A control method, device, equipment, medium and product of an auxiliary driving system

Abstract

The present disclosure provides a control method, device, equipment, medium and product of an assisted driving system, belonging to the technical field of assisted driving. When the vehicle is in a double flash mode open state, by closing the control authority of the automatic emergency braking system, the emergency lane keeping and the rear proximity warning system on the corresponding actuators, the safety hazards caused by emergency braking of the vehicle can be avoided, and the control of the rear proximity warning system on the double flash is prevented, which affects the maintenance of the vehicle double flash mode open state; by configuring the collision time distance of the front collision warning system as the upper limit of the collision time distance, configuring the warning level of the lane departure warning system as the lowest, configuring the time distance of the adaptive cruise control system as the upper limit of the time distance, and configuring the speed upper limit of the adaptive cruise control system as the cruise speed lower limit, the braking is more gentle, and the collision danger is prevented when the vehicle takes braking measures due to excessive speed and too small vehicle distance.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of assisted driving, and in particular to a control method and device of an assisted driving system, equipment, medium and product. BACKGROUND

[0002] An assisted driving system (ADAS, Advanced Driving Assistance System) can take over the corresponding components in the vehicle and perform automatic control according to the environmental information (such as traffic lights, the distance between the vehicle and surrounding vehicles) around the vehicle. The assisted driving systems commonly equipped in current vehicles include automatic emergency braking system (AEB), forward collision warning system (FCW), lane departure warning system (LDW), emergency lane keeping (ELK), adaptive cruise control system (ACC) and rear proximity warning system (RCW) and the like.

[0003] When the vehicle is being towed, when driving in a low-visibility environment, and when driving in a vehicle team allowed by the traffic police department, the vehicle needs to be turned on in the double-flash mode. If the control authority of the automatic emergency braking system (AEB) and the lane departure warning system (LDW) on the corresponding actuators is in an open state when the vehicle is turned on in the double-flash mode, it may cause safety hazards due to emergency braking or emergency steering of the vehicle. If the control authority of the rear proximity warning system (RCW) on the double-flash light is in an open state, the vehicle may not be able to maintain the double-flash mode in the open state due to the control of the forward collision warning system (FCW) on the double-flash light. If the sensitivity of the lane departure warning system (LDW) is high, the lane departure warning system (LDW) may be frequently triggered when towing other vehicles causes unstable lateral motion. If the collision time of the forward collision warning system (FCW) is too small, and the time distance and speed upper limit of the adaptive cruise control system (ACC) are too large, the vehicle may take braking measures when the vehicle speed is too fast and the vehicle distance is too small, and the braking is not stable, and even safety problems may occur. That is, when the vehicle is turned on in the double-flash mode, if the assisted driving system still controls according to the state before the vehicle double-flash mode is turned off, there is a safety hazard, and the vehicle cannot maintain the double-flash mode in the open state. SUMMARY

[0004] The present disclosure provides a control method, device, equipment, medium and product of an assisted driving system, which can reduce the safety hazards caused by the assisted driving system when the vehicle is turned on in the double-flash mode, and can maintain the vehicle in the double-flash mode in the open state. The technical solution at least includes the following solutions:

[0005] In a first aspect, a control method of an assisted driving system is provided, comprising:

[0006] obtaining the state of the double-flash mode of the vehicle;

[0007] When the vehicle double flash mode is in the open state, it is detected whether the auxiliary driving system is in the double flash mode working state; wherein, when the auxiliary driving system is in the double flash mode working state, the control authority of the automatic emergency braking system, the emergency lane keeping system and the rear proximity warning system on the corresponding actuators is in the closed state, the collision time distance of the front collision warning system is the upper limit of the collision time distance, the warning level of the lane departure warning system is the lowest, the time distance of the adaptive cruise system is the upper limit of the time distance, and the upper limit of the speed of the adaptive cruise system is the lower limit of the cruise speed;

[0008] If yes, keep the state of each system unchanged;

[0009] If not, the system that is not in the double flash mode working state is adjusted to the double flash mode working state.

[0010] Optionally, after the double flash mode exits the open state, the auxiliary driving system returns to the state before the double flash mode is opened.

[0011] Optionally, after receiving the double flash mode open signal, it is determined that the vehicle double flash mode enters the open state; after receiving the double flash mode close signal, it is determined that the vehicle double flash mode enters the closed state; after receiving the double flash mode open signal, before receiving the double flash mode close signal, it is determined that the vehicle double flash mode is in the open state.

[0012] Optionally, after receiving the double flash mode open request signal, a dialog box is generated to confirm whether to activate the double flash mode; when confirming to activate the double flash mode, the double flash mode open signal is received.

[0013] Optionally, the vehicle surrounding environment monitoring image is also obtained, and when the dialog box is generated to confirm whether to activate the double flash mode, the vehicle surrounding environment monitoring image is displayed to remind the user.

[0014] Optionally, the actuators include braking systems, steering systems, power assemblies, double flash lights and alarm devices.

[0015] The second aspect also provides a control device of an auxiliary driving system, comprising:

[0016] The acquisition module is configured to acquire the state of the vehicle double flash mode;

[0017] The control module is configured to detect whether the auxiliary driving system is in the double-flash mode working state when the vehicle double-flash mode is in the open state; when the auxiliary driving system is in the double-flash mode working state, the control authority of the automatic emergency braking system, the emergency lane keeping system and the rear proximity warning system on the corresponding actuators is in the closed state, the collision time interval of the forward collision warning system is the upper limit of the collision time interval, the warning level of the lane departure warning system is the lowest, the time interval of the adaptive cruise system is the upper limit of the time interval, and the upper limit of the speed of the adaptive cruise system is the lower limit of the cruise speed; if yes, the states of the systems remain unchanged; if no, the system not in the double-flash mode working state is adjusted to the double-flash mode working state.

[0018] In a third aspect, a control device is provided, which includes one or more processors and one or more memories, and at least one piece of program code is stored in the one or more memories. The at least one piece of program code is loaded and executed by the one or more processors to implement the control method of the auxiliary driving system according to any of the implementation manners.

[0019] In a fourth aspect, a computer-readable storage medium is provided, which stores at least one piece of program code. The at least one piece of program code is loaded and executed by a processor to implement the control method of the auxiliary driving system according to any of the implementation manners.

[0020] In a fifth aspect, a computer program product is provided, which includes computer program code stored in a computer-readable storage medium. A processor of a control device reads the computer program code from the computer-readable storage medium. The processor executes the computer program code to cause the control device to perform the control method of the auxiliary driving system according to any of the implementation manners.

[0021] The technical scheme provided by the embodiments of the present disclosure has at least the following beneficial effects:

[0022] When the vehicle is in the double flash mode open state, the control authority of the corresponding actuators of the automatic emergency braking system, the emergency lane keeping and the rear proximity warning system is closed, which can avoid the safety hazards caused by emergency braking of the vehicle, and prevent the rear proximity warning system from controlling the double flash, which affects the maintenance of the double flash mode open state of the vehicle. In addition, when the vehicle is in the double flash mode open state, the collision time distance of the front collision warning system is configured as the upper limit of the collision time distance, the warning level of the lane departure warning system is configured as the lowest, the time distance of the adaptive cruise control system is configured as the upper limit of the time distance, and the speed upper limit of the adaptive cruise control system is configured as the lower limit of the cruise speed, so that the braking is more gentle, and the collision danger is prevented when the vehicle takes braking measures due to excessive speed and too small distance. The safety of the vehicle in the double flash mode open state and the stability of the auxiliary driving system operation are ensured, the safety and convenience are considered, and the needs of users for double flash and intelligent driving are met. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A flowchart of a control method of an auxiliary driving system is provided for one exemplary embodiment of the present disclosure.

[0024] Figure 2 A system framework diagram involved in a control method of an auxiliary driving system provided for one exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] Unless otherwise defined, the technical terms or scientific terms used herein should be understood as the usual meanings understood by persons having ordinary skills in the art to which the present disclosure belongs. The similar words such as "include" or "contain" used in the patent application specification and claims of the present disclosure mean that the elements or objects appearing before "include" or "contain" cover the elements or objects listed after "include" or "contain" and their equivalents, and do not exclude other elements or objects.

[0026] Before the detailed explanation and description of the embodiments of the present disclosure, the application scenarios and system architecture involved in the embodiments of the present disclosure are introduced.

[0027] Firstly, the system architecture involved in the embodiments of the present disclosure is introduced.

[0028] Figure 2The control method of an auxiliary driving system provided for one exemplary embodiment of the present disclosure involves a system framework diagram, which includes a body domain controller (BCM), a central gateway (CGW), an in-vehicle infotainment (IVI), ADAS sensors, an intelligent driving control unit (IDCU), and actuators.

[0029] The body domain controller (BCM) is located on the driver's side of the vehicle front compartment and is an electronic control unit for controlling the vehicle body electrical system. It is connected to other vehicle ECUs through a bus and can send control instructions to other ECUs. In this system, the body controller receives a double flash mode on signal and sends it to the bus through the gateway. It can control the opening and closing of the vehicle double flash mode.

[0030] The central gateway (CGW) is located on the co-driver side of the vehicle front compartment and is the data interaction hub of the vehicle network. It can route network data of different protocols between different network nodes. In this system, the central gateway forwards the double flash hook connection signal sent by the body domain controller to the in-vehicle entertainment display system and the intelligent driving controller.

[0031] The in-vehicle infotainment system (IVI) is composed of a host, an instrument, a central control display screen, a combination switch, and its connecting wire harness. It provides a human-vehicle interaction interface for the driver, displays vehicle status and sensor information, and allows the driver to directly operate buttons and soft switches on the combination switch or the central touch display screen to control the opening and closing of various vehicle electrical functions.

[0032] The intelligent driving sensor (ADAS Sensors) includes millimeter wave radar, cameras, ultrasonic probes, and their connecting wire harnesses. The millimeter wave radar is located at the center of the front end of the vehicle and the four corners of the vehicle body, the cameras are located on the windshield and around the vehicle body, and the ultrasonic probes are located at the front and rear bumpers of the vehicle. It is responsible for identifying environmental road conditions, other traffic participants, obstacles, and other information. When the system is running, the intelligent driving sensor sends these environmental and target data to the intelligent driving controller.

[0033] Intelligent Driving Control Unit (IDCU) is the decision center of the assisted driving system, which receives and processes the target and environment information of sensors, combines the vehicle motion information and the driver's intention on the bus, and completes various assisted driving functions. The assisted driving system currently equipped in the vehicle often includes automatic emergency braking system (AEB), forward collision warning system (FCW), lane departure warning system (LDW), emergency lane keeping system (ELK), adaptive cruise control system (ACC), blind spot monitoring system (BSD), rear proximity warning system (RCW) and parking radar auxiliary system (PAS) and other systems.

[0034] Among them, the automatic emergency braking system (AEB) can automatically monitor the distance and relative speed of the target in front of the vehicle, and when the driver brakes too late, the braking force is too small, or no braking is performed, the vehicle is controlled to alarm or actively brake.

[0035] The forward collision warning system (FCW) can sense the target in front of the vehicle in real time, and when the observation distance is less than the collision time, the vehicle is controlled to alarm.

[0036] The lane departure warning system (LDW) can alarm when the vehicle owner unconsciously deviates from the original lane and the vehicle deviates from the lane for a certain time.

[0037] The emergency lane keeping system (ELK) can avoid or reduce the damage of collision by giving reverse steering force intervention when the vehicle has a collision danger with the road boundary guardrail or when the vehicle deviates from the lane and the direction deviates from the oncoming vehicle when the vehicle is running at high speed.

[0038] The adaptive cruise control system (ACC) refers to a car function that allows the vehicle cruise control system to adjust the speed to adapt to traffic conditions. During vehicle operation, the distance sensor (radar) installed in the front of the vehicle continuously scans the road in front of the vehicle, and the wheel speed sensor collects the vehicle speed signal; when the time distance between the vehicle and the front vehicle is less than the set distance, or the vehicle operating speed is greater than the speed limit, ACC can make the wheels brake appropriately and make the engine output power decrease by coordinating with the anti-lock braking system and engine control system, so that the vehicle and the front vehicle always maintain a safe distance.

[0039] The blind spot monitoring system (BSD) can sense the rear road information through sensors installed in the left and right rearview mirrors or other positions, and when there are vehicles, pedestrians, bicycles and other moving objects behind, the blind spot monitoring system will remind the driver through the sound and light alarm or brake in emergency.

[0040] The rear collision warning system (RCW) can monitor the rear target of the vehicle in real time through radar during the driving process. When the system detects that the rear target is approaching fast and there is a risk of collision, the system will send an alarm and turn on the double flash to remind the rear vehicle to slow down or keep a safe distance.

[0041] The parking radar assistant system (PAS) can help the driver to easily park in the crowded parking lot, avoid collision and collision, and inform the driver of the surrounding obstacle situation through sound or more intuitive display, which can help the driver to eliminate the trouble caused by the front and rear exploration during parking, reversing and starting the vehicle, and help the driver to eliminate the defects of visual dead angle and blurred vision, improve the safety of driving. When the vehicle is 1.2 meters away from the obstacle, the alarm system will send a "beep" sound, and the frequency of the "beep" sound will increase as the obstacle approaches. When the distance between the car and the obstacle is less than 0.3 meters, the "beep" sound will change into continuous sound.

[0042] The actuator includes the brake system, the steering system, the powertrain (TCM), the double flash and the alarm device, which is the bottom layer of the system. The actuator receives the vehicle control instructions such as acceleration request, brake request, steering wheel angle request and alarm request issued by the upper intelligent driving controller, and responds to these requests. The actuator sends the vehicle motion information to the bus to complete the lateral and longitudinal motion control of the vehicle and sends the alarm information.

[0043] Those skilled in the art should understand that the above system architecture is only an example, and other existing or future components or modules that can be applicable to the present application should also be included in the protection scope of the present application, and are hereby incorporated by reference.

[0044] Finally, the application scenarios related to the embodiments of the present disclosure are introduced.

[0045] The auxiliary driving system can collect the environmental data inside and outside the vehicle by using various sensors installed on the vehicle, realize the identification of static and dynamic objects inside and outside the vehicle, and enable the driver to perceive the possible danger in the shortest time. In some cases, the auxiliary driving system can also take over the vehicle devices and actively control the vehicle devices, thereby improving the safety of the driving process.

[0046] When temporarily parking, towing due to vehicle breakdown, driving in low visibility environment and forming a vehicle team allowed by traffic police department, the vehicle needs to turn on the double flash mode, when the vehicle is driving in the double flash mode, if the automatic emergency braking system (AEB) is in the normal open state, it is easy to cause the impact on the rear vehicle due to emergency braking, and there is a safety hazard, such as: when the vehicle is driving in the double flash mode off state, the collision time distance in the front collision warning system (FCW) is usually set to be small, so as to carry out the front collision warning, but when driving in a low visibility environment, if the small collision time distance in the front collision warning system (FCW) is still used, the collision reaction time of the driver is too short, and the problem of collision between the driver and the front vehicle due to the driver's reaction is easy to appear; when the vehicle is driving in the double flash mode off state, the warning level of the lane departure warning system (LDW) is usually set to be low, so that the lane departure warning system has high sensitivity, and when the vehicle is towed due to breakdown, if the lane departure warning system with high sensitivity is still used, the problem of frequent triggering of the lane departure warning system (LDW) when towing other vehicles to make the lateral movement unstable may occur; when the vehicle is driving in the double flash mode off state, the emergency lane keeping (ELK) can provide reverse steering force to the vehicle in high speed state or emergency situation, to intervene the lateral movement, to reduce or avoid collision, and when the vehicle is towed due to breakdown or driving in a low visibility environment, the emergency lane keeping (ELK) may cause collision with other vehicles or affect the lateral movement of the towing vehicle, resulting in collision between the towing vehicle and other vehicles; when the vehicle is driving in the double flash mode off state, the adaptive cruise function (ACC) can set a larger speed limit and a smaller time distance, so that the vehicle can safely carry out adaptive cruise, but when the vehicle is towed due to breakdown, driving in a low visibility environment and forming a vehicle team allowed by traffic police department, if the adaptive cruise function (ACC) still uses a larger speed limit and a smaller time distance to carry out adaptive cruise, when the vehicle brakes, the risk of collision with other vehicles may occur due to high speed and small distance; when the vehicle is driving in the double flash mode off state, the blind area monitoring system (BSD) can alarm or brake when there are vehicles, pedestrians, bicycles and other moving objects behind the vehicle, but when the vehicle is towed due to breakdown and forms a vehicle team allowed by traffic police department, there are always vehicles behind the vehicle, at this time, if the blind area monitoring system (BSD) works normally, the vehicle will brake due to the approach of the rear vehicle, and there is a risk of collision with the front vehicle.When the vehicle is running in the double flash mode off state, the rear collision warning system (RCW) sends an alarm and turns on the double flash when it is determined that there is a risk of collision, and turns off the double flash when the risk of collision disappears. When the vehicle needs to run in the double flash mode on state, the control of the double flash by the rear collision warning system (RCW) will affect the state of the double flash mode, so that the vehicle cannot run in the double flash mode on state. That is, if the auxiliary driving system works when the vehicle starts the double flash mode, there is a safety hazard, and the auxiliary driving system affects the maintenance of the double flash mode on state.

[0047] Based on such an application scenario, an embodiment of the present application provides a control method of an auxiliary driving system.

[0048] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail with reference to the drawings.

[0049] Figure 1 A method flowchart of a control method of an auxiliary driving system provided by one example embodiment of the present disclosure is shown, which can be executed by a vehicle-mounted device of a vehicle, and the vehicle-mounted device is a body domain controller, a central gateway, a vehicle information entertainment system, an intelligent driving sensor, an intelligent driving controller and an actuator, referring to Figure 1 The method comprises the following steps:

[0050] Step 101, acquiring the state of the double flash mode of the vehicle.

[0051] In the embodiments of the present disclosure, whether the double flash mode on signal and the double flash mode off signal are received is used to determine the state of the double flash mode of the vehicle.

[0052] In some embodiments, after receiving the double flash mode on signal, it is determined that the double flash mode of the vehicle enters the on state; after receiving the double flash mode off signal, it is determined that the double flash mode of the vehicle enters the off state; and after receiving the double flash mode on signal, it is determined that the double flash mode of the vehicle is in the on state before receiving the double flash mode off signal.

[0053] In some embodiments, after receiving the double flash mode on request signal, a dialog box for confirming whether to activate the double flash mode is generated; and when it is confirmed to activate the double flash mode, the double flash mode on signal is received.

[0054] In some embodiments, the vehicle surrounding environment monitoring image is also acquired, and the vehicle surrounding environment monitoring image is displayed at the same time when the dialog box for reminding whether to activate the double flash mode is generated, so as to remind the user.

[0055] The driver sends a double flash mode opening request signal to the CGW by clicking the double flash mode icon on the center display screen of the in-vehicle infotainment system or the double flash mode button on the combination switch, the CGW sends the double flash mode opening request signal to the BCM, the BCM controls the double flash to open after receiving the double flash mode opening request signal, and sends a dialog box of whether to confirm to activate the double flash mode to the IVI through the CGM, the IVI displays the dialog box after receiving the dialog box of whether to confirm to activate the double flash mode, informs the driver that the advanced driver assistance function is limited at this time, and displays the real-time monitoring picture of the surround view camera to remind the driver to keep a safe distance, and when the driver manually confirms to activate the double flash mode, sends a double flash mode opening signal to the IDCU through the CGM, and the vehicle enters the double flash mode opening state after the IDCU receives the double flash mode opening signal.

[0056] The driver sends a double flash mode closing request signal to the CGW by clicking the double flash mode icon on the center display screen of the in-vehicle infotainment system or the double flash mode button on the combination switch, the CGW sends the double flash mode closing request signal to the BCM, the BCM controls the double flash mode to close after receiving the double flash mode closing request signal, and sends a dialog box of whether to confirm to close the double flash mode to the IVI through the CGM, the IVI displays the dialog box after receiving the dialog box of whether to confirm to close the double flash mode, and when the driver manually confirms to close the double flash mode, sends a double flash mode closing signal to the IDCU through the CGM, and the vehicle enters the double flash mode closing state after the IDCU receives the double flash mode closing signal.

[0057] Step 102, when the vehicle double flash mode is in the opening state, detecting whether the advanced driver assistance system is in the double flash mode working state; wherein, when the advanced driver assistance system is in the double flash mode working state, the control authority of the corresponding actuator of the automatic emergency braking system, the emergency lane keeping system and the rear proximity warning system is in the closing state, the collision time distance of the forward collision warning system is the upper limit of the collision time distance, the warning level of the lane departure warning system is the lowest, the time distance of the adaptive cruise control system is the upper limit of the time distance, and the upper limit of the speed of the adaptive cruise control system is the lower limit of the cruise speed; if yes, keep the state of each system unchanged; if no, adjust the system not in the double flash mode working state to the double flash mode working state.

[0058] When the double flash mode exits the opening state, the advanced driver assistance system returns to the state before the double flash mode is opened.

[0059] In some embodiments, when the double flash mode is in the off state after the double flash mode exits the on state, the control authority of the automatic emergency braking system, the emergency lane keeping system and the rear proximity warning system on the corresponding actuators is in the on state, the collision time of the forward collision warning system is determined according to the driving environment, the warning level of the lane departure warning system is the highest, the time interval of the adaptive cruise control system is determined according to the driving environment, and the speed limit of the adaptive cruise control system is determined according to the driving environment.

[0060] In some embodiments, the speed limit is configured to be 30kph.

[0061] Wherein, the higher the warning level of the lane departure warning system, the higher the sensitivity of the warning.

[0062] The actuators include braking systems, steering systems, powertrains, double flash lights and warning devices.

[0063] When the vehicle is driving in the double flash mode on state, the control authority of the automatic emergency braking system on the braking system is turned off, so that the automatic emergency braking system cannot control the braking system for emergency braking, thereby preventing the influence of vehicle emergency braking on other vehicles when the vehicle is being towed due to a breakdown, driving in low visibility environment and forming a police-allowed vehicle group, and reducing the possibility of collision with other vehicles when the vehicle is emergency braking.

[0064] By turning off the control authority of the emergency lane keeping system on the steering system, the emergency lane keeping system cannot control the steering system for emergency steering of the vehicle, thereby preventing accidents caused by excessive intervention in lateral movement when the vehicle is being towed due to a breakdown or driving in low visibility environment.

[0065] By turning off the control of the rear proximity warning system on the double flash light, the rear proximity warning system cannot control the opening and closing of the double flash light, and thus cannot open or close the double flash light according to the distance from the rear vehicle, thereby keeping the vehicle in the double flash mode on state.

[0066] By configuring the collision time of the forward collision warning system as the upper limit of the collision time, the collision reaction time of the driver is increased, and when driving in low visibility environment, the problem of collision between the driver and the front vehicle due to the short collision reaction time of the driver is prevented.

[0067] By configuring the warning level of the lane departure warning system as the lowest, the sensitivity of the lane departure warning system is reduced, and when the vehicle is being towed due to a breakdown, the lane departure warning system is prevented from being frequently triggered when the lateral movement is unstable due to towing other vehicles, thereby affecting the driving experience.

[0068] By configuring the time distance of the adaptive cruise system as the time distance upper limit, and configuring the speed upper limit of the adaptive cruise system as the cruise speed lower limit, the automobile fault is prevented from being towed, from driving in a low visibility environment, and from braking when forming a traffic police allowed vehicle team, and the risk of collision with other vehicles due to excessive speed and small vehicle distance is avoided.

[0069] In some embodiments, when the vehicle double flash mode is in the open state, the control authority of the blind spot monitoring system (BSD) and the parking radar auxiliary system (PAS) to the corresponding actuators is also controlled to be in the closed state, and when the vehicle double flash mode is in the closed state, the control authority of the blind spot monitoring system (BSD) and the parking radar auxiliary system (PAS) to the corresponding actuators is controlled to be in the open state.

[0070] In the embodiments of the present disclosure, when the vehicle is in the double flash mode open state, the control authority of the automatic emergency braking system, the emergency lane keeping and the rear proximity warning system to the corresponding actuators is closed, which can avoid the safety hazards caused by emergency braking and steering of the vehicle, and also prevent the rear proximity warning system from controlling the double flash, which affects the maintenance of the vehicle double flash mode open state. In addition, when the vehicle is in the double flash mode open state, the collision time distance of the forward collision warning system is configured as the collision time distance upper limit, the warning level of the lane departure warning system is configured as the lowest, the time distance of the adaptive cruise system is configured as the time distance upper limit, and the speed upper limit of the adaptive cruise system is configured as the cruise speed lower limit, so that braking and steering are more gentle, and the risk of collision when braking measures are taken due to excessive speed and small vehicle distance is prevented. The safety of the vehicle in the double flash mode open state and the stability of the auxiliary driving system operation are ensured, safety and convenience are considered, and the needs of users for double flash and intelligent driving are met.

[0071] The following is an apparatus embodiment of the present application. For details not described in detail in the apparatus embodiment, reference can be made to the above method embodiments.

[0072] One example embodiment of the present disclosure provides a control device of an auxiliary driving system, comprising:

[0073] The acquisition module is configured to acquire a state of a vehicle double flash mode.

[0074] The control module is configured to detect whether the auxiliary driving system is in the double-flash mode working state when the double-flash mode of the vehicle is in the open state; when the auxiliary driving system is in the double-flash mode working state, the control authority of the corresponding actuator of the automatic emergency braking system, the emergency lane keeping system and the rear proximity warning system is in the closed state, the collision time interval of the forward collision warning system is the upper limit of the collision time interval, the warning level of the lane departure warning system is the lowest, the time interval of the adaptive cruise system is the upper limit of the time interval, and the upper limit of the speed of the adaptive cruise system is the lower limit of the cruise speed; if yes, the states of the systems remain unchanged; if no, the system not in the double-flash mode working state is adjusted to the double-flash mode working state.

[0075] Optionally, the control module is configured to restore the auxiliary driving system to the state before the double-flash mode is opened after the double-flash mode exits the open state.

[0076] In summary, the control device of the auxiliary driving system provided by the embodiment of the application can solve the problem of safety risk and unstable operation of the auxiliary driving system in the double-flash mode in the related art, ensure the safety of the vehicle in the double-flash mode open state and the stability of the auxiliary driving system, balance safety and convenience, and meet the needs of users for double-flash and intelligent driving.

[0077] One example embodiment of the present disclosure provides a control device, which includes one or more processors and one or more memories, and at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the control method of the auxiliary driving system according to any of the implementation manners.

[0078] One example embodiment of the present disclosure provides a computer-readable storage medium, which stores at least one program code, and the at least one program code is loaded and executed by a processor to implement the control method of the auxiliary driving system according to any of the implementation manners.

[0079] One example embodiment of the present disclosure provides a computer program product, which includes computer program code stored in a computer-readable storage medium, and a processor of a control device reads the computer program code from the computer-readable storage medium, and the processor executes the computer program code to make the control device execute the control method of the auxiliary driving system according to any of the implementation manners.

[0080] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope of the application being indicated by the following claims.

[0081] It is to be understood that the application is not limited to the precise construction herein disclosed and shown in the drawings, and that various changes can be made to the application without departing from the scope thereof. The scope of the application is limited only by the claims appended hereto.

Claims

1. A control method of an assist driving system, characterized by, The method comprises the following steps: acquiring a state of a vehicle double flash mode; when the vehicle double flash mode is in an open state, detecting whether an auxiliary driving system is in a double flash mode working state; when the auxiliary driving system is in the double flash mode working state, control permissions of an automatic emergency braking system, an emergency lane keeping system and a rear proximity warning system on corresponding actuators are in a closed state, a collision time interval of a front collision warning system is an upper limit of the collision time interval, a warning level of a lane departure warning system is the lowest, a time interval of an adaptive cruise system is an upper limit of the time interval, and an upper limit of a speed of the adaptive cruise system is a lower limit of a cruise speed; if yes, keeping states of all systems unchanged; if no, adjusting systems not in the double flash mode working state to the double flash mode working state; when the double flash mode exits the open state, the auxiliary driving system returns to a state before the double flash mode is opened; after receiving a double flash mode opening signal, determining that the vehicle double flash mode enters the open state; after receiving a double flash mode closing signal, determining that the vehicle double flash mode enters a closed state; and after receiving the double flash mode opening signal, before receiving the double flash mode closing signal, determining that the vehicle double flash mode is in the open state. after receiving a double flash mode opening request signal, generating a dialog box for confirming whether to activate the double flash mode; and after confirming to activate the double flash mode, receiving the double flash mode opening signal. The vehicle surrounding environment monitoring image is also acquired, and the vehicle surrounding environment monitoring image is displayed when the dialog box for confirming whether to activate the double flash mode is generated, so as to remind the user.

2. The control method of a driver assistance system according to claim 1, characterized in that, The actuators include a braking system, a steering system, a power assembly, a double flash lamp and an alarm device.

3. The control method of a driver assistance system according to claim 1, characterized in that, The method comprises the following steps:

4. The control method of a driver assistance system according to claim 1, characterized in that, an acquisition module is configured to acquire a state of a vehicle double flash mode; 5. A control device of an assist driving system characterized by a control module is configured to, when the vehicle double flash mode is in an open state, detect whether an auxiliary driving system is in a double flash mode working state; when the auxiliary driving system is in the double flash mode working state, control permissions of an automatic emergency braking system, an emergency lane keeping system and a rear proximity warning system on corresponding actuators are in a closed state, a collision time interval of a front collision warning system is an upper limit of the collision time interval, a warning level of a lane departure warning system is the lowest, a time interval of an adaptive cruise system is an upper limit of the time interval, and an upper limit of a speed of the adaptive cruise system is a lower limit of a cruise speed; if yes, keeping states of all systems unchanged; if no, adjusting systems not in the double flash mode working state to the double flash mode working state when the double flash mode exits the open state, the auxiliary driving system returns to a state before the double flash mode is opened; after receiving a double flash mode opening signal, determining that the vehicle double flash mode enters the open state; after receiving a double flash mode closing signal, determining that the vehicle double flash mode enters a closed state; and after receiving the double flash mode opening signal, before receiving the double flash mode closing signal, determining that the vehicle double flash mode is in the open state. The control device comprises one or more processors and one or more memories, and at least one piece of program code is stored in the one or more memories and loaded and executed by the one or more processors to implement the control method of the auxiliary driving system according to any one of claims 1 to 4. ​ 6. A control device characterized by comprising: ​ 7. A computer readable storage medium characterized in that, The computer readable storage medium stores at least one program code, and the at least one program code is loaded and executed by the processor to implement the control method of the auxiliary driving system according to any one of claims 1 to 4.

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