Vehicle cruise speed control method and system based on vehicle distance and vehicle

Abstract

The application provides a vehicle cruise speed control method and system based on front-rear vehicle distance and a vehicle, and the method is as follows: (1) when the vehicle is in a cruise state, the distance between the vehicle and front and rear vehicles is monitored; (2) the safety state of the vehicle is determined based on the distance between the vehicle and the front and rear vehicles; (3) when the safety state of the vehicle has a collision risk, the collision risk of the vehicle is reduced by adjusting the vehicle speed. When the vehicle detects that the distance between the vehicle and the front and rear vehicles is too close, the cruise speed of the vehicle is adjusted adaptively to reduce the collision risk of the vehicle with the front and rear vehicles as much as possible during the cruise process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic cruise, and provides a vehicle cruise speed control method and system based on front and rear vehicle distance and a vehicle. BACKGROUND

[0002] The safety of automobiles has always been the focus of every automobile manufacturer, and well-known manufacturers have been committed to developing more advanced technologies and measures to protect the safety of passengers in the vehicle and the outside environment.

[0003] The safety system on the automobile is mainly divided into two categories, one is the active safety system, and the other is the passive safety system. The active safety system is a safety design to prevent accidents and avoid injuries, and the common ones are anti-lock braking system (ABS), electronic brake force distribution system (EBD), traction control system (TCS), electronic stability system (ESP), automatic emergency braking system (AEB), lane departure warning system (LDWS), tire pressure monitoring system (TPMS) and distance control system. Their characteristics are to improve the driving stability of the automobile and avoid accidents as much as possible; the passive safety system is a safety design to reduce the harm to the personnel in the accident, and the common ones are airbags (SRS), seat belts, etc. Their characteristics are to work after the accident.

[0004] The current distance control system is mainly adaptive cruise system (ACC), which monitors the road traffic environment in front of the vehicle through sensors, and controls the longitudinal speed of the vehicle according to the relative distance and relative speed between the vehicle and the front vehicle, so as to avoid rear-end collision with the front vehicle. The above method considers the speed and distance control of the vehicle relative to the front vehicle, and does not consider the safety problem of the rear vehicle. SUMMARY

[0005] In view of this, the present application provides a vehicle cruise control method based on front and rear vehicle distance, aiming at improving the above problems.

[0006] Specifically, the technical scheme includes the following:

[0007] On the one hand, the present application provides a vehicle cruise speed control method based on front and rear vehicle distance, which is specifically as follows:

[0008] (1) When the vehicle is in a cruise state, the distance between the vehicle and the front and rear vehicles is monitored;

[0009] (2) The safety state of the vehicle is determined based on the distance between the vehicle and the front and rear vehicles;

[0010] (3) When the safety state of the vehicle has a collision risk, the vehicle speed is adjusted to reduce the collision risk of the vehicle.

[0011] In some embodiments of the present application, the method for determining the safety state of the host vehicle is as follows:

[0012] based on the current distance S of the host vehicle from the front vehicle f determining the safety state between the host vehicle and the front vehicle;

[0013] based on the current distance S of the host vehicle from the rear vehicle b determining the safety state between the host vehicle and the rear vehicle;

[0014] determining the safety state of the host vehicle based on the safety state between the host vehicle and the front vehicle and the safety state between the host vehicle and the rear vehicle, the safety state of the host vehicle including safe state, relatively dangerous state and dangerous state, when in the safe state, it is determined that there is no collision risk between the host vehicle and the front vehicle and the rear vehicle.

[0015] In some embodiments of the present application, the method for determining the safety state between the host vehicle and the front vehicle is as follows:

[0016] when S f >S v , the host vehicle is in the safe state relative to the front vehicle;

[0017] when S Δf ≤S f ≤S v , the host vehicle is in the relatively safe state relative to the front vehicle;

[0018] when S Δf >S f , the host vehicle is in the relatively dangerous state relative to the front vehicle;

[0019] wherein S v is the set effective scanning distance, S f is the vehicle distance of the host vehicle from the front vehicle, and S Δf is the set safety distance of the host vehicle from the front vehicle.

[0020] In some embodiments of the present application, the method for determining the safety state between the host vehicle and the rear vehicle is as follows:

[0021] when S b >S v , the host vehicle is in the safe state relative to the rear vehicle;

[0022] when S Δb ≤S b ≤S v , the host vehicle is in the relatively safe state relative to the rear vehicle;

[0023] when S Δb >S b , the host vehicle is in the relatively dangerous state relative to the rear vehicle;

[0024] wherein S v is a set effective scanning distance, S b is a distance between the vehicle and the rear vehicle, S Δb is a set safety distance between the vehicle and the rear vehicle.

[0025] In some embodiments of the present application, when the vehicle is in a safe state or a relatively safe state relative to the front vehicle and the rear vehicle, the vehicle is determined to be in a safe state, when the vehicle is in a dangerous state relative to the front vehicle or the rear vehicle, the vehicle is determined to be in a relatively dangerous state, and when the vehicle is in a dangerous state relative to the front vehicle and the rear vehicle, the vehicle is determined to be in a dangerous state.

[0026] In some embodiments of the present application, when the vehicle is in a safe state or a relatively safe state relative to the front vehicle, and the vehicle is in a dangerous state relative to the rear vehicle, the vehicle accelerates, when the distance S b between the vehicle and the rear vehicle reaches the safety distance S Δb , if the distance S f between the vehicle and the front vehicle is still greater than the safety distance S Δf , the vehicle stops accelerating, the current speed v1 of the vehicle is taken as the current cruise speed, and the vehicle cruises at the speed v1; when the distance S b between the vehicle and the rear vehicle has not reached the safety distance S Δb , the distance S f between the vehicle and the front vehicle is also less than the safety distance S Δf , and the vehicle enters a dangerous state.

[0027] In some embodiments of the present application, when the vehicle is in a dangerous state relative to the front vehicle, and the vehicle is in a safe state or a relatively safe state relative to the rear vehicle, the vehicle is controlled to decelerate, when the distance S f between the vehicle and the front vehicle reaches the safety distance S Δf , if the distance S b between the vehicle and the rear vehicle is still greater than the safety distance S Δb , the vehicle stops decelerating, the current speed v2 of the vehicle is taken as the current cruise speed, and the vehicle cruises at the speed v2; when the distance S f between the vehicle and the front vehicle has not reached the safety distance S Δf , the distance S b between the vehicle and the front vehicle is also less than the safety distance S Δb , and the vehicle enters a dangerous state.

[0028] In some embodiments of the present application, when the vehicle is in a dangerous state, the speed adjustment method of the vehicle is specifically as follows:

[0029] when S f : S b > SΔf S Δb When S f S b =S Δf S Δb ; when S f S b <S Δf S Δb When S f S b =S Δf S Δb .

[0030] In one aspect, the present application provides a vehicle cruise speed control method based on the distance between the front and rear vehicles, the method comprising:

[0031] a distance measuring sensor, an electronic control unit (ECU), a motor controller and a motor, the distance measuring sensor being in communication connection with the ECU, the ECU being in communication connection with the motor controller, and the motor controller controlling the rotation speed of the motor;

[0032] The distance measuring sensor is used to monitor the distance between the vehicle and the front and rear vehicles, and send the distance to the ECU, the ECU drives the motor controller based on the vehicle cruise speed control method based on the distance between the front and rear vehicles, and the motor controller adjusts the rotation speed of the motor to make the vehicle accelerate, decelerate or cruise at a constant speed.

[0033] In another aspect, the present application provides a vehicle, which is integrated with the vehicle cruise speed control system based on the distance between the front and rear vehicles.

[0034] When the vehicle detects that the distance between the vehicle and the front and rear vehicles is too close, the cruise speed of the vehicle is adjusted adaptively to reduce the risk of collision between the vehicle and the front and rear vehicles as much as possible during the cruise. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0036] Figure 1 A flow chart of the vehicle cruise speed control method based on the distance between the front and rear vehicles provided by the embodiments of the present application;

[0037] Figure 2 A schematic diagram of the vehicle cruise speed control system based on the distance between the front and rear vehicles provided by the embodiments of the present application;

[0038] The specific embodiments of the present application have been shown and described in the above drawings, and will be described in more detail in the following. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely in the following by referring to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative work fall within the scope of protection of the present application.

[0040] Unless otherwise defined, all the technical terms used in the embodiments of the present application have the same meanings as commonly understood by those skilled in the art.

[0041] Figure 1 The flow chart of the vehicle cruise speed control method based on the distance between the front and rear vehicles is provided in the embodiments of the present application, and the method is specifically as follows:

[0042] (1) When the vehicle is in a cruise state, the distance between the vehicle and the front and rear vehicles is monitored.

[0043] (2) The safety state of the vehicle is determined based on the distance between the vehicle and the front and rear vehicles.

[0044] (3) When the safety state of the vehicle has a collision risk, the collision risk of the vehicle relative to the front and rear vehicles is reduced by adjusting the vehicle speed.

[0045] In the embodiments of the present application, the distance between the vehicle and the front and rear vehicles is detected by a distance measuring sensor, the distance between the vehicle and the front vehicle is S f , the distance between the vehicle and the rear vehicle is S b , and the safety distance between the vehicle and the front and rear vehicles is S Δf , S Δb , respectively. The safety distance S Δf , the safety distance S Δb are preset values, wherein the front and rear vehicles and the vehicle are located in the same lane. The safety state between the vehicle and the front vehicle is determined based on the current distance S f between the vehicle and the front vehicle, and the safety state between the vehicle and the rear vehicle is determined based on the current distance S bThe safety state between the vehicle and the rear vehicle is determined, the safety state between the vehicle and the front vehicle and the safety level between the vehicle and the rear vehicle are comprehensively determined to determine the safety state of the vehicle, the safety state of the vehicle is divided into three levels, which are safety state, relatively dangerous state and dangerous state, when the vehicle is in the relatively dangerous state or the dangerous state, the vehicle and the front vehicle or the rear vehicle exist collision risks in different degrees, at this time, the speed of the vehicle needs to be adjusted through self-adaptation to reduce the collision risks of the vehicle and the front vehicle and the rear vehicle as much as possible, only when the vehicle is in the safety state, it is determined that there is no collision risk between the vehicle and the front vehicle and the rear vehicle.

[0046] In the embodiment of the application, the safety state determination method between the vehicle and the front vehicle is as follows: when S f >S v , the vehicle is in the safety state relative to the front vehicle; when S Δf ≤S f ≤S v , the vehicle is in the relatively safety state relative to the front vehicle; when S Δf >S f , the vehicle is in the relatively dangerous state relative to the front vehicle.

[0047] The safety state determination method between the vehicle and the rear vehicle is as follows: when S b >S v , the vehicle is in the safety state relative to the rear vehicle; when S Δb ≤S b ≤S v , the vehicle is in the relatively safety state relative to the rear vehicle; when S Δb >S b , the vehicle is in the relatively dangerous state relative to the rear vehicle.

[0048] Wherein, S v is the effective scanning distance, when the distance between the front vehicle or the rear vehicle and the vehicle is greater than the effective scanning distance S v , even if the corresponding vehicle can be detected by the distance measuring sensor, the related information of the corresponding vehicle will not be monitored.

[0049] In the embodiment of the application, the safety state of the vehicle is determined by comprehensively determining the safety state of the vehicle relative to the front vehicle and the rear vehicle, and the determination method is as follows:

[0050] When the vehicle is in the safety state or the relatively safety state relative to the front vehicle and the rear vehicle, it is determined that the vehicle is in the safety state, when the vehicle is in the dangerous state relative to the front vehicle or the rear vehicle, it is determined that the vehicle is in the relatively dangerous state, when the vehicle is in the dangerous state relative to the front vehicle and the rear vehicle, it is determined that the vehicle is in the dangerous state, and the determination criteria of the safety state of the vehicle are shown in Table 1.

[0051] Table 1 determination criteria of the safety state of the vehicle

[0052]

[0053]

[0054] The following explains the vehicle speed control strategy under the three safety conditions shown in Table 1. The specific vehicle speed control strategy is as follows:

[0055] (31) When the vehicle is in a safe or relatively safe state relative to the vehicle in front, and when the vehicle is in a safe or relatively safe state relative to the vehicle behind, the vehicle is considered to be in a safe state. At this time, the vehicle continues to drive at its current cruising speed v0.

[0056] (32) The vehicle is considered to be in a relatively dangerous state under the following two circumstances. The cruise speed adjustment methods for these two circumstances are different. The cruise speed control strategies for the following two circumstances are explained in detail below:

[0057] The first scenario: When the vehicle is in a safe or relatively safe condition relative to the vehicle in front, but in a dangerous condition relative to the vehicle behind, the vehicle accelerates (with a small acceleration) to increase the distance S between the vehicle and the vehicle behind. b This also reduced the distance S between the vehicle and the vehicle in front. f Therefore, during the acceleration of this vehicle, the following situations may occur:

[0058] (321) The distance S between this vehicle and the vehicle behind it b Reaching a safe distance S Δb At this moment, the vehicle's speed is v1, which is greater than its speed v0. If the distance S between the vehicle and the vehicle in front is... f Still greater than the safe distance S Δf The vehicle stops accelerating and sets speed v1 as the current cruising speed. The vehicle will cruise at speed v1.

[0059] (322) The distance S between this vehicle and the vehicle behind it b The safe distance S has not yet been reached. Δb At that time, the distance S between the car and the car in front is... f It is also less than the safe distance S Δf At this point, the vehicle enters a dangerous state. Based on the cruise speed adjustment method under dangerous conditions, the vehicle's cruise speed will continue to be adjusted.

[0060] The second scenario: When the vehicle is in a dangerous situation relative to the vehicle in front, but in a safe or relatively safe situation relative to the vehicle behind, control the vehicle to slow down (by a small deceleration) to increase the distance S between the vehicle and the vehicle in front. f At the same time, reduce the distance S between this vehicle and the vehicle behind it. bTherefore, during the deceleration of this vehicle, the following situations may occur:

[0061] (323) The distance S between this vehicle and the vehicle in front f Reaching a safe distance S Δf At this moment, the vehicle's speed is v2, which is less than its speed v0. If the distance S between the vehicle and the vehicle behind it at this moment... b Still greater than the safe distance S Δb The vehicle stops decelerating and sets speed v2 as the current cruising speed. The vehicle will cruise at speed v2.

[0062] (324) The distance S between this vehicle and the vehicle in front f The safe distance S has not yet been reached. Δf At that time, the distance S between the car and the car in front is... b It is also less than the safe distance S Δb At this point, the vehicle enters a dangerous state. Based on the cruise speed adjustment method under dangerous conditions, the vehicle's cruise speed will continue to be adjusted.

[0063] (33) When the vehicle is in a dangerous situation relative to the vehicle in front and also relative to the vehicle behind, the vehicle is deemed to be in a dangerous situation. The specific method for adjusting the cruise speed when the vehicle is in a dangerous situation is as follows:

[0064] In S f :S b >S Δf :S Δb At that time, increase the vehicle's speed to eventually maintain S. f :S b =S Δf :S Δb ; in S f :S b <S Δf :S Δb At that time, reduce the vehicle's speed to eventually maintain S. f :S b =S Δf :S Δb .

[0065] When a vehicle is in a dangerous situation, it is impossible to adjust its cruising speed to maintain a safe or relatively safe state relative to both the vehicles in front and behind. In other words, the vehicle is in a dangerous state relative to both the vehicles in front and behind. If the driver chooses to reduce the risk of collision with one vehicle, the risk of collision with the other vehicle will increase. To avoid an extremely high risk of collision with one vehicle, the driver chooses a speed control strategy that maintains a relatively balanced state of collision risk with both the vehicles in front and behind.

[0066] Figure 2The mechanism schematic diagram of the vehicle cruise speed control system based on the front and rear vehicle distance provided by the embodiment of the present application, for the convenience of illustration, only the part related to the embodiment of the present application is shown, and the system comprises:

[0067] The ranging sensor, the electronic control unit ECU, the motor controller and the motor, the ranging sensor is in communication connection with the electronic control unit ECU, the electronic control unit ECU is in communication connection with the motor controller, and the motor controller controls the rotating speed of the motor;Wherein, the ranging sensor is used for monitoring the distance between the vehicle and the front and rear vehicles, and sending to the electronic control unit ECU, the electronic control unit ECU drives the motor controller based on the above-mentioned vehicle cruise speed control method based on the front and rear vehicle distance, and the motor controller adjusts the rotating speed of the motor to make the vehicle realize acceleration, deceleration or constant speed driving.

[0068] In the embodiment of the present application, the ranging sensor is used to measure and obtain the distance signal between the two vehicles, and generally uses laser radar or millimeter wave radar to detect the distance between the two vehicles.

[0069] In the embodiment of the present application, the system further comprises a central large screen in communication connection with the electronic control unit ECU;The set safety distance S Δf , the safety distance S Δb , the effective scanning distance S v and the initial cruise speed are input to the electronic control unit ECU through the central large screen, and the electronic control unit ECU adjusts the cruise speed of the vehicle adaptively based on the above-mentioned vehicle cruise speed control method based on the front and rear vehicle distance, so as to reduce the collision risk of the vehicle with the front and rear vehicles in the cruise process as far as possible.

[0070] In the embodiment of the present application, the system further comprises a prompting unit in communication connection with the electronic control unit ECU, when it is detected that the vehicle is in a dangerous state, the prompting unit sends a reminder to the front and rear vehicles, such as reminding the front vehicle to accelerate through the horn, and when the vehicle accelerates or decelerates, the prompting unit also sends a related reminder to the rear vehicle, so as to adjust the driving strategy of the rear vehicle in time.

[0071] The embodiment of the present application also provides a vehicle, the vehicle is integrated with the above-mentioned vehicle cruise speed control system based on the front and rear vehicle distance, and the vehicle is generally a new energy vehicle, when the vehicle detects that the distance between the vehicle and the front and rear sides or the rear vehicle is too close, the cruise speed of the vehicle is adjusted adaptively, so as to reduce the collision risk of the vehicle with the front and rear vehicles in the cruise process as far as possible.

[0072] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the application cover any and all variations of the application that come within the scope of the

[0073] It is understood that the application is not limited to the precise construction herein disclosed and shown in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims that follow.

Claims

1. A vehicle cruising speed control method based on the distance between vehicles in front and behind, characterized in that, The method is as follows: (1) When the vehicle is in cruise mode, monitor the distance between the vehicle and the vehicle in front and behind; (2) Determine the safety status of the vehicle based on the distance between the vehicle and the vehicle in front and behind; (3) When there is a risk of collision in the safe condition of the vehicle, the risk of collision can be reduced by adjusting the speed of the vehicle. The method for determining the safety status of this vehicle is as follows: Based on the current distance S between this vehicle and the vehicle in front f Determine the safe distance between your vehicle and the vehicle in front; Based on the current distance S between this vehicle and the vehicle behind it b Determine the safety status between your vehicle and the vehicles behind you; The safety status of a vehicle is determined by comprehensively considering the safety status between the vehicle and the vehicle in front and the safety level between the vehicle and the vehicle behind. The safety status of a vehicle includes a safe status, a relatively dangerous status, and a dangerous status. When the vehicle is in a safe status, it is determined that there is no risk of collision between the vehicle and the vehicle in front or behind. When a vehicle is in a safe or relatively safe condition relative to both the vehicle in front and the vehicle behind, it is considered to be in a safe condition. When a vehicle is in a dangerous condition relative to either the vehicle in front or the vehicle behind, it is considered to be in a relatively dangerous condition. When a vehicle is in a dangerous condition relative to both the vehicle in front and the vehicle behind, it is considered to be in a dangerous condition. When this vehicle is in a dangerous situation, the specific method for adjusting the vehicle speed is as follows: In S f :S b >S Δf :S Δb At that time, increase the vehicle speed and maintain S f :S b =S Δf :S Δb ; in S f :S b <S Δf :S Δb At that time, reduce the vehicle's speed and maintain S. f :S b =S Δf :S Δb .

2. The vehicle cruising speed control method based on the distance between vehicles as described in claim 1, characterized in that, The specific method for determining the safety status between this vehicle and the vehicle in front is as follows: In S f >S v At that time, the vehicle was in a safe condition relative to the vehicle in front; In S Δf ≤S f ≤S v At that time, the vehicle was in a relatively safe condition relative to the vehicle in front; In S Δf >S f At that time, this vehicle was in a relatively dangerous situation relative to the vehicle in front; Among them, S v S is the set effective scanning distance. f S is the distance between this vehicle and the vehicle in front. Δf This is the set safe distance between this vehicle and the vehicle in front.

3. The vehicle cruising speed control method based on the distance between vehicles as described in claim 1, characterized in that, The specific method for determining the safety status between this vehicle and the vehicle behind it is as follows: In S b >S v At that time, this vehicle was in a safe condition relative to the vehicle behind it; In S Δb ≤S b ≤S v At that time, this vehicle was in a relatively safe condition relative to the vehicle behind it; In S Δb >S b At that time, this vehicle was in a relatively dangerous situation relative to the vehicle behind it; Among them, S v S is the set effective scanning distance. b S is the distance between this vehicle and the vehicle behind it. Δb This is the set safe distance between this vehicle and the vehicle behind it.

4. The vehicle cruising speed control method based on the distance between vehicles as described in claim 1, characterized in that, When this vehicle is in a safe or relatively safe condition relative to the vehicle in front, but in a dangerous condition relative to the vehicle behind, the acceleration of this vehicle, with a distance S between the vehicle and the vehicle behind, b Reaching a safe distance S Δb At that time, if the distance S between this vehicle and the vehicle in front is... f Still greater than the safe distance S Δf The vehicle stops accelerating and sets its current speed v1 as the current cruising speed. The vehicle cruises at speed v1. The distance S between the vehicle and the vehicle behind is... b The safe distance S has not yet been reached. Δb At that time, the distance S between the car and the car in front is... f It is also less than the safe distance S Δf This vehicle is in a dangerous state.

5. The vehicle cruising speed control method based on the distance between vehicles as described in claim 1, characterized in that, When this vehicle is in a dangerous situation relative to the vehicle in front, but in a safe or relatively safe situation relative to the vehicle behind, control this vehicle to slow down and maintain a distance S between this vehicle and the vehicle in front. f Reaching a safe distance S Δf At that time, if the distance S between this vehicle and the vehicle behind it is... b Still greater than the safe distance S Δb The vehicle stops decelerating and sets its current speed v2 as the current cruising speed. The vehicle will cruise at speed v2. The distance S between the vehicle and the vehicle in front is... f The safe distance S has not yet been reached. Δf At that time, the distance S between the car and the car in front is... b It is also less than the safe distance S Δb This vehicle is in a dangerous state.

6. A vehicle cruise speed control system based on the distance between vehicles in front and behind, characterized in that, The system includes: The system includes a ranging sensor, an electronic control unit (ECU), a motor controller, and a motor. The ranging sensor is connected to the ECU, and the ECU is connected to the motor controller. The motor controller controls the speed of the motor. The distance sensor is used to monitor the distance between the vehicle and the vehicle in front and behind, and sends the data to the electronic control unit (ECU). The ECU drives the motor controller based on the vehicle cruise speed control method based on the distance between the vehicle in front and behind as described in any one of claims 1 to 5. The motor controller adjusts the speed of the motor to enable the vehicle to accelerate, decelerate or maintain a constant speed.

7. A vehicle, characterized in that, The vehicle is equipped with a vehicle cruise speed control system based on the distance between the front and rear vehicles as described in claim 6.

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