CN111942398A - Vehicle speed control method and system and vehicle - Google Patents
Vehicle speed control method and system and vehicle Download PDFInfo
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- CN111942398A CN111942398A CN201910415022.7A CN201910415022A CN111942398A CN 111942398 A CN111942398 A CN 111942398A CN 201910415022 A CN201910415022 A CN 201910415022A CN 111942398 A CN111942398 A CN 111942398A
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- 206010039203 Road traffic accident Diseases 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
The embodiment of the invention provides a vehicle speed control method, a vehicle speed control system and a vehicle, wherein the method comprises the following steps: the method comprises the steps of obtaining an initial running speed of a target vehicle, obtaining a first running speed of an adjacent vehicle if the adjacent vehicle is detected to exist in an adjacent lane in front of the running of the target vehicle, and reducing the running speed of the target vehicle from the initial running speed to a second running speed if the initial running speed is larger than the first running speed and the intersection exists in a preset distance in front of the running of the target vehicle is detected, wherein the second running speed is smaller than or equal to the first running speed.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a vehicle speed control method, a vehicle speed control system and a vehicle.
Background
Currently, more and more vehicles are equipped with Adaptive Cruise Control (ACC) systems. The ACC is based on the traditional constant-speed cruising, adopts a radar to detect the relative distance and the relative speed between a front vehicle and the vehicle, and actively controls the driving speed of the vehicle so as to achieve the purpose of automatic following cruising. The ACC may automatically switch between cruise and follow-up depending on whether there is a vehicle in front.
When a vehicle runs in an intersection area, people or animals can cross the road, and when a driver does not brake in time, if an ACC sensor detects that an obstacle exists in front of the vehicle, an automatic emergency braking system can be started.
However, the inventors have found that if a plurality of vehicles run in parallel in an intersection area, for example, if the vehicle runs in parallel with a bus, a water truck, or the like, the parallel vehicles block the detection range of the ACC sensor of the vehicle or the field of view of the driver, and if a person or an animal crosses a road, the vehicle cannot be braked in time, causing a traffic accident.
Disclosure of Invention
The invention provides a vehicle speed control method, a vehicle speed control system and a vehicle, and aims to solve the problem that in the prior art, when the vehicle passes through an intersection area, the vehicle cannot be braked in time due to the shielding of parallel vehicles, so that traffic accidents are caused.
In a first aspect, the present invention provides a method of controlling vehicle speed, comprising:
acquiring an initial running speed of a target vehicle;
if the adjacent vehicle exists in an adjacent lane in front of the target vehicle, acquiring a first driving speed of the adjacent vehicle;
and if the initial running speed is greater than the first running speed and the intersection is detected to exist in the preset distance in front of the target vehicle, decelerating the running speed of the target vehicle from the initial running speed to a second running speed, wherein the second running speed is less than or equal to the first running speed.
In one possible implementation, after decelerating the traveling speed of the target vehicle from an initial traveling speed to a second traveling speed, the method further includes:
and if the target vehicle is detected to drive away from the intersection, accelerating the driving speed of the target vehicle from the second driving speed to the initial driving speed.
In one possible implementation manner, the acquiring a first traveling speed of the adjacent vehicle if it is detected that the adjacent vehicle exists in an adjacent lane ahead of the target vehicle, includes:
if the adjacent vehicles are detected to exist in the adjacent lanes in front of the target vehicle, judging whether the adjacent vehicles are large vehicles or not;
and if the adjacent vehicle is a large vehicle, acquiring a first running speed of the adjacent vehicle.
In one possible implementation, the decelerating the travel speed of the target vehicle from an initial travel speed to a second travel speed includes:
determining an initial travel speed v of the target vehicle0And the second running speed v2Target speed difference v2-v0；
Inquiring a corresponding relation list of the speed difference and the deceleration time, and acquiring target deceleration time t corresponding to the target speed difference;
to be provided with
For deceleration, the running speed of the target vehicle is set from an initial running speed v0Decelerating to a second driving speed v2。
In one possible implementation manner, the obtaining of the initial running speed of the target vehicle includes:
and if the adaptive cruise function of the target vehicle is started, acquiring the initial running speed of the target vehicle.
In a second aspect, an embodiment of the present invention provides a vehicle speed control system, including:
the system comprises a processor, a detector, a map positioning module and a speed setting module; the detector, the map positioning module and the speed setting module are respectively connected with the processor;
the processor is used for acquiring the initial running speed of the target vehicle;
the processor is further used for controlling the detector to detect whether an adjacent vehicle exists in an adjacent lane in front of the target vehicle, and controlling the detector to acquire a first driving speed of the adjacent vehicle when the adjacent vehicle exists in the adjacent lane in front of the target vehicle;
the processor is further used for judging whether the initial running speed is greater than the first running speed or not, and controlling the map positioning module to detect whether an intersection exists within a preset distance in front of the target vehicle when the initial running speed is greater than the first running speed;
the processor is further configured to control the speed setting module to decelerate the running speed of the target vehicle from the initial running speed to a second running speed when the intersection exists within a preset distance in front of the running of the target vehicle, wherein the second running speed is less than or equal to the first running speed.
In a possible implementation manner, the processor is further configured to control the map positioning module to detect whether the target vehicle drives away from the intersection;
the processor is further used for controlling the speed setting module to accelerate the running speed of the target vehicle from the second running speed to the initial running speed when the target vehicle leaves the intersection.
In one possible implementation manner, the process of controlling the detector to detect whether there is an adjacent vehicle in an adjacent lane in front of the target vehicle, and controlling the detector to acquire the first traveling speed of the adjacent vehicle when there is an adjacent vehicle in an adjacent lane in front of the target vehicle, includes:
controlling the detector to detect whether an adjacent vehicle exists in an adjacent lane in front of the target vehicle;
if the adjacent vehicle exists in the adjacent lane in front of the target vehicle, controlling the detector to detect whether the adjacent vehicle is a large vehicle;
and if the adjacent vehicle is a large vehicle, controlling the detector to acquire a first running speed of the adjacent vehicle.
In one possible implementation manner, the processor is configured to control the process of decelerating the traveling speed of the target vehicle from an initial traveling speed to a second traveling speed by the speed setting module, and the process includes:
determining an initial travel speed v of the target vehicle0And the second running speed v2Target speed difference v2-v0；
Inquiring a corresponding relation list of the speed difference and the deceleration time, and acquiring target deceleration time t corresponding to the target speed difference;
controlling the speed setting module to
For deceleration, the running speed of the target vehicle is set from an initial running speed v0Decelerating to a second driving speed v2。
In one possible implementation, the processor is configured to obtain an initial driving speed of a target vehicle, and includes:
and if the adaptive cruise function of the target vehicle is started, acquiring the initial running speed of the target vehicle.
In a possible implementation manner, the method further includes: and the human-computer interaction module is connected with the processor.
In one possible implementation, the detector includes a first radar, a second radar, a third radar, and a camera device; the first radar, the second radar, the third radar and the camera device are all connected with the processor;
the first radar and the camera device are respectively arranged in the middle of the head of the target vehicle, and the second radar and the third radar are respectively arranged on two sides of the head of the target vehicle.
In one possible implementation, the first radar, the second radar, and the third radar are all millimeter wave radars.
In a possible implementation, the speed setting module includes an electronic stabilizing unit and an engine control unit, the engine control unit is respectively connected with the electronic stabilizing unit, the processor and the engine, and the electronic stabilizing unit is connected with the processor.
In a third aspect, an embodiment of the present invention provides a vehicle including the vehicle speed control system according to any one of the second aspect of the embodiment of the present invention.
According to the vehicle speed control method, the system and the vehicle provided by the embodiment of the invention, the initial running speed of the target vehicle is obtained, when the adjacent vehicle exists in the adjacent lane in front of the running of the target vehicle, the first running speed of the adjacent vehicle is obtained, when the initial running speed is greater than the first running speed and the intersection exists in the preset distance in front of the running of the target vehicle is detected, the running speed of the target vehicle is reduced to the second running speed, and the second running speed of the target vehicle is smaller than or equal to the first running speed of the adjacent vehicle, so that the target vehicle can brake in time when the adjacent vehicle is shielded in the intersection area, and the occurrence of traffic accidents is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a first flowchart of a method for controlling a vehicle speed according to an embodiment of the present invention;
FIG. 2 is a second flowchart of a method for controlling vehicle speed according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for controlling vehicle speed according to an embodiment of the present invention;
FIG. 4 is a first block diagram of a vehicle speed control system according to an embodiment of the present invention;
fig. 5 is a second architecture diagram of a vehicle speed control system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The vehicle in the embodiment of the present invention includes, but is not limited to, vehicles such as internal combustion engine cars or motorcycles, electric power-assisted vehicles, electric balance cars, remote control vehicles, and the like, and various modifications thereof. The vehicle referred to herein may be a single oil-circuit vehicle, a single steam-circuit vehicle, an oil-gas combined vehicle, or an electric power-assisted vehicle, and the type of the vehicle is not limited in the embodiments of the present invention.
The embodiment of the invention is suitable for a vehicle provided with an ACC, wherein the ACC is an intelligent automatic control system, and in the running process of the vehicle, a vehicle distance sensor arranged at the front part of the vehicle continuously scans a road in front of the vehicle, and meanwhile, a wheel speed sensor acquires a vehicle speed signal. When the distance between the vehicle and the front vehicle is too small, the ACC control unit can appropriately brake the wheels and reduce the output power of the engine through the coordination action of the anti-lock braking system and the engine control system, so that the vehicle and the front vehicle can always keep a safe distance.
In the intersection area, if there are a plurality of vehicles running in parallel, for example, the vehicle runs in parallel with a bus, a water truck, or the like, the parallel vehicles block the detection range of the ACC sensor of the vehicle or the field of view of the driver, and when a person or an animal crosses the road, the vehicle cannot be braked in time. The person crossing the road may be a pedestrian, a person riding a non-motor vehicle, or a person driving a motor vehicle, and the embodiment of the present invention is not particularly limited.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a first flowchart of a method for controlling a vehicle speed according to an embodiment of the present invention, and as shown in fig. 1, the method of the present embodiment may be used in a system for controlling a vehicle speed, and the method includes:
in step S101, an initial travel speed of the target vehicle is acquired.
In the embodiment of the invention, the target vehicle is an ACC-equipped vehicle. The target vehicle may be a small-sized automobile such as a car, a motorcycle, a balance car, etc., or a large-sized automobile such as a passenger car, a cargo vehicle, a sprinkler car, etc. The target vehicle in the embodiment of the present invention is preferably a small-sized motor vehicle because the small-sized motor vehicle has a small size and a large blind area of the field of view, and the field of view of the driver or the detection range of the ACC sensor is more easily blocked by neighboring vehicles in neighboring lanes when the driver drives the small-sized motor vehicle. The initial travel speed is a current travel speed of the target vehicle or a speed set by the driver through the ACC of the target vehicle. The initial travel speed of the target vehicle is acquired through a speed instrument panel of the target vehicle, or the initial travel speed of the target vehicle is acquired through the ACC.
Step S102, if it is detected that an adjacent vehicle exists in an adjacent lane in front of the target vehicle, acquiring a first driving speed of the adjacent vehicle.
In the embodiment of the present invention, the adjacent lane is a lane adjacent to a lane in which the target vehicle is currently traveling, if the target vehicle is traveling in the outermost lane, the adjacent lane is a lane next to the outermost lane, and if the target vehicle is traveling in the middle lane, the adjacent lane is lanes on both sides of the middle lane. The adjacent vehicle means a vehicle running in parallel with the target vehicle, and the adjacent vehicle is in front of the target vehicle. The adjacent vehicles may be small-sized vehicles or large-sized vehicles, and the embodiment of the invention is not particularly limited.
Step S103, if the initial running speed is greater than the first running speed and it is detected that there is an intersection in a preset distance ahead of the target vehicle, decelerating the running speed of the target vehicle from the initial running speed to a second running speed, where the second running speed is less than or equal to the first running speed.
In the embodiment of the present invention, the preset distance may be set by a vehicle designer when the vehicle is produced, wherein the manner in which the vehicle designer sets the preset distance may be: the preset distance set by the vehicle designer is acquired, and after the set preset distance is acquired, the set preset distance may be stored in the memory. After the vehicle leaves the factory, the user can also change the preset distance of setting, wherein, the mode that the user changed the preset distance can be: receiving a preset distance change instruction input by a user, loading a preset distance change page, receiving a new preset distance input by the user on the preset distance change page, and storing the new preset distance in a memory.
The preset distance may also be set according to an initial travel speed of the target vehicle. The setting of the initial running speed according to the target vehicle can be to acquire the passing time set by a user or a vehicle designer, determine the preset distance according to the product of the initial running speed and the passing time, and store the preset distance in the memory. The transit time, which can ensure that a person or animal crosses the road during the transit time, can be set empirically, for example, the transit time is set to 2 minutes.
In the embodiment of the present invention, it is first detected whether an initial traveling speed of a target vehicle is greater than a first traveling speed of an adjacent vehicle, and if the initial traveling speed of the target vehicle is greater than the first traveling speed of the adjacent vehicle, it is explained that the target vehicle may exceed the adjacent vehicle during traveling of the target vehicle, and at this time, if there is an intersection within a preset distance in front of the traveling of the target vehicle and if a person or an animal crosses the intersection, a traffic accident may occur due to occlusion by the adjacent vehicle, and therefore, it is necessary to detect whether there is an intersection within the preset distance in front of the traveling of the target vehicle, and if there is an intersection within the preset distance in front of the traveling of the target vehicle, it is necessary to reduce the traveling speed of the target vehicle to a second traveling speed so that the traveling speed of the target vehicle is less than the traveling speed of the, the target vehicle is prevented from passing the neighboring vehicle.
According to the embodiment of the invention, the initial running speed of the target vehicle is obtained, when the adjacent vehicle is detected to exist in the adjacent lane in front of the running of the target vehicle, the first running speed of the adjacent vehicle is obtained, and when the initial running speed is greater than the first running speed and the intersection exists in the preset distance in front of the running of the target vehicle, the running speed of the target vehicle is reduced to the second running speed, so that the second running speed of the target vehicle is smaller than or equal to the first running speed of the adjacent vehicle, therefore, when the adjacent vehicle is sheltered in the intersection area, the target vehicle can brake in time, and the occurrence of traffic accidents is avoided.
As an embodiment of the present invention, on the basis of the embodiment shown in fig. 1, after step S103, the method of this embodiment may further include:
and if the target vehicle is detected to drive away from the intersection, accelerating the driving speed of the target vehicle from the second driving speed to the initial driving speed.
In one possible implementation, accelerating the travel speed of the target vehicle from the second travel speed to the initial travel speed includes:
determining an initial travel speed v of the target vehicle0And the second running speed v2Target speed difference v0-v2(ii) a Inquiring a corresponding relation list of the speed difference and the acceleration time, and acquiring the target acceleration time t corresponding to the target speed difference+(ii) a To be provided with
Setting the travel speed of the target vehicle from a second travel speed v for acceleration2Accelerating to an initial driving speed v0。
In the embodiment of the invention, in order to realize the stable acceleration of the target vehicle, different speed differences correspond to different acceleration times, a larger speed difference corresponds to a longer acceleration time, and a smaller speed difference corresponds to a shorter acceleration time, so that the user experience is improved. The correspondence between the speed difference and the acceleration time may be set by a vehicle designer when the vehicle is produced, wherein the manner in which the vehicle designer sets the correspondence between the speed difference and the acceleration time may be: the correspondence relationship between the speed difference and the acceleration time set by the vehicle designer is acquired, and after the correspondence relationship between the speed difference and the acceleration time is acquired, the correspondence relationship between the speed difference and the acceleration time can be stored in the memory. After the vehicle leaves the factory, the user may further change the corresponding relationship between the set speed difference and the set acceleration time, where the manner in which the user changes the corresponding relationship between the speed difference and the acceleration time may be: receiving a speed difference and acceleration time corresponding relation change instruction input by a user, loading a change page of the speed difference and acceleration time corresponding relation, receiving a new speed difference and acceleration time corresponding relation input by the user on the change page of the speed difference and acceleration time corresponding relation, and storing the new speed difference and acceleration time corresponding relation in a memory.
In the embodiment of the present invention, the driving speed of the target vehicle may also be accelerated from the second driving speed to the initial driving speed within a preset time, wherein the preset time is a fixed time interval set by a user or a vehicle designer. For example, the running speed of the target vehicle is accelerated from the second running speed to the initial running speed within 5 seconds.
In the embodiment of the invention, after the target vehicle leaves the intersection, the running speed of the target vehicle is accelerated from the second running speed to the initial running speed, so that the target vehicle continues to run at the initial running speed.
Fig. 2 is a second flowchart of a method for controlling a vehicle speed according to an embodiment of the present invention, and based on the embodiment shown in fig. 1, the embodiment of the present invention describes in detail one possible implementation manner of step S102. As shown in fig. 2, the method of this embodiment may include:
step S201, if it is detected that an adjacent vehicle exists in an adjacent lane in front of the target vehicle, judging whether the adjacent vehicle is a large vehicle;
step S202, if the adjacent vehicle is a large vehicle, acquiring a first running speed of the adjacent vehicle.
In embodiments of the present invention, large vehicles include, but are not limited to, passenger cars, trucks, water sprinklers, and the like. Whether the adjacent vehicles are large vehicles is judged by detecting the sizes of the adjacent vehicles, and if the sizes of the adjacent vehicles are detected to exceed the preset sizes, the adjacent vehicles are judged to be large vehicles. Wherein the preset size is greater than or equal to the size of the target vehicle.
The preset size may be set according to a size of the target vehicle, wherein the size setting according to the target vehicle may be to set the size of the target vehicle to the preset size after receiving the size of the target vehicle input by a user or a vehicle designer.
The preset size can also be set by a vehicle designer when the vehicle is produced, and the user can change the preset size after the vehicle leaves a factory. For example, the vehicle designer sets the preset size to 6 meters in length when the vehicle is produced, and the driver changes the preset size to 5 meters after the vehicle is shipped, for example. The specific setting mode and changing mode of the preset size are similar to those of the corresponding relationship between the speed difference and the acceleration time in the embodiment of the present invention, and the embodiment of the present invention is not described in detail.
In the embodiment of the invention, the large vehicle has a large vehicle body, so that the detection range of an ACC sensor of a target vehicle or the view field of a driver is easily blocked by the large vehicle, and the ACC or the driver cannot brake in time when people or animals cross a road. The small vehicle cannot block the detection range of the ACC sensor of the target vehicle, and when people or animals cross the road, the ACC or the driver can brake in time. By judging whether the adjacent vehicles are large vehicles or not, when the adjacent vehicles are large vehicles, the first running speed of the adjacent vehicles is obtained, and traffic accidents caused by shielding of the large vehicles are avoided.
Fig. 3 is a flowchart of a method for controlling a vehicle speed according to an embodiment of the present invention, and based on the embodiment shown in fig. 1, the embodiment of the present invention details a possible implementation manner of decelerating the traveling speed of the target vehicle from the initial traveling speed to a second traveling speed in step S103. As shown in fig. 3, the method of this embodiment may include:
step S301, determining the initial running speed v of the target vehicle0And the second running speed v2Target speed difference v2-v0。
Step S302, inquiring a corresponding relation list of the speed difference and the deceleration time, and acquiring the target deceleration time t corresponding to the target speed difference.
Step S303, to
For deceleration, the running speed of the target vehicle is set from an initial running speed v0Decelerating to a second driving speed v2。
In the embodiment of the invention, in order to realize stable deceleration of the target vehicle, different speed differences correspond to different deceleration times, a larger speed difference corresponds to a longer deceleration time, and a smaller speed difference corresponds to a shorter deceleration time, so that the user experience is improved. The setting manner of the corresponding relationship between the speed difference and the deceleration time is similar to the setting manner of the corresponding relationship between the speed difference and the acceleration time in the embodiment of the present invention, and the details of the embodiment of the present invention are not repeated.
In the embodiment of the present invention, the traveling speed of the target vehicle may also be decelerated from the initial traveling speed to the second traveling speed within a preset time, wherein the preset time is a fixed time interval set by a user or a vehicle designer. For example, the travel speed of the target vehicle is decelerated from the initial travel speed to the second travel speed within 5 seconds.
As an embodiment of the present invention, on the basis of the above embodiment shown in fig. 1, one possible implementation manner of step S101 is: and if the adaptive cruise function of the target vehicle is started, acquiring the initial running speed of the target vehicle.
In the embodiment of the invention, it is first detected whether the ACC of the target vehicle is on, and the initial travel speed of the target vehicle is acquired in the case where the ACC of the target vehicle is on.
Fig. 4 is a first structural diagram of a vehicle speed control system according to an embodiment of the present invention, and as shown in fig. 4, a vehicle speed control system 400 according to this embodiment includes: a processor 401, a detector 402, a map location module 403, and a speed setting module 404. The detector 402, the map positioning module 403 and the speed setting module 404 are respectively connected to the processor 401.
The processor 401 is configured to obtain an initial running speed of the target vehicle.
The processor 401 is further configured to control the detector 402 to detect whether there is an adjacent vehicle in an adjacent lane in front of the target vehicle, and control the detector 402 to obtain a first driving speed of the adjacent vehicle when there is an adjacent vehicle in the adjacent lane in front of the target vehicle.
The processor 401 is further configured to determine whether the initial driving speed is greater than the first driving speed, and control the map positioning module 403 to detect whether an intersection exists within a preset distance ahead of the target vehicle when the initial driving speed is greater than the first driving speed.
The processor 401 is further configured to control the speed setting module 404 to decelerate the running speed of the target vehicle from the initial running speed to a second running speed when an intersection exists within a preset distance in front of the target vehicle, where the second running speed is less than or equal to the first running speed.
In the embodiment of the present invention, the Processor 401 may be a Central Processing Unit (CPU), other general-purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The processor 401 may also be a central control system of the target vehicle or a control unit of the ACC. The probe 402, map location module 403 and speed setting module 404 are controlled by the controller 401.
The detector 402 includes, but is not limited to, a radar sensor, a vehicle distance sensor, and a camera. The detector is connected or electrically connected to the processor 401 through a network. The detector 402 is configured to detect whether there is an adjacent vehicle in an adjacent lane in front of the target vehicle, and acquire a first traveling speed of the adjacent vehicle when there is an adjacent vehicle in the adjacent lane in front of the target vehicle.
The map Positioning module 403 includes a Positioning System and a storage unit for storing map information, where the Positioning System includes, but is not limited to, a Global Positioning System (GPS) and a beidou navigation System. The map location module 403 is connected or electrically connected to the processor 401 via a network. The map positioning module 403 is configured to position the current position of the target vehicle through the GPS, and detect whether an intersection exists within a preset distance ahead of the target vehicle according to the map information stored in the map storage unit.
The speed setting module 404 is connected to the processor 401 at one end and electrically connected to the engine of the target vehicle at the other end. The speed setting module 404 is connected or electrically connected to the processor 401 through a network. The speed setting module 404 controls the travel speed of the target vehicle by sending an acceleration request or a deceleration request to the engine or brake system.
As an embodiment of the present invention, the processor 401 is further configured to control the map location module 403 to detect whether the target vehicle is driving away from the intersection. The processor 401 is further configured to control the speed setting module 404 to accelerate the running speed of the target vehicle from the second running speed to the initial running speed when the target vehicle leaves the intersection.
As an embodiment of the present invention, the process of the processor 401 controlling the detector 402 to detect whether there is an adjacent vehicle in an adjacent lane in front of the target vehicle, and controlling the detector 402 to acquire the first traveling speed of the adjacent vehicle when there is an adjacent vehicle in an adjacent lane in front of the target vehicle, includes:
controlling the detector 402 to detect whether an adjacent vehicle exists in an adjacent lane in front of the target vehicle;
if an adjacent vehicle exists in an adjacent lane in front of the target vehicle, controlling the detector 402 to detect whether the adjacent vehicle is a large vehicle;
and if the adjacent vehicle is a large vehicle, controlling the detector 402 to acquire a first running speed of the adjacent vehicle.
As an embodiment of the present invention, the processor 401 is configured to control the speed setting module 404 to decelerate the running speed of the target vehicle from an initial running speed to a second running speed, and includes:
determining an initial travel speed v of the target vehicle0And the second running speed v2Target speed difference v2-v0；
Inquiring a corresponding relation list of the speed difference and the deceleration time, and acquiring target deceleration time t corresponding to the target speed difference;
control the speed setting module 404 to
For deceleration, the running speed of the target vehicle is set from an initial running speed v0Decelerating to a second driving speed v2。
As an embodiment of the present invention, the process of acquiring the initial running speed of the target vehicle by the processor 401 includes:
and if the adaptive cruise function of the target vehicle is started, acquiring the initial running speed of the target vehicle.
Fig. 5 is a second architecture diagram of a vehicle speed control system according to an embodiment of the present invention, and based on the embodiment shown in fig. 4, as shown in fig. 5, the system of this embodiment may further include:
a human-computer interaction module 405 electrically connected with the processor 401.
In the embodiment of the present invention, human-machine interaction is realized through the human-machine interaction module 405, including but not limited to function display, turning off and turning on control functions of the speed of the target vehicle.
As an embodiment of the present invention, the detector 402 includes a first radar 4021, a second radar 4022, a third radar 4023, and a camera 4024. The first radar 4021, the second radar 4022, the third radar 4023, and the camera 4023 are all connected to the processor 401. The first radar 4021 and the camera device 4024 are respectively arranged in the middle of the target vehicle head, and the second radar 4022 and the third radar 4023 are respectively arranged on two sides of the target vehicle head.
In the embodiment of the invention, the first radar 4021 mainly detects an area immediately in front of the vehicle, the second radar 4022 mainly detects an area immediately in front of the left of the vehicle, the third radar 4023 mainly detects an area immediately in front of the right of the vehicle, and the camera 4014 mainly detects an area immediately in front of the vehicle. In the embodiment of the invention, the vehicles in front of the target vehicle and in the lanes adjacent to the target vehicle can be detected through the first radar 4021, the second radar 4022, the third radar 4023 and the camera 4024. The first radar 4021, the second radar 4022, and the third radar 4023 may be ultrasonic radars, laser radars, or millimeter wave radars. The millimeter wave radar is less affected by external factors such as weather, and the first radar 4021, the second radar 4022, and the third radar 4023 are preferably millimeter wave radars. The detection result of the detector is more accurate by combining the radar and the camera device.
As an embodiment of the present invention, the speed setting module 404 includes an electronic stabilizing unit 4041 and an engine control unit 4042, the engine control unit 4042 is connected to the electronic stabilizing unit 4041, the processor 401 and the engine, respectively, and the electronic stabilizing unit 4041 is connected to the processor.
In the embodiment of the present invention, an Electronic Stability Program (ESP) 4041 is used to improve the safety and handling of the vehicle. The engine control unit 4042 is used to control the rotational speed of the engine. The electronic stability unit 4041 and the engine control unit 4042 are connected to the processor 401 through a gateway.
The system of this embodiment may be used to implement the method embodiments shown in fig. 1 to fig. 4, and the implementation principle and technical effect are similar, which are not described herein again.
Embodiments of the present invention further provide a vehicle, including a vehicle speed control system as described in fig. 4 or fig. 5.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (15)
1. A method of controlling a speed of a vehicle, comprising:
acquiring an initial running speed of a target vehicle;
if the adjacent vehicle exists in an adjacent lane in front of the target vehicle, acquiring a first driving speed of the adjacent vehicle;
and if the initial running speed is greater than the first running speed and the intersection is detected to exist in the preset distance in front of the target vehicle, decelerating the running speed of the target vehicle from the initial running speed to a second running speed, wherein the second running speed is less than or equal to the first running speed.
2. The method according to claim 1, wherein after decelerating the travel speed of the target vehicle from an initial travel speed to a second travel speed, further comprising:
and if the target vehicle is detected to drive away from the intersection, accelerating the driving speed of the target vehicle from the second driving speed to the initial driving speed.
3. The method according to claim 1, wherein the obtaining a first traveling speed of the neighboring vehicle if it is detected that there is a neighboring vehicle in an adjacent lane ahead of the target vehicle, comprises:
if the adjacent vehicles are detected to exist in the adjacent lanes in front of the target vehicle, judging whether the adjacent vehicles are large vehicles or not;
and if the adjacent vehicle is a large vehicle, acquiring a first running speed of the adjacent vehicle.
4. The method according to claim 1, wherein decelerating the travel speed of the target vehicle from an initial travel speed to a second travel speed comprises:
determining an initial travel speed v of the target vehicle0And the second running speed v2Target speed difference v2-v0；
Inquiring a corresponding relation list of the speed difference and the deceleration time, and acquiring target deceleration time t corresponding to the target speed difference;
to be provided with
For deceleration, the running speed of the target vehicle is set from an initial running speed v0Decelerating to a second driving speed v2。
5. The method according to any one of claims 1 to 4, wherein the acquiring of the initial travel speed of the target vehicle includes:
and if the adaptive cruise function of the target vehicle is started, acquiring the initial running speed of the target vehicle.
6. A vehicle speed control system, comprising:
the system comprises a processor, a detector, a map positioning module and a speed setting module; the detector, the map positioning module and the speed setting module are respectively connected with the processor;
the processor is used for acquiring the initial running speed of the target vehicle;
the processor is further used for controlling the detector to detect whether an adjacent vehicle exists in an adjacent lane in front of the target vehicle, and controlling the detector to acquire a first driving speed of the adjacent vehicle when the adjacent vehicle exists in the adjacent lane in front of the target vehicle;
the processor is further used for judging whether the initial running speed is greater than the first running speed or not, and controlling the map positioning module to detect whether an intersection exists within a preset distance in front of the target vehicle when the initial running speed is greater than the first running speed;
the processor is further configured to control the speed setting module to decelerate the running speed of the target vehicle from the initial running speed to a second running speed when the intersection exists within a preset distance in front of the running of the target vehicle, wherein the second running speed is less than or equal to the first running speed.
7. The system of claim 6,
the processor is further configured to control the map location module to detect whether the target vehicle is driving away from the intersection;
the processor is further used for controlling the speed setting module to accelerate the running speed of the target vehicle from the second running speed to the initial running speed when the target vehicle leaves the intersection.
8. The system of claim 6, wherein the processor is configured to control the detector to detect whether there is an adjacent vehicle in an adjacent lane in front of the target vehicle, and to control the detector to obtain a first driving speed of the adjacent vehicle when there is an adjacent vehicle in an adjacent lane in front of the target vehicle, and the process comprises:
controlling the detector to detect whether an adjacent vehicle exists in an adjacent lane in front of the target vehicle;
if the adjacent vehicle exists in the adjacent lane in front of the target vehicle, controlling the detector to detect whether the adjacent vehicle is a large vehicle;
and if the adjacent vehicle is a large vehicle, controlling the detector to acquire a first running speed of the adjacent vehicle.
9. The system of claim 6, wherein the processor is configured to control the process of the speed setting module decelerating the travel speed of the target vehicle from an initial travel speed to a second travel speed, comprising:
determining an initial travel speed v of the target vehicle0And the second running speed v2Target speed difference v2-v0；
Inquiring a corresponding relation list of the speed difference and the deceleration time, and acquiring target deceleration time t corresponding to the target speed difference;
controlling the speed setting module to
For deceleration, the running speed of the target vehicle is set from an initial running speed v0Decelerating to a second driving speed v2。
10. The system of claim 6, wherein the processor is configured to obtain an initial travel speed of the target vehicle, comprising:
and if the adaptive cruise function of the target vehicle is started, acquiring the initial running speed of the target vehicle.
11. The system of claim 6, further comprising: and the human-computer interaction module is connected with the processor.
12. The system of claim 6, wherein the detector comprises a first radar, a second radar, a third radar, and a camera; the first radar, the second radar, the third radar and the camera device are all connected with the processor;
the first radar and the camera device are respectively arranged in the middle of the head of the target vehicle, and the second radar and the third radar are respectively arranged on two sides of the head of the target vehicle.
13. The system of claim 12, wherein the first radar, the second radar, and the third radar are all millimeter wave radars.
14. The system of any one of claims 6 to 13, wherein the speed setting module comprises an electronic stability unit and an engine control unit, the engine control unit being connected to the electronic stability unit, the processor and the engine, respectively, the electronic stability unit being connected to the processor.
15. A vehicle characterized by comprising a vehicle speed control system according to any one of claims 6 to 14.
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| CN201910415022.7A CN111942398A (en) | 2019-05-17 | 2019-05-17 | Vehicle speed control method and system and vehicle |
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| CN201910415022.7A CN111942398A (en) | 2019-05-17 | 2019-05-17 | Vehicle speed control method and system and vehicle |
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