Method for controlling vehicle driver assistance system, and vehicle and storage medium

Abstract

Disclosed in the present application are a method for controlling a vehicle driver assistance system, and a vehicle and a storage medium. The method for controlling a vehicle driver assistance system comprises: acquiring the actual vehicle speed of a vehicle and a slope value of a road surface on which the vehicle is located (S100); determining whether the actual vehicle speed is less than a preset vehicle speed threshold (S200); determining whether the slope value of the road surface on which the vehicle is located is less than a preset slope threshold (S300); when the actual vehicle speed is greater than or equal to the vehicle speed threshold and the slope value of the road surface on which the vehicle is located is greater than or equal to the slope threshold, performing control to acquire the actual traveling state of the vehicle, and performing control to acquire the traveling state of a preceding vehicle of the vehicle (S400); and on the basis of the actual traveling state and the traveling state of the preceding vehicle, performing control to select a driving assistance function (S500).

Description

Vehicle assisted driving system control method, vehicle and storage medium

[0001] Cross-reference to related applications

[0002] The present application is based on the Chinese patent application No. 202410852479.5, filed on June 28, 2024, and claims priority to the Chinese patent application No. 202410852479.5, filed on June 28, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to a control system for vehicle driving control, in particular to a vehicle assisted driving system control method, a vehicle and a storage medium. BACKGROUND

[0004] With the development of automobile intelligence, there are more and more functions on the car, and the interaction control logic between the functions of the vehicle assisted driving is also very important, otherwise it will affect the use experience of the vehicle. For example, when the vehicle uses the adaptive cruise function to pass through a road with a large slope, due to the conflict between the steep slope slow descent function loaded on the vehicle and the adaptive cruise function, the vehicle cannot automatically switch to the steep slope slow descent function, and the road with a large slope will bring additional variables to the vehicle driving, resulting in frequent acceleration and deceleration of the vehicle when using the adaptive cruise function, and even affecting the driving safety. Therefore, there is an urgent need for a vehicle assisted driving system with better use experience. SUMMARY

[0005] The present application aims to provide a vehicle suspension system control method, a vehicle and a storage medium, to at least solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions.

[0006] According to the vehicle assisted driving system control method of the first aspect of the present application, the method comprises:

[0007] Obtaining the actual vehicle speed and the road slope value of the vehicle;

[0008] Determining whether the actual vehicle speed is less than a preset vehicle speed threshold and whether the road slope value is less than a preset slope threshold, when the actual vehicle speed is greater than or equal to the vehicle speed threshold and the road slope value is greater than or equal to the slope threshold, controlling to obtain the actual driving state of the vehicle and the front vehicle driving state of the vehicle;

[0009] Controlling to select a driving assistance function according to the actual driving state and the front vehicle driving state.

[0010] The technical scheme has at least the following beneficial effects: the actual vehicle speed and the road slope value are obtained first, the vehicle speed threshold and the slope threshold are set in the vehicle, the actual vehicle speed is compared with the vehicle speed threshold to determine the vehicle speed state, the road slope value is compared with the slope threshold to determine the road slope state, when the actual vehicle speed is greater than or equal to the vehicle threshold and the road slope value is greater than or equal to the slope threshold, the driving conditions of the vehicle are easy to activate at least two different driving assistance functions to work simultaneously, that is, the vehicle speed state and the road slope state of the vehicle reach the conditions for simultaneously operating at least two driving assistance functions, for example, adaptive cruise control and steep slope slow descent, and the obtained actual driving state of the vehicle and the driving state of the preceding vehicle are used to determine and select the appropriate driving assistance function, so that the actual driving state of the vehicle and the driving state of the preceding vehicle are determined in time when the vehicle reaches the working conditions of simultaneously satisfying multiple driving assistance functions, and the appropriate driving assistance function is selected and switched to, the situation that multiple driving assistance functions interfere with each other after reaching the activation working condition is effectively reduced, and the comfort and safety of driving are improved.

[0011] According to some embodiments of the present application, the actual driving state includes driver acceleration and driver deceleration, and the actual driving state of the vehicle is obtained by obtaining any one of the driver acceleration and the driver deceleration.

[0012] According to some embodiments of the present application, the driving assistance function includes steep slope slow descent, and the control of selecting the driving assistance function according to the actual driving state and the driving state of the preceding vehicle includes:

[0013] When the vehicle is in the state of driver deceleration, the steep slope slow descent is controlled to be on standby;

[0014] When the vehicle ends the state of driver deceleration, it is determined whether the actual vehicle speed is less than the vehicle speed threshold, when the actual vehicle speed is greater than or equal to the vehicle speed threshold, the steep slope slow descent is controlled to be entered and the vehicle is controlled to keep driving at the actual vehicle speed.

[0015] According to some embodiments of the present application, the driving state of the preceding vehicle of the vehicle includes preceding vehicle acceleration, preceding vehicle deceleration, preceding vehicle constant speed and no preceding vehicle, and the driving state of the preceding vehicle of the vehicle is obtained by obtaining any one of the preceding vehicle acceleration, the preceding vehicle deceleration, the preceding vehicle constant speed and the no preceding vehicle.

[0016] According to some embodiments of the present application, the driving assistance function includes steep slope slow descent, and the control of selecting the driving assistance function according to the actual driving state and the driving state of the preceding vehicle includes:

[0017] When the vehicle is in any one of the front vehicle constant speed and the no front vehicle, control enters the steep slope slow descent.

[0018] According to some embodiments of the present application, the driving assistance function includes adaptive cruise control, and the control of selecting the driving assistance function according to the actual driving state and the front vehicle driving state includes:

[0019] When the vehicle is in any one of the driver acceleration, the front vehicle acceleration and the front vehicle deceleration, control exits the adaptive cruise control.

[0020] According to some embodiments of the present application, the driving assistance function further includes steep slope slow descent, and the control of selecting the driving assistance function according to the actual driving state and the front vehicle driving state further includes:

[0021] When the vehicle switches to any one of the front vehicle constant speed and the no front vehicle, control exits the adaptive cruise control and control enters the steep slope slow descent.

[0022] According to some embodiments of the present application, the control of exiting the adaptive cruise control and entering the steep slope slow descent includes:

[0023] When the road surface slope value is greater than 8% and less than 15%, the adaptive cruise control is exited within a first preset time, and the steep slope slow descent is entered within a second preset time;

[0024] When the road surface slope value is greater than or equal to 15%, the adaptive cruise control is exited within a third preset time, and the steep slope slow descent is entered within a fourth preset time, the fourth preset time being less than the second preset time.

[0025] According to some embodiments of the present application, the vehicle auxiliary driving system control method further includes:

[0026] When the actual vehicle speed is less than the vehicle speed threshold, control enters adaptive cruise control.

[0027] According to some embodiments of the present application, the vehicle auxiliary driving system control method further includes:

[0028] When the road surface slope value is less than a preset slope threshold, control enters adaptive cruise control.

[0029] According to the second aspect of the embodiments of the present application, a vehicle includes a memory, a processor, and a program stored in the memory and executable on the processor, and the program is executed by the processor to implement the vehicle auxiliary driving system control method described above.

[0030] The technical scheme has at least the following beneficial effects: when the vehicle is driving, the actual driving state of the vehicle and the driving state of the preceding vehicle are determined in time to select and switch to a suitable driving assistance function when the vehicle reaches a working condition that simultaneously satisfies multiple driving assistance functions, effectively reducing the situation that multiple driving assistance functions conflict with each other after reaching the activation condition, thereby improving the comfort and safety of driving.

[0031] According to a third aspect of the present application, a computer readable storage medium is provided, which stores computer executable instructions for causing a computer to perform the vehicle auxiliary driving system control method described above.

[0032] The technical scheme has at least the following beneficial effects: the vehicle auxiliary driving system control method described above can be implemented as a computer program and tangibly contained in a computer readable storage medium. When the processor uses the computer readable storage medium to control the vehicle auxiliary driving system, the actual driving state of the vehicle and the driving state of the preceding vehicle are determined in time to select and switch to a suitable driving assistance function when the vehicle reaches a working condition that simultaneously satisfies multiple driving assistance functions, effectively reducing the situation that multiple driving assistance functions conflict with each other after reaching the activation condition, thereby improving the comfort and safety of driving.

[0033] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0034] FIG. 1 is a flowchart of a vehicle auxiliary driving system control method according to an embodiment of the present application.

[0035] FIG. 2 is a flowchart of a method for controlling selection of a driving assistance function according to an actual driving state and a driving state of a preceding vehicle according to an embodiment of the present application. Embodiments of the present application

[0036] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0037] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0038] In the description of the present application, the meaning of one or more is one or more, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, within, etc. are understood as including the number. If the first, second is described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0039] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0040] Referring to FIG. 1, a vehicle auxiliary driving system control method of the first aspect embodiment includes but is not limited to the following steps.

[0041] Step S100, obtaining the actual vehicle speed and the road slope value of the vehicle. A vehicle speed sensor and an inclination sensor are installed on the vehicle. The current speed of the vehicle, i.e. the actual vehicle speed, is measured by the vehicle speed sensor. The inclination sensor measures the size of the vehicle driving slope, i.e. the road slope value.

[0042] Step S200, determining whether the actual vehicle speed is less than the preset vehicle speed threshold, and performing step S300, determining whether the road slope value is less than the preset slope threshold. The vehicle speed threshold and the slope threshold are preset in the vehicle. The measured actual vehicle speed is compared with the vehicle speed threshold, and the measured road slope value is compared with the slope threshold, and the two comparisons are used as the condition for triggering different driving assistance functions.

[0043] When the actual vehicle speed is greater than or equal to the vehicle speed threshold and the road slope value is greater than or equal to the slope threshold, step S400 is entered to control the actual driving state of the vehicle and the front vehicle driving state of the vehicle. When the actual vehicle speed is greater than or equal to the vehicle speed threshold, and the road slope value is also greater than or equal to the slope threshold, the condition for activating another driving assistance function of the vehicle is met, such as steep slope slow descent. In order to further determine the driving assistance function to be used, the actual driving state of the vehicle and the front vehicle driving state of the vehicle are obtained. For the actual driving state of the vehicle, it can be obtained by determining whether the vehicle has received the acceleration request of the driver. For the front vehicle driving state of the vehicle, it can be obtained by laser sensor, camera, etc.

[0044] Step S500, controlling the selection of the driving assistance function according to the actual driving state and the driving state of the preceding vehicle. The actual driving state controlled by the driver and the driving state of the preceding vehicle are comprehensively considered to obtain a suitable driving assistance function.

[0045] As described above, the current actual vehicle speed and the road slope value are first obtained, the vehicle is pre-configured with a vehicle speed threshold and a slope threshold, the obtained actual vehicle speed is compared with the vehicle speed threshold to determine the vehicle speed state, and the road slope value is compared with the slope threshold to determine the road slope state. When the actual vehicle speed is greater than or equal to the vehicle threshold and the road slope value is greater than or equal to the slope threshold, the driving conditions of the vehicle are easy to activate at least two different driving assistance functions to work simultaneously, that is, the vehicle speed state and the road slope state at this time reach the condition that at least two driving assistance functions can be operated simultaneously, for example, adaptive cruise control and steep slope descent. The obtained actual driving state of the vehicle and the driving state of the preceding vehicle are further judged to select a suitable driving assistance function. In this way, when the vehicle meets the working conditions of multiple driving assistance functions, the actual driving state of the vehicle and the driving state of the preceding vehicle are judged in time to select and switch to a suitable driving assistance function, effectively reducing the conflict and interference of multiple driving assistance functions after reaching the activation working condition, thereby improving the comfort and safety of driving.

[0046] The vehicle speed threshold and the slope threshold can be divided by whether different driving assistance functions need to be activated autonomously. For example, the use of steep slope descent generally does not require steep slope descent when the vehicle does not reach the set vehicle speed threshold and slope threshold. The vehicle speed threshold can be set between 8-12 kph, for example, the vehicle speed threshold is 10 kph, and the slope threshold can be set between 6%-10%, for example, the slope threshold is 8%. Therefore, when the actual vehicle speed is greater than or equal to 10 kph and the road slope value is greater than or equal to 8%, the use condition of the steep slope descent function is reached.

[0047] In step S400, the actual driving state includes driver acceleration and driver deceleration, and obtaining the actual driving state of the vehicle includes: obtaining any one state of driver acceleration and driver deceleration. By judging whether the vehicle receives the acceleration request of the driver, when the driver steps on the accelerator pedal to accelerate the vehicle, it is the driving state of driver acceleration at this time, and when the driver steps on the brake pedal to decelerate the vehicle, it is the driving state of driver deceleration at this time. Thus, the state of the driver's control of the vehicle can be obtained.

[0048] There are various driving assistance functions, including adaptive cruise control and steep slope descent. In step S500, there are various implementation modes of controlling the selection of driving assistance functions according to the actual driving state and the driving state of the preceding vehicle. As an example, as shown in FIG. 2, step S500 includes but is not limited to the following steps.

[0049] In step S511, when the vehicle is in a state of driver deceleration, the steep slope descent standby is controlled. In step S200, since it is judged that the actual vehicle and the road slope value meet the working condition conditions of steep slope descent, and the driver brakes to decelerate, there may be dangers on the road, so the vehicle is in a state of driver active braking and steep slope descent standby.

[0050] In step S512, when the vehicle ends the state of driver deceleration, it is judged whether the actual vehicle speed is less than the vehicle speed threshold. When the actual vehicle speed is greater than or equal to the vehicle speed threshold, step S513 is entered, and the vehicle is controlled to enter the steep slope descent and keep driving at the actual vehicle speed. After the vehicle ends the driver active braking deceleration, since the actual vehicle speed is reduced, it is necessary to confirm again whether the working condition at this time meets the vehicle speed threshold, when the actual vehicle speed is still greater than or equal to the vehicle speed threshold, step S513 is entered, and the steep slope descent is taken over, so that the vehicle keeps driving at the current speed; when the actual vehicle speed is less than the vehicle speed threshold, the steep slope descent is not taken over, since the speed of the vehicle at this time is small, even if the vehicle appears to be sliding down the slope, the driver can have enough reaction time to control.

[0051] In step S400, the driving state of the preceding vehicle of the vehicle includes preceding vehicle acceleration, preceding vehicle deceleration, preceding vehicle constant speed, and no preceding vehicle, and obtaining the driving state of the preceding vehicle includes: obtaining any one of the preceding vehicle acceleration, the preceding vehicle deceleration, the preceding vehicle constant speed, and the no preceding vehicle. The driving state of the preceding vehicle can be obtained by laser sensors, cameras, etc., for example, the distance between the front vehicle and the vehicle can be identified, and whether the front vehicle accelerates, decelerates, or has no acceleration or deceleration can be obtained, to obtain the driving state of the preceding vehicle acceleration, the preceding vehicle deceleration, and the preceding vehicle constant speed, respectively, and when no vehicle is identified within a certain distance in front of the vehicle, it is the driving state of the preceding vehicle. By obtaining the preceding vehicle driving state information, the selection and use of driving assistance functions can be used, for example, the use of adaptive cruise control function.

[0052] In step S500, there are various implementation modes of controlling the selection of driving assistance functions according to the actual driving state and the driving state of the preceding vehicle. As an example two, step S500 includes but is not limited to the following step S521.

[0053] Step S521, when the vehicle is in any one of the front vehicle uniform speed and no front vehicle state, control into steep slope slow down. When the front vehicle is uniform speed, because the actual vehicle speed is greater than or equal to the vehicle speed threshold and the road slope value is greater than or equal to the slope threshold, that is, the actual vehicle speed and the road slope value are large, at this time, the steep slope slow down is used to control the speed of the vehicle, which can effectively overcome the problem of frequent acceleration and deceleration when using adaptive cruise control speed, greatly improving the driving comfort and safety.

[0054] In embodiment one and embodiment two, the vehicle is in the case of steep slope slow down control, at this time, the adaptive cruise control can also enter standby state, when the vehicle is in the driving state of non steep slope slow down driving, whether to switch to adaptive cruise control is judged again.

[0055] In step S500, there are many implementation ways of controlling the selection of driving auxiliary function according to the actual driving state and the front vehicle driving state, as embodiment three, S500 includes but is not limited to the following steps S531 to S532.

[0056] Step S531, when the vehicle is in any one of the driver acceleration, front vehicle acceleration and front vehicle deceleration state, control into adaptive cruise control. In the state of driver self-control acceleration, or monitoring the front vehicle acceleration or deceleration, the speed of the vehicle can also be controlled by adaptive cruise control, so that the vehicle reaches the preset target speed.

[0057] Step S532, when the vehicle switches to any one of the front vehicle uniform speed and no front vehicle state, control to exit adaptive cruise control and control into steep slope slow down. When adaptive cruise control is performed, the speed of the vehicle itself needs to be adjusted according to the speed of the front vehicle, therefore, when the front vehicle driving state of no front vehicle is obtained, the driving auxiliary function needs to be switched in time, in addition, when the front vehicle is uniform speed, because the vehicle itself is on the road with large slope, that is, the road slope value is greater than or equal to the slope threshold, at this time, the too large variable will cause the adaptive cruise control to appear frequent acceleration and deceleration when controlling the speed of the vehicle, therefore, the driving auxiliary function also needs to be switched in time. In this way, when the vehicle is in any one of the driver acceleration, front vehicle acceleration and front vehicle deceleration state, adaptive cruise control is used to assist driving, when the vehicle switches to any one of the front vehicle uniform speed and no front vehicle state, steep slope slow down is used to assist driving.

[0058] In step S532, when the adaptive cruise control is switched to steep slope slow down due to the switching of the vehicle driving state, the vehicle will have different downward speed under different road slope values. In order to improve the driving safety, the driving auxiliary function needs to be switched in time. Therefore, in this embodiment, the adaptive cruise control is controlled to exit and the steep slope slow down is controlled to enter, including but not limited to the following steps:

[0059] Step S5321, when the road slope value is greater than 8% and less than 15%, the adaptive cruise control is exited within a first preset time, and the steep slope slow descent is entered within a second preset time. When the vehicle is in the driver accelerating, the front vehicle accelerating, the vehicle enters the adaptive cruise control, when the vehicle switches to the front vehicle constant speed and the front vehicle free, if the road slope value is between 8% and 15%, the adaptive cruise control is exited within the first preset time, and the steep slope slow descent is taken over, and the brake pressure required for establishing the target vehicle speed is released within the second preset time; when the vehicle is in the front vehicle decelerating, the vehicle enters the adaptive cruise control, when the vehicle switches to the front vehicle constant speed and the front vehicle free, if the road slope value is between 8% and 15%, the adaptive cruise control is exited within the first preset time, and the steep slope slow descent is taken over, and the excess brake pressure is released within the second preset time, for example, the first preset time is within 180 milliseconds to 220 milliseconds, and the second preset time is within 80 milliseconds to 120 milliseconds.

[0060] Step S5322, when the road slope value is greater than or equal to 15%, the adaptive cruise control is exited within a third preset time, and the steep slope slow descent is entered within a fourth preset time, the fourth preset time is less than the second preset time. When the vehicle is in the driver accelerating, the front vehicle accelerating, the vehicle enters the adaptive cruise control, when the vehicle switches to the front vehicle constant speed and the front vehicle free, if the road slope value is greater than 15%, the adaptive cruise control is exited within the third preset time, and the steep slope slow descent is taken over, and the brake pressure required for establishing the target vehicle speed is released within the fourth preset time; when the vehicle is in the front vehicle decelerating, the vehicle enters the adaptive cruise control, when the vehicle switches to the front vehicle constant speed and the front vehicle free, if the road slope value is greater than 15%, the adaptive cruise control is exited within the third preset time, and the steep slope slow descent is taken over, and the excess brake pressure is released within the fourth preset time, for example, the third preset time is within 180 milliseconds to 220 milliseconds, and the fourth preset time is within 40 milliseconds to 60 milliseconds.

[0061] In actual driving, the vehicle also has a situation that the road slope value repeatedly switches around 15%, for example, the vehicle drives on the road with the slope value of about 15%, when the road has unevenness, the obtained road slope value is unstable, in order to stably switch the driving assistance function, the first obtained road slope value is used as the criterion, and the step S5311 or the step S5322 is executed, and it is not necessary to repeatedly switch between the two steps, and the control deadlocking and other adverse conditions are effectively reduced.

[0062] Thus, in step S532, when the vehicle driving state is switched, the switching speed is adjusted in time according to different road surface slopes, the smoothness of switching of different driving assistance functions is better adjusted, the driving safety is taken into account, and the auxiliary driving system control of the vehicle is more reasonable.

[0063] In step S200, it is judged whether the actual vehicle speed is less than a preset vehicle speed threshold. When the actual vehicle speed is less than the vehicle speed threshold, step S600 is entered, and the control enters the adaptive cruise. Similarly, in step S200, it is judged whether the road surface slope value is less than a preset slope threshold. When the road surface slope value is less than the slope threshold, step S600 is entered, and the control enters the adaptive cruise. When the actual vehicle speed and the road surface slope value of the vehicle are small, that is, do not exceed the vehicle speed threshold or the slope threshold, the influence of the slope on the vehicle is also controlled by the adaptive cruise at this time, the vehicle driving state can be better controlled, and in actual driving, the driving conditions involved in the adaptive cruise are more extensive, so the switching of the driving assistance function can be reduced, and the smoothness and comfort of driving can be improved.

[0064] According to the second aspect of the present application, a vehicle includes a memory, a processor, and a program stored in the memory and executable on the processor. The program is executed by the processor to implement the vehicle auxiliary driving system control method described above. Specifically, the vehicle can be a private car, such as a sedan, an SUV, an MPV, or a pickup truck, etc. The vehicle can also be an operating vehicle, such as a van, a bus, a small truck, or a large trailer, etc. The vehicle can be a gasoline car or a new energy car. When the vehicle is a new energy car, it can be a hybrid car or a pure electric car.

[0065] The technical scheme has at least the following beneficial effects: when the vehicle is driving, the actual driving state of the vehicle and the driving state of the preceding vehicle are judged in time to select and switch to the appropriate driving assistance function when the vehicle reaches the working condition that meets multiple driving assistance functions at the same time, the situation that multiple driving assistance functions conflict and interfere with each other after reaching the activation condition is effectively reduced, and the comfort and safety of driving are improved.

[0066] According to a third aspect of the embodiments of the present application, a computer readable storage medium is provided. The computer readable storage medium stores computer executable instructions. The computer executable instructions are used for causing a computer to execute the vehicle assisted driving system control method described above. The computer readable storage medium can be a tangible medium, which can contain or store the computer program for use by or in connection with the instruction execution system, apparatus or device. The computer readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the above. Alternatively, the computer readable storage medium can be a machine readable signal medium. More specific examples of the machine readable storage medium will include one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0067] The technical solution has at least the following beneficial effects: the vehicle assisted driving system control method described above can be implemented as a computer program, and is tangibly contained in a computer readable storage medium. When a processor uses the computer readable storage medium to control the vehicle assisted driving system, the actual driving state of the vehicle and the driving state of the preceding vehicle can be determined in time when the vehicle reaches the working condition that meets multiple driving assistance functions at the same time, so as to select and switch to the appropriate driving assistance function, effectively reduce the conflict and interference of multiple driving assistance functions after reaching the activation working condition, and improve the comfort and safety of driving.

[0068] The above describes several embodiments of the present application, but the present application is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application. These equivalent modifications or replacements are also included in the scope defined by the claims of the present application.

Claims

1. A control method for a vehicle driver assistance system, comprising: Obtain the actual vehicle speed and the slope of the road surface. Determine whether the actual vehicle speed is less than a preset vehicle speed threshold, and determine whether the slope value of the road surface is less than a preset slope threshold; When the actual vehicle speed is greater than or equal to the vehicle speed threshold and the road surface slope is greater than or equal to the slope threshold, the system controls the acquisition of the actual driving state of the vehicle and the acquisition of the driving state of the vehicle in front of it. The driving assistance function is selected based on the actual driving status and the driving status of the vehicle in front.

2. The vehicle driver assistance system control method according to claim 1, wherein: The actual driving state includes driver acceleration and driver deceleration, and obtaining the actual driving state of the vehicle includes obtaining either the driver acceleration or the driver deceleration state.

3. The vehicle driver assistance system control method according to claim 2, wherein: The driving assistance function includes hill descent control. The step of controlling the selection of the driving assistance function based on the actual driving state and the driving state of the vehicle ahead includes: When the vehicle is in a state of driver deceleration, control the steep slope descent to standby; When the vehicle ends the driver's deceleration state, it is determined whether the actual vehicle speed is less than the vehicle speed threshold. When the actual vehicle speed is greater than or equal to the vehicle speed threshold, the vehicle is controlled to enter the steep slope descent and the vehicle is controlled to maintain the actual vehicle speed.

4. The vehicle driver assistance system control method according to claim 2, wherein: The preceding vehicle's driving state includes preceding vehicle acceleration, preceding vehicle deceleration, preceding vehicle constant speed, and no preceding vehicle. Obtaining the preceding vehicle's driving state includes obtaining any one of the preceding vehicle acceleration, preceding vehicle deceleration, preceding vehicle constant speed, and no preceding vehicle.

5. A vehicle driver assistance system control method according to claim 4, wherein: The driving assistance function includes hill descent control. The step of controlling the selection of the driving assistance function based on the actual driving state and the driving state of the vehicle ahead includes: When the vehicle is in either the state of the preceding vehicle moving at a constant speed or the state of having no preceding vehicle, the control enters the steep slope descent.

6. A vehicle driver assistance system control method according to claim 4, wherein: The driving assistance function includes adaptive cruise control. The step of selecting the driving assistance function based on the actual driving state and the driving state of the vehicle ahead includes: When the vehicle is in any of the states of driver acceleration, preceding vehicle acceleration, and preceding vehicle deceleration, the control enters the adaptive cruise control.

7. A vehicle driver assistance system control method according to claim 6, wherein: The driving assistance function also includes hill descent control. The step of controlling the selection of the driving assistance function based on the actual driving state and the driving state of the vehicle ahead further includes: When the vehicle switches to either the state of the preceding vehicle traveling at a constant speed or the state of having no preceding vehicle, the adaptive cruise control is disengaged and the vehicle enters the hill descent control mode.

8. A vehicle driver assistance system control method according to claim 7, wherein: The control to exit the adaptive cruise and control to enter the hill descent control includes: When the slope of the road surface is greater than 8% and less than 15%, the adaptive cruise control will be disengaged within a first preset time and the steep slope descent will be initiated within a second preset time. When the slope of the road surface is greater than or equal to 15%, the adaptive cruise control will be disengaged within a third preset time and the steep slope descent will be initiated within a fourth preset time, wherein the fourth preset time is less than the second preset time.

9. The vehicle driver assistance system control method according to claim 1, further comprising: When the actual vehicle speed is less than the vehicle speed threshold, the system will switch to adaptive cruise control.

10. The vehicle assisted driving system control method according to claim 1, further comprising: When the slope of the road surface is less than a preset slope threshold, the system will enter adaptive cruise control.

11. A vehicle comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein, When the program is executed by the processor, it implements the vehicle driver assistance system control method as described in any one of claims 1 to 10.

12. A computer-readable storage medium storing computer-executable instructions, wherein, The computer-executable instructions are used to cause the computer to perform the vehicle driver assistance system control method as described in any one of claims 1 to 10.

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