State machine control method and device with traffic jam assistance and cruise assistance functions

Abstract

The invention relates to a state machine control method and a state machine control device for traffic jam assistance and cruise assistance functions. The method comprises the following steps: a state determination step: determining the current state of a traffic jam assistance and cruise assistance function; and a state transition step of triggering the transition of the traffic jam assistance and cruise assistance function from a current state to a target state when a preset transition condition is satisfied, the current state being one of a passive state, a ready state, an activated state, a pause state and an X state, and the target state being one of a non-passive state, a ready state, an activated state, a pause state and an X state. The target state is another state of a passive state, a ready state, an active state, a pause state and an X state, and the passive state, the ready state, the active state, the pause state and the X state are predefined. According to the invention, the frequency of switching the activation button can be reduced, and a driver can be reminded when the system meets the activation function.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a state machine control method and a state machine control device for traffic congestion assistance and cruise assistance system functions. Background Art

[0002] ADAS (Advanced Driving g Assistance S y Advanced Driver Assistance System (ADAS) is a general term for intelligent driving assistance function groups, which actually includes many sub-functions, such as ACC (Adaptive Cruise Control), LKA (Lane Keeping g Assist, Lane Keeping Assist), TJA (Traffic Jam Assistant, Traffic Jam Assist), ICA (Intelli g ent Cruise Assist, cruise assist) and so on.

[0003] On the other hand, the functional state machine refers to the operating state machine of each intelligent driving function, such as lane departure warning (LDW), traffic jam assistance (TJA), adaptive cruise control (ACC), high-speed intelligent navigation assistance (NOP), etc. As an example, Figure 1 FIG. 1 is a schematic diagram showing a state machine of an existing adaptive cruise control (ACC) function. Figure 1 In the figure, A means the ACC function is off, B means the ACC function is in standby mode, and C means the ACC function is active. Figure 1 The state machine of the ACC function shown performs the following transitions:

[0004] Wherein, when the current state of the adaptive cruise control (ACC) function is the off state A, if the transfer condition AB is met (for example, the ACC function is turned on), the off state A is transferred to the standby state B;

[0005] When the current state of the adaptive cruise control (ACC) function is the standby state B, if the transition condition BC is met (for example, the ACC function is activated), the state is transferred from the standby state B to the activated state C, or if the transition condition BA is met (for example, the ACC function is deactivated), the state is transferred from the standby state B to the deactivated state A;

[0006] When the current state of the adaptive cruise control (ACC) function is the activation state C, if the transfer condition CB is met (for example, the ACC function is not activated), it will transfer from the activation state C to the standby state B. If the transfer condition CA is met (for example, the ACC function is turned off), it will transfer from the activation state C to the turned-off state A. Summary of the invention

[0007] Based on the above problems in the prior art, the present invention also aims to provide a state machine control method and a state machine control device for traffic congestion assistance and cruise assistance functions that can achieve transitions between more states.

[0008] Furthermore, the present invention also aims to provide a state machine control method and a state machine control device for traffic congestion assistance and cruise assistance functions, which can reduce the number of times the activation button is switched and can remind the driver to turn on the traffic congestion assistance and cruise assistance functions when the activation function is met.

[0009] A state machine control method for traffic congestion assistance and cruise assistance functions according to one aspect of the present invention is characterized by comprising:

[0010] a state determination step of determining the current state of the traffic jam assist and cruise assist functions; and

[0011] The state transition step triggers the traffic jam assistance and cruise assistance functions to transition from the current state to the target state when the pre-set transition conditions are met.

[0012] The current state is one of a passive state, a ready state, an active state, a pause state and an X state, the target state is another of a passive state, a ready state, an active state, a pause state and an X state, and the passive state, the ready state, the active state, the pause state and the X state are predefined.

[0013] A state machine control device for traffic congestion assistance and cruise assistance functions according to another aspect of the present invention is characterized by comprising:

[0014] a state determination module, for determining the current state of the traffic jam assist and cruise assist functions; and

[0015] The state transfer module is used to trigger the transfer of the traffic congestion assistance and cruise assistance functions from the current state to the target state when the pre-set transfer conditions are met.

[0016] The current state is one of a passive state, a ready state, an active state, a pause state and an X state, the target state is another of a passive state, a ready state, an active state, a pause state and an X state, and the passive state, the ready state, the active state, the pause state and the X state are predefined. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects and advantages of the present application will become more fully apparent from the following detailed description in conjunction with the accompanying drawings, in which the same or similar elements are represented by the same reference numerals.

[0018] Figure 1 1 is a schematic diagram showing a state machine of a conventional adaptive cruise control (ACC) function.

[0019] Figure 2 The figure is a flowchart showing a state machine control method of a traffic jam assistance and cruise assistance function according to an embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram showing the transition between various states in the state machine control method of the traffic congestion assistance and cruise assistance functions according to one embodiment of the present invention.

[0021] Figure 4 This is a block diagram showing the structure of a state machine control device for traffic jam assistance and cruise assistance functions according to one embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following describes some of the various embodiments of the present invention, which are intended to provide a basic understanding of the present invention, but are not intended to identify the key or decisive elements of the present invention or to limit the scope of protection.

[0023] For the purpose of brevity and illustration, the principles of the present invention are described herein mainly with reference to its exemplary embodiments. However, those skilled in the art will readily recognize that the same principles are equally applicable to state machine control methods and state machine control devices in all types of traffic congestion assistance and intelligent cruise assistance systems, and these same principles can be implemented therein, and any such changes do not depart from the true spirit and scope of the present patent application.

[0024] Moreover, in the following description, reference is made to the accompanying drawings, which illustrate specific exemplary embodiments. Electrical, mechanical, logical and structural changes may be made to these embodiments without departing from the spirit and scope of the present invention. In addition, although the features of the present invention are disclosed in conjunction with only one of several implementations / embodiments, this feature may be combined with one or more other features of other implementations / embodiments as may be desirable and / or advantageous for any given or identifiable function. Therefore, the following description should not be regarded as limiting, and the scope of the present invention is defined by the appended claims and their equivalents.

[0025] Terms such as “having” and “including” indicate that in addition to the units (modules) and steps directly and explicitly stated in the specification and claims, the technical solution of the present invention does not exclude the situation where it has other units (modules) and steps that are not directly or explicitly stated.

[0026] First, a brief description of the state machine itself is given.

[0027] The main function of the state machine is to track the current state of the system and transfer states according to specific conditions / events. The state machine can be understood as a control center that coordinates related signal actions and completes specific operations. There are several terms in the state machine: state, transition, action, and transition condition.

[0028] (1) state: By discretizing a system, many states can be obtained. Of course, these states are limited. For example, the present invention defines a passive state, a ready state, an active state, a pause state, and an X state.

[0029] (2) Transition: The process in which a state receives an input, performs some actions, and reaches another state is a transition.

[0030] (3) Transition condition: also called an event. In a certain state, only when the transition condition is met will the state machine transition to the next state and perform the corresponding action according to the transition process.

[0031] (4) Action (transition): There are many kinds of actions in the operation of the state machine.

[0032] Secondly, the inventors of the present invention have found the following through research on traffic jam assistance and cruise assistance functions (i.e., TJA / ICA functions):

[0033] In general, the state machine of the TJA / ICA function will describe all states available for the TJA / ICA function and need to describe the conditional transitions between two states.

[0034] Through research, it is found that the defects of existing solutions include:

[0035] (1) The state machine of the TJA / ICA function generally has only active state, passive state, and pause state;

[0036] (2) After the driver switches the activation button, if any suspension conditions are met, the driver does not know when the system recommends activating the TJA / ICA function;

[0037] (3) Some suspension conditions, such as excessive yaw rate or other conditions related to poor operation of the vehicle and the driver, require the driver to be reminded to reactivate the button to ensure driving safety and keep the driver's attention; and

[0038] (4) In the programs of other state machines, if the TJA / ICA function is suspended due to any suspension conditions, the driver needs to switch the button every time to activate the function, which leads to a poor driving experience.

[0039] In order to solve the above problems, the ready state and the X state are added to the state machine control method of the traffic congestion assistance and cruise assistance functions of the present invention, and the pause state is redefined.

[0040] Hereinafter, a state machine control method of a traffic jam assist and a cruise assist function according to an embodiment of the present invention will be described.

[0041] Figure 2 The figure is a flowchart showing a state machine control method of a traffic jam assistance and cruise assistance function according to an embodiment of the present invention.

[0042] like Figure 2 As shown, the state machine control method of the traffic congestion assistance and cruise assistance function according to one embodiment of the present invention includes the following process:

[0043] A state determination step S11, determining the current state of the traffic jam assistance and cruise assistance functions; and

[0044] The state transfer step S12 triggers the transfer of the traffic congestion assistance and cruise assistance functions from the current state to the target state when the preset transfer conditions are met.

[0045] The current state is one of a passive state, a ready state, an active state, a pause state and an X state, the target state is another of a passive state, a ready state, an active state, a pause state and an X state, and the passive state, the ready state, the active state, the pause state and the X state are predefined.

[0046] In the state machine control method of the traffic congestion assistance and cruise assistance function of one embodiment of the present invention, the passive state, ready state, active state, X state and pause state of the traffic congestion assistance and cruise assistance function are predefined. Among them, in the present invention, the pause state is mainly redefined for the existing state machine of the traffic congestion assistance and cruise assistance function, and the ready state and X state are newly added. The specific definitions of these states are as follows:

[0047] "Passive state" is defined as a state where the function does not control the vehicle and cannot be reactivated by itself. Here, "function" refers to traffic jam assist and cruise assist functions (the same below);

[0048] "Ready state" is defined as a state where the function does not control the vehicle and is reactivated when the driver presses the activation button after arbitration. Arbitration means that after the driver activates the function, the system determines the priority of the current function and selects the function with the highest priority.

[0049] The “activated state” is defined as the state in which lateral support is provided, i.e. the state in which the function controls the vehicle;

[0050] "Pause state" is defined as a state in which the function does not control the vehicle and is reactivated (i.e. restored to the active state) if an overriding condition disappears, which is, for example, a condition in which the function is automatically restored to the active state after a clear lane recognition exit (e.g., a short exit such as crossing an intersection) after activation.

[0051] "X state" is defined as a state in which the function does not control the vehicle, and the function can only be reactivated (i.e. restored to the activated state) if the covering condition disappears and the driver presses the activation button. For example, when the driver tries to press the activation button to activate the function, it cannot be activated at the moment because the lane line is not clear. After the lane line is clear, the activation state can be entered by pressing the activation button.

[0052] The "activation button" refers to the button used to switch the traffic jam assist and cruise assist functions on and off.

[0053] Figure 3 It is a schematic diagram showing the transition between various states in the state machine control method in the traffic congestion assistance and intelligent cruise assistance system according to one embodiment of the present invention.

[0054] exist Figure 3 The passive state, ready state, active state, X state and pause state are represented by 100, 200, 300, 400 and 500 respectively. Figure 2 ①~⑨ and They represent different transfer conditions respectively. The specific contents of these transfer conditions are as follows:

[0055] Transfer condition ①: All activation conditions are met. The so-called activation conditions are the conditions for opening the traffic jam assist and cruise assist functions, such as the vehicle body parameters and status are normal, the position relationship between the vehicle and the lane line is normal, and the driver does not intervene in the system. These conditions can be preset or added according to customer needs;

[0056] Transfer condition ②: None of the activation conditions are met;

[0057] Transfer condition ③: All activation conditions are met, except for the override conditions. The so-called override conditions here refer to the conditions that can automatically restore to the activated state or ready state after these conditions disappear, such as lane line loss, excessive driver hand torque, etc. These conditions can be pre-set or added according to customer needs;

[0058] Transfer condition ④: None of the activation conditions are met;

[0059] Transfer condition ⑤: None of the activation conditions are met;

[0060] Transfer condition ⑥: Coverage condition exists;

[0061] Transfer condition ⑦: Coverage condition disappears;

[0062] Transfer condition⑧: Coverage condition exists;

[0063] Transfer condition ⑨: Coverage condition disappears;

[0064] Transfer conditions The driver presses the activation button and the arbitration result is TJA / ICA function;

[0065] Transfer conditions None of the activation conditions are met;

[0066] Transfer conditions The driver presses the activation button.

[0067] like Figure 1 and 2 As shown, the state machine control method in the traffic congestion assistance and intelligent cruise assistance system according to one embodiment of the present invention performs the following transfer control:

[0068] In the case where it is determined in the state determination step S12 that the current state is the passive state 100: in the case where it is determined in the state transfer step S13 that all activation conditions are satisfied (i.e., transfer condition ①), the current state is transferred from the passive state 100 to the ready state 200; in the case where it is determined in the state transfer step S12 that all activation conditions are satisfied and there is an overlay condition (i.e., transfer condition ③), the current state is transferred from the passive state 100 to the X state 400;

[0069] In the case where it is determined in the state determination step S12 that the current state is the ready state 200: in the case where it is determined in the state transfer step S13 that there is an overriding condition (i.e., transfer condition ⑧), the current state is transferred from the ready state 200 to the X state 400; it can also be set here that when all activation conditions are met, the driver is reminded that if he wants to transfer to the activation state 300, he needs to press the activation button. In this way, in the state transfer step S13, it is determined that the driver presses the activation button and the arbitration result is that the traffic congestion assist and cruise assist functions are turned on (i.e., transfer condition ⑧). ), transfer the current state from the ready state 200 to the activated state 300;

[0070] In the case where the current state is determined to be X state 400 in the state determination step S12: in the case where it is determined in the state transfer step S13 that any activation condition is not satisfied (i.e., transfer condition ④), the current state is transferred from X state 400 to passive state 100; in the case where it is determined in the state transfer step S13 that the covering condition disappears, the current state is transferred from X state 400 to ready state 200 (i.e., transfer condition ⑨), wherein it can also be configured to remind the driver to press the activation button if the driver wants to transfer to the pause state when the covering condition disappears; in the case where it is determined in the state transfer step S13 that the driver presses the activation button (i.e., transfer condition ), transfer the current state from X state 400 to pause state 500;

[0071] In the case where the current state is determined to be the active state 300 in the state determination step S12: if it is determined in the state transfer step S13 that there is an overriding condition, the current state is transferred from the active state 300 to the pause state 400 (i.e., transfer condition ⑥); in the case where it is determined in the state transfer step S13 that any of the activation conditions are not satisfied, the current state is transferred from the active state 300 to the passive state 100 (i.e., transfer condition );

[0072] When it is determined in the state determination step S12 that the current state is the pause state 500: when it is determined in the state transfer step S13 that any activation condition is not met, the current state is transferred from the pause state 500 to the passive state 100 (i.e., transfer condition ⑤); when it is determined in the state transfer step S13 that the covering condition disappears, the current state is transferred from the pause state 500 to the activated state 300 (i.e., transfer condition ⑦).

[0073] As described above, in the state machine control method for traffic jam assistance and cruise assistance functions of the present invention, the pause state is redefined and the ready state and X state are added, wherein when all activation conditions are met, the state machine will transfer to the ready state, and preferably can be set to remind the driver to activate the function on the HMI interface (for example, remind the driver to press the activation button). Further, in the ready state, when there is an overriding condition, the state machine will transfer from the ready state to the X state, and when in the X state, when the overriding condition disappears, the state machine transfers from the X state to the ready condition. On the other hand, in the X state, if the driver presses the activation button, it can transfer from the X state to the pause state. In the pause state, when the arbitration is passed after the overriding condition disappears, the driver does not need to switch the activation button again and can directly transfer to the activation state.

[0074] Figure 4 This is a block diagram showing the structure of a state machine control device for traffic jam assistance and cruise assistance functions according to one embodiment of the present invention.

[0075] like Figure 4 As shown, a state machine control device 10 for traffic congestion assistance and cruise assistance functions according to an embodiment of the present invention includes:

[0076] A state determination module 11, for determining the current state of the traffic jam assistance and cruise assistance functions; and

[0077] The state transfer module 12 is used to trigger the traffic congestion assistance and cruise assistance functions to transfer from the current state to the target state when a preset transfer condition is met.

[0078] The current state is one of a passive state, a ready state, an active state, a pause state and an X state, the target state is another of a passive state, a ready state, an active state, a pause state and an X state, and the passive state, the ready state, the active state, the pause state and the X state are predefined.

[0079] Among them, the state transfer module 12 implements Figure 3 Transfer between the various states shown. For specific transfer content, refer to the relevant Figure 3 The description is omitted here.

[0080] As described above, according to the state machine control method and state machine control device of the traffic congestion assist and cruise assist functions of the present invention, when the traffic congestion assist and cruise assist functions are in the paused state, if it is determined that the covering condition disappears, the current state can be directly transferred from the paused state to the activated state without the driver pressing the activation button, thereby reducing the number of times the activation button is switched.

[0081] Moreover, the state machine control method and state machine control device of the traffic congestion assistance and cruise assistance functions of the present invention can remind the driver to press the activation button to enter the activation state when the system meets the activation conditions, and can also remind the driver to press the activation button to enter the pause state in the X state. Further, the state machine control method and state machine control device of the traffic congestion assistance and intelligent cruise assistance functions of the present invention can be flexibly mapped to the HMI by splitting and adding X states, because the X state can specifically display whether it can be restored or directly suppressed, and different information reminders can be made to the driver.

[0082] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art can think of other feasible changes or substitutions based on the technical scope disclosed in the present application, and such changes or substitutions are all included in the protection scope of the present application. In the absence of conflict, the implementation modes of the present application and the features in the implementation modes can also be combined with each other. The protection scope of the present application shall be subject to the description of the claims.

Claims

1. A state machine control method for traffic congestion assistance and cruise assistance functions, characterized in that: include: A state determination step for determining current states of traffic jam assist and cruise assist functions; as well as The state transition step triggers the traffic jam assistance and cruise assistance functions to transition from the current state to the target state when the pre-set transition conditions are met. The current state is one of a passive state, a ready state, an active state, a pause state and an X state; the target state is another of the passive state, the ready state, the active state, the pause state and the X state; and the passive state, the ready state, the active state, the pause state and the X state are predefined.

2. The state machine control method for traffic congestion assistance and cruise assistance functions according to claim 1, characterized in that: In the state determination step, when it is determined that the current state is the ready state: In the state transfer step, when the driver presses an activation button as the transfer condition is satisfied, the current state is transferred from the ready state to the activated state; In the state transfer step, when the transfer condition is the presence of an overriding condition, the current state is transferred from the ready state to the X state, wherein the overriding condition is a condition that enables recovery to the active state or the ready state after the overriding condition disappears.

3. The state machine control method for traffic congestion assistance and cruise assistance functions according to claim 1, characterized in that: In the state determination step, when it is determined that the current state is the X state: In the state transfer step, the current state is transferred from the X state to the passive state when the activation condition is not satisfied as the transfer condition, and the activation condition is that the traffic congestion assistance and cruise assistance functions are turned on; In the state transfer step, when the covering condition disappears as the transfer condition, the current state is transferred from the X state to the ready state; In the state transition step, when the driver presses an activation button as the transition condition, the current state is transitioned from the X state to the pause state.

4. The state machine control method for traffic congestion assistance and cruise assistance functions according to claim 3, characterized in that: In the case where it is determined in the state determination step that the current state is the pause state: In the state transfer step, when the activation condition is not satisfied as the transfer condition, the current state is transferred from the pause state to the passive state; In the state transition step, when the transition condition is that the covering condition disappears, the current state is transitioned from the suspended state to the active state.

5. The state machine control method for traffic congestion assistance and cruise assistance functions according to claim 1, characterized in that: In the state determination step, when it is determined that the current state is the passive state: In the state transfer step, when the transfer condition is that the activation condition is satisfied, the current state is transferred from the passive state to the ready state; In the state transition step, when the activation condition is satisfied and the override condition exists as the transition condition, the current state is transitioned from the passive state to the X state.

6. The state machine control method for traffic congestion assistance and cruise assistance functions according to claim 1, characterized in that: In the case where it is determined in the state determination step that the current state is the activation state: In the state transfer step, when the transition condition is the presence of the covering condition, the current state is transferred from the active state to the paused state; In the state transition step, when the activation condition is not satisfied as the transition condition, the current state is transitioned from the active state to the passive state.

7. A state machine control device for traffic congestion assistance and cruise assistance functions, characterized in that: include: A state determination module, used to determine the current state of the traffic jam assist and cruise assist functions; as well as The state transfer module is used to trigger the transfer of the traffic congestion assistance and cruise assistance functions from the current state to the target state when the pre-set transfer conditions are met. The current state is one of a passive state, a ready state, an active state, a pause state and an X state; the target state is another of the passive state, the ready state, the active state, the pause state and the X state; and the passive state, the ready state, the active state, the pause state and the X state are predefined.

8. The state machine control device for traffic jam assistance and cruise assistance functions according to claim 7, characterized in that: In the state determination module, when it is determined that the current state is the ready state: In the state transfer module, when the driver presses the activation button as the transfer condition is satisfied, the current state is transferred from the ready state to the activated state; In the state transfer step, when the transfer condition is the presence of an overriding condition, the current state is transferred from the ready state to the X state, wherein the overriding condition is a condition that enables recovery to the active state or the ready state after the overriding condition disappears.

9. The state machine control device for traffic jam assistance and cruise assistance functions according to claim 7, characterized in that: In the state determination module, when it is determined that the current state is the X state: In the state transfer module, the current state is transferred from the X state to the passive state when the activation condition is not satisfied as the transfer condition, and the activation condition is that the traffic congestion assistance and cruise assistance functions are turned on; When the transition condition is that the override condition disappears, the current state is transitioned from the X state to the ready state; when the transition condition is that the driver presses an activation button, the current state is transitioned from the X state to the pause state.

10. The state machine control device for traffic jam assistance and cruise assistance functions according to claim 9, characterized in that: When it is determined in the state determination module that the current state is the pause state: In the state transfer module, when the transfer condition is that the activation condition is not satisfied, the current state is transferred from the pause state to the passive state; when the transfer condition is that the covering condition disappears, the current state is transferred from the pause state to the active state.

11. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the state machine control method for the traffic congestion assistance and cruise assistance functions described in any one of claims 1 to 6 is implemented.

12. A computer device comprising a storage module, a processor, and a computer program stored in the storage module and executable on the processor, characterized in that: When the processor executes the computer program, the state machine control method for the traffic congestion assistance and cruise assistance functions according to any one of claims 1 to 6 is implemented.

13. A traffic congestion assistance and intelligent cruise assistance system, characterized in that: A state machine control device comprising the traffic congestion assistance and cruise assistance functions as claimed in any one of claims 7 to 10.

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