Vehicle following method and system for intelligent driving vehicle

Abstract

The invention discloses a vehicle following method and system for an intelligent driving vehicle, and belongs to the field of intelligent driving. The method comprises the following steps: a user turns on a vehicle following mode switch and binds portable equipment of the user after secondary confirmation; then, the user presets a vehicle-mounted entertainment function when the vehicle follows, and confirms that preparation work is completed; after the vehicle state is automatically adjusted, reminding the user to get off and detecting whether the user gets off; if so, prompting the user that the vehicle following mode is formally started; then, intelligent driving of the vehicle is started, the vehicle detects the motion state of the user and the distance between the vehicle and the user by positioning portable equipment of the user, and the following state of the vehicle is controlled accordingly. And the user ends the vehicle following mode through the portable equipment and records vehicle following information. The intelligent driving function of the vehicle is flexibly used, the vehicle following requirement of the user in the vehicle leaving scene such as fitness exercise is met, the user experience is improved, and safety is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent driving, and in particular, relates to a vehicle following method and system for an intelligent driving vehicle. Background Art

[0002] When users drive to exercise (walking, running, cycling), the vehicle needs to be parked in the parking lot. Users need to carry certain equipment (such as safflower oil to prevent injuries, water, mobile phones, etc.), which is inconvenient during the exercise process; or the equipment is placed in the vehicle. If there is an emergency during the journey (rest, water, sprain, etc.), it is very inconvenient to return to the vehicle; or the exercise plan can only choose a round trip route, which is more monotonous than a long one-way exercise journey, and the above-mentioned car use processes of users need to be developed.

[0003] The public document with publication number CN113034951A, publication date 2021-06-25, and patent name "Intelligent Driving System and Intelligent Driving Method" discloses an intelligent driving system and an intelligent driving method. Specifically, the intelligent driving system includes a traffic information collection module, a cloud and at least one vehicle-mounted terminal, and the vehicle-mounted terminal includes a vehicle starting unit, a vehicle operation unit, and a vehicle automatic driving unit; the traffic information collection module collects and sends vehicle traffic-related information to the cloud in real time; the vehicle starting unit generates and sends vehicle start-up information to the cloud; the cloud calculates and generates cloud information based on vehicle traffic-related information and vehicle start-up information, and sends the cloud information at least to the vehicle operation unit; the vehicle operation unit determines traffic resources and traffic dynamics based on at least the cloud information, and sends the traffic resources and traffic dynamics to the vehicle automatic driving unit; the vehicle automatic driving unit generates automatic driving instructions based on traffic resources and traffic dynamics to command the vehicle to pass.

[0004] However, the above-mentioned public documents do not apply the intelligent driving function to the vehicle following requirement after the user leaves the vehicle. Therefore, the present invention proposes a vehicle following method and system for intelligent driving vehicles. Summary of the Invention

[0005] The present invention aims to overcome the shortcomings of the existing technology and proposes a vehicle following method and system for intelligent driving vehicles to achieve the following objectives: flexibly utilize the intelligent driving function of the vehicle to meet the vehicle following needs of users in off-vehicle scenarios such as fitness exercises, improve user experience and ensure safety.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a vehicle following method for an intelligent driving vehicle, the method comprising the following steps:

[0007] Step S1: The user turns on the vehicle-following mode switch and binds the user's portable device after a second confirmation. After the binding is completed, the user presets the in-vehicle entertainment functions that need to be enabled when the vehicle follows, and confirms that the preparations are complete.

[0008] Step S2: After automatically adjusting the vehicle status, remind the user to get off the vehicle and detect whether the user has gotten off the vehicle; if the user has gotten off the vehicle, prompt the user that the vehicle following mode is officially turned on;

[0009] Step S3: After the vehicle following mode is officially turned on, the vehicle starts intelligent driving. During the process, the vehicle detects the user's movement status and the distance between the vehicle and the user by locating the user's portable device, and controls the vehicle following status accordingly.

[0010] Step S4: The user ends the vehicle following mode through the portable device and records the vehicle following information.

[0011] Preferably, in step S1, the user's portable devices include a smart key, a mobile terminal, and a vehicle-machine authorization device. After the mobile terminal and the vehicle-machine authorization device are bound to the vehicle-machine, the vehicle-machine pushes a secondary confirmation interface through the central control screen for the user to secondary confirm the bound user's portable devices.

[0012] Preferably, in step S1, the user presets the in-vehicle entertainment functions that need to be turned on when the vehicle follows, including a music player and a radio.

[0013] Preferably, in step S2, automatically adjusting the vehicle status includes: controlling the windows and sunroof to automatically close, the tailgate to lock, and the doors to unlock.

[0014] Preferably, in step S2, after the vehicle status is automatically adjusted, the countdown T1 preset on the central control screen is started, and the user is reminded by voice to get off the vehicle and take the portable device with him / her; after the countdown reaches the preset time threshold T2, it is detected whether the user has gotten off the vehicle. If the user has gotten off the vehicle, the user is prompted by voice through the external speaker, and the vehicle following mode is officially started after the preset time threshold T2 ends; if the user has not gotten off the vehicle, the countdown T1 is reset and the above process is repeated.

[0015] Preferably, the detecting whether the user gets off the vehicle includes:

[0016] The door touch switch and seat pressure sensor are used to jointly detect whether the user has gotten off the vehicle: if within the preset time period T3, the door touch switch detects that the door is opening and closing, and the seat pressure sensor detects that the seat pressure is less than the preset pressure threshold, it is determined that the user has gotten off the vehicle.

[0017] Preferably, step S3 includes: after the vehicle following mode is officially turned on, the vehicle turns on the hazard warning lights, the vehicle is locked, the central control screen is turned off, the external speakers start playing according to the option, and the vehicle shifts to D gear and starts intelligent driving. During the process, the vehicle locates the user's portable device and controls the speed to keep the distance between the vehicle and the user between the preset first distance threshold and the second distance threshold.

[0018] Preferably, in step S3:

[0019] When the user is in the stopped state, the vehicle will also stop. After the vehicle stops:

[0020] If it is detected that the distance between the vehicle and the user continues to decrease, the vehicle remains stopped, and when the distance between the vehicle and the user is less than or equal to a preset first distance threshold, the vehicle is unlocked. After the user enters the vehicle, the vehicle confirms whether the user has exited the vehicle following mode. If the user has exited, the process jumps to step S4. If the user has not confirmed or does not exit within the preset time T4, the process returns to step S2.

[0021] If it is detected that the distance between the vehicle and the user continues to increase, the vehicle resumes driving.

[0022] Preferably, when the distance between the vehicle and the user is greater than or equal to a third distance threshold and the distance between the vehicle and the user continues to increase, the vehicle stops and waits, activates an alarm by itself, and simultaneously issues an alarm through the user's portable device;

[0023] After the alarm is triggered, if the distance between the vehicle and the user is detected to be less than the third distance threshold within the preset time period T5 and the vehicle receives a resume driving signal sent by the user's portable device, the vehicle resumes driving; if the distance between the vehicle and the user is detected to be unchanged or increasing within the preset time period T5, the vehicle is armed, the anti-theft function is activated, and the distance between the vehicle and the user is detected again:

[0024] If the distance between the vehicle and the user remains unchanged or increases within the preset time period T6, the vehicle exits the vehicle following mode, turns on the hazard warning lights, and intelligently drives to the roadside to wait; if it is detected that the distance between the vehicle and the user is less than the third distance threshold within the preset time period T6 and the anti-theft release and arming signals sent by the user's portable device are received, the vehicle resumes driving.

[0025] At the same time, the present application also proposes a vehicle following system for an intelligent driving vehicle, which is constructed according to the above-mentioned vehicle following method for an intelligent driving vehicle. The system includes a vehicle computer, a central control screen, an external speaker, a user's portable device, a door touch switch, a seat pressure sensor, a vehicle anti-theft system, an ADAS system, and a body control system; wherein the vehicle computer is respectively connected to the central control screen, the external speaker, the user's portable device, the door touch switch, the seat pressure sensor, the vehicle anti-theft system, the ADAS system, and the body control system;

[0026] The door touch switch and seat pressure sensor are used to collect door switch data and seat pressure data respectively and send them to the vehicle computer for user getting off the vehicle detection;

[0027] The central control screen is used to provide the HMI interface to the user according to the settings of the vehicle computer, and to receive the user's command input and send it to the vehicle computer;

[0028] The user's portable device is used to locate the user's position and receive user instructions, and send them to the vehicle computer;

[0029] The vehicle computer is used to process data according to the above-mentioned vehicle following method for intelligent driving vehicles, output corresponding control signals to the external vehicle speakers, vehicle anti-theft system, ADAS system, and body control system, and then execute them accordingly, thereby realizing vehicle following.

[0030] The technical effects of the present invention are as follows: the present invention realizes personalized settings and enhances the user experience through preparatory work such as binding the user's portable device and presetting the in-vehicle entertainment function. The vehicle status is automatically adjusted and the door touch switch, seat pressure sensor and other sensors are used to detect the user getting off the vehicle to ensure safety. During vehicle following, the positioning, distance detection and intelligent driving functions are combined to realize dynamic following of the vehicle and the user. In the event of abnormal situations, the alarm, defense, exit mode and other processing are used to ensure safety. Finally, at the end of the vehicle following, the following information can be recorded and displayed to improve interactivity and flexibly meet the vehicle following needs when the user leaves the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A flow chart of a vehicle following method for an intelligent driving vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following is a further detailed description of the specific implementation of the present invention through the description of the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention and to facilitate its implementation. It should be noted that the terms "first" and "second" described in this application are only used to facilitate the description of the technical solution to distinguish components. The corresponding component configurations may be the same or different, and are not intended to limit this application. In order to make the technical solution of the present invention clearer, the present invention is explained through the following embodiments.

[0033] This embodiment provides a vehicle following method for an intelligent driving vehicle, which aims to flexibly utilize the intelligent driving function of the vehicle to meet the vehicle following needs of users in off-vehicle scenarios such as fitness exercises. Figure 1 As shown, the method includes the following steps:

[0034] Step S1: The user turns on the vehicle-following mode switch and binds the user's portable device after a second confirmation. After the binding is completed, the user presets the in-vehicle entertainment functions that need to be enabled when the vehicle follows, and confirms that the preparations are complete.

[0035] Step S2: After automatically adjusting the vehicle status, remind the user to get off the vehicle and detect whether the user has gotten off the vehicle; if the user has gotten off the vehicle, prompt the user that the vehicle following mode is officially turned on;

[0036] Step S3: After the vehicle following mode is officially turned on, the vehicle starts intelligent driving. During the process, the vehicle detects the user's movement status and the distance between the vehicle and the user by locating the user's portable device, and controls the vehicle following status accordingly.

[0037] Step S4: The user ends the vehicle following mode through the portable device and records the vehicle following information.

[0038] Specifically, in step S1 of this embodiment, the user can activate the vehicle follow mode and begin preparations through voice control or touch screen control in the vehicle. The vehicle computer provides the user with a secondary confirmation HMI interface through the central control screen to confirm the user's request and prevent misjudgment. After the secondary confirmation, the vehicle computer needs to be bound to the user's portable devices, usually achieved through wireless communication technologies such as Bluetooth and WiFi. The user's portable devices include smart keys, mobile terminals, and vehicle computer authorization devices.

[0039] The smart key is a user-portable device that comes with the car. It is paired by default when the car is picked up. When the car is used subsequently, the car will automatically bind to the smart key. Key positioning, vehicle anti-theft and arming are common function buttons of the smart key. If other functions need to be developed, they can be achieved through a flexible combination of existing function buttons, which will not be discussed in this application.

[0040] If the user selects a mobile terminal (such as a mobile phone, etc.) and an authorized vehicle device (such as a sports bracelet, etc.) for pairing through the central control screen, after the mobile terminal and the authorized vehicle device are bound to the vehicle, the vehicle will push a second confirmation interface through the central control screen for the user to reconfirm the bound user device. Based on this, the user can reselect the following device or cancel the vehicle following mode.

[0041] After completing the binding of the user's portable device, the preparation work for the vehicle follow mode also includes presetting the in-car entertainment functions that need to be turned on when the vehicle follows. The in-car entertainment functions include music players and radios. That is, you can choose to turn on the music player and radio functions and set the corresponding music playlist and radio frequency band. After the vehicle follow mode is officially turned on, it will be played through the external speakers of the car, thereby providing a good exercise atmosphere when the user is running and other exercises. If there is no user setting, the system defaults to playing the pedestrian reminder sound through the external speakers of the car. This preparation work realizes user personalized settings and improves the user experience. After all preparations are completed, the user can confirm the completion of the preparation work through the central control screen.

[0042] Step S2 of this embodiment includes: After the preparatory work is completed, the vehicle computer can automatically adjust the vehicle status by sending a control signal to the body control system (BCM) to automatically adjust the vehicle status, including controlling the automatic closing of the windows and sunroof, locking the tailgate, and unlocking the doors, thereby ensuring the safety of the vehicle in the follow mode. At the same time, after the vehicle status is automatically adjusted, the countdown T1 preset on the central control screen starts (this embodiment defaults to 30 seconds. In specific implementation, the various preset thresholds, time, etc. of the present invention can be flexibly set according to actual conditions and will not be described in detail later). At the same time, the vehicle computer can use voice to remind the user to get off the vehicle and take their personal devices with them. After the countdown reaches the preset time threshold T2 (set to 5 seconds in this embodiment), it detects whether the user has gotten off the vehicle. If so, a voice prompt is issued to the user through the vehicle's external speakers, and the vehicle follow mode is officially activated after the preset time threshold T2 (5 seconds) expires. The voice prompt content can be associated with the time threshold T2, for example, a voice prompt to the user "Exercise will start in 5 seconds, 5, 4, 3, 2, 1, start", thereby improving the user experience. If it is detected that the user has not gotten off the vehicle, the countdown T1 is reset, and the above process is repeated until the user gets off the vehicle.

[0043] In order to improve the accuracy and reliability of the user getting off the vehicle detection results, this embodiment uses a door touch switch and a seat pressure sensor to jointly detect whether the user has gotten off the vehicle: if within the preset time period T3 (15s), the door touch switch detects that the vehicle door has opened and closed, and the seat pressure sensor detects that the seat pressure is less than the preset pressure threshold (30Kpa), it is determined that the user has gotten off the vehicle.

[0044] In a preferred embodiment of the present application, the data from the DMS (driver monitoring) camera can be further combined to make a comprehensive judgment. For example, if within the preset time period T3 (15s), the door touch switch detects that the door is opening and closing, and the seat pressure sensor detects that the seat pressure is less than the preset pressure threshold (30Kpa), and the DMS camera detects that there is no one on the seat, it is determined that the user has got off the vehicle, further improving the accuracy and reliability of the user getting off detection results.

[0045] In step S3 of this embodiment, after the vehicle following mode is officially activated, the vehicle turns on the hazard warning lights, locks the vehicle, turns off the central control screen, starts playing the video according to the optional equipment, and after the vehicle is engaged in D gear, the vehicle computer sends a command to the ADAS system (Advanced Driver Assistance System) to activate the intelligent driving function. After starting to drive, the vehicle locates the user's portable device and controls the speed to keep the distance between the vehicle and the user between the preset first distance threshold and the second distance threshold.

[0046] Among them, the intelligent driving function also includes the vehicle lane keeping / lane centering function to keep the vehicle driving in a safe lane; the vehicle turns on active safety intelligent driving functions such as active braking to maintain the safety of the vehicle's driving, and can provide voice reminders to give way to slow-walking pedestrians when encountering them, or actively change lanes if pedestrians do not give way / obstacles occur.

[0047] During intelligent driving, the vehicle detects the user's movement status and the distance between the vehicle and the user by locating the user's portable device, and controls the vehicle's following status accordingly. Specifically:

[0048] When the user is in the stopped state, the vehicle will also stop. After the vehicle stops:

[0049] If it is detected that the distance between the vehicle and the user continues to decrease, the vehicle remains stopped, and when the distance between the vehicle and the user is ≤ the preset first distance threshold, the vehicle is unlocked. Then, after the user enters the vehicle, the user can confirm whether to exit the vehicle following mode through the central control screen; if exited, jump to step S4, if not confirmed or not exited within the preset time T4 (10s), return to the step S2.

[0050] If it is detected that the distance between the vehicle and the user continues to increase, the vehicle resumes driving.

[0051] For example, if a user needs a break or protective gear, they stop moving, and the vehicle stops. The user returns to retrieve something or rest, and the distance between the vehicle and the user continues to decrease. When the first distance threshold is reached, the vehicle automatically unlocks, the user opens the door and gets in, the central control screen lights up, and the user chooses whether to exit vehicle-following mode. If a user stops moving while waiting at a red light, the vehicle stops. Later, when the red light ends and the user resumes moving, the distance between the vehicle and the user continues to increase, and the vehicle resumes driving.

[0052] In addition, if an abnormal situation occurs during the journey that causes the distance between the user and the vehicle to become increasingly greater, such as the road being crowded with pedestrians or temporary construction, this embodiment also provides a corresponding solution, namely:

[0053] When the distance between the vehicle and the user is ≥ the third distance threshold and the distance between the vehicle and the user continues to increase, it means that the vehicle has encountered an abnormality, causing the distance between the vehicle and the user to exceed the safe range. The vehicle is then controlled to stop and wait, and the vehicle itself activates an alarm through the external speaker and simultaneously issues an alarm through the user's portable device.

[0054] After the alarm, if it is detected that the distance between the vehicle and the user is less than the third distance threshold within the preset time period T5 (30s) and the vehicle receives a resume driving signal sent by the user's portable device, it means that the abnormal problem has been solved and the vehicle resumes driving; if it is detected that the distance between the vehicle and the user does not change or is still increasing within the preset time period T5, it means that the abnormal problem has not been solved in time. To ensure the safety of the vehicle, the entire vehicle is armed, the anti-theft function is turned on, and the distance between the vehicle and the user is detected again:

[0055] If the distance between the vehicle and the user has not changed or is still increasing within the preset time period T6 (30s), it means that the abnormal problem has not been effectively solved, and the vehicle will exit the vehicle following mode, turn on the hazard warning lights, and intelligently drive to the roadside to wait to avoid obstructing traffic; if it is detected that the distance between the vehicle and the user is less than the third distance threshold within the preset time period T6 (30s) and the anti-theft release and defense signal sent by the user's personal device is received, it means that the abnormal problem has been solved, and the vehicle will resume driving and can continue to follow the user.

[0056] Based on step S4 of this embodiment, the user can terminate the vehicle-following mode at any time through their portable device and record the vehicle-following information. For example, a fitness tracker can upload the user's exercise data to the vehicle computer, which then processes and displays it to the user on the central control screen, improving the user experience.

[0057] This embodiment also proposes a vehicle following system for an intelligent driving vehicle, which is constructed according to the above-mentioned vehicle following method for an intelligent driving vehicle. The system includes a vehicle computer, a central control screen, an external speaker, a user's portable device, a door touch switch, a seat pressure sensor, a vehicle anti-theft system, an ADAS system, and a body control system; wherein the vehicle computer is respectively connected to the central control screen, the external speaker, the user's portable device, the door touch switch, the seat pressure sensor, the vehicle anti-theft system, the ADAS system, and the body control system.

[0058] The door touch switch and seat pressure sensor are used to collect door switch data and seat pressure data respectively and send them to the vehicle computer for user getting off the vehicle detection;

[0059] The central control screen is a touch screen that is used to provide the user with an HMI interface according to the settings of the vehicle computer, such as the vehicle follow mode switch interface, the secondary confirmation interface, the preparation confirmation interface, etc., and receives the user's command input and sends it to the vehicle computer;

[0060] The user's portable device is used to locate the user's position and receive user instructions, and send them to the vehicle computer;

[0061] The vehicle computer is used to process data according to the aforementioned vehicle following method for intelligent driving vehicles, output corresponding control signals to the exterior speakers, vehicle anti-theft system, ADAS system, and body control system, and then execute the corresponding signals, thereby achieving vehicle following. The vehicle computer can directly use the cockpit domain controller, reducing development costs.

[0062] The vehicle anti-theft system is used to turn on or off the vehicle anti-theft and defense according to the corresponding control signal of the vehicle computer; the ADAS system is used to turn on intelligent driving according to the corresponding control signal of the vehicle computer; the body control system is used to control the status of vehicle body equipment such as windows, sunroof, tailgate, doors, and vehicle warning lights according to the corresponding control signal of the vehicle computer; the external speaker is used to play different sounds according to the corresponding control signal of the vehicle computer.

[0063] The present invention has been described above with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described method. Any non-substantial improvements made using the method concepts and technical solutions of the present invention, or any direct application of the above-described concepts and technical solutions to other situations without modification, fall within the scope of protection of the present invention.

Claims

1. A vehicle following method for an intelligent driving vehicle, characterized in that: The method comprises the following steps: Step S1: The user turns on the vehicle-following mode switch and binds the user's portable device after a second confirmation. After the binding is completed, the user presets the in-vehicle entertainment functions that need to be enabled when the vehicle follows, and confirms that the preparations are complete. Step S2: After automatically adjusting the vehicle status, remind the user to get off the vehicle and detect whether the user has gotten off the vehicle; if the user has gotten off the vehicle, prompt the user that the vehicle following mode is officially turned on; Step S3: After the vehicle following mode is officially turned on, the vehicle starts intelligent driving. During the process, the vehicle detects the user's movement status and the distance between the vehicle and the user by locating the user's portable device, and controls the vehicle following status accordingly; Step S4: The user ends the vehicle following mode through the portable device and records the vehicle following information.

2. The vehicle following method for an intelligent driving vehicle according to claim 1, characterized in that: In step S1, the user's portable devices include a smart key, a mobile terminal, and a vehicle-machine authorization device. After the mobile terminal and the vehicle-machine authorization device are bound to the vehicle-machine, the vehicle-machine pushes a secondary confirmation interface through the central control screen for the user to secondary confirm the bound user's portable devices.

3. The vehicle following method for an intelligent driving vehicle according to claim 1, characterized in that: In step S1, the user presets the in-vehicle entertainment functions that need to be turned on when the vehicle follows, including a music player and a radio.

4. The vehicle following method for an intelligent driving vehicle according to claim 1, characterized in that: In step S2, automatically adjusting the vehicle state includes: controlling the windows and sunroof to automatically close, the tailgate to lock, and the doors to unlock.

5. The vehicle following method for an intelligent driving vehicle according to claim 1, characterized in that: In step S2, after the vehicle status is automatically adjusted, the countdown T1 preset on the central control screen starts, and a voice prompt is given to the user to get off the vehicle and take the portable device with him / her. After the countdown reaches the preset time threshold T2, it is detected whether the user has gotten off the vehicle. If the user has gotten off the vehicle, a voice prompt is given to the user through the external speaker of the vehicle, and the vehicle follow mode is officially started after the preset time threshold T2 expires. If the passenger does not get off the bus, the countdown T1 is reset and the above process is repeated.

6. A vehicle following method for an intelligent driving vehicle according to claim 1 or 5, characterized in that: The detecting whether the user gets off the vehicle includes: The door touch switch and seat pressure sensor are used to jointly detect whether the user has gotten off the vehicle: if within the preset time period T3, the door touch switch detects that the door is opening and closing, and the seat pressure sensor detects that the seat pressure is less than the preset pressure threshold, it is determined that the user has gotten off the vehicle.

7. The vehicle following method for an intelligent driving vehicle according to claim 1, characterized in that: The step S3 includes: after the vehicle following mode is officially turned on, the vehicle turns on the hazard warning lights, locks the vehicle, turns off the central control screen, starts playing the external speakers as optional, and starts intelligent driving after shifting to D gear. During this process, the vehicle locates the user's portable device and controls the vehicle speed to keep the distance between the vehicle and the user between a preset first distance threshold and a preset second distance threshold.

8. The vehicle following method for an intelligent driving vehicle according to claim 7, characterized in that: In step S3: When the user is in the stopped state, the vehicle will also stop. After the vehicle stops: If it is detected that the distance between the vehicle and the user continues to decrease, the vehicle remains stopped, and when the distance between the vehicle and the user is less than or equal to a preset first distance threshold, the vehicle is unlocked. After the user enters the vehicle, the vehicle confirms whether the user has exited the vehicle following mode. If the user has exited, the process jumps to step S4. If the user has not confirmed or does not exit within the preset time T4, the process returns to step S2. If it is detected that the distance between the vehicle and the user continues to increase, the vehicle resumes driving.

9. A vehicle following method for an intelligent driving vehicle according to claim 7 or 8, characterized in that: When the distance between the vehicle and the user is greater than or equal to the third distance threshold and the distance between the vehicle and the user continues to increase, the vehicle stops and waits, activates its own alarm, and simultaneously sends an alarm through the user's portable device; After the alarm is triggered, if the distance between the vehicle and the user is detected to be less than the third distance threshold within the preset time period T5 and the vehicle receives a resume driving signal sent by the user's portable device, the vehicle resumes driving; if the distance between the vehicle and the user is detected to be unchanged or increasing within the preset time period T5, the vehicle is armed, the anti-theft function is activated, and the distance between the vehicle and the user is detected again: If the distance between the vehicle and the user remains unchanged or increases within the preset time period T6, the vehicle exits the vehicle following mode, turns on the hazard warning lights, and intelligently drives to the roadside to wait; if it is detected that the distance between the vehicle and the user is less than the third distance threshold within the preset time period T6 and the anti-theft release and arming signals sent by the user's portable device are received, the vehicle resumes driving.

10. A vehicle following system for an intelligent driving vehicle, constructed according to the vehicle following method for an intelligent driving vehicle according to any one of claims 1 to 9, characterized in that: The system includes a vehicle computer, a central control screen, an external speaker, a user's portable device, a door touch switch, a seat pressure sensor, a vehicle anti-theft system, an ADAS system, and a body control system; wherein the vehicle computer is connected to the central control screen, the external speaker, the user's portable device, the door touch switch, the seat pressure sensor, the vehicle anti-theft system, the ADAS system, and the body control system respectively; The door touch switch and seat pressure sensor are used to collect door switch data and seat pressure data respectively and send them to the vehicle computer for user getting off the vehicle detection; The central control screen is used to provide the HMI interface to the user according to the settings of the vehicle computer, and to receive the user's command input and send it to the vehicle computer; The user's portable device is used to locate the user's position and receive user instructions, and send them to the vehicle computer; The vehicle computer is used for a vehicle following method for an intelligent driving vehicle according to any one of claims 1 to 9, and after data processing, outputs corresponding control signals to the external speakers, vehicle anti-theft system, ADAS system, and body control system for corresponding execution, thereby realizing vehicle following.

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