State machine jumping method and system for intelligent vehicle queuing, vehicle and equipment

Abstract

The invention discloses a state machine jumping method and system for intelligent vehicle queuing, a vehicle and equipment. The state machine jumping method for intelligent vehicle queuing comprises the steps that after a vehicle is powered on, a longitudinal state machine enters a closed state by default; when the longitudinal state machine meets the starting condition, the longitudinal state machine enters a starting state; and when the ready state is met, an activation signal of a driver is received, and the longitudinal state machine enters an activated state, so that the vehicle performs intelligent queuing control after receiving an intelligent queuing signal. By the adoption of the method and device, frequent operation of the vehicle by the driver during queuing can be effectively reduced, highly concentrated monitoring of the driver on the environment is relieved, the driving comfort during queuing is improved, the problem of traffic crawling caused by slow vehicle response due to the fact that the driver drives too conservatively or responds slowly can be solved, and the passing efficiency is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a state machine jump method, system, vehicle and equipment for intelligent vehicle queuing. Background Art

[0002] Vehicles like trucks often need to frequently accelerate and brake while queuing, increasing the driver's workload, reducing driving and riding comfort, and causing driver fatigue. Prolonged operation fatigue also increases driving safety risks. Existing Traffic Jam Assist (TJA) systems generally rely on lane markings and have limited application scenarios. Summary of the Invention

[0003] Based on this, it is necessary to provide a state machine jump method, system, vehicle and equipment for intelligent vehicle queuing to address the above technical problems, which can effectively reduce the driver's frequent vehicle manipulation when queuing, and alleviate the driver's highly concentrated monitoring of the environment, thereby improving driving comfort when queuing, avoiding traffic creep problems caused by slow vehicle response due to overly conservative driving or slow reaction of the driver, and effectively improving traffic efficiency.

[0004] In a first aspect, a state machine jump method for intelligent vehicle queuing is provided, wherein the state machine includes a longitudinal state machine, the longitudinal state machine includes a primary state machine, a secondary state machine, and a tertiary state machine, wherein the secondary state machine is a substate of the primary state machine, and the tertiary state machine is a substate of the secondary state machine, the primary state machine includes an off state, a system fault state, and an on state, the on state includes a standby state and an active state, the standby state includes a function inhibition and a ready state, and the active state includes a following vehicle driving control state, a following stop control state, and a starting control state. The method includes:

[0005] After the vehicle is powered on, the longitudinal state machine enters the closed state by default;

[0006] When the longitudinal state machine meets the start condition, the longitudinal state machine enters the start state;

[0007] When the ready state is met, the driver's activation signal is received and the longitudinal state machine enters the activation state, so that the vehicle performs intelligent queuing control after receiving the intelligent queuing signal.

[0008] In some examples, the transition conditions between states in the vertical state machine include:

[0009] The conditions for switching from the closed state to the open state are met: the intelligent queuing longitudinal function is installed, the intelligent queuing function switch is turned on, and the longitudinal function has no faults;

[0010] The conditions for switching from the closed state to the system fault state are met: the intelligent queuing longitudinal function is equipped, the intelligent queuing function switch is turned on, and the longitudinal function is faulty;

[0011] The conditions for entering the ready state are met: the high-priority intelligent driving function is not activated, the seat belt, door, gear status, and EPB status meet the requirements, the actual steering wheel angle and speed range meet the requirements, and there is a following target within a certain horizontal and vertical distance ahead and the target type is a vehicle. When the function is activated, the following target must be a vehicle target, the horizontal and vertical distances of the target vehicle meet the requirements, and the associated system is fault-free;

[0012] The conditions for exiting the ready state must meet at least one of the following: activation of a high-priority intelligent driving function, seat belt, door, gear status, EPB status do not meet the requirements, vehicle speed range does not meet the requirements, there is no following target within a certain horizontal and vertical distance ahead and the target type is a vehicle, or there is a fault in the associated system.

[0013] In some examples, the jump conditions between states in the vertical state machine further include:

[0014] The conditions for switching from the active state to the standby state must meet at least one of the following: activation of a high-priority intelligent driving function, the vehicle gear does not meet the requirements, the vehicle is not stationary and any door is open, the driver clicks the IPC cancel button, an associated system failure occurs, the vehicle speed exceeds the preset speed and the driver steps on the brake to take over the function, the vehicle speed exceeds the designed operating range, or the driver manually takes over through other operations;

[0015] The conditions for switching from the ready state to the active state are met: double-click the activation button or the ACC / ICA switches to the IPC request signal set.

[0016] In some examples, the state machine also includes a horizontal state machine, which includes a first-level state machine, a second-level state machine, and a third-level state machine, wherein the second-level state machine is a sub-state of the first-level state machine, and the third-level state machine is a sub-state of the second-level state machine. The first-level state machine includes a function-off state, a system fault state, and a function-on state. The function-on state includes a standby state and an activation state. The standby state includes a locked state and a ready state.

[0017] In some examples, this also includes:

[0018] When both the vehicle's lateral state machine and longitudinal state machine are activated, if the driver takes over the steering wheel or there is an EHPS-related fault, the lateral control is exited;

[0019] If the driver no longer takes over the steering wheel, the lateral state machine can be activated again;

[0020] When the vehicle is activated in both the lateral and longitudinal directions, if there is an EHPS-related fault, the lateral control will be exited;

[0021] If the EHPS-related fault recovers, the horizontal state machine can be reactivated.

[0022] In some examples, the transition conditions between states in the horizontal state machine include:

[0023] The conditions for switching from the closed state to the open state are met: the intelligent queuing horizontal function is installed, the intelligent queuing function switch is turned on, and the intelligent queuing horizontal function has no faults;

[0024] The entry-ready conditions are met: EHPS has no faults, EHPS is in an available state, the steering wheel is held, and the absolute value of the steering wheel angle is less than a predetermined threshold;

[0025] The conditions for entering the locked state are that any of the following conditions are not met: hands-off or the absolute value of the steering wheel angle is greater than a predetermined threshold, or EHPS-related fault;

[0026] The conditions for entering the control state are met: double-click the ICA activation button and the vertical control is activated.

[0027] In some examples, the jump conditions between states in the horizontal state machine further include:

[0028] The conditions for exiting the lateral function are at least one of the following: EHPS-related failure, driver lateral takeover;

[0029] The conditions for entering the ready state are met: the EHPS has no faults, the EHPS is in an available state, the driver holds the steering wheel and the steering wheel angle is less than a predetermined threshold. If at least one of these conditions is not met, the system enters the locked state.

[0030] The conditions for entering the control state are met: the driver double-clicks the ICA activation button or the ACC / ICA switch switches to the IPC request signal set and the longitudinal control is activated;

[0031] The conditions for exiting the lateral function are at least one of the following: EHPS-related failure, driver lateral takeover, and exit of the longitudinal function.

[0032] In a second aspect, a state machine jump system for intelligent vehicle queuing is provided. The state machine jump system for intelligent vehicle queuing includes a state machine, wherein the state machine includes a longitudinal state machine, and the longitudinal state machine includes a primary state machine, a secondary state machine, and a tertiary state machine. The secondary state machine is a substate of the primary state machine, and the tertiary state machine is a substate of the secondary state machine. The primary state machine includes an off state, a system fault state, and an on state. The on state includes a standby state and an active state. The standby state includes a function inhibition and a ready state. The active state includes a following vehicle driving control state, a following stop control state, and a starting control state. The state machine is used to:

[0033] After the vehicle is powered on, the longitudinal state machine enters the closed state by default;

[0034] When the longitudinal state machine meets the start condition, the longitudinal state machine enters the start state;

[0035] When the ready state is met, the driver's activation signal is received and the longitudinal state machine enters the activation state, so that the vehicle performs intelligent queuing control after receiving the intelligent queuing signal.

[0036] In a third aspect, a vehicle is provided, comprising: a state machine jump system for intelligent vehicle queuing according to the second aspect.

[0037] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the state machine jump method for intelligent vehicle queuing according to the first aspect and any possible implementation of the first aspect are implemented.

[0038] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the state machine jump method for intelligent vehicle queuing of the above-mentioned first aspect and any possible implementation method of the first aspect are implemented.

[0039] In a sixth aspect, a computer program product is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the state machine jump method for intelligent vehicle queuing of the above-mentioned first aspect and any possible implementation method of the first aspect are implemented.

[0040] The use of the embodiments of the present application can effectively reduce the frequent vehicle manipulation by drivers when queuing, and alleviate the drivers' highly concentrated monitoring of the environment, thereby improving driving comfort when queuing, avoiding traffic creep problems caused by slow vehicle response due to overly conservative driving or slow reaction of the driver, and effectively improving traffic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0042] Figure 1 A flow chart of a state machine jump method for intelligent vehicle queuing provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of the input and output of the state machine in the state machine jump method for intelligent vehicle queuing provided in an embodiment of the present application;

[0044] Figure 3 A structural block diagram of the state machine jump system for intelligent vehicle queuing provided in an embodiment of the present application;

[0045] Figure 4 This is a structural block diagram of the computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The present application will be further described in detail below with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are intended only to illustrate the relevant application and are not intended to limit the application. It should also be noted that, for ease of description, only the portions relevant to the application are shown in the accompanying drawings.

[0047] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] The following describes in detail the state machine jump method, system, vehicle and equipment for intelligent vehicle queuing according to the embodiments of the present application in conjunction with the accompanying drawings.

[0049] Among them, the state machine includes a longitudinal state machine, and the longitudinal state machine includes a first-level state machine, a second-level state machine and a third-level state machine, wherein the second-level state machine is a sub-state of the first-level state machine, and the third-level state machine is a sub-state of the second-level state machine. The first-level state machine includes an off state, a system fault state and an on state, and the on state includes a standby state and an activated state. The standby state includes function inhibition and a ready state, and the activated state includes a following vehicle driving control state, a following stop control state and a starting control state.

[0050] Figure 1 This is a flow chart of a state machine jump method for intelligent queuing of vehicles according to an embodiment of the present application. Figure 1 As shown, the state machine jump method of the vehicle intelligent queuing according to the embodiment of the present application includes the following steps:

[0051] S101: After the vehicle is powered on, the longitudinal state machine enters the closed state by default.

[0052] S102: When the longitudinal state machine meets the start condition, the longitudinal state machine enters the start state;

[0053] S103: When the ready state is met, the driver's activation signal is received and the longitudinal state machine enters the activation state, so that the vehicle performs intelligent queuing control after receiving the intelligent queuing signal.

[0054] Among them, the jump conditions between states in the longitudinal state machine include: the conditions for switching from the off state to the on state are met: equipped with intelligent queuing longitudinal function, the intelligent queuing function switch is turned on and the longitudinal function has no faults; the conditions for switching from the off state to the system fault state are met: equipped with intelligent queuing longitudinal function, the intelligent queuing function switch is turned on and the longitudinal function has faults; the conditions for entering the ready state are met: the high-priority intelligent driving function is not activated, the seat belt, door, gear status, EPB status meet the requirements, the actual steering wheel angle, the speed range meet the requirements, there is a following target within a certain horizontal and vertical distance in front and the target type is a vehicle, and when the function is activated, the following target must be a vehicle target, and the horizontal and vertical distances of the target vehicle meet the requirements and the associated system has no faults; the conditions for exiting the ready state are met. At least one of the following is met: activation of a high-priority intelligent driving function, seat belt, door, gear status, EPB status does not meet the requirements, vehicle speed range does not meet the requirements, there is no following target within a certain horizontal and vertical distance in front and the target type is a vehicle, and there is a fault in the associated system; the conditions for switching from the activated state to the standby state meet at least one of the following: activation of a high-priority intelligent driving function, vehicle gear does not meet the requirements, the vehicle is not stationary and the door on either side is open, the driver clicks the IPC cancel button, there is a fault in the associated system, the vehicle speed is greater than the predetermined speed and the driver steps on the brake to take over the function, the vehicle speed exceeds the designed operating range, and the driver manually takes over through other operations; the conditions for switching from the ready state to the activated state are met: double-clicking the activation button or the ACC / ICA switches to the IPC request signal position.

[0055] In a specific example, the state machine also includes a horizontal state machine, which includes a first-level state machine, a second-level state machine, and a third-level state machine, wherein the second-level state machine is a sub-state of the first-level state machine, and the third-level state machine is a sub-state of the second-level state machine. The first-level state machine includes a function-off state, a system fault state, and a function-on state. The function-on state includes a standby state and an activation state. The standby state includes a locked state and a ready state.

[0056] Among them, when both the lateral state machine and the longitudinal state machine of the vehicle are activated, if the driver takes over the steering wheel or there is an EHPS-related fault, the lateral control is exited; if the driver no longer takes over the steering wheel, the lateral state machine can be activated again; when both the lateral and longitudinal state machines of the vehicle are activated, if there is an EHPS-related fault, the lateral control is exited; if the EHPS-related fault is recovered, the lateral state machine can be activated again.

[0057] The transition conditions between states in the lateral state machine include: Switching from the Off state to the On state requires: the Smart Queuing lateral function is present, the Smart Queuing function switch is on, and the Smart Queuing lateral function is fault-free. Entering the Ready state requires: the EHPS is fault-free, the EHPS is in a usable state, the steering wheel is held, and the absolute value of the steering wheel angle is less than a predetermined threshold. Entering the Locked state requires: any of the following conditions is not met: the hands are off the steering wheel, the absolute value of the steering wheel angle is greater than a predetermined threshold, or there is an EHPS-related fault. Entering the Controlled state requires: the ICA activation button is double-clicked, and longitudinal control is activated.

[0058] The transition conditions between states in the lateral state machine also include: The lateral function exit condition requires at least one of the following: EHPS-related fault, driver lateral takeover; the ready condition requires the following: EHPS is fault-free, EHPS is in an available state, the driver is holding the steering wheel, and the steering wheel angle is less than a predetermined threshold. If at least one of these conditions is not met, the state enters the locked state; the control state requires the following: the driver double-clicks the ICA activation button, or the ACC / ICA switches to the IPC request signal, and longitudinal control is activated. The lateral function exit condition requires at least one of the following: EHPS-related fault, driver lateral takeover, and longitudinal function exit.

[0059] Specifically, combined Figure 2 As shown in the figure, the state machine module of the vehicle intelligent queuing system is the nerve center of the entire intelligent queuing function and the key to its effectiveness. It is responsible for the entire function's logic of opening, closing, activating, and exiting, and notifying the driver of the current function status.

[0060] Smart queuing is divided into longitudinal and transverse-longitudinal smart queuing, depending on the vehicle type. Longitudinal smart queuing activates only the longitudinal control function of the vehicle, leaving the driver responsible for lateral control; transverse-longitudinal smart queuing activates both longitudinal and transverse functions.

[0061] The vehicle intelligent queuing state machine consists of a longitudinal state machine and a transverse state machine; the longitudinal state machine can be activated independently, and the transverse state machine can only be activated when the longitudinal state machine is activated.

[0062] The input signals of the state machine include the jump conditions of the horizontal and vertical state machines, the driver's steering wheel button signals, some vehicle body status information, etc. The output signals of the state machine include the longitudinal state machine status and the lateral state machine status.

[0063] Vertical State Machine: This vertical state machine is responsible for queuing-related functions and is divided into three levels: the primary state machine, the secondary state machine, and the tertiary state machine. The secondary state machine is a substate of the primary state machine, and the tertiary state machine is a substate of the secondary state machine. Each state is mutually exclusive; only one state can be executed at a time. The primary state includes the function-off state, the system failure state, and the function-on state. The secondary function-on state further includes the standby state and the active state.

[0064] The function-off state refers to the state in which the system function is not enabled, and the system enters this state first after power-on; the function-fault state refers to the state entered after a failure occurs in a system-related component; the function-on state refers to the state in which the system is in the function-enabled state.

[0065] The Standby state is when a function is enabled but not activated. It consists of two sub-states: Inhibited and Ready. Inhibited means that after a function is enabled, an inhibitory condition exists, preventing activation. Ready means that after a function is enabled, no inhibitory condition exists, and the driver can activate the function by pressing a steering wheel button.

[0066] The active state indicates that the system can control the vehicle normally, enabling low-speed following, stop-and-go, and other operations. It includes three sub-states: Control, StopGo (StandActive, StandWait, PullEpb), and Override. The Override state occurs when the driver actively controls the vehicle by depressing the accelerator pedal. In this state, the system does not control the vehicle, but outputs control signals in real time.

[0067] The state machine jump logic of the vertical state machine:

[0068] From the closed state to the open state, the following conditions must be met:

[0069] a. The configuration word is equipped with intelligent queuing vertical function;

[0070] b. Turn on the smart queuing function in the vehicle computer;

[0071] c. The IPC longitudinal function is fault-free.

[0072] From the shutdown state to the system failure state: the following conditions must be met:

[0073] a. The configuration word is equipped with intelligent queuing vertical function;

[0074] b. Turn on the smart queuing function in the vehicle computer;

[0075] c. The IPC vertical function is faulty.

[0076] From Reject to Ready, all of the following conditions must be met:

[0077] Certain high-priority intelligent driving functions (such as AEB) are not activated;

[0078] The driver's seat belt, door, gear position and EPB status meet the requirements;

[0079] The actual steering wheel angle and vehicle speed range meet the requirements;

[0080] There is a vehicle target within a certain horizontal and vertical distance ahead. When the function is activated, the target must be a vehicle target and the horizontal and vertical distances between the target vehicle and the vehicle must meet the requirements.

[0081] VDCU, EBS, EPB and other related systems are fault-free;

[0082] When determining a state machine where multiple conditions lead to an output, an encoder is designed to allow developers to quickly determine which condition prevents the state machine from jumping from the Reject state to the Ready state. This allows developers to further mask the condition using the associated calibration quantity.

[0083] From Ready to Reject state, any of the following conditions is met:

[0084] Certain high-priority intelligent driving functions (such as AEB) are activated;

[0085] The driver's seat belt, door, gear position, and EPB status do not meet the requirements;

[0086] The vehicle speed range does not meet the requirements;

[0087] There is no following target within a certain horizontal and vertical distance ahead, and the target type is a vehicle;

[0088] Failures in related systems such as VDCU, EBS, and EPB;

[0089] Anti-shake design: To ensure the stability of state machine jumps, anti-shake design is implemented for some signals when jumping between the Ready and Reject states. For example, the absolute value of the steering wheel angle must be less than 30° when jumping from the Reject state to the Ready state; and the steering wheel angle must be greater than 60° when jumping from Ready to Reject.

[0090] From active to standby state, that is, the function exits when any of the following conditions are met:

[0091] Certain high-priority intelligent driving functions (such as AEB) are activated;

[0092] The vehicle gear does not meet the requirements;

[0093] The vehicle is not stationary and any door on either side is open;

[0094] The driver clicks the IPC cancel button;

[0095] VDCU, EBS, and EPB related failures;

[0096] The vehicle speed is greater than 0.1m / s and the driver steps on the brake to take over the function;

[0097] The vehicle speed exceeds the designed operating range;

[0098] The driver manually takes over through other operations, such as the driver pulling up the EPB for a long time while driving;

[0099] From Ready to Activated:

[0100] The driver double-clicks the activation button or the ACC / ICA switches to the IPC request signal setting;

[0101] If a vehicle remains stationary for a certain period of time and the preceding vehicle leaves, the system requires the driver to confirm that it is safe before continuing to follow the preceding vehicle. The vehicle can then continue following the preceding vehicle by clicking the corresponding button.

[0102] Horizontal state machine: The horizontal state machine is responsible for queuing-related functions. It includes a primary state machine, a secondary state machine, and a tertiary state machine. The secondary state machine is a substate of the primary state machine, and the tertiary state machine is a substate of the secondary state machine. Each state is mutually exclusive; only one state is executing at a time.

[0103] The first-level state machine includes the function-off state (Off), system failure state (Failure), and function-on state (On). The function-on state further includes two second-level sub-states: standby state (Standby) and active state (ActiveControl). The standby state is when the function is enabled but not activated, and includes two third-level sub-states: Reject and Ready.

[0104] The horizontal state machine is primarily responsible for queuing-related functions. It includes a primary state machine, a secondary state machine, and a tertiary state machine. The secondary state machine is a substate of the primary state machine, and the tertiary state machine is a substate of the secondary state machine. Each state is mutually exclusive; only one state is executing at a time.

[0105] The first-level state machine includes the function-off state (Off), system failure state (Failure), and function-on state (On). The function-on state further includes two second-level sub-states: standby state (Standby) and active state (ActiveControl). The standby state is when the function is enabled but not activated, and includes two third-level sub-states: Reject and Ready.

[0106] Horizontal state machine, the activated state means that the function activation system can control the steering wheel state normally; the key state machine jumps:

[0107] To switch from Off to On, all of the following conditions must be met:

[0108] a. The configuration word is equipped with intelligent queuing horizontal function;

[0109] a. Turn on the smart queuing function in the car computer;

[0110] c. The intelligent queuing horizontal function is fault-free.

[0111] From reject->ready: the following conditions are met:

[0112] 1. EHPS is fault-free;

[0113] 2. EHPS is in a usable state;

[0114] 3. The driver holds the steering wheel and the absolute value of the steering wheel angle is less than a certain threshold; ready->reject: any of the following conditions are not met

[0115] 1. The driver takes the steering wheel off the steering wheel or the absolute value of the steering wheel angle exceeds a certain threshold;

[0116] 2. EHPS-related failures;

[0117] ready->control: All of the following conditions are met: a. The driver double-clicks the ICA activation button; or

[0118] bThe vertical direction has been activated;

[0119] Horizontal function exit: From control state to stand by, any of the following conditions are met: 1. EHPS related fault;

[0120] 2. The driver takes over laterally;

[0121] 3. Vertical function exit reject->ready: The following conditions are met:

[0122] 1. EHPS is fault-free;

[0123] 2. EHPS is in a usable state;

[0124] 3. The driver is holding the steering wheel and the steering wheel angle is less than a certain threshold;

[0125] ready->reject: any of the following conditions are not met

[0126] 1. The driver takes his hands off the steering wheel or the steering wheel angle exceeds a certain threshold;

[0127] 2. EHPS-related failures;

[0128] ready->control: The following conditions are met

[0129] a. The driver double-clicks the ICA activation button or the ACC / ICA switchover IPC request signal is set;

[0130] bVertical is activated

[0131] Horizontal function exit: from control state to stand by, any of the following conditions are met

[0132] 1. EHPS-related failures;

[0133] 2. The driver takes over laterally;

[0134] 3.Exit the vertical function.

[0135] The entire state machine operates as follows: After the vehicle is powered on, the system defaults to Off, and the vehicle configures the intelligent queuing functions in both the horizontal and vertical directions through configuration characters. If the vehicle is configured with only the longitudinal queuing function, the lateral state machine remains Off, but the longitudinal function can be activated normally, with only longitudinal intelligent queuing performed. When the longitudinal state machine meets the above conditions, the longitudinal state enters the On state. At this point, if the above conditions are met, the longitudinal state is in the Ready state, receiving the driver's activation signal, and the longitudinal system enters the Active state. The vehicle then receives the intelligent queuing signal and performs intelligent queuing control. If the lateral state is also in the Ready state when the longitudinal state is activated, the lateral control is also activated simultaneously, and the intelligent queuing function obtains control of the lateral command, controlling the vehicle's steering operations. If the lateral state is not in the Ready state when the longitudinal state is activated, the system can also activate the longitudinal state independently to perform longitudinal following.

[0136] Exit of lateral function: When both the lateral and longitudinal directions of the vehicle are activated, if the driver takes over the steering wheel or there is an EHPS-related fault, the system will only exit the lateral control, and the longitudinal direction will remain under the control of the intelligent queuing. If the driver no longer takes over the steering wheel, the intelligent queuing can enter the lateral and longitudinal control again by clicking the IPC activation button. When both the lateral and longitudinal directions of the vehicle are activated, if there is an EHPS-related fault, the system will only exit the lateral control, and the longitudinal direction will remain under the control of the intelligent queuing. If the EHPS-related fault is recovered, the driver needs to press the button to activate the intelligent queuing function, and the vehicle can enter the lateral and longitudinal control again.

[0137] According to the state machine jump method for intelligent vehicle queuing in the embodiment of the present application, it can effectively reduce the driver's frequent vehicle manipulation when queuing, and alleviate the driver's highly concentrated monitoring of the environment, thereby improving driving comfort when queuing, and avoiding traffic creep problems caused by slow vehicle response due to overly conservative driving or slow reaction of the driver, thereby effectively improving traffic efficiency.

[0138] Figure 3 This is a structural block diagram of the state machine jump system of the vehicle intelligent queuing according to an embodiment of the present application. Figure 3 As shown, according to the state machine jump system for intelligent vehicle queuing according to an embodiment of the present application, the state machine jump system for intelligent vehicle queuing includes a state machine 310, wherein the state machine includes a longitudinal state machine, and the longitudinal state machine includes a primary state machine, a secondary state machine, and a tertiary state machine, wherein the secondary state machine is a sub-state of the primary state machine, and the tertiary state machine is a sub-state of the secondary state machine. The primary state machine includes an off state, a system fault state, and an on state, and the on state includes a standby state and an active state. The standby state includes a function inhibition and a ready state, and the active state includes a following vehicle driving control state, a following stop control state, and a starting control state. The state machine is used to:

[0139] After the vehicle is powered on, the longitudinal state machine enters the closed state by default;

[0140] When the longitudinal state machine meets the start condition, the longitudinal state machine enters the start state;

[0141] When the ready state is met, the driver's activation signal is received and the longitudinal state machine enters the activation state, so that the vehicle performs intelligent queuing control after receiving the intelligent queuing signal.

[0142] According to the state machine jump system for intelligent vehicle queuing in the embodiment of the present application, it can effectively reduce the driver's frequent vehicle manipulation when queuing, and alleviate the driver's highly concentrated monitoring of the environment, thereby improving driving comfort when queuing, avoiding traffic creep problems caused by slow vehicle response due to overly conservative driving or slow reaction of the driver, and effectively improving traffic efficiency.

[0143] The specific definitions of the state machine jump system for intelligent vehicle queuing can be found in the definitions of the state machine jump method for intelligent vehicle queuing above and will not be repeated here. The various modules of the aforementioned state machine jump system for intelligent vehicle queuing can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the aforementioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the aforementioned modules.

[0144] Furthermore, a vehicle is provided, comprising: a state machine jump system for intelligent vehicle queuing according to any of the aforementioned embodiments. This vehicle can effectively reduce the driver's frequent vehicle manipulation while queuing and alleviate the driver's high level of environmental monitoring, thereby improving driving comfort while queuing. It can also avoid traffic creep caused by slow vehicle response due to overly conservative or unresponsive drivers, effectively improving traffic efficiency.

[0145] In addition, other structures and functions of the vehicle according to the embodiment of the present application are known to ordinary technicians in this field and will not be described in detail here.

[0146] In one embodiment, a computer device is provided. Figure 4 This is a block diagram of the computer device provided in the embodiment of the present application, refer to Figure 4 The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the state machine jump method embodiment of the vehicle intelligent queuing is implemented. For example, after the vehicle is powered on, the longitudinal state machine defaults to the closed state;

[0147] When the longitudinal state machine meets the start condition, the longitudinal state machine enters the start state;

[0148] When the ready state is met, the driver's activation signal is received and the longitudinal state machine enters the activation state, so that the vehicle performs intelligent queuing control after receiving the intelligent queuing signal.

[0149] The present application also provides a computer-readable storage medium storing a computer program. When the processor executes the computer program, the aforementioned state machine jump method embodiment of the vehicle intelligent queuing method is implemented. For example, after the vehicle is powered on, the longitudinal state machine defaults to the off state;

[0150] When the longitudinal state machine meets the start condition, the longitudinal state machine enters the start state;

[0151] When the ready state is met, the driver's activation signal is received and the longitudinal state machine enters the activation state, so that the vehicle performs intelligent queuing control after receiving the intelligent queuing signal.

[0152] The present application embodiment provides a computer program product, which includes instructions. When the instructions are executed, the method described in the embodiment of the present application is executed. For example, you can execute Figure 1 The steps of the state machine jump method for intelligent vehicle queuing shown are, for example, performed as follows: after the vehicle is powered on, the longitudinal state machine defaults to the off state;

[0153] When the longitudinal state machine meets the start condition, the longitudinal state machine enters the start state;

[0154] When the ready state is met, the driver's activation signal is received and the longitudinal state machine enters the activation state, so that the vehicle performs intelligent queuing control after receiving the intelligent queuing signal.

[0155] Those skilled in the art will appreciate that all or part of the processes in the methods for implementing the above embodiments can be accomplished by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include processes of the embodiments of the above methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0156] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0157] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A state machine jump method for intelligent vehicle queuing, characterized in that: The state machine includes a longitudinal state machine, which includes a primary state machine, a secondary state machine, and a tertiary state machine, wherein the secondary state machine is a sub-state of the primary state machine, and the tertiary state machine is a sub-state of the secondary state machine. The primary state machine includes an off state, a system fault state, and an on state. The on state includes a standby state and an active state. The standby state includes a function inhibition and a ready state. The active state includes a following vehicle driving control state, a following stop control state, and a starting control state. The method includes: After the vehicle is powered on, the longitudinal state machine enters the closed state by default; When the longitudinal state machine meets the start condition, the longitudinal state machine enters the start state; When the ready state is met, the driver's activation signal is received and the longitudinal state machine enters the activation state, so that the vehicle performs intelligent queuing control after receiving the intelligent queuing signal.

2. The state machine jump method for intelligent vehicle queuing according to claim 1 is characterized in that: The jump conditions between states in the longitudinal state machine include: The conditions for switching from the closed state to the open state are met: the intelligent queuing longitudinal function is installed, the intelligent queuing function switch is turned on, and the longitudinal function has no faults; The conditions for switching from the closed state to the system fault state are met: the intelligent queuing longitudinal function is equipped, the intelligent queuing function switch is turned on, and the longitudinal function is faulty; The conditions for entering the ready state are met: the high-priority intelligent driving function is not activated, the seat belt, door, gear status, and EPB status meet the requirements, the actual steering wheel angle and speed range meet the requirements, and there is a following target within a certain horizontal and vertical distance ahead and the target type is a vehicle. When the function is activated, the following target must be a vehicle target, the horizontal and vertical distances of the target vehicle meet the requirements, and the associated system is fault-free; The conditions for exiting the ready state must meet at least one of the following: activation of a high-priority intelligent driving function, seat belt, door, gear status, EPB status do not meet the requirements, vehicle speed range does not meet the requirements, there is no following target within a certain horizontal and vertical distance ahead and the target type is a vehicle, or there is a fault in the associated system.

3. The state machine jump method for intelligent vehicle queuing according to claim 1 is characterized in that: The jump conditions between states in the longitudinal state machine also include: The conditions for switching from the active state to the standby state must meet at least one of the following: activation of a high-priority intelligent driving function, the vehicle gear does not meet the requirements, the vehicle is not stationary and any door is open, the driver clicks the IPC cancel button, an associated system failure occurs, the vehicle speed exceeds the preset speed and the driver steps on the brake to take over the function, the vehicle speed exceeds the designed operating range, or the driver manually takes over through other operations; The conditions for switching from the ready state to the active state are met: double-click the activation button or the ACC / ICA switches to the IPC request signal set.

4. The state machine jump method for intelligent vehicle queuing according to any one of claims 1 to 3, characterized in that: The state machine also includes a horizontal state machine, which includes a first-level state machine, a second-level state machine, and a third-level state machine, wherein the second-level state machine is a sub-state of the first-level state machine, and the third-level state machine is a sub-state of the second-level state machine. The first-level state machine includes a function-off state, a system fault state, and a function-on state. The function-on state includes a standby state and an activated state. The standby state includes a locked state and a ready state.

5. The state machine jump method for intelligent vehicle queuing according to claim 4 is characterized in that: Also includes: When both the vehicle's lateral state machine and longitudinal state machine are activated, if the driver takes over the steering wheel or there is an EHPS-related fault, the lateral control is exited; If the driver no longer takes over the steering wheel, the lateral state machine can be activated again; When the vehicle is activated in both the lateral and longitudinal directions, if there is an EHPS-related fault, the lateral control will be exited; If the EHPS-related fault recovers, the horizontal state machine can be reactivated.

6. The state machine jump method for intelligent vehicle queuing according to claim 5, characterized in that: The jump conditions between states in the horizontal state machine include: The conditions for switching from the closed state to the open state are met: the intelligent queuing horizontal function is installed, the intelligent queuing function switch is turned on, and the intelligent queuing horizontal function has no faults; The entry-ready conditions are met: EHPS has no faults, EHPS is in an available state, the steering wheel is held, and the absolute value of the steering wheel angle is less than a predetermined threshold; The conditions for entering the locked state are that any of the following conditions are not met: hands-off or the absolute value of the steering wheel angle is greater than a predetermined threshold, or EHPS-related fault; The conditions for entering the control state are met: double-click the ICA activation button and the vertical control is activated.

7. The state machine jump method for intelligent vehicle queuing according to claim 5, characterized in that: The jump conditions between states in the horizontal state machine also include: The conditions for exiting the lateral function are at least one of the following: EHPS-related failure, driver lateral takeover; The conditions for entering the ready state are met: the EHPS has no faults, the EHPS is in an available state, the driver holds the steering wheel and the steering wheel angle is less than a predetermined threshold. If at least one of these conditions is not met, the system enters the locked state. The conditions for entering the control state are met: the driver double-clicks the ICA activation button or the ACC / ICA switch switches to the IPC request signal set and the longitudinal control is activated; The conditions for exiting the lateral function are at least one of the following: EHPS-related failure, driver lateral takeover, and exit of the longitudinal function.

8. A state machine jump system for intelligent vehicle queuing, characterized in that: The state machine jump system for intelligent vehicle queuing includes a state machine, wherein the state machine includes a longitudinal state machine, and the longitudinal state machine includes a primary state machine, a secondary state machine, and a tertiary state machine. The secondary state machine is a substate of the primary state machine, and the tertiary state machine is a substate of the secondary state machine. The primary state machine includes an off state, a system fault state, and an on state. The on state includes a standby state and an active state. The standby state includes a function inhibition and a ready state. The active state includes a following vehicle driving control state, a following stop control state, and a starting control state. The state machine is used to: After the vehicle is powered on, the longitudinal state machine enters the closed state by default; When the longitudinal state machine meets the start condition, the longitudinal state machine enters the start state; When the ready state is met, the driver's activation signal is received and the longitudinal state machine enters the activation state, so that the vehicle performs intelligent queuing control after receiving the intelligent queuing signal.

9. A vehicle, characterized in that: include: The state machine jump system for intelligent vehicle queuing according to claim 8.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, it implements the state machine jump method for intelligent vehicle queuing according to any one of claims 1 to 7.

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