment command, the current time distance gear is corrected to obtain the corrected time distance gear;

[0010] The following distance is determined based on the corrected timing gear and the vehicle speed.

[0011] Based on the aforementioned technical means, after the vehicle enters adaptive cruise control mode, in order to avoid a rear-end collision caused by the sudden braking of the vehicle in front, the vehicle needs to maintain a certain distance from the vehicle in front. The following distance may vary under different driving conditions. After entering adaptive cruise control mode, the driver can adjust the following distance gear according to the actual driving situation by manually inputting signals through buttons, voice control, or by the vehicle automatically generating gear adjustment commands based on weather data. This allows for the adjustment of the current following distance gear, which in turn corrects the current following distance gear. The corrected following distance gear accurately determines the following distance, and the vehicle is controlled based on this distance, ensuring driving safety and reducing the risk of rear-end collisions.

[0012] Furthermore, the gear adjustment command includes: gear adjustment amount;

[0013] The weather data includes: the rainfall at the previous moment and the rainfall at the current moment;

[0014] Determining gear adjustment instructions based on weather data includes:

[0015] The gear adjustment amount is determined based on the rainfall at the previous moment and the rainfall at the current moment.

[0016] Based on the aforementioned technical means, since the braking distance of a vehicle increases during and after rain compared to before rain, the corresponding gear adjustment amount can be determined according to the amount of rainfall during the journey to adjust the following distance. This ensures that the calculated following distance is more accurate, guarantees vehicle driving safety, and reduces the risk of rear-end collisions.

[0017] Furthermore, based on the rainfall at the previous moment and the rainfall at the current moment, the gear adjustment amount is determined, including:

[0018] If the rainfall at the current moment is less than or equal to the rainfall at the previous moment, or if the rainfall at the current moment is greater than the rainfall at the previous moment and the rainfall at the current moment and the rainfall at the previous moment are within the same rainfall range, then the gear adjustment amount is determined to be the first preset adjustment amount.

[0019] If the rainfall at the current moment is greater than the rainfall at the previous moment, and the rainfall at the current moment and the rainfall at the previous moment are respectively within two adjacent rainfall intervals, then the gear adjustment amount is determined to be the second preset adjustment amount.

[0020] If the rainfall at the current moment is greater than the rainfall at the previous moment and the rainfall at the current moment and the rainfall at the previous moment are not within two adjacent rainfall intervals, then the gear adjustment amount is determined to be the third preset adjustment amount.

[0021] The third preset adjustment amount is determined based on the number of rainfall intervals between two adjacent rainfall intervals;

[0022] The third preset adjustment amount is greater than the second preset adjustment amount, and the second preset adjustment amount is greater than the first preset adjustment amount.

[0023] Based on the aforementioned technical means, different amounts of rainfall will lead to different braking distances. Therefore, in order to ensure following safety, different gear adjustment amounts are set according to different rainfall changes to achieve fast and accurate gear adjustment, ensuring that the calculated following distance is more accurate, ensuring vehicle driving safety, and reducing the risk of rear-end collisions.

[0024] Furthermore, based on the gear adjustment command, the current time-distance gear is corrected to obtain the corrected time-distance gear, including:

[0025] If the gear adjustment command is the first preset adjustment amount, then the current time distance gear is determined as the corrected time distance gear;

[0026] If the gear adjustment command is the second preset adjustment amount, then based on the current time distance gear, it is determined whether there is an optional gear; if so, the nearest high gear of the current time distance gear is determined as the corrected time distance gear; if not, the current time distance gear is determined as the corrected time distance gear.

[0027] If the gear adjustment command is a third preset adjustment amount, then based on the current time distance gear, it is determined whether there is an optional gear; if so, the time distance gear that is between the current time distance gear and the highest time distance gear and differs from the current time distance gear by the third preset adjustment amount is determined as the corrected time distance gear; if not, the highest time distance gear is determined as the corrected time distance gear.

[0028] Based on the aforementioned technical means, upon receiving a gear adjustment command, the gear is adjusted according to the corresponding adjustment amount and the set control logic, enabling rapid and precise gear adjustment. This ensures a more accurate calculated following distance, guarantees vehicle driving safety, and reduces the risk of rear-end collisions.

[0029] Furthermore, the priority of the gear adjustment command, from highest to lowest, is as follows: vehicle button input, voice input, and weather data.

[0030] Based on the aforementioned technical means, the priority of gear adjustment commands is arranged from high to low as follows: vehicle button input, voice input, and weather data, so as to respond to the driver's commands in a timely manner and improve the driving experience.

[0031] Furthermore, based on the corrected distance gear and the vehicle speed, the following distance is determined, including:

[0032] Based on the corrected distance gear and the vehicle speed, the theoretical following distance is determined by a first relationship table or a first fitting curve; wherein, the first relationship table or the first fitting curve is used to characterize the relationship between different corrected distance gears and different vehicle speeds and the corresponding theoretical following distance.

[0033] Based on the vehicle speed, a minimum safe distance is determined using a second relationship table or a second fitted curve, and a correction coefficient is determined using a third relationship table or a third fitted curve; wherein, the second relationship table or the second fitted curve is used to characterize the relationship between different vehicle speeds and their corresponding minimum safe distances; and the third relationship table or the third fitted curve is used to characterize the relationship between different vehicle speeds and their corresponding correction coefficients.

[0034] The following distance is determined based on the theoretical following distance, the minimum safe distance, and the correction coefficient.

[0035] Based on the above technical means, by determining the change corresponding to the input parameter value through a pre-set relationship table or fitting curve, the change corresponding to the input parameter value can be determined quickly and accurately, so as to perform subsequent rapid calculations, improve data response speed, and improve vehicle driving safety.

[0036] Furthermore, the following distance is calculated using the following formula:

[0037] S = (S0 + S′) × η;

[0038] Where S is the following distance; S0 is the theoretical following distance; S′ is the minimum safe distance; and η is the correction factor.

[0039] Based on the aforementioned technical means, the following distance is calculated using the above formula. The calculation method is simple and can quickly and accurately calculate the following distance to control the vehicle, ensure driving safety, and reduce the risk of rear-end collisions.

[0040] A following distance determination device, the device comprising:

[0041] The mode determination module is used to determine whether the vehicle is in adaptive cruise control mode;

[0042] The parameter acquisition module is used to acquire the vehicle speed, gear adjustment command, and current time-distance gear; the gear adjustment command is determined through vehicle button input, voice input, or weather data.

[0043] The gear position correction module is used to correct the current time-distance gear based on the gear position adjustment command to obtain the corrected time-distance gear.

[0044] The distance determination module is used to determine the following distance based on the corrected distance gear and the vehicle speed.

[0045] Based on the aforementioned technical means, after the vehicle enters adaptive cruise control mode, in order to avoid a rear-end collision caused by the sudden braking of the vehicle in front, the vehicle needs to maintain a certain distance from the vehicle in front. The following distance may vary under different driving conditions. After entering adaptive cruise control mode, the driver can adjust the following distance gear according to the actual driving situation by manually inputting signals through buttons, voice control, or by the vehicle automatically generating gear adjustment commands based on weather data. This allows for the adjustment of the current following distance gear, which in turn corrects the current following distance gear. The corrected following distance gear accurately determines the following distance, and the vehicle is controlled based on this distance, ensuring driving safety and reducing the risk of rear-end collisions.

[0046] A machine-readable storage medium storing instructions for causing a machine to perform the following distance determination method described above.

[0047] A vehicle including the aforementioned following distance determining device.

[0048] The beneficial effects of this invention are:

[0049] (1) The present invention dynamically calculates the following distance based on vehicle button input, voice input or weather data. The calculation is simple and the result is accurate, which can realize the dynamic and accurate adjustment of the following distance.

[0050] (2) The present invention can ensure vehicle driving safety and reduce the risk of rear-end collision by dynamically adjusting the following distance. Attached Figure Description

[0051] Figure 1 This is a flowchart illustrating the following distance determination method of the present invention;

[0052] Figure 2 This is a schematic diagram of the following distance gear setting method of the present invention;

[0053] Figure 3 This is a flowchart of the method for determining the gear adjustment amount of the present invention;

[0054] Figure 4 This is a flowchart of the first time distance correction mode of the present invention;

[0055] Figure 5 This is a flowchart of the second method for correcting the time distance setting according to the present invention;

[0056] Figure 6 This is a schematic diagram of the first fitting curve of the present invention;

[0057] Figure 7 This is a schematic diagram of the second fitting curve of the present invention;

[0058] Figure 8 This is a schematic diagram of the third fitting curve of the present invention;

[0059] Figure 9 This is a schematic diagram of the following distance determination device of the present invention.

[0060] Among them, 10 is the mode determination module; 20 is the parameter acquisition module; 30 is the gear correction module; and 40 is the distance determination module.

[0061] Specific implementation methods

[0062] The present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0063] It should be noted that the illustrations provided in the following examples are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual embodiment. In the actual embodiment, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0064] This example presents a method for determining following distance. Figure 1 This is a flowchart illustrating the following distance determination method proposed in this practical example, as follows: Figure 1 As shown, the method includes:

[0065] Step 1: Ensure the vehicle is in adaptive cruise control mode;

[0066] Step 2: Obtain the vehicle speed, gear adjustment command, and current gear position; the gear adjustment command is determined through vehicle button input, voice input, or weather data;

[0067] Step 3: Based on the gear adjustment command, correct the current time distance gear to obtain the corrected time distance gear;

[0068] Step 4: Determine the following distance based on the corrected distance gear and the vehicle speed.

[0069] Specifically, after entering adaptive cruise control mode, in order to avoid a rear-end collision caused by the vehicle in front braking suddenly, the vehicle needs to maintain a certain distance from the vehicle in front. The following distance may vary under different driving conditions. After entering adaptive cruise control mode, the driver can adjust the following distance gear according to the actual driving situation by manually pressing a button, inputting a signal through voice control, or having the vehicle automatically generate a gear adjustment command based on weather data. This allows for the adjustment of the current following distance gear, which is then corrected. By using the corrected following distance gear and vehicle speed, the following distance can be accurately determined, and the vehicle can be controlled based on this following distance, ensuring driving safety and reducing the risk of rear-end collisions.

[0070] in, Figure 2 This is a schematic diagram illustrating the following distance gear setting method in this specific example, as follows: Figure 2 As shown, the following distance setting can be divided into three modes based on the setting method: active button setting, active voice setting, and automatic setting in rainy weather, for a total of three modes. The priority of the gear adjustment command from high to low is: vehicle button input, voice input, and weather data. There are six gear control states, from T1 to T6.

[0071] T1 is defined as satisfying any of the following conditions:

[0072] 1) Simultaneously satisfy: the system's vertical state transitions from never being activated to being activated; the rainy day state is no rain;

[0073] 2) Simultaneously satisfy: the system's vertical state is active or overriding; the trigger button is actively set.

[0074] T2 is defined as satisfying the following conditions simultaneously:

[0075] The system's vertical status is either active or exceeded; triggering voice-activated settings.

[0076] T3 is defined as satisfying any of the following conditions:

[0077] 1) Simultaneously satisfy: the system's longitudinal state transitions from never being activated to being activated; the rainy weather state is light rain, moderate rain, or heavy rain;

[0078] 2) Simultaneously satisfy: the system's vertical state is active; and automatic rain setting is triggered.

[0079] T4 is defined as long as T1 is satisfied.

[0080] T5 is defined as T2 satisfying, and T1 not satisfying.

[0081] T6 is defined as T3 satisfying, while T1 and T2 do not satisfy it.

[0082] In this embodiment, the gear adjustment command includes: gear adjustment amount; the weather data includes: rainfall at the previous moment and rainfall at the current moment; determining the gear adjustment command through the weather data includes: determining the gear adjustment amount based on the rainfall at the previous moment and rainfall at the current moment.

[0083] When rainfall increases, the system will automatically adjust the gear to a higher gear. When rainfall decreases, the water accumulation on the road can cause slippage and increase braking distance. Therefore, even if the rainfall decreases or drops to zero, the system will not adjust the gear, keeping the following distance at a higher level to ensure driving safety.

[0084] In another implementation, the gear adjustment command includes not only the gear adjustment amount but also the adjustment direction. Except for rainy weather, when the driver adjusts the gear to the highest gear by default, when the driver adjusts the distance gear by pressing a button or using voice input, the distance gear will be increased or decreased according to the input command.

[0085] More specifically, in this embodiment, the following distance settings are configured as follows: Level 1, Level 2, Level 3, and Level 4. This is not the initial activation at the factory. After the vehicle is powered off, the following distance settings from before the power outage are remembered. When the vehicle is powered back on, the previously remembered following distance settings are restored, so the user can use the vehicle without having to reconfigure them. The highest following distance setting can be increased to Level 4, which corresponds to the maximum following distance; the lowest following distance setting can be decreased to Level 1, which corresponds to the minimum following distance.

[0086] Active button setting: Drivers can set the following distance gear by pressing a button. When the system detects that the following distance gear is pressed or the following distance gear is not pressed, the active button setting is triggered.

[0087] Active voice setting: When the system detects that the converted voice command is level 1 to 6 (level 1 = 1, level 2 = 2, level 3 = 3, level 4 = 4, level 5 = add 1 level to the highest level, level 6 = subtract 1 level from the lowest level), active voice setting is activated.

[0088] Automatic rain setting: The setting will be triggered when the rain status changes from no rain to light rain, moderate rain, or heavy rain; when the rain status changes from light rain to moderate rain or heavy rain; and when the rain status changes from moderate rain to heavy rain.

[0089] In the active button setting mode, when the following distance increment button is detected as transitioning from a pressed state to a pressed rising edge, the following distance level increases by one level; when the following distance decrement button is detected as transitioning from a pressed state to a pressed rising edge, the following distance level decreases by one level. If the following distance level is 4, and the following distance increment button is detected again, the level remains constant at 4. If the following distance level is 1, and the following distance decrement button is detected again, the level remains constant at 1. Additionally, in the voice-activated setting mode, when the system detects a voice command of level 1, it sets the following distance setting to level 1; when the system detects a voice command of level 2, it sets the following distance setting to level 2; when the system detects a voice command of level 3, it sets the following distance setting to level 3; when the system detects a voice command of level 4, it sets the following distance setting to level 4; when the system detects a voice command of level 5, it increases the following distance setting by one level above the highest level; and when the system detects a voice setting button of level 6, it decreases the following distance setting by one level below the lowest level.

[0090] In this example, the gear adjustment amount is determined based on the rainfall at the previous moment and the rainfall at the current moment. Figure 3 A flowchart illustrating the steps for determining the gear adjustment amount, as follows: Figure 3 As shown, it includes:

[0091] In this embodiment, the following distance levels are set to include: Level 1, Level 2, Level 3, and Level 4; the rainfall range is divided into no rain, light rain, moderate rain, and heavy rain, with three corresponding rainfall thresholds. Specifically, when there is no rain, the rainfall is 0; the range from 0 to the first preset rainfall threshold is the light rain range (inclusive); the range between the first and second preset rainfall thresholds is the moderate rain range (inclusive); and the range greater than the second preset rainfall threshold is the heavy rain range. The distance adjustment includes: a first preset adjustment amount, a second preset adjustment amount, and a third preset adjustment amount.

[0092] If the rainfall at the current moment is less than or equal to the rainfall at the previous moment, or if the rainfall at the current moment is greater than the rainfall at the previous moment and the rainfall at the current moment and the rainfall at the previous moment are within the same rainfall range, then the gear adjustment amount is determined to be the first preset adjustment amount.

[0093] Specifically, if the rainfall at the current moment is less than or equal to the rainfall at the previous moment, or if the rainfall at the current moment is greater than the rainfall at the previous moment and the rainfall at the current moment and the rainfall at the previous moment are within the same rainfall range, then the gear adjustment amount is determined to be the first preset adjustment amount.

[0094] If the rainfall at the current moment is greater than the rainfall at the previous moment, and the rainfall at the current moment and the rainfall at the previous moment are respectively within two adjacent rainfall intervals, then the gear adjustment amount is determined to be the second preset adjustment amount.

[0095] Specifically, when any of the following conditions are met, the following distance gear level will be increased by 1 level: 1) When the rain condition changes from no rain to light rain; 2) When the rain condition changes from light rain to moderate rain, and the rainfall at the current moment is greater than the rainfall at the previous moment, and the rainfall at the current moment and the rainfall at the previous moment are respectively within two adjacent rainfall intervals, the gear adjustment amount is determined to be the second preset adjustment amount.

[0096] If the rainfall at the current moment is greater than the rainfall at the previous moment, and the rainfall at the current moment and the rainfall at the previous moment are not within two adjacent rainfall intervals, then the gear adjustment amount is determined to be the third preset adjustment amount. The third preset adjustment amount is determined based on the number of rainfall intervals between two adjacent rainfall intervals.

[0097] Specifically, when the rain condition changes from no rain to moderate rain, and the current rainfall is greater than the previous rainfall but the current rainfall and the previous rainfall are not within two adjacent rainfall intervals, the gear adjustment amount is determined to be the third preset adjustment amount, and the number of rainfall intervals between two adjacent rainfall intervals is 1. The following distance gear level is increased by 2 levels. When the rain condition changes from no rain to heavy rain, and the current rainfall is greater than the previous rainfall but the current rainfall and the previous rainfall are not within two adjacent rainfall intervals, the gear adjustment amount is determined to be the third preset adjustment amount, and the number of rainfall intervals between two adjacent rainfall intervals is 2. The gear adjustment amount is determined to be the third preset adjustment amount, and the following distance gear level is increased by 3 levels. And so on, which can be determined according to the actual number of gear settings and the division of rainfall intervals.

[0098] In another implementation method, if the rainfall at the current moment is greater than the rainfall at the previous moment and the rainfall at the current moment and the rainfall at the previous moment are not within two adjacent rainfall intervals, then the gear adjustment amount is determined to be the third preset adjustment amount. If the number of rainfall intervals between two adjacent rainfall intervals is greater than 2, the gear is directly adjusted to the highest gear.

[0099] The third preset adjustment amount is greater than the second preset adjustment amount, and the second preset adjustment amount is greater than the first preset adjustment amount.

[0100] In this embodiment, the current time-distance gear is corrected based on the gear adjustment command to obtain the corrected time-distance gear.

[0101] In this example, the following distance gear levels are set to include: level 1, level 2, level 3, and level 4. The third preset adjustment amount is to adjust two levels towards the highest gear, the second preset adjustment amount is to adjust one level towards the highest gear, and the first preset adjustment amount is to not adjust the gear.

[0102] If the gear adjustment command is the first preset adjustment amount, then the current time distance gear is determined as the corrected time distance gear;

[0103] Specifically, if the current distance gear is level 1 and the received gear adjustment command is the first preset adjustment amount, then the distance gear is corrected to level 1.

[0104] Figure 4 The flowchart for the first time distance correction setting of the present invention is as follows: Figure 4 As shown, if the gear adjustment command is the second preset adjustment amount, then based on the current time distance gear, it is determined whether there is an optional gear. If so, the nearest high gear of the current time distance gear is determined as the corrected time distance gear; otherwise, the current time distance gear is determined as the corrected time distance gear.

[0105] Specifically, if the current distance gear is level 1, and the received gear adjustment command is the second preset adjustment amount, which is to adjust to the highest gear by one level, and after judgment it is determined that there is an optional gear, then the corrected distance gear is determined to be level 2; if the current distance gear is level 4, and the received gear adjustment command is the second preset adjustment amount, which is to adjust to the highest gear by one level, and after judgment it is determined that there is no optional gear, then no gear adjustment is performed, and the corrected distance gear is determined to be level 4.

[0106] Figure 5 The flowchart for the second type of time-distance correction gear of the present invention is as follows: Figure 5 As shown, if the gear adjustment command is a third preset adjustment amount, then based on the current time distance gear, it is determined whether there is an optional gear. If so, the time distance gear that is between the current time distance gear and the highest time distance gear and differs from the current time distance gear by the third preset adjustment amount is determined as the corrected time distance gear. If not, the highest time distance gear is determined as the corrected time distance gear.

[0107] Specifically, if the current distance gear is level 1, and the received gear adjustment command is the third preset adjustment amount, the second preset adjustment amount is to adjust two levels to the highest gear, and after judgment it is determined that there is an optional gear, then the corrected distance gear is determined to be level 3; if the current distance gear is level 3, and the received gear adjustment command is the third preset adjustment amount, the third preset adjustment amount is to adjust two levels to the highest gear, and after judgment it is determined that there is no optional gear, then the corrected distance gear is determined to be level 4.

[0108] In this embodiment, determining the following distance based on the corrected distance gear and the vehicle speed includes:

[0109] Based on the corrected distance gear and the vehicle speed, the theoretical following distance is determined by a first relationship table or a first fitting curve; wherein, the first relationship table or the first fitting curve is used to characterize the relationship between different corrected distance gears and different vehicle speeds and the corresponding theoretical following distance.

[0110] Based on the vehicle speed, a minimum safe distance is determined using a second relationship table or a second fitted curve, and a correction coefficient is determined using a third relationship table or a third fitted curve; wherein, the second relationship table or the second fitted curve is used to characterize the relationship between different vehicle speeds and their corresponding minimum safe distances; and the third relationship table or the third fitted curve is used to characterize the relationship between different vehicle speeds and their corresponding correction coefficients.

[0111] The following distance is determined based on the theoretical following distance, the minimum safe distance, and the correction coefficient.

[0112] Specifically, the first relationship table or first fitted curve, the second relationship table or second fitted curve, and the third relationship table or third fitted curve are all obtained by fitting historical data, and the accuracy of the corresponding relationship changes is relatively high.

[0113] in, Figure 6 This is a schematic diagram of the first fitting curve of the present invention, as shown below. Figure 6 As shown, the horizontal axis represents the vehicle's speed in kilometers per hour, and the vertical axis represents the minimum safe following distance in meters; the second fitted curve shows the theoretical following distance under four different following distance settings. Figure 7 This is a schematic diagram of the second fitting curve of the present invention, as shown below. Figure 7 As shown, the horizontal axis represents the vehicle's speed in kilometers per hour, and the vertical axis represents the theoretical following distance in meters. From top to bottom, they are: theoretical following distance for Level 4, theoretical following distance for Level 3, theoretical following distance for Level 2, and theoretical following distance for Level 1.

[0114] Generally speaking, the higher the following gear level, the greater the theoretical following distance. When there are potential hazards, the following distance can be adjusted using a correction factor.

[0115] Figure 8 This is a schematic diagram of the third fitting curve of the present invention, as shown below. Figure 8 As shown, the horizontal axis represents the vehicle speed in kilometers per hour, and the vertical axis represents the correction factor.

[0116] In another implementation method, the minimum safe distance is set to be related to the vehicle type. That is, when the target is a small vehicle, the minimum safe distance is a preset distance value; when the target is a large vehicle, the minimum safe distance is determined by the vehicle speed.

[0117] In this example, the following formula is used to calculate the following distance:

[0118] S = (S0 + S′) × η;

[0119] Where S is the following distance; S0 is the theoretical following distance; S′ is the minimum safe distance; and η is the correction factor.

[0120] This example presents a following distance determination device. Figure 9 This is a schematic diagram of the following distance determination device of the present invention, as shown below. Figure 9 As shown, the device includes:

[0121] The mode determination module 10 is used to determine whether the vehicle is in adaptive cruise mode;

[0122] The parameter acquisition module 20 is used to acquire the vehicle speed, gear adjustment command, and current time-distance gear; the gear adjustment command is determined through vehicle button input, voice input, or weather data.

[0123] The gear position correction module 30 is used to correct the current time distance gear based on the gear position adjustment command to obtain the corrected time distance gear.

[0124] The distance determination module 40 is used to determine the following distance based on the corrected distance gear and the vehicle speed.

[0125] This embodiment proposes a machine-readable storage medium storing instructions that cause a machine to perform the following distance determination method described above.

[0126] This embodiment proposes a vehicle including the aforementioned following distance determination device.

[0127] The above examples are merely preferred embodiments for the purpose of fully illustrating the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

[0128] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy distinction and are not intended to limit the scope of protection of this application.

Claims

1. A method of determining a following distance, characterized by, The method includes: Confirm that the vehicle is in adaptive cruise control mode; The system acquires the vehicle's speed, gear adjustment command, and current gear position. The gear adjustment command is determined via vehicle button input, voice input, or weather data, with the priority of the gear adjustment command from highest to lowest as follows: vehicle button input, voice input, and weather data. The gear adjustment command includes the gear adjustment amount. The weather data includes the rainfall at the previous moment and the rainfall at the current moment. Determining the gear adjustment command through weather data includes: determining the gear adjustment amount based on the rainfall at the previous moment and the rainfall at the current moment, specifically including: If the rainfall at the current moment is less than or equal to the rainfall at the previous moment, or if the rainfall at the current moment is greater than the rainfall at the previous moment and the rainfall at the current moment and the rainfall at the previous moment are within the same rainfall range, then the gear adjustment amount is determined to be the first preset adjustment amount. If the rainfall at the current moment is greater than the rainfall at the previous moment, and the rainfall at the current moment and the rainfall at the previous moment are respectively within two adjacent rainfall intervals, then the gear adjustment amount is determined to be the second preset adjustment amount. If the rainfall at the current moment is greater than the rainfall at the previous moment and the rainfall at the current moment and the rainfall at the previous moment are not within two adjacent rainfall intervals, then the gear adjustment amount is determined to be the third preset adjustment amount. The third preset adjustment amount is determined based on the number of rainfall intervals between two adjacent rainfall intervals; The third preset adjustment amount is greater than the second preset adjustment amount, and the second preset adjustment amount is greater than the first preset adjustment amount; Based on the gear adjustment command, the current time distance gear is corrected to obtain the corrected time distance gear; Based on the corrected distance gear and the vehicle speed, the following distance is determined, including: Based on the corrected distance gear and the vehicle speed, the theoretical following distance is determined by a first relationship table or a first fitting curve; wherein, the first relationship table or the first fitting curve is used to characterize the relationship between different corrected distance gears and different vehicle speeds and the corresponding theoretical following distance. Based on the vehicle speed, a minimum safe distance is determined using a second relationship table or a second fitted curve, and a correction coefficient is determined using a third relationship table or a third fitted curve; wherein, the second relationship table or the second fitted curve is used to characterize the relationship between different vehicle speeds and their corresponding minimum safe distances; and the third relationship table or the third fitted curve is used to characterize the relationship between different vehicle speeds and their corresponding correction coefficients. The following distance is determined based on the theoretical following distance, the minimum safe distance, and the correction coefficient.

2. The following distance determination method according to claim 1, characterized by, Based on the gear adjustment command, the current time-distance gear is corrected to obtain the corrected time-distance gear, including: If the gear adjustment command is the first preset adjustment amount, then the current time distance gear is determined as the corrected time distance gear; If the gear adjustment command is the second preset adjustment amount, then based on the current time distance gear, it is determined whether there is an optional gear; if so, the nearest high gear of the current time distance gear is determined as the corrected time distance gear; if not, the current time distance gear is determined as the corrected time distance gear. If the gear adjustment command is a third preset adjustment amount, then based on the current time distance gear, it is determined whether there is an optional gear; if so, the time distance gear that is between the current time distance gear and the highest time distance gear and differs from the current time distance gear by the third preset adjustment amount is determined as the corrected time distance gear; otherwise, the highest time distance gear is determined as the corrected time distance gear.

3. The following distance determination method according to claim 1, characterized by, The following formula is used to calculate the following distance: ； wherein, is the following distance; is the theoretical following distance; is the minimum safety distance; is the correction factor.

4. A vehicle following distance determination device characterized by comprising: The device includes: The mode determination module is used to determine whether the vehicle is in adaptive cruise control mode; The parameter acquisition module is used to acquire the vehicle's speed, gear adjustment command, and current gear position. The gear adjustment command is determined through vehicle button input, voice input, or weather data, with the priority of the gear adjustment command from high to low as follows: vehicle button input, voice input, and weather data. The gear adjustment command includes the gear adjustment amount. The weather data includes the rainfall at the previous moment and the rainfall at the current moment. Determining the gear adjustment command through weather data includes: determining the gear adjustment amount based on the rainfall at the previous moment and the rainfall at the current moment, specifically including: If the rainfall at the current moment is less than or equal to the rainfall at the previous moment, or if the rainfall at the current moment is greater than the rainfall at the previous moment and the rainfall at the current moment and the rainfall at the previous moment are within the same rainfall range, then the gear adjustment amount is determined to be the first preset adjustment amount. If the rainfall at the current moment is greater than the rainfall at the previous moment, and the rainfall at the current moment and the rainfall at the previous moment are respectively within two adjacent rainfall intervals, then the gear adjustment amount is determined to be the second preset adjustment amount. If the rainfall at the current moment is greater than the rainfall at the previous moment and the rainfall at the current moment and the rainfall at the previous moment are not within two adjacent rainfall intervals, then the gear adjustment amount is determined to be the third preset adjustment amount. The third preset adjustment amount is determined based on the number of rainfall intervals between two adjacent rainfall intervals; the third preset adjustment amount is greater than the second preset adjustment amount, and the second preset adjustment amount is greater than the first preset adjustment amount. The gear position correction module is used to correct the current time-distance gear based on the gear position adjustment command to obtain the corrected time-distance gear. The distance determination module is used to determine the following distance based on the corrected distance gear and the vehicle speed, including: Based on the corrected distance gear and the vehicle speed, the theoretical following distance is determined by a first relationship table or a first fitting curve; wherein, the first relationship table or the first fitting curve is used to characterize the relationship between different corrected distance gears and different vehicle speeds and the corresponding theoretical following distance. Based on the vehicle speed, a minimum safe distance is determined using a second relationship table or a second fitted curve, and a correction coefficient is determined using a third relationship table or a third fitted curve; wherein, the second relationship table or the second fitted curve is used to characterize the relationship between different vehicle speeds and their corresponding minimum safe distances; and the third relationship table or the third fitted curve is used to characterize the relationship between different vehicle speeds and their corresponding correction coefficients. The following distance is determined based on the theoretical following distance, the minimum safe distance, and the correction coefficient.

5. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the following distance determination method according to any one of claims 1-3.

6. A vehicle characterized by comprising: Includes the following distance determination device as described in claim 4.

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