Method and device for updating vehicle following distance, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a method and device for updating a following distance of a vehicle, an electronic device and a storage medium. The method comprises: determining a driving user of the vehicle and a preset following distance configuration file when the vehicle is in a preset assisted driving mode; the preset following distance configuration file storing a correspondence between different vehicle speeds and different following distances; determining a to-be-adjusted direction, a to-be-adjusted reference point and a to-be-adjusted amplitude when it is monitored that the driving user manually intervenes in the preset assisted driving mode; and updating the following distance in the preset following distance configuration file according to the to-be-adjusted direction, the to-be-adjusted reference point and the to-be-adjusted amplitude. In this way, by setting the preset following distance configuration file and updating the preset following distance configuration file, the control of the following distance of the vehicle is more in line with the driving habits of the user, and the automation of the control of the following distance of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a method, apparatus, electronic device, and computer-readable storage medium for updating the following distance of a vehicle. Background Technology

[0002] With the development of intelligent driving technology, an increasing number of assisted driving modes are emerging, such as DMS (Driver Monitoring System), ACC (Adaptive Cruise Control), and adaptive coasting recovery control. These assisted driving modes, based on the driving status of the vehicle ahead and the vehicle itself, are calculated and judged by the ECU (Electronic Control Unit) and then send commands to actuators such as the throttle, brakes, or gear shift to determine whether the vehicle should accelerate, decelerate, or disengage cruise control.

[0003] Currently, assisted driving modes often offer a few preset, fixed following distance settings for drivers to choose from. These preset settings may not align with drivers' driving habits, and drivers must manually select the distance, making it difficult to dynamically adjust the following distance in real-time based on their driving habits. This results in a lack of automation and an inability to control the vehicle's following distance in a way that better suits user driving habits. Therefore, improving the automation of following distance control is a pressing technical challenge. Summary of the Invention

[0004] To address the aforementioned technical problems, embodiments of this application provide a method for updating vehicle following distance, an apparatus for updating vehicle following distance, an electronic device, and a computer-readable storage medium, so as to better align with user driving habits when controlling vehicle following distance, while simultaneously improving the degree of automation in controlling vehicle following distance.

[0005] According to one aspect of the embodiments of this application, a method for updating vehicle following distance is provided. The method includes: when the vehicle is in a preset assisted driving mode, determining the driver of the vehicle and a preset following distance configuration file; the preset following distance configuration file stores the correspondence between different vehicle speeds and different following distances; when it is detected that the driver has manually intervened in the preset assisted driving mode, determining the vehicle's direction to be adjusted, the reference point to be adjusted, and the adjustment range to be adjusted; and updating the following distance in the preset following distance configuration file according to the direction to be adjusted, the reference point to be adjusted, and the adjustment range to be adjusted.

[0006] In some embodiments, determining the driver of the vehicle includes: when it is detected that someone is in the driver's seat of the vehicle, performing facial recognition using a preset driver status monitoring system to identify the driver; and / or, when it is detected that someone is in the driver's seat of the vehicle, obtaining the current driver's seat position; and matching the current driver's seat position with a preset seat memory position to obtain the driver.

[0007] In some embodiments, it is determined whether the driver has intervened in the preset assisted driving mode by: monitoring the accelerator pedal and brake pedal of the vehicle; determining that the driver has intervened in the preset assisted driving mode when the accelerator pedal or brake pedal is detected to be depressed; and / or determining that the driver has not intervened in the preset assisted driving mode when the accelerator pedal or brake pedal is not detected to be depressed.

[0008] In some embodiments, determining the direction to be adjusted for the vehicle includes: after the driver intervenes in the preset assisted driving mode by pressing the accelerator pedal, and upon detecting that the accelerator pedal is released, determining that the direction to be adjusted is a negative adjustment; and / or, after the driver intervenes in the preset assisted driving mode by pressing the brake pedal, and upon detecting that the brake pedal is released, determining that the direction to be adjusted is a positive adjustment.

[0009] In some embodiments, determining the reference point to be adjusted for the vehicle includes: acquiring the first vehicle speed at a first moment; the first moment being the moment when the driver is detected to have made human intervention in the preset assisted driving mode; and determining the vehicle speed in the preset following distance configuration file that is closest to the first vehicle speed as the reference point to be adjusted.

[0010] In some embodiments, determining the adjustment range of the vehicle includes: acquiring a first following distance of the vehicle at a first moment and a second following distance at a second moment; the first moment is the moment when the driver is detected to have manually intervened in the preset assisted driving mode, and the second moment is the moment when the driver stops manually intervening in the preset assisted driving mode; and determining the adjustment range based on the first following distance and the second following distance.

[0011] In some embodiments, updating the following distance in the preset following distance configuration file according to the direction to be adjusted, the reference point to be adjusted, and the adjustment range includes: finding the following distance corresponding to the reference point to be adjusted from the preset following distance configuration file; and adjusting the following distance according to the direction to be adjusted and the adjustment range.

[0012] According to one aspect of the embodiments of this application, an apparatus for updating vehicle following distance is provided. The apparatus includes: a first determining module configured to determine the driver of the vehicle and a preset following distance configuration file when the vehicle is in a preset assisted driving mode; the preset following distance configuration file stores a correspondence between different vehicle speeds and different following distances; a second determining module configured to determine the vehicle's direction to be adjusted, a reference point to be adjusted, and an adjustment range to be adjusted when the driver is detected to have manually intervened in the preset assisted driving mode; and an updating module configured to update the following distance in the preset following distance configuration file according to the direction to be adjusted, the reference point to be adjusted, and the adjustment range to be adjusted.

[0013] According to one aspect of the embodiments of this application, an electronic device is provided, including one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the above-described method for updating vehicle following distance.

[0014] According to one aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, it implements the above-described method for updating vehicle following distance.

[0015] In the technical solution provided by the embodiments of this application, on the one hand, by setting a preset following distance configuration file, due to the correspondence between different vehicle speeds and different following distances in the preset following distance configuration file, the vehicle can automatically select the corresponding actual following distance in the preset following distance configuration file according to the actual vehicle speed, without the need for manual selection by the user; on the other hand, when it is detected that the driver has made human intervention in the preset assisted driving mode, by updating the following distance in the preset following distance configuration file, the system can continuously learn the user's vehicle driving habits during the process of the driver using the preset assisted driving mode, so that the updated preset following distance configuration file is more in line with the user's driving habits; thereby, it can achieve a more user-friendly control of the vehicle's following distance and improve the degree of automation in controlling the vehicle's following distance.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0018] Figure 1 This is a flowchart illustrating a method for updating vehicle following distance in an exemplary embodiment of this application;

[0019] Figure 2 yes Figure 1 A flowchart of the method for determining the direction to be adjusted of the vehicle in step S120 of the illustrated embodiment;

[0020] Figure 3 yes Figure 1 A flowchart of the method for determining the reference point to be adjusted for the vehicle in step S120 of the embodiment shown;

[0021] Figure 4 yes Figure 1 A flowchart of the method for determining the adjustment range of the vehicle in step S120 of the illustrated embodiment;

[0022] Figure 5 This is a schematic diagram illustrating the structure of a device for updating the following distance of a vehicle, as shown in an exemplary embodiment of this application. Detailed Implementation

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments identical to those described in this application. Rather, they are merely examples of apparatuses and methods identical to some aspects of this application as detailed in the appended claims.

[0024] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented as application programs, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0025] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0026] It should be noted that "multiple" as mentioned in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0027] This application provides a method for updating the following distance of a vehicle. This method can be implemented by an electronic device, which may include a distance detection device, a vehicle speed detection device, and a driver status monitoring system. In this embodiment, the electronic device can be an in-vehicle terminal.

[0028] The in-vehicle terminal may include components such as a processor and memory. The processor, which can be a CPU (Central Processing Unit), can perform facial recognition to obtain the driver's identity information, match this information to a preset following distance profile corresponding to the driver, monitor whether the preset assisted driving mode has been manually intervened by the driver, determine the current vehicle's direction to be adjusted, the reference point to be adjusted, and the adjustment range to be adjusted, and update the following distance in the preset following distance profile. The memory, which can be RAM (Random Access Memory), Flash memory, etc., can be used to store the preset following distance profile, the correspondence between the preset following distance profile and the driver, and can also store the seat memory positions of different drivers and the updated preset following distance profile.

[0029] The vehicle-mounted terminal may also include a screen, an image recognition device, an audio output device, and an audio input device. The screen may be a touch screen, which can be used to display vehicle status information and control interface. In this embodiment, the screen may display the vehicle speed and following distance, a virtual image of the vehicle in front, and the current road conditions. The image recognition device may be a camera. The audio output device may be a speaker, headphones, etc., and the audio input device may be a microphone, etc.

[0030] Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for updating vehicle following distance in an exemplary embodiment of this application.

[0031] Optionally, in this embodiment, the method for updating the vehicle following distance can be applied to an electronic device.

[0032] Electronic devices include, but are not limited to, tablet computers, personal computers, or in-vehicle terminals.

[0033] The following section will describe in detail the method for updating vehicle following distance proposed in the embodiments of this application, using the vehicle-mounted terminal as the specific execution subject.

[0034] like Figure 1 As shown, in an exemplary embodiment, the method for updating the following distance of a vehicle includes at least steps S110 to S130, which are described in detail below:

[0035] Step S110: When the vehicle is in a preset assisted driving mode, determine the vehicle's driver user and preset following distance configuration file.

[0036] In this embodiment, the preset assisted driving mode automatically controls the vehicle's driving force or braking force to maintain a following distance or constant speed when the driver does not press either the accelerator or the brake pedal. For example, the preset assisted driving modes include ACC (Adaptive Cruise Control) or adaptive coasting recovery control. This application exemplifies these two modes, but is not limited to them.

[0037] Adaptive Cruise Control (ACC) builds upon cruise control by using vehicle radar to detect the relative distance and speed between the vehicle and the vehicle ahead, actively controlling the vehicle's speed to achieve automatic following. When there are no vehicles ahead, it maintains a stable cruise speed set by the driver. When a target vehicle is ahead, it can adjust its following speed based on the vehicle's behavior; for example, if the vehicle ahead decelerates, the vehicle automatically decelerates to maintain a safe distance (this safe distance can be manually selected by the driver); if the vehicle ahead accelerates, the vehicle automatically accelerates back to the set cruise speed.

[0038] Adaptive coasting recovery control automatically adjusts the regenerative torque when a target vehicle is detected ahead, using radar to detect the relative distance and speed between the vehicle and the vehicle ahead. This automatically adjusts the vehicle speed to improve coasting energy recovery efficiency and driving economy. For example, when the relative distance to the vehicle ahead is less than a certain threshold and the relative speed is gradually increasing, the ECU (Electronic Control Unit) calculates the target deceleration required for adaptive coasting recovery based on the relative speed and distance. Combining the relationship between the target deceleration and the target regenerative torque, it calculates an appropriate regenerative torque value as the target torque value for energy recovery.

[0039] Preset following distance profiles can be in tabular or document format. These profiles are obtained through real-vehicle calibration and can be configured in the vehicle terminal to accommodate the following distance habits of most drivers at different speeds.

[0040] In this embodiment of the disclosure, the preset following distance configuration file is a preset following distance table. As shown in Table 1, Table 1 is an example table of a preset following distance configuration file provided in this embodiment of the disclosure.

[0041]

[0042] Table 1

[0043] Table 1 stores the corresponding relationships between different vehicle speeds and following distances. When the vehicle speed is 50 km / h, the corresponding following distance is 20 m; when the vehicle speed is 60 km / h, the corresponding following distance is 23 m; and when the vehicle speed is 70 km / h, the corresponding following distance is 26 m.

[0044] Step S120: When it is detected that the driver has made human intervention in the preset assisted driving mode, determine the direction to be adjusted, the reference point to be adjusted, and the adjustment range of the vehicle.

[0045] When the vehicle is in the preset assisted driving mode, if the driver manually intervenes in the preset assisted driving mode, it is considered that the driver is not satisfied with the current preset assisted driving mode and it does not conform to the driver's driving habits. Then, parameters are captured to determine the vehicle's direction to be adjusted, the reference point to be adjusted, and the adjustment range.

[0046] In some implementations, it is determined whether the driver has intervened in the preset driver assistance mode by: monitoring the accelerator pedal and brake pedal of the vehicle; determining that the driver has intervened in the preset driver assistance mode if the accelerator pedal and / or brake pedal is detected to be depressed; and / or determining that the driver has not intervened in the preset driver assistance mode if neither the accelerator pedal nor the brake pedal is detected to be depressed.

[0047] For example, when the vehicle is in a preset assisted driving mode, the accelerator and brake pedals are monitored. If either the accelerator or brake pedal is pressed, it is considered that the driver has intervened in the preset assisted driving mode. If neither the accelerator nor brake pedal is pressed, it is considered that the driver has not intervened. When the driver intervenes in the preset assisted driving mode, it is considered that the driver is dissatisfied with the current preset assisted driving mode. The following distance in the preset following distance configuration file is updated by determining the vehicle's direction to be adjusted, the reference point to be adjusted, and the adjustment range to be adjusted, so that the updated following distance is more in line with the user's driving habits.

[0048] It should be understood that the direction to be adjusted is used to represent the increase or decrease of the following distance in the preset following distance configuration file. The direction to be adjusted includes positive adjustment or negative adjustment. When the direction to be adjusted is positive, it is used to represent an increase in the following distance in the preset following distance configuration file; when the direction to be adjusted is negative, it is used to represent a decrease in the following distance in the preset following distance configuration file.

[0049] Since the driver manually intervenes in the preset assisted driving mode at this speed point, it is considered that the driver is not satisfied with the following distance corresponding to this speed point. Therefore, the reference point to be adjusted is used to represent the speed point that needs to be adjusted in the preset following distance configuration file.

[0050] The adjustment range is used to characterize the specific value of adjusting the following distance in the preset following distance configuration file. The maximum adjustment value for a single adjustment is delta, and deltaRaw is the adjustment value determined based on the first and second following distances. Specifically, if deltaRaw is less than delta, then deltaRaw is determined as the adjustment range; if deltaRaw is greater than or equal to delta, then delta is determined as the adjustment range.

[0051] Step S130: Update the following distance in the preset following distance configuration file according to the direction to be adjusted, the reference point to be adjusted, and the adjustment range to be adjusted.

[0052] For example, the reference point to be adjusted is used to represent the vehicle speed point in the preset following distance configuration file that needs to be adjusted. The direction to be adjusted is the increase or decrease of the following distance in the preset following distance configuration file. The magnitude to be adjusted represents the specific value of the adjustment to the following distance in the preset following distance configuration file. Based on the reference point to be adjusted, the following distance corresponding to the reference point to be adjusted is found in the preset following distance configuration file. Then, the following distance is adjusted according to the direction and magnitude to be adjusted, thereby updating the preset following distance configuration file. This allows the vehicle to detect its own speed in real time based on the updated preset following distance configuration file, and facilitates the matching of a following distance that is more in line with the user's driving habits from the updated preset following distance configuration file. This makes the control of the following distance more in line with the user's driving habits, thereby improving the user experience.

[0053] In some implementations, determining the vehicle's driver user includes: if an occupant is detected in the driver's seat, performing facial recognition using a pre-set driver status monitoring system to identify the driver user; and / or, if an occupant is detected in the driver's seat, obtaining the current driver's seat position; and matching the current driver's seat position with a pre-set seat memory position to obtain the driver user. By identifying the driver user based on a driver status monitoring system or seat memory position, the influence of users with different driving habits on updating the pre-set following distance configuration file can be eliminated.

[0054] The purpose of identifying the vehicle's driver is to learn the driving habits of different drivers of the same vehicle, so that the corresponding preset following distance profile can be adjusted and updated accordingly, making the adjusted and updated preset following distance profile conform to the habits of different drivers.

[0055] The driver status monitoring system is part of the human-machine interaction for autonomous driving. It uses images captured by cameras for facial recognition, hand gesture recognition, and posture recognition. The system can also determine whether the driver is in a normal or abnormal driving state. If the onboard terminal detects the driver's presence and attentiveness, it determines the driver is in a normal driving state; if it detects driver fatigue, distracted driving, or extremely abnormal driving, it determines the driver is in an abnormal driving state.

[0056] The driver status monitoring system can identify the driver user through facial recognition and send the driver user's identity information to the bus. The ECU (Electronic Control Unit) identifies the first received user as user1, and subsequent new user information as user2, and so on. Typically, no more than two drivers are frequently used in a vehicle; in this embodiment, the on-board terminal stores two drivers.

[0057] The driver status monitoring system includes a body domain control unit, an intelligent driving domain control unit, and a powertrain chassis domain control unit. The body domain control unit is used to control seat position adjustment, identify whether there is a person in the seat, and memorize and identify the seat position. The intelligent driving domain control unit is used to sense the distance between the vehicle in front and the vehicle itself, and realize the control of preset driving assistance modes. The powertrain chassis domain control unit is used to identify the current vehicle speed, current vehicle gear, accelerator pedal status, brake pedal status, etc., and control vehicle drive.

[0058] The vehicle terminal stores multiple seat memory positions, including multiple seat memory positions corresponding to one driver user, and seat memory positions corresponding to multiple different drivers.

[0059] The in-vehicle terminal can identify the driver of the vehicle through facial recognition or by detecting the position of the driver's seat.

[0060] For example, when the vehicle terminal detects that someone is in the driver's seat, it captures the user's image on the driver's seat through the camera of the driver status monitoring system, and identifies the driver by recognizing the user's image.

[0061] For example, when the vehicle terminal detects that there is someone in the driver's seat of the vehicle, it matches the current driver's seat position with the seat memory position stored in the vehicle terminal, determines the seat memory position with the highest similarity to the detected driver's seat position as the target position, matches the user corresponding to the target position from the vehicle terminal, and determines the user as the driver user.

[0062] In some implementations, determining a preset following distance table for a vehicle includes: matching a preset following distance table corresponding to a driver user from a preset database; the database stores the correspondence between driver users and preset following distance tables.

[0063] The vehicle terminal can store multiple preset following distance tables, and different preset following distance tables correspond to different driving users.

[0064] In some implementations, it is determined whether the driver has intervened in the preset driver assistance mode by: monitoring the accelerator pedal and brake pedal of the vehicle; determining that the driver has intervened in the preset driver assistance mode if the accelerator pedal or brake pedal is detected to be depressed; and / or determining that the driver has not intervened in the preset driver assistance mode if the accelerator pedal or brake pedal is not detected to be depressed.

[0065] For example, after identifying the driver, the vehicle terminal monitors the accelerator pedal and brake pedal. If the vehicle was in a preset assisted driving mode before the accelerator pedal or brake pedal was pressed, it is determined that the driver has manually intervened in the preset assisted driving mode.

[0066] For example, after identifying the driver, the vehicle terminal monitors the accelerator pedal and brake pedal. If the vehicle was not in a preset assisted driving mode before the accelerator pedal or brake pedal was pressed, the preset following distance configuration file will not be updated.

[0067] For example, if the vehicle terminal does not identify the driver user, the preset following distance configuration file will not be updated.

[0068] Optionally, after detecting that the driver has manually intervened in the preset assisted driving mode, the method further includes: monitoring the vehicle's following target; and stopping the update of the preset following distance configuration file if the following target is lost.

[0069] Optionally, after detecting that the driver has manually intervened in the preset assisted driving mode, the method further includes: monitoring the following distance of the vehicle; and stopping the update of the preset following distance configuration file if the following distance is detected to be outside the preset range. The preset range is [0.5m, 100m].

[0070] Optionally, after detecting that the driver has manually intervened in the preset assisted driving mode, the method further includes: monitoring the vehicle's speed; and if the vehicle speed exceeds a preset threshold, stopping the update of the preset following distance configuration file. The preset threshold is 120m.

[0071] Optionally, after detecting that the driver has manually intervened in the preset assisted driving mode, the method further includes: monitoring the vehicle's accelerator pedal and brake pedal; if the accelerator pedal and brake pedal are simultaneously depressed, then updating the preset following distance profile is stopped. In this way, by promptly monitoring the vehicle's following behavior after manual intervention in the preset assisted driving mode, updates to the preset following distance profile can be stopped in a timely manner, avoiding the collection of parameters that do not conform to the current following situation, thereby improving the accuracy of the preset following distance profile.

[0072] In some implementations, determining the direction to be adjusted for the vehicle includes: after the driver intervenes in the preset assisted driving mode by pressing the accelerator pedal, and upon detecting that the accelerator pedal is released, determining that the direction to be adjusted is a negative adjustment; and / or, after the driver intervenes in the preset assisted driving mode by pressing the brake pedal, and upon detecting that the brake pedal is released, determining that the direction to be adjusted is a positive adjustment.

[0073] Based on the scenario of activating a preset assisted driving mode, by capturing the timing of the driver's intervention in the preset assisted driving mode and the relevant parameters at that moment, the following distance is adaptively adjusted, which greatly simplifies the learning model and the number of parameters, and improves the practicality of the control algorithm in engineering applications.

[0074] For example, if a driver intervenes in the preset assisted driving mode by pressing the accelerator pedal, it is considered that the following distance at the current speed is too far, and the following distance is reduced by pressing the accelerator pedal; when the accelerator pedal is released, it is considered that the human intervention has ended and the following distance has been reduced to a distance that conforms to the driver's habits. Since pressing the accelerator pedal is to accelerate and reduce the following distance, the adjustment direction of the following distance is negative.

[0075] For example, if a driver intervenes in the preset assisted driving mode by pressing the brake pedal, it is considered that the following distance at the current speed is too close, and the following distance is increased by pressing the brake pedal; when the brake pedal is released, it is considered that the human intervention has ended and the following distance has increased to a distance that conforms to the driver's habits. Since pressing the brake pedal decelerates and increases the following distance, the adjustment direction of the following distance is positive.

[0076] In some implementations, determining the reference point to be adjusted for the vehicle includes: acquiring the vehicle's first speed at a first moment; the first moment being the moment when the driver's manual intervention in the preset assisted driving mode is detected; and determining the speed in the preset following distance configuration file that is closest to the first speed as the reference point to be adjusted.

[0077] If no vehicle speed in the preset following distance configuration file matches the first speed, the speeds closest to the first speed include both the first and second vehicle speeds. The first vehicle speed is the speed in the preset following distance configuration file that is closest to the first speed but less than it; the second vehicle speed is the speed in the preset following distance configuration file that is closest to the first speed but greater than it. In this case, the reference points to be adjusted are the first and second vehicle speeds.

[0078] If a vehicle with the same speed as the first vehicle speed exists in the preset following distance configuration file, the vehicle speed closest to the first vehicle speed is the current vehicle speed, which is the same as the first vehicle speed. In this case, the reference point to be adjusted is the current vehicle speed, which is the same as the first vehicle speed.

[0079] For example, if the initial vehicle speed is 45 km / h, as shown in Table 1, there is no speed in the preset following distance table that matches 45 km / h. Therefore, the first vehicle speed (40 km / h) and the second vehicle speed (50 km / h) in the preset following distance table that are closest to 45 km / h are determined as the reference points to be adjusted. Similarly, if the initial vehicle speed is 40 km / h, as shown in Table 1, there is a speed in the preset following distance table that matches 40 km / h. Therefore, the vehicle speed of 40 km / h in the preset following distance table is determined as the reference point to be adjusted.

[0080] In some implementations, determining the adjustment range of the vehicle includes: acquiring a first following distance of the vehicle at a first moment and a second following distance at a second moment; the first moment is the moment when it is detected that the driver user has manually intervened in the preset assisted driving mode, and the second moment is the moment when it is detected that the driver user has stopped manually intervening in the preset assisted driving mode; and determining the adjustment range based on the first following distance and the second following distance.

[0081] By combining relevant parameter information from the first and second moments, the magnitude of each parameter update can be calculated, thereby improving the accuracy of updating the preset following distance configuration file.

[0082] For example, the first following distance and first speed of the vehicle at a first moment are detected by the radar device in the vehicle terminal, and the second following distance and second speed of the vehicle at a second moment are detected.

[0083] For example, if the accelerator pedal or brake pedal is detected to be pressed, it is determined that the driver has intervened in the preset assisted driving mode.

[0084] For example, if the accelerator pedal is detected to be depressed and then released, it is determined that the driver stops manually intervening in the preset assisted driving mode; and / or, if the brake pedal is detected to be depressed and then released, it is determined that the driver stops manually intervening in the preset assisted driving mode.

[0085] Furthermore, determining the adjustment range based on the first and second following distances includes: calculating candidate adjustment ranges using a preset algorithm based on the first and second following distances; determining whether the candidate adjustment range is less than a preset range threshold; if the candidate adjustment range is less than the preset range threshold, determining the candidate adjustment range as the adjustment range to be adjusted; and / or, if the candidate adjustment range is greater than or equal to the preset range threshold, determining the preset range threshold as the adjustment range to be adjusted. In this way, limiting the maximum amplitude of a single adjustment by the preset range threshold ensures that the adjustment range is not too large, thereby improving the accuracy of the adjustment.

[0086] Furthermore, the adjustment range is determined based on the first and second following distances, including: through calculation. Obtain alternative adjustment ranges; where deltaRaw is the alternative adjustment range, L1 is the first following distance, L2 is the second following distance, V1 is the first speed of the vehicle at the first moment, and V2 is the second speed of the vehicle at the second moment.

[0087] In some implementations, the following distance in the preset following distance configuration file is updated according to the direction to be adjusted, the reference point to be adjusted, and the adjustment range, including: finding the following distance corresponding to the reference point to be adjusted from the preset following distance configuration file; and adjusting the following distance according to the direction to be adjusted and the adjustment range.

[0088] For example, the preset following distance configuration file is shown in Table 1. The first vehicle speed is 45 km / h. The reference points to be adjusted are the first vehicle speed of 40 km / h and the second vehicle speed of 50 km / h in the preset following distance table. The following distance corresponding to the first vehicle speed of 40 km / h is 15 m, and the following distance corresponding to the second vehicle speed of 50 km / h is 20 m. The direction to be adjusted is negative, and the adjustment increment is 1. Then the adjusted following distances are 14 m and 19 m respectively.

[0089] As shown in Table 2, Table 2 is an example table of an updated preset following distance configuration file provided in the embodiments of this disclosure.

[0090]

[0091] Table 2

[0092] In Table 2, before the update, the following distance corresponding to 40 km / h was 15 m, and the following distance corresponding to 50 km / h was 20 m; after the update, the following distance corresponding to 40 km / h was 14 m, and the following distance corresponding to 50 km / h was 19 m.

[0093] Optionally, the adjusted following distance corresponding to the reference point to be adjusted must not be lower than the following distance to the adjacent left in the preset following distance configuration file, and must not be higher than the following distance to the adjacent right. If the adjusted following distance is lower than the following distance to the adjacent left in the preset following distance configuration file, the following distance corresponding to the reference point to be adjusted will be the same as the following distance to the adjacent left. If the adjusted following distance is greater than the following distance to the adjacent right in the preset following distance configuration file, the following distance corresponding to the reference point to be adjusted will be the same as the following distance to the adjacent right. For example, as shown in Table 1, before the update, the following distance corresponding to 40 km / h is 15 m, and the speed and following distance to the adjacent left are 30 km / h and 10 m, respectively. If the updated following distance corresponding to 40 km / h is less than the following distance corresponding to 30 km / h (10 m), then the following distance corresponding to 40 km / h will be the same as 10 m.

[0094] Optionally, in the preset following distance configuration file, the adjusted following distance corresponding to the vehicle speed is within a preset range. As shown in Table 3, Table 3 is an example table of following distance adjustment range provided by an embodiment of this disclosure.

[0095]

[0096] Table 3

[0097] In Table 3, the following distance adjustment range is [5, 15] for a vehicle speed of 30 km / h, [5, 25] for a vehicle speed of 40 km / h, and [13, 33] for a vehicle speed of 60 km / h. By setting the following distance adjustment range, the cumulative adjustment of the following distance at each speed can be limited. Once the adjustment exceeds the range, the minimum or maximum value within the range is applied.

[0098] Please see Figure 2 , Figure 2 The process of determining the vehicle's direction to be adjusted in step S120 can include steps S210 to S230, which are described in detail below:

[0099] Step S210: Determine whether the driver has manually intervened in the preset assisted driving mode by pressing the accelerator pedal; if yes, proceed to step S220; if no, proceed to step S230.

[0100] Step S220: If the accelerator pedal is detected to be released, determine that the direction to be adjusted is negative. Then end.

[0101] Step S230: Determine whether the driver has manually intervened in the preset assisted driving mode by pressing the brake pedal; if yes, proceed to step S240; otherwise, end.

[0102] Step S240: If the brake pedal is detected to be released, determine that the direction to be adjusted is positive. Then end.

[0103] In this embodiment, if the driver intervenes in the preset assisted driving mode by pressing the accelerator pedal, it is considered that the following distance at the current vehicle speed is too far, and the following distance is reduced by pressing the accelerator pedal. When the accelerator pedal is released, it is considered that the human intervention has ended and the following distance has been reduced to a distance that conforms to the driver's habits. Since pressing the accelerator pedal is to accelerate and reduce the following distance, the adjustment direction of the following distance is negative.

[0104] If the driver manually intervenes in the preset assisted driving mode by pressing the brake pedal, it is considered that the following distance at the current speed is too close, and the following distance is increased by pressing the brake pedal. When the brake pedal is released, it is considered that the manual intervention has ended and the following distance has increased to a distance that conforms to the driver's habits. Since pressing the brake pedal decelerates and increases the following distance, the adjustment direction of the following distance is positive.

[0105] Based on the scenario where the vehicle is in a preset assisted driving mode, by capturing the timing of the driver's intervention in the preset assisted driving mode and the relevant parameters at that moment, the following distance is adaptively adjusted, which greatly simplifies the learning model and the number of parameters, and improves the practicality of the control algorithm in engineering applications.

[0106] Please see Figure 3 , Figure 3 The process of determining the reference point to be adjusted for the vehicle in step S120 can include steps S310 to S320, which are described in detail below:

[0107] Step S310: Obtain the vehicle's first speed at the first moment; the first moment is the moment when the driver is detected to have made a human intervention in the preset assisted driving mode.

[0108] Step S320: Determine the speed in the preset following distance configuration file that is closest to the first speed as the reference point to be adjusted.

[0109] In this embodiment, by using relevant parameters at the moment when the driver intervenes in the preset assisted driving mode, the following distance can be adaptively adjusted, which simplifies the learning model and the number of parameters, and improves the practicality of the control algorithm in engineering applications.

[0110] For example, if there is no vehicle speed in the preset following distance configuration file that is the same as the first vehicle speed, the vehicle speed closest to the first vehicle speed includes the first vehicle speed and the second vehicle speed; wherein, the first vehicle speed is the vehicle speed in the preset following distance configuration file that is closest to the first vehicle speed but less than the first vehicle speed; the second vehicle speed is the vehicle speed in the preset following distance configuration file that is closest to the first vehicle speed but greater than the first vehicle speed. In this case, the reference points to be adjusted are the first vehicle speed and the second vehicle speed.

[0111] For example, if a vehicle speed with the same speed as the first vehicle speed exists in the preset following distance configuration file, the vehicle speed closest to the first vehicle speed is the current vehicle speed, which is the same as the first vehicle speed. In this case, the reference point to be adjusted is the current vehicle speed, which is the same as the first vehicle speed.

[0112] Please see Figure 4 , Figure 4 This refers to the process of determining the adjustment range of the vehicle in step S120, which may include steps S410 to S450, as detailed below:

[0113] Step S410: Obtain the first following distance of the vehicle at the first moment and the second following distance at the second moment; the first moment is the moment when the driver is detected to have manually intervened in the preset assisted driving mode, and the second moment is the moment when the driver is detected to have stopped manually intervening in the preset assisted driving mode. Then execute step S420.

[0114] Step S420: Calculate the alternative adjustment range using the first and second following distances according to a preset algorithm. Then execute step S430.

[0115] Step S430: Determine whether the alternative adjustment range is less than the preset range threshold; if yes, proceed to step S440; if no, proceed to step S450.

[0116] Step S440: Determine the alternative adjustment range as the range to be adjusted. Then end.

[0117] Step S450: Determine the preset amplitude threshold as the amplitude to be adjusted. Then end.

[0118] In this embodiment, by combining relevant parameter information from the first and second moments, the magnitude of each parameter update is comprehensively calculated, which improves the accuracy of updating the preset following distance configuration file. Simultaneously, by limiting the maximum magnitude of a single adjustment through a preset magnitude threshold, the magnitude of each adjustment is prevented from becoming excessive, thereby improving the accuracy of the adjustment.

[0119] Combination Figure 5 As shown, another exemplary embodiment of this application also provides an apparatus for updating vehicle following distance, the apparatus comprising: a first determining module 510, a second determining module 520, and an updating module 530. The first determining module 510 is configured to determine the vehicle's driver and a preset following distance configuration file when the vehicle is in a preset assisted driving mode; the preset following distance configuration file stores the correspondence between different vehicle speeds and different following distances; the second determining module 520 is configured to determine the vehicle's direction to be adjusted, the reference point to be adjusted, and the adjustment range when it is detected that the driver has manually intervened in the preset assisted driving mode; the updating module 530 is configured to update the following distance in the preset following distance configuration file according to the direction to be adjusted, the reference point to be adjusted, and the adjustment range.

[0120] Furthermore, the first determining module 510 is configured to determine the driver of the vehicle by: using a preset driver status monitoring system to perform facial recognition to identify the driver when the driver's seat of the vehicle is detected to be occupied; and / or, obtaining the current driver's seat position when the driver's seat of the vehicle is detected to be occupied; and matching the current driver's seat position with a preset seat memory position to obtain the driver.

[0121] Furthermore, the second determining module 520 is also configured to determine whether the driver has manually intervened in the preset assisted driving mode by: monitoring the accelerator pedal and brake pedal of the vehicle; determining that the driver has manually intervened in the preset assisted driving mode when the accelerator pedal or brake pedal is detected to be depressed; and / or determining that the driver has not manually intervened in the preset assisted driving mode when the accelerator pedal or brake pedal is not detected to be depressed.

[0122] Furthermore, the second determining module 520 is configured to determine the direction to be adjusted of the vehicle by: after the driver intervenes in the preset assisted driving mode by pressing the accelerator pedal, and upon detecting that the accelerator pedal is released, determining that the direction to be adjusted is negative; and / or, after the driver intervenes in the preset assisted driving mode by pressing the brake pedal, and upon detecting that the brake pedal is released, determining that the direction to be adjusted is positive.

[0123] Furthermore, the second determining module 520 is configured to determine the reference point to be adjusted for the vehicle by: acquiring the vehicle's first speed at a first moment; the first moment being the moment when the driver is detected to have made human intervention in the preset assisted driving mode; and determining the speed in the preset following distance configuration file that is closest to the first speed as the reference point to be adjusted.

[0124] Furthermore, the second determining module 520 is configured to determine the adjustment range of the vehicle by: acquiring the first following distance of the vehicle at a first moment and the second following distance at a second moment; the first moment is when the driver is detected to have manually intervened in the preset assisted driving mode, and the second moment is when the driver is detected to have stopped manually intervening in the preset assisted driving mode; and determining the adjustment range based on the first following distance and the second following distance.

[0125] Furthermore, the update module 530 is configured to update the following distance in the preset following distance configuration file according to the direction to be adjusted, the reference point to be adjusted, and the adjustment range in the following manner: find the following distance corresponding to the reference point to be adjusted from the preset following distance configuration file; and adjust the following distance according to the direction to be adjusted and the adjustment range.

[0126] It should be noted that the device for updating vehicle following distance provided in the above embodiments and the method for updating vehicle following distance provided in the above embodiments belong to the same concept. The specific ways in which each module and unit performs its operation have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the device for updating vehicle following distance provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above, and this is not a limitation here.

[0127] Embodiments of this application also provide an electronic device, including: one or more processors; and a memory for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the method for updating vehicle following distance provided in the above embodiments.

[0128] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the network device traffic control method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0129] It should be noted that the computer-readable storage medium shown in the embodiments of this application may include, but is not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. The computer program contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0130] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.

Claims

1. A method for updating vehicle following distance, characterized in that, include: When the vehicle is in a preset assisted driving mode, determine the vehicle's driver and preset following distance configuration file; The preset following distance configuration file stores the correspondence between different vehicle speeds and different following distances; If the driver is detected to have made a human intervention in the preset assisted driving mode, the vehicle's direction to be adjusted, the reference point to be adjusted, and the adjustment range are determined. The following distance in the preset following distance configuration file is updated according to the direction to be adjusted, the reference point to be adjusted, and the adjustment range; Determining the driver of the vehicle includes: If a person is detected in the driver's seat of the vehicle, facial recognition is performed using a preset driver status monitoring system to identify the driver; and / or, If a person is detected in the driver's seat of the vehicle, obtain the current position of the driver's seat; The driver user is obtained by matching the current driver's seat position with the preset seat memory position; Whether the driver has manually intervened in the preset assisted driving mode is determined by the following methods: The accelerator pedal and brake pedal of the vehicle are monitored; If the accelerator pedal or brake pedal is detected to be depressed, it is determined that the driver has manually intervened in the preset assisted driving mode; and / or, If the accelerator pedal or brake pedal is not pressed, it is determined that the driver has not intervened in the preset assisted driving mode.

2. The method according to claim 1, characterized in that, Determining the direction to be adjusted for the vehicle includes: After the driver manually intervenes in the preset assisted driving mode by pressing the accelerator pedal, and upon detecting that the accelerator pedal is released, the direction to be adjusted is determined to be negative; and / or, After the driver intervenes in the preset assisted driving mode by pressing the brake pedal, and the brake pedal is detected to be released, the direction to be adjusted is determined to be positive.

3. The method according to claim 1, characterized in that, Determining the reference point to be adjusted for the vehicle includes: The first vehicle speed is obtained at a first moment; the first moment is the moment when the driver is detected to have manually intervened in the preset assisted driving mode. The vehicle speed in the preset following distance configuration file that is closest to the first vehicle speed is determined as the reference point to be adjusted.

4. The method according to claim 1, characterized in that, Determining the adjustment range to be made for the vehicle includes: The vehicle's first following distance at a first moment and its second following distance at a second moment are obtained; the first moment is when the driver is detected to have manually intervened in the preset assisted driving mode, and the second moment is when the driver is detected to have stopped manually intervening in the preset assisted driving mode. The adjustment range is determined based on the first following distance and the second following distance.

5. The method according to claim 1, characterized in that, The following distance in the preset following distance configuration file is updated based on the direction to be adjusted, the reference point to be adjusted, and the adjustment range, including: Find the following distance corresponding to the reference point to be adjusted from the preset following distance configuration file; The following distance is adjusted according to the direction and magnitude to be adjusted.

6. A device for updating vehicle following distance, characterized in that, include: The first determining module is configured to determine the driver of the vehicle and the preset following distance configuration file when the vehicle is in a preset assisted driving mode. The preset following distance configuration file stores the correspondence between different vehicle speeds and different following distances; The second determining module is configured to determine the direction to be adjusted, the reference point to be adjusted, and the adjustment range of the vehicle when the driver is detected to have made human intervention in the preset assisted driving mode. The update module is configured to update the following distance in the preset following distance configuration file based on the direction to be adjusted, the reference point to be adjusted, and the adjustment range to be adjusted. The first determining module is configured to determine the driver of the vehicle by: when it is detected that there is someone in the driver's seat of the vehicle, using a preset driver status monitoring system to perform facial recognition to identify the driver; And / or, if a person is detected in the driver's seat of the vehicle, obtain the current position of the driver's seat; match the current position of the driver's seat with the preset seat memory position to obtain the driver user; The second determining module is further configured to determine whether the driver has manually intervened in the preset assisted driving mode by monitoring the vehicle's accelerator pedal and brake pedal. If the accelerator pedal or brake pedal is detected to be pressed, it is determined that the driver has manually intervened in the preset assisted driving mode. And / or, if it is detected that the accelerator pedal or brake pedal is not pressed, determine that the driver has not manually intervened in the preset driver assistance mode.

7. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the method for updating the following distance of a vehicle as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method for updating the following distance of a vehicle as described in any one of claims 1 to 5.

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