Car following control method, device and equipment based on rainy day environment and medium

Abstract

The invention relates to the field of vehicle control, in particular to a vehicle following control method, device and equipment based on a rainy environment and a medium. The method comprises the following steps: firstly, detecting whether the self-adaptive cruise function of the vehicle is started at present, and if so, further obtaining the driving state of the current following vehicle of the vehicle; when the following vehicle is in a static state, the vehicle is controlled to enter a static activation state, and a rain sensing control signal of the vehicle in a rainy environment and corresponding signal duration time are obtained; then, the state holding time of the vehicle in the stationary activated state is updated according to the rain sensing control signal and the signal duration. After the state holding time is reached, the vehicle enters a stationary waiting state from a stationary active state. Under the condition, even if the camera perceives and recognizes inaccurately or jumps due to the influence of rainstorm, the vehicle cannot be started immediately, but is in a static waiting state to wait for further confirmation and operation of a driver. Therefore, the risk that the vehicle collides with the front vehicle when the vehicle is started after being parked is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle following control method, device, equipment and medium based on a rainy environment. Background Art

[0002] In heavy rain or when low-profile models are only equipped with cameras but not front millimeter-wave radars, the system's ability to perceive targets is reduced. At this time, after the vehicle stops following the vehicle in front, the vehicle in front drives away. The camera's perception and recognition is inaccurate or jumps due to the heavy rain, resulting in problems with the recognition distance of the vehicle in front. When the vehicle in front does not drive far away or drives a short distance away and then stops, the vehicle may hit the vehicle in front when it starts, causing property damage to the vehicle and personal safety hazards. Summary of the invention

[0003] In view of this, the embodiments of the present invention provide a following vehicle control method, device, equipment and medium based on a rainy environment to solve the problem that when in heavy rain weather and a low-end vehicle model is only equipped with a camera but not a front millimeter-wave radar, the system's target perception ability is reduced, and the camera's perception and recognition is inaccurate or jumpy in the heavy rain, causing the vehicle to collide with the vehicle in front when starting after following the vehicle in front.

[0004] In a first aspect, an embodiment of the present invention provides a vehicle following control method based on a rainy environment, the method comprising:

[0005] Detect whether the vehicle currently has the adaptive cruise function turned on;

[0006] If the vehicle currently turns on the adaptive cruise function, the driving status of the vehicle currently following the vehicle is obtained;

[0007] If the driving state of the following vehicle is a stationary state, the vehicle is controlled to enter a stationary activation state, and a rain sensing control signal detected by the vehicle in a rainy environment and a signal duration corresponding to the rain sensing control signal are obtained;

[0008] Based on the rain sensing control signal and the signal duration, the state holding time of the vehicle in the stationary activation state is updated, and when the state holding time is reached, the vehicle is controlled to enter a stationary waiting state from the stationary activation state.

[0009] Furthermore, the step of obtaining the rain sensing control signal detected by the vehicle in a rainy environment and the signal duration corresponding to the rain sensing control signal includes:

[0010] Obtaining vehicle configuration information of the vehicle;

[0011] Determining a rain condition detection device deployed in the vehicle according to the vehicle configuration information;

[0012] The rain sensing control signal detected by the rain condition detection device in the rainy environment and the signal duration corresponding to the rain sensing control signal are called.

[0013] Furthermore, the calling of the rain sensing control signal detected by the rain condition detection device in the rainy environment and the signal duration corresponding to the rain sensing control signal includes:

[0014] If the rain condition detection device is a rain sensor, the rain sensor is called to detect a designated area of ​​the vehicle in the rainy environment to obtain a rain detection signal;

[0015] Analyzing the rainfall detection signal to obtain rainfall data of the rainy day environment;

[0016] If the rainfall data is greater than or equal to a preset threshold, the signal duration corresponding to the rainfall detection signal is recorded.

[0017] Furthermore, the calling of the rain sensing control signal detected by the rain condition detection device in the rainy environment and the signal duration corresponding to the rain sensing control signal includes:

[0018] If the rain condition detection device is a wiper gear position detector, calling the wiper gear position detector to detect the gear position of the wiper in the vehicle to obtain a wiper gear position signal;

[0019] Analyzing the wiper gear position signal to obtain the gear position value of the wiper in the rainy environment;

[0020] If the gear value is greater than or equal to the preset gear value, the signal duration corresponding to the wiper gear signal is recorded.

[0021] Further, updating the state holding time of the vehicle in the stationary activation state based on the rain sensing control signal and the signal duration includes:

[0022] Analyzing the rain sensor control signal to obtain the rainfall situation in the rainy day environment;

[0023] Matching the rainfall condition and the signal duration with a plurality of preset time update strategies to obtain a target time update strategy that matches the rainfall condition and the signal duration;

[0024] The original state keeping time of the vehicle in the stationary activation state is updated using the state keeping time carried by the target time update strategy.

[0025] Further, after updating the state holding time of the vehicle in the stationary activation state based on the rain sensing control signal and the signal duration, the method further includes:

[0026] Detecting the type of the road section where the vehicle is currently located;

[0027] If the road section type matches the preset road section type, the traffic conditions of the road section where the vehicle is currently located are obtained, and the state holding time of the static activation state is adjusted using the traffic conditions.

[0028] Further, the adjusting the state holding time of the stationary activation state by using the traffic condition includes:

[0029] Acquire the congestion degree and traffic speed of the road section where the vehicle is currently located based on the traffic situation;

[0030] Calculating the time adjustment range according to the congestion level and the traffic speed;

[0031] The state holding time of the static activation state is adjusted using the time adjustment amplitude.

[0032] In a second aspect, an embodiment of the present invention provides a vehicle following control device based on a rainy environment, the device comprising:

[0033] A detection module is used to detect whether the vehicle currently has an adaptive cruise function turned on;

[0034] An acquisition module, used for acquiring the driving status of the vehicle currently following the vehicle if the vehicle currently turns on the adaptive cruise function;

[0035] a control module, configured to control the vehicle to enter a stationary activation state if the driving state of the following vehicle is a stationary state, and obtain a rain sensing control signal detected by the vehicle in a rainy environment and a signal duration corresponding to the rain sensing control signal;

[0036] An updating module is used to update the state holding time of the vehicle in the stationary activation state based on the rain sensing control signal and the signal duration, and control the vehicle to enter a stationary waiting state from the stationary activation state when the state holding time is reached.

[0037] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, computer instructions being stored in the memory, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0038] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0039] The embodiment of the present application provides a method, which first detects whether the vehicle currently has an adaptive cruise function turned on. If it is turned on, the driving status of the vehicle currently following the vehicle is further obtained. When the following vehicle is in a stationary state, the vehicle is controlled to enter a stationary activation state, and the rain sensing control signal of the vehicle in a rainy environment and the corresponding signal duration are obtained. Then, the state holding time of the vehicle in the stationary activation state is updated according to the rain sensing control signal and the signal duration. In this way, after the state holding time is reached, the vehicle will enter a stationary waiting state from the stationary activation state. In this case, even if the camera's perception and recognition are inaccurate or jump due to heavy rain, the vehicle will not start immediately, but will be in a stationary waiting state, waiting for the driver to further confirm the operation. In this way, the risk of the vehicle hitting the vehicle in front when starting after following the vehicle in front is reduced, and driving safety is improved, especially in heavy rain weather and low-end models with limited sensors, providing drivers with more reliable protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 is a flow chart of a vehicle following control method based on a rainy environment according to some embodiments of the present invention;

[0042] Figure 2 is a flow chart of another vehicle following control method based on a rainy environment according to some embodiments of the present invention;

[0043] Figure 3 is a flow chart of another vehicle following control method based on a rainy environment according to some embodiments of the present invention;

[0044] Figure 4 is a structural block diagram of a vehicle following control device based on a rainy environment according to an embodiment of the present invention;

[0045] Figure 5 It is a schematic diagram of the hardware structure of the electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0047] According to an embodiment of the present invention, a vehicle following control method, device, equipment and medium based on a rainy environment are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0048] In this embodiment, a vehicle following control method based on a rainy environment is provided. Figure 1 is a flow chart of a vehicle following control method based on a rainy environment according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0049] Step S101, detecting whether the vehicle currently has an adaptive cruise control function turned on.

[0050] In an embodiment of the present application, during the driving of the vehicle, the vehicle control system needs to continuously detect whether the vehicle currently has the adaptive cruise function turned on. This detection can be achieved in a variety of ways. First, the vehicle's dashboard display can be checked. Usually, when the adaptive cruise function is turned on, a corresponding icon will light up on the dashboard, indicating that the function is activated. Secondly, the vehicle control system can communicate with the vehicle's electronic control unit (ECU) to query specific flags or parameters to determine whether the adaptive cruise function is enabled. In addition, the status of sensors and actuators related to the adaptive cruise function on the vehicle can also be monitored, such as whether the radar sensor is in working condition, whether the throttle and brake systems are adjusted under the control of the adaptive cruise, etc.

[0051] Step S102: If the vehicle currently turns on the adaptive cruise function, the driving status of the vehicle currently following the vehicle is obtained.

[0052] In the embodiment of the present application, first, sensors installed on the vehicle, such as radars, cameras, etc., are used to monitor the vehicle in front in real time. The radar can measure information such as the distance and relative speed to the vehicle in front, and the camera can identify the position, shape, movement trend, etc. of the vehicle in front. By fusion processing of these sensor data, the driving state of the vehicle in front can be accurately judged. For example, determine whether the vehicle in front is stationary, driving slowly, or driving normally. At the same time, the system can also combine the vehicle's own speed, acceleration and other data to further analyze the impact of the driving state of the following vehicle on the vehicle. In this way, when the adaptive cruise function is turned on, timely understanding of the driving state of the following vehicle helps the system make reasonable decisions and adjust the speed and spacing of the vehicle to ensure safe and stable driving.

[0053] Step S103: if the driving state of the following vehicle is a stationary state, the vehicle is controlled to enter a stationary activation state, and a rain sensing control signal detected by the vehicle in a rainy environment and a signal duration corresponding to the rain sensing control signal are obtained.

[0054] In an embodiment of the present application, if it is determined that the driving state of the following vehicle is a stationary state, the system will control the vehicle to enter a stationary activation state. In this state, the vehicle needs to pay special attention to the impact of the rainy environment on driving. On the one hand, the system will obtain the rain sensing control signal detected by the vehicle in a rainy environment. This is usually achieved through a rain sensor, which can detect information such as the amount of rain falling on the vehicle, the intensity of rainfall, and convert it into a corresponding electrical signal as a rain sensing control signal. On the other hand, the system will also record the signal duration corresponding to the rain sensing control signal. From the beginning of detecting the rain sensing control signal, the system will continue to count to determine how long the signal lasts. This duration is crucial for judging the extent of the impact of rain on vehicle driving and for subsequent decision-making on the adjustment of the vehicle's driving state. For example, if the rain sensing control signal lasts for a long time and has a high intensity, it may be necessary to adjust the vehicle's driving strategy more carefully to ensure driving safety.

[0055] Step S104, based on the rain sensing control signal and the signal duration, the state holding time of the vehicle in the stationary activation state is updated, and when the state holding time is reached, the vehicle is controlled to enter the stationary waiting state from the stationary activation state.

[0056] In the embodiment of the present application, first, the rain sensing control signal reflects the condition of the rainy day environment, such as the amount of rainfall, rainfall intensity, etc. Different rain sensing control signal strengths may correspond to different degrees of impact on driving safety. At the same time, the duration of the signal is also critical. The longer the duration, the more likely it is that the rainy day conditions will be more stable or persistent. The system takes these two factors into consideration and dynamically adjusts the state holding time. If the rain sensing control signal is strong and lasts for a long time, the state holding time will be shortened to prompt the vehicle to enter a more cautious state more quickly.

[0057] On the contrary, if the rain sensing control signal is weak and short-lived, the state holding time may be appropriately extended. When the updated state holding time is reached, the system will control the vehicle from the stationary activation state to the stationary waiting state. In the stationary waiting state, the vehicle will not automatically follow the vehicle in front to start, but wait for further operation from the driver. This ensures that in complex rainy weather conditions, especially after the vehicle follows the vehicle in front and stops, the next action of the vehicle can be decided more safely, reducing the risk of collision caused by automatic starting.

[0058] The embodiment of the present application provides a method, which first detects whether the vehicle currently has an adaptive cruise function turned on. If it is turned on, the driving status of the vehicle currently following the vehicle is further obtained. When the following vehicle is in a stationary state, the vehicle is controlled to enter a stationary activation state, and the rain sensing control signal of the vehicle in a rainy environment and the corresponding signal duration are obtained. Then, the state holding time of the vehicle in the stationary activation state is updated according to the rain sensing control signal and the signal duration. In this way, after the state holding time is reached, the vehicle will enter a stationary waiting state from the stationary activation state. In this case, even if the camera's perception and recognition are inaccurate or jump due to heavy rain, the vehicle will not start immediately, but will be in a stationary waiting state, waiting for the driver to further confirm the operation. In this way, the risk of the vehicle hitting the vehicle in front when starting after following the vehicle in front is reduced, and driving safety is improved, especially in heavy rain weather and low-end models with limited sensors, providing drivers with more reliable protection.

[0059] Figure 2 is a flow chart of a vehicle following control method based on a rainy environment according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0060] Step S201, detecting whether the vehicle currently turns on the adaptive cruise function. For details, see step S101 in the above embodiment, which will not be described in detail here.

[0061] Step S202: If the vehicle currently turns on the adaptive cruise function, the driving status of the vehicle currently following the vehicle is obtained. For details, please refer to step S102 in the above embodiment, which will not be described in detail here.

[0062] Step S203: if the driving state of the following vehicle is a stationary state, the vehicle is controlled to enter a stationary activation state, and a rain sensing control signal detected by the vehicle in a rainy environment and a signal duration corresponding to the rain sensing control signal are obtained.

[0063] In an embodiment of the present application, obtaining a rain sensing control signal detected by a vehicle in a rainy environment and a signal duration corresponding to the rain sensing control signal includes the following steps A1-A3:

[0064] Step A1, obtaining vehicle configuration information of the vehicle.

[0065] Specifically, at a specific moment during the vehicle startup or operation, the system obtains the vehicle's configuration information by communicating with the vehicle's electronic control unit (ECU) or querying the vehicle's configuration database. This configuration information includes the various sensors and devices equipped on the vehicle and the presence or absence of specific functions. For example, the vehicle's configuration file can be read, which records the hardware and software functions installed on the vehicle when it leaves the factory. Or through the vehicle's diagnostic interface, interact with the vehicle's control system to obtain a detailed configuration list. The purpose of this step is to determine the specific configuration of the vehicle so that the appropriate rain detection equipment can be selected based on different configurations.

[0066] Step A2, determining the rain condition detection device deployed in the vehicle according to the vehicle configuration information.

[0067] Specifically, after obtaining the configuration information of the vehicle, the system will determine the equipment used to detect rain conditions based on this information. If the vehicle configuration information shows that the vehicle is equipped with a rain sensor, the system will use the rain sensor as a rain condition detection device. Rain sensors are usually installed on the windshield of the vehicle or a specific external location. They can directly detect the amount of rain falling around the vehicle, the intensity of rainfall, and the type of rainfall (such as light rain, moderate rain, heavy rain, etc.). The rain sensor converts the detected rainfall information into electrical signals or digital signals through optical, electrical or other technical principles, and transmits them to the vehicle's control system so that the system can make corresponding decisions based on the rainfall conditions, such as adjusting the wiper speed, controlling certain driving parameters of the vehicle, etc.

[0068] If there is no rain sensor in the vehicle configuration information, the system selects the wiper gear detector as the rain condition detection device. The wiper gear detector indirectly reflects the rain condition by monitoring the gear status of the wiper. When the wiper is in different gears, it means that the amount of rain outside may be different. For example, when the wiper is running in a high gear, it usually means that the rain is heavy; while when it is running in a low gear or intermittent gear, it may mean that the rain is light. Although the wiper gear detector cannot directly and accurately measure the amount of rain like a rain sensor, it can provide a certain degree of rain condition information to the vehicle in the absence of a rain sensor so that the vehicle can make corresponding adjustments.

[0069] Step A3, calling the rain sensing control signal detected by the rain condition detection device in a rainy environment and the signal duration corresponding to the rain sensing control signal.

[0070] Specifically, the rain sensing control signal detected by the rain condition detection device in a rainy environment and the signal duration corresponding to the rain sensing control signal are called, including: if the rain condition detection device is a rain sensor, the rain sensor is called to detect a designated area of ​​the vehicle in a rainy environment to obtain a rain detection signal; the rain detection signal is analyzed to obtain rainfall data of the rainy environment; if the rainfall data is greater than or equal to a preset threshold, the signal duration corresponding to the rain detection signal is recorded.

[0071] First of all, it is necessary to clarify whether the rain condition detection device used is a rain sensor or a wiper gear detector. If the rain condition detection device is a rain sensor, it will detect the designated area of ​​the vehicle in a rainy environment. Usually this designated area is the windshield of the vehicle and other parts that are easily exposed to rain. The rain sensor uses its specific working principles, such as optical sensing, capacitance changes, etc., to sense the rain falling in the area. After the rain sensor detects rain, it generates a rain detection signal. This signal may be an analog signal (such as a voltage change) or a digital signal (specific data encoding). Next, the system parses this rain detection signal to obtain the rainfall data of the rainy environment. The parsing process may involve operations such as signal conversion, filtering, and calibration in order to accurately determine specific information such as the amount of rainfall and rainfall intensity.

[0072] The system compares the analyzed rainfall data with the preset threshold. The preset threshold is a value set according to actual needs and experience to distinguish different degrees of rainfall. If the rainfall data is greater than or equal to the preset threshold, it means that the current rainfall is more obvious or has reached a certain intensity. In this case, the system starts to record the signal duration corresponding to the rainfall detection signal.

[0073] Specifically, the rain sensing control signal detected by the rain condition detection device in a rainy environment and the signal duration corresponding to the rain sensing control signal are called, including: if the rain condition detection device is a wiper gear position detector, the wiper gear position detector is called to detect the gear position of the wiper in the vehicle to obtain a wiper gear position signal; the wiper gear position signal is analyzed to obtain the gear value of the wiper in the rainy environment; if the gear value is greater than or equal to the preset gear value, the signal duration corresponding to the wiper gear position signal is recorded.

[0074] When the rain detection device is determined to be a wiper gear detector, the system will rely on this device to obtain information about the rainy environment. The wiper gear detector is a device specifically used to detect the current gear state of the vehicle's wipers. The wiper gear detector starts working and detects the gear position of the wipers in the vehicle. Wipers usually have different gear settings, such as intermittent gear, low gear, high gear, etc. The detector will generate a corresponding wiper gear signal based on the actual gear state of the wiper. This signal can be an electrical signal or a digital signal, which is used to indicate the specific gear position of the wiper.

[0075] The system analyzes the wiper gear position signal to obtain the gear position value of the wiper in a rainy environment. The analysis process may involve interpreting, converting, or matching the signal with a preset gear code. Through analysis, the current specific gear value of the wiper can be clearly determined, for example, 1 represents intermittent gear, 2 represents low gear, 3 represents high gear, etc.

[0076] Compare the gear value obtained by the analysis with the preset gear value. The preset gear value is a reference value set according to actual conditions and experience, which is used to determine whether the wiper gear is in a higher state, thereby reflecting the severity of the rainy environment. If the gear value is greater than or equal to the preset gear value, it means that the current wiper is in a higher gear, which means that the rainy environment is relatively severe. In this case, the system starts to record the signal duration corresponding to the wiper gear signal.

[0077] Step S204, based on the rain sensing control signal and the signal duration, the state holding time of the vehicle in the stationary activation state is updated, and when the state holding time is reached, the vehicle is controlled to enter the stationary waiting state from the stationary activation state.

[0078] In the embodiment of the present application, based on the rain sensing control signal and the signal duration, updating the state holding time of the vehicle in the stationary activation state includes the following steps B1-B3:

[0079] Step B1, analyzing the rain sensor control signal to obtain the rainfall situation in the rainy day environment.

[0080] Specifically, after the rain sensing control signal is obtained, it needs to be analyzed in depth to determine the specific rainfall conditions in the rainy environment. If the rain sensing control signal comes from a rain sensor, the amount of rainfall can be inferred based on the signal strength, frequency and other characteristics output by the sensor. For example, a higher signal strength may indicate a heavier rainfall, while a lower signal strength may mean a lighter rainfall. If the rain sensing control signal comes from a wiper gear detector, the rainfall conditions can be indirectly judged based on the gear position of the wiper. Generally speaking, the higher the wiper gear, the greater the corresponding rainfall may be. By analyzing the rain sensing control signal, a more accurate description of the rainfall conditions in the rainy environment can be obtained, such as light rain, moderate rain, heavy rain and other different levels.

[0081] Step B2, matching the rainfall conditions and signal duration with a plurality of preset time update strategies, and obtaining a target time update strategy that matches the rainfall conditions and signal duration.

[0082] Specifically, multiple different time update strategies are preset, each strategy is for different rainfall conditions and signal duration ranges. For example, one strategy may be suitable for light rain and short signal duration, and another strategy may be suitable for heavy rain and long signal duration. The rainfall conditions obtained in step B1 and the recorded signal duration are compared with these preset strategies one by one. By comparing the rainfall level and the signal duration range, a target time update strategy that matches them is found. This target strategy will determine how to update the state holding time of the vehicle in the stationary activation state.

[0083] Step B3: using the state keeping time carried by the target time update strategy to update the original state keeping time of the vehicle in the stationary activation state.

[0084] Specifically, after the target time update strategy is determined, a specific state holding time value will be carried in the strategy. This value is determined based on the corresponding rainfall conditions and signal duration, and is intended to adapt to different rainy day environmental conditions. The original state holding time of the vehicle in the stationary activation state is replaced by this state holding time in the target time update strategy. For example, if the original state holding time is 30 seconds, and the state holding time in the target time update strategy is 5 seconds, then the state holding time of the vehicle is updated to 5 seconds. In this way, the vehicle's stay time in the stationary activation state will be dynamically adjusted according to the actual conditions of the rainy day environment to improve driving safety and adaptability.

[0085] In an embodiment of the present application, when the vehicle is in the state where the adaptive cruise function is turned on and is following a stationary vehicle in front, the vehicle first enters a stationary activated state (Stand-Active state). In this state, the system will continue to monitor various conditions, one of the key conditions being the state holding time. The state holding time is dynamically adjusted and determined based on factors such as the rain sensing control signal in the rainy environment and the signal duration. As time goes by, the system continuously counts the time that has passed. Once the count reaches a predetermined state holding time, a series of actions will be triggered to control the vehicle from the stationary activated state to the stationary waiting state (Stand-Wait state).

[0086] After entering the stationary waiting state, the vehicle's behavior changes. At this time, the vehicle will not automatically follow the vehicle in front and continue to move forward. This is to ensure that the driver is given more control and decision-making time in specific situations, especially in rainy days and other environments that may affect the vehicle's perception and driving safety. For example, in heavy rain, the vehicle's sensors may be affected, and there is a greater risk of automatically starting to follow the vehicle in front. By entering the stationary waiting state, the vehicle waits for the driver to perform deliberate actions, such as lightly stepping on the accelerator or pressing a specific button on the steering wheel. This ensures that the driver has enough time to observe the surrounding environment, judge the driving status of the vehicle in front, and the safety of his own vehicle before deciding to continue the vehicle. At the same time, after entering the stationary waiting state, the instrument will issue sound and image reminders to inform the driver of the current status of the vehicle and the actions that need to be taken, further improving the safety and reliability of driving.

[0087] In the embodiments of the present application, Figure 3 As shown, after updating the state holding time of the vehicle in the stationary activation state based on the rain sensing control signal and the signal duration, the method further includes:

[0088] Step S301, detecting the road type of the road section where the vehicle is currently located.

[0089] In the embodiment of the present application, during the driving process of the vehicle, the system detects the type of the road section the vehicle is currently on in a variety of ways. The vehicle's positioning system (such as GPS) can be combined with digital map data to determine the characteristics of the road section. For example:

[0090] Analyze the road attributes marked on the map to determine whether the current road section is a road section with many bends. If there are multiple areas with large curvatures within a certain distance, it can be identified as a road section with many bends.

[0091] Check the altitude change of the vehicle and the road slope mark. If the road slope exceeds a certain angle, such as 5 degrees or higher, it can be determined as a steep section of the road.

[0092] By identifying the surrounding traffic signs and facilities and comparing them with the complex traffic areas in the map data, it is determined whether the road section is a complex traffic section. For example, an area with dense intersections, heavy traffic volume and complex traffic flow can be identified as a complex traffic section.

[0093] Step S302: If the road section type matches the preset road section type, the traffic conditions of the road section where the vehicle is currently located are obtained, and the state holding time of the static activation state is adjusted according to the traffic conditions.

[0094] In an embodiment of the present application, if the detected road section type belongs to a preset road section type (such as a road section with many bends, large slopes, and complex traffic), the system will further obtain the traffic conditions of the road section where the vehicle is currently located. The method of obtaining the traffic conditions may include: using sensors on the vehicle, such as cameras and radars, to detect the number, speed, and spacing of surrounding vehicles to determine the degree of traffic congestion. If the surrounding vehicles are dense and driving slowly, it can be considered that there is traffic congestion. Communicate with the traffic management system to obtain real-time traffic flow data, accident information, etc. For example, if it is known that an accident has occurred on the road section ahead, it can be determined that the traffic situation is affected. Analyze the vehicle's own driving data, such as frequent braking or large speed fluctuations, it can be inferred that the traffic situation is more complicated. Then, the state holding time of the static activation state is adjusted according to the acquired traffic conditions.

[0095] In the embodiment of the present application, the state holding time of the stationary activation state is adjusted according to the traffic conditions, including the following steps C1-C3:

[0096] Step C1, obtaining the congestion level and traffic speed of the road section where the vehicle is currently located based on the traffic conditions.

[0097] Specifically, when it is determined that the state holding time needs to be adjusted according to the traffic conditions, key traffic information needs to be obtained first, and the congestion level and traffic speed of the road section where the vehicle is currently located can be determined in a variety of ways.

[0098] The following methods can be used to determine the degree of congestion: sensors on vehicles, such as cameras and radars, detect the distance and relative speed of surrounding vehicles. If the distance between vehicles is very small and the relative speed is close to zero or very low, it means that the traffic congestion is serious. For example, when the average distance between vehicles is less than a certain distance (such as 5 meters) and the average relative speed is less than 10 kilometers per hour, it can be considered to be in a state of severe congestion. Alternatively, communicate with the traffic management system or other vehicles to obtain real-time traffic flow data. If the traffic flow of the road section is much higher than its design capacity, it can be judged as congested. For example, if the maximum design flow of a road section is 1,000 vehicles per hour, and the current monitored flow reaches 1,500 vehicles per hour, the road section can be considered congested.

[0099] The vehicle speed is obtained by using the vehicle's own speed sensor and the relative speed measurement of surrounding vehicles to calculate the average vehicle speed. For example, by wirelessly communicating with surrounding vehicles, the speed information of the surrounding vehicles is obtained, and the speed information is weighted averaged with the vehicle's own speed to obtain a more accurate estimate of the vehicle speed.

[0100] Step C2, calculating the time adjustment range according to the congestion level and the traffic speed.

[0101] Specifically, if the congestion level is high and the traffic speed is low, the state holding time should be appropriately extended. For example, a congestion coefficient and a speed coefficient can be set, and the values ​​of the two coefficients can be determined according to the congestion level and the traffic speed. If the congestion coefficient is high (for example, a value of 0.8) and the speed coefficient is low (for example, a value of 0.2), the time adjustment range can be a certain percentage increase on the basis of the original state holding time, such as an increase of 30%.

[0102] If the traffic is relatively smooth, the congestion level is low and the traffic speed is high, the state holding time can be shortened. For example, if the congestion coefficient is low (such as 0.2) and the speed coefficient is high (such as 0.8), the time adjustment range can be a certain percentage reduction based on the original state holding time, such as a 20% reduction.

[0103] Step C3, adjusting the state holding time of the static activation state by using the time adjustment amplitude.

[0104] Specifically, finally, the state holding time of the static activation state is adjusted according to the calculated time adjustment amplitude. If the time adjustment amplitude is a positive value, then the corresponding time is increased on the basis of the original state holding time. For example, if the original state holding time is 30 seconds and the time adjustment amplitude is increased by 10 seconds, then the adjusted state holding time is 40 seconds.

[0105] If the time adjustment range is a negative value, then the corresponding time will be reduced based on the original state holding time. For example, if the original state holding time is 30 seconds and the time adjustment range is reduced by 5 seconds, then the adjusted state holding time will be 25 seconds.

[0106] In this way, the state holding time of the static activation state can be dynamically adjusted according to the traffic conditions of the current road section where the vehicle is located, so as to better adapt to different traffic environments and improve driving safety and efficiency.

[0107] The method provided in the embodiment of the present application first obtains the congestion degree and traffic speed of the road section where the vehicle is currently located based on the traffic situation, so as to fully understand the actual traffic environment in which the vehicle is located. In this way, decisions can be made more accurately for different road conditions. The time adjustment range is calculated according to the congestion degree and traffic speed, so that the state holding time of the vehicle in the static activation state can be dynamically adjusted. When the road section is congested and the traffic speed is low, the state holding time is appropriately extended, which gives the driver more time to deal with possible traffic changes and avoids accidents that may be caused by the vehicle entering other states too early in congestion. When the traffic is relatively smooth, the congestion degree is low and the traffic speed is high, the state holding time is shortened, so that the vehicle adapts to the fast-moving environment more quickly, and also reminds the driver to stay focused. The time adjustment range is used for adjustment to ensure that the driving state of the vehicle matches the actual traffic conditions, improves the safety and efficiency of driving, and provides the driver with a more intelligent and reasonable driving experience.

[0108] In this embodiment, a following vehicle control device based on a rainy day environment is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0109] This embodiment provides a vehicle following control device based on a rainy day environment, such as Figure 4 As shown, including:

[0110] A detection module 41 is used to detect whether the vehicle currently has an adaptive cruise control function turned on;

[0111] The acquisition module 42 is used to acquire the driving status of the vehicle currently following the vehicle if the vehicle currently turns on the adaptive cruise function;

[0112] The control module 43 is used to control the vehicle to enter a stationary activation state if the driving state of the following vehicle is a stationary state, and obtain a rain sensing control signal detected by the vehicle in a rainy environment and a signal duration corresponding to the rain sensing control signal;

[0113] The updating module 44 is used to update the state holding time of the vehicle in the stationary activation state based on the rain sensing control signal and the signal duration, and control the vehicle to enter the stationary waiting state from the stationary activation state when the state holding time is reached.

[0114] In an embodiment of the present application, the control module 43 is used to obtain vehicle configuration information of the vehicle; determine the rain condition detection device deployed in the vehicle according to the vehicle configuration information; and call the rain sensing control signal detected by the rain condition detection device in a rainy environment and the signal duration corresponding to the rain sensing control signal.

[0115] In an embodiment of the present application, the control module 43 is used to call the rain sensor to detect a designated area of ​​the vehicle in a rainy environment to obtain a rain detection signal if the rain condition detection device is a rain sensor; analyze the rain detection signal to obtain rainfall data in the rainy environment; if the rainfall data is greater than or equal to a preset threshold, record the signal duration corresponding to the rain detection signal.

[0116] In the embodiment of the present application, the control module 43 is used to call the wiper gear position detector to detect the gear position of the wiper in the vehicle if the rain condition detection device is a wiper gear position detector, and obtain a wiper gear position signal; analyze the wiper gear position signal to obtain the gear value of the wiper in a rainy environment; if the gear value is greater than or equal to the preset gear value, record the signal duration corresponding to the wiper gear position signal.

[0117] In an embodiment of the present application, the update module 44 is used to analyze the rain sensing control signal to obtain the rainfall conditions in the rainy environment; match the rainfall conditions and the signal duration with multiple preset time update strategies to obtain a target time update strategy that hits the rainfall conditions and the signal duration; and use the state retention time carried by the target time update strategy to update the original state retention time of the vehicle in the stationary activation state.

[0118] In an embodiment of the present application, the device also includes: an adjustment module for detecting the section type of the road section where the vehicle is currently located; if the section type hits the preset section type, the traffic conditions of the road section where the vehicle is currently located are obtained, and the traffic conditions are used to adjust the state retention time of the static activation state.

[0119] In an embodiment of the present application, an adjustment module is used to obtain the congestion level and traffic speed of the road section where the vehicle is currently located based on traffic conditions; calculate the time adjustment range according to the congestion level and traffic speed; and use the time adjustment range to adjust the state retention time of the static activation state.

[0120] See also Figure 5 , Figure 5 is a schematic diagram of the structure of an electronic device provided by an optional embodiment of the present invention, such as Figure 5As shown, the electronic device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0121] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0122] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0123] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of an electronic device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0124] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0125] The electronic device further comprises a communication interface 30 for the electronic device to communicate with other devices or a communication network.

[0126] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0127] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle following control method based on rainy environment, characterized in that: The method comprises: Detect whether the vehicle currently has the adaptive cruise function turned on; If the vehicle currently turns on the adaptive cruise function, the driving status of the vehicle currently following the vehicle is obtained; If the driving state of the following vehicle is a stationary state, the vehicle is controlled to enter a stationary activation state, and a rain sensing control signal detected by the vehicle in a rainy environment and a signal duration corresponding to the rain sensing control signal are obtained; Based on the rain sensing control signal and the signal duration, the state holding time of the vehicle in the stationary activation state is updated, and when the state holding time is reached, the vehicle is controlled to enter a stationary waiting state from the stationary activation state.

2. The method according to claim 1, characterized in that The obtaining of the rain sensing control signal detected by the vehicle in a rainy environment and the signal duration corresponding to the rain sensing control signal includes: Obtaining vehicle configuration information of the vehicle; Determining a rain condition detection device deployed in the vehicle according to the vehicle configuration information; The rain sensing control signal detected by the rain condition detection device in the rainy environment and the signal duration corresponding to the rain sensing control signal are called.

3. The method according to claim 2, characterized in that The calling of the rain sensing control signal detected by the rain condition detection device in the rainy environment and the signal duration corresponding to the rain sensing control signal includes: If the rain condition detection device is a rain sensor, the rain sensor is called to detect a designated area of ​​the vehicle in the rainy environment to obtain a rain detection signal; Analyzing the rainfall detection signal to obtain rainfall data of the rainy day environment; If the rainfall data is greater than or equal to a preset threshold, the signal duration corresponding to the rainfall detection signal is recorded.

4. The method according to claim 2, characterized in that: The calling of the rain sensing control signal detected by the rain condition detection device in the rainy environment and the signal duration corresponding to the rain sensing control signal includes: If the rain condition detection device is a wiper gear position detector, calling the wiper gear position detector to detect the gear position of the wiper in the vehicle to obtain a wiper gear position signal; Analyzing the wiper gear position signal to obtain the gear position value of the wiper in the rainy environment; If the gear value is greater than or equal to the preset gear value, the signal duration corresponding to the wiper gear signal is recorded.

5. The method according to claim 1, characterized in that The updating of the state holding time of the vehicle in the stationary activation state based on the rain sensing control signal and the signal duration includes: Analyzing the rain sensor control signal to obtain the rainfall situation in the rainy day environment; Matching the rainfall condition and the signal duration with a plurality of preset time update strategies to obtain a target time update strategy that matches the rainfall condition and the signal duration; The original state keeping time of the vehicle in the stationary activation state is updated using the state keeping time carried by the target time update strategy.

6. The method according to claim 1, characterized in that After updating the state holding time of the vehicle in the stationary activation state based on the rain sensing control signal and the signal duration, the method further includes: Detecting the type of the road section where the vehicle is currently located; If the road section type matches the preset road section type, the traffic conditions of the road section where the vehicle is currently located are obtained, and the state holding time of the static activation state is adjusted using the traffic conditions.

7. The method according to claim 6, characterized in that The adjusting the state holding time of the stationary activation state by using the traffic condition includes: Based on the traffic conditions, obtain the congestion level and traffic speed of the road section where the vehicle is currently located; Calculating the time adjustment range according to the congestion level and the traffic speed; The state holding time of the static activation state is adjusted using the time adjustment amplitude.

8. A vehicle following control device based on rainy environment, characterized in that: The device comprises: A detection module is used to detect whether the vehicle currently has an adaptive cruise function turned on; An acquisition module, used for acquiring the driving status of the vehicle currently following the vehicle if the vehicle currently turns on the adaptive cruise function; a control module, configured to control the vehicle to enter a stationary activation state if the driving state of the following vehicle is a stationary state, and obtain a rain sensing control signal detected by the vehicle in a rainy environment and a signal duration corresponding to the rain sensing control signal; An updating module is used to update the state holding time of the vehicle in the stationary activation state based on the rain sensing control signal and the signal duration, and control the vehicle to enter a stationary waiting state from the stationary activation state when the state holding time is reached.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 7.

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