CN103507809B - A kind of method and apparatus of controlling Vehicle Driving Cycle - Google Patents
A kind of method and apparatus of controlling Vehicle Driving Cycle Download PDFInfo
- Publication number
- CN103507809B CN103507809B CN201310454297.4A CN201310454297A CN103507809B CN 103507809 B CN103507809 B CN 103507809B CN 201310454297 A CN201310454297 A CN 201310454297A CN 103507809 B CN103507809 B CN 103507809B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driver
- described vehicle
- control
- fatigue driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000005548 health behavior Effects 0.000 claims description 12
- 206010039203 Road traffic accident Diseases 0.000 abstract description 8
- 210000003128 head Anatomy 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Classifications
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W40/08—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 drivers or passengers
-
- 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
-
- 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
- B60W40/08—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 drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
-
- 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
- B60W2540/00—Input parameters relating to occupants
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of method and apparatus of controlling Vehicle Driving Cycle, belong to Vehicle Electronic Control field. Described method comprises: whether detect the driver of vehicle in fatigue driving state; If so, report to the police, and according to vehicle automatic running described in the transport condition of described vehicle and road surface situation control, the transport condition of described vehicle at least comprises travel direction and the travel speed of described vehicle; Described road surface situation at least comprises the front-and-rear vehicle distance of the residing track of described vehicle and described vehicle. Described device comprises: detection module and control module. Even if can ensure in the present invention that the driver of vehicle is in fatigue driving state, vehicle also can drive safely, and has improved the security of Vehicle Driving Cycle, has effectively reduced the traffic accident causing in fatigue driving state due to the driver of vehicle.
Description
Technical field
The present invention relates to Vehicle Electronic Control field, particularly a kind of method and apparatus of controlling Vehicle Driving Cycle.
Background technology
In the world, fatigue driving is to cause one of major reason occurring traffic accident, capable at vehicleCross in journey, when driver is during in fatigue driving state, how to ensure that vehicle safe driving is that industry is paid close attention toEmphasis.
In prior art, provide a kind of method of controlling Vehicle Driving Cycle, Ke Yiwei: the driver who detects vehicleWhether, in fatigue driving state, if so, control current vehicle deceleration brake, with what stop when vehicle in frontTravel.
Realizing in process of the present invention, inventor finds that prior art at least exists following problem:
When in the time that there is vehicle at the rear of vehicle in front, control current vehicle deceleration brake, also may there is trafficAccident, especially on expressway, when the speed of front vehicle, the driver of front vehicle has little timeBrake, can bump against when in vehicle in front, thereby major traffic accidents occur.
Summary of the invention
In order to make to solve the problem of prior art, the invention provides a kind of method and dress of controlling Vehicle Driving CyclePut. Described technical scheme is as follows:
On the one hand, the invention provides a kind of method of controlling Vehicle Driving Cycle, described method comprises:
Whether detect the driver of vehicle in fatigue driving state;
If so, report to the police, and according to vehicle described in the transport condition of described vehicle and road surface situation controlAutomatic running, the transport condition of described vehicle at least comprises travel direction and the travel speed of described vehicle; InstituteState the front-and-rear vehicle distance that road surface situation at least comprises the residing track of described vehicle and described vehicle.
Preferably, described according to vehicle automatic running described in the transport condition of described vehicle and road surface situation control,Comprise:
According to the side of travelling of vehicle described in the travel direction of described vehicle and the residing lane control of described vehicleTo;
According to the speed of travelling of vehicle described in the front-and-rear vehicle distance control of the travel speed of described vehicle and described vehicleDegree.
Preferably, described according to car described in the travel direction of described vehicle and the residing lane control of described vehicleTravel direction, comprising:
Whether the travel direction that judges described vehicle is identical with the direction in the residing track of described vehicle;
If not, by driving travel direction and the described vehicle of vehicle described in the steering wheel control of described vehicleThe direction in residing track is identical;
Accordingly, described according to car described in the front-and-rear vehicle distance control of the travel speed of described vehicle and described vehicleTravel speed, comprising:
Whether the front truck distance that judges described vehicle is less than the first default value, if so, controls described vehicle and subtractsSpeed is travelled;
Whether the rear car distance that judges described vehicle is less than the second default value, if so, controls described vehicle and addsSpeed is travelled.
Preferably, described in report to the police, comprising:
Send the first alarm signal to remind the driver of other vehicles outside described vehicle, make described vehicleOutside the driver of other vehicles to the described vehicle state of maintaining vigilance;
Send the second alarm signal to remind the driver of described vehicle.
Preferably, whether the driver of described detection vehicle, in fatigue driving state, comprising:
Obtain the driver's of described vehicle health behavior, described health behavior at least comprises driving of described vehicleThe dynamics of body gesture, eyes closed frequency and the control steering wheel of the person of sailing;
Whether the driver who determines described vehicle according to the driver's of described vehicle body gesture drives in fatigueSail state;
Or whether the driver who determines described vehicle according to the driver's of described vehicle eyes closed frequencyIn fatigue driving state;
Or, determine the driver of described vehicle according to the dynamics of the driver's of described vehicle control steering wheelWhether in fatigue driving state.
On the other hand, the invention provides a kind of device of controlling Vehicle Driving Cycle, described method comprises:
Detection module, for detection of the driver of vehicle whether in fatigue driving state;
Control module, if the driver who detects vehicle for described detection module is in fatigue driving stateTime, report to the police, and according to vehicle automatic running described in the transport condition of described vehicle and road surface situation control,The transport condition of described vehicle at least comprises travel direction and the travel speed of described vehicle; Described road surface situationAt least comprise the front-and-rear vehicle distance of the residing track of described vehicle and described vehicle.
Preferably, described control module, comprising:
The first control module, for according to the travel direction of described vehicle and the residing lane control of described vehicleThe travel direction of described vehicle;
The second control module, for according to the front-and-rear vehicle distance control of the travel speed of described vehicle and described vehicleThe travel speed of described vehicle.
Preferably, described the first control module, for the travel direction that judges described vehicle whether with described carThe direction in residing track is identical; If not, by driving vehicle described in the steering wheel control of described vehicleTravel direction identical with the direction in the residing track of described vehicle;
Accordingly, described the second control module, pre-apart from whether being less than first for the front truck that judges described vehicleIf numerical value, if so, controls described vehicle deceleration and travels; The rear car that judges described vehicle is apart from whether being less than theTwo default values, if so, control described vehicle and give it the gun.
Preferably, described device also comprises:
The first sending module, for sending the first alarm signal to remind other vehicles outside described vehicleDriver, the driver who makes other vehicles outside described vehicle is to the described vehicle state of maintaining vigilance;
The second sending module, for sending the second alarm signal to remind the driver of described vehicle.
Preferably, described detection module, comprising:
Acquiring unit, for obtaining driver's the health behavior of described vehicle, described health behavior is at least wrappedDraw together the dynamics of the driver's of described vehicle body gesture, eyes closed frequency and control steering wheel;
The first determining unit, for determining driving of described vehicle according to the driver's of described vehicle body gestureWhether the person of sailing is in fatigue driving state;
Or the second determining unit, determines institute for the eyes closed frequency according to the driver of described vehicleWhether state the driver of vehicle in fatigue driving state;
Or the 3rd determining unit, for true according to the dynamics of the driver's of described vehicle control steering wheelWhether the driver of fixed described vehicle is in fatigue driving state.
In the embodiment of the present invention, whether detect the driver of vehicle in fatigue driving state; If detectedThe driver of vehicle is in the time of fatigue driving state, according to the transport condition of vehicle and road surface situation control vehicleAutomatic running, thereby even the driver that can ensure vehicle in fatigue driving state, vehicle also can safetyTravel, improved the security of Vehicle Driving Cycle, effectively reduced because the driver of vehicle drives in fatigueThe traffic accident that the state of sailing causes.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, institute in describing embodiment belowNeed the accompanying drawing using to be briefly described, apparently, the accompanying drawing in the following describes is only the present inventionSome embodiment, for those of ordinary skill in the art, do not paying under the prerequisite of creative work,Can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the method flow diagram of the control Vehicle Driving Cycle that provides of the embodiment of the present invention 1;
Fig. 2 is the method flow diagram of the control Vehicle Driving Cycle that provides of the embodiment of the present invention 2;
Fig. 3 is the apparatus structure schematic diagram of the control Vehicle Driving Cycle that provides of the embodiment of the present invention 3.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to the present inventionEmbodiment is described in further detail.
Embodiment 1
The embodiment of the present invention provides a kind of method of controlling Vehicle Driving Cycle. Referring to Fig. 1, wherein, the method bagDraw together:
101: whether detect the driver of vehicle in fatigue driving state;
102: if, report to the police, and automatic according to the transport condition of vehicle and road surface situation control vehicleTravel, the transport condition of vehicle at least comprises travel direction and the travel speed of vehicle; Road surface situation is at least wrappedDraw together the front-and-rear vehicle distance of the residing track of vehicle and vehicle.
In the embodiment of the present invention, whether detect the driver of vehicle in fatigue driving state; If detectedThe driver of vehicle is in the time of fatigue driving state, according to the transport condition of vehicle and road surface situation control vehicleAutomatic running, thereby even the driver that can ensure vehicle in fatigue driving state, vehicle also can safetyTravel, improved the security of Vehicle Driving Cycle, effectively reduced because the driver of vehicle drives in fatigueThe traffic accident that the state of sailing causes.
Embodiment 2
The embodiment of the present invention provides a kind of method of controlling Vehicle Driving Cycle. Referring to Fig. 2, wherein, the method bagDraw together:
201: whether detect the driver of vehicle in fatigue driving state, if so, execution step 202;
Particularly, obtain the driver's of vehicle health behavior, this health behavior at least comprises the driving of vehicleThe dynamics of member's body gesture, eyes closed frequency and control steering wheel; According to the driver's of vehicle healthPosture determines that whether the driver of vehicle is in fatigue driving state.
Whether the driver who wherein, determines vehicle according to the driver's of vehicle body gesture is in fatigue drivingThe operation of state, Ke Yiwei:
Whether the driver who determines vehicle according to the driver's of vehicle body gesture is in fatigue driving state;Or whether the driver who determines vehicle according to the driver's of vehicle eyes closed frequency is in fatigue drivingState; Or, determine according to the dynamics of the driver's of vehicle control steering wheel whether the driver of vehicle locatesIn fatigue driving state.
Whether the driver who wherein, determines vehicle according to the driver's of vehicle body gesture is in fatigue drivingThe operation of state, Ke Yiwei:
Obtain the driver's of vehicle the residing positional information of head, this positional information comprises longitude and latitude letterBreath, calculates car according to the residing positional information of the driver's of vehicle head and default longitude and latitude informationDriver's the variable quantity of longitude of head and the variable quantity of the latitude of the driver's of vehicle head, rootWhether the driver who determines vehicle according to the variable quantity of longitude and the variable quantity of latitude is in fatigue driving state.
Wherein, determine the whether operation in fatigue driving state of driver of vehicle according to the variable quantity of longitude,Can be:
Whether the variable quantity that judges longitude is greater than the 3rd default value, the 3rd pre-if the variable quantity of longitude is greater thanIf numerical value, determines the driver of vehicle in fatigue driving state; If the variable quantity of longitude is not more thanThree default values, determine the driver of vehicle in non-fatigue driving state.
Wherein, determine the whether operation in fatigue driving state of driver of vehicle according to the variable quantity of latitude,Can be:
Whether the variable quantity that judges latitude is greater than the 4th default value, the 4th pre-if the variable quantity of latitude is greater thanIf numerical value, determines the driver of vehicle in fatigue driving state; If the variable quantity of latitude is not more thanFour default values, determine the driver of vehicle in non-fatigue driving state.
Whether the driver who wherein, determines vehicle according to the driver's of vehicle body gesture is in fatigue drivingThe operation of state, can also be:
Obtain the driver's of vehicle the frequency of opening one's mouth, judge whether the driver's of vehicle the frequency of opening one's mouth is greater thanFive default values, if the driver's of vehicle the frequency of opening one's mouth is greater than the 5th default value, determine vehicleDriver is in fatigue driving state; If the driver's of vehicle the frequency of opening one's mouth is not more than the 5th default valueTime, determine the driver of vehicle in non-fatigue driving state.
Wherein, when the driver of vehicle is during in fatigue driving state, the driver of vehicle may beat continuallyYawn, the driver's of vehicle the frequency of opening one's mouth is greater than the 5th default value, thereby determines the driver of vehicleIn fatigue driving state; Or, when the people outside driver and the driver of vehicle speaks or makes a phone call,The driver's of vehicle the frequency of opening one's mouth is greater than the 5th default value, driver's distraction, thus determineThe driver of vehicle is in fatigue driving state.
Whether the driver who wherein, determines vehicle according to the driver's of vehicle body gesture is in fatigue drivingThe operation of state, can also be:
Obtain driver's the crown and the distance of vehicle ground of vehicle, and judge that whether this distance is pre-firstIf in scope, if the driver's of vehicle head and the distance of vehicle ground not in the first preset range,Determine the driver of vehicle in fatigue driving state; If the driver's of vehicle head and vehicle groundDistance in the first preset range, determine the driver of vehicle in non-fatigue driving state.
Wherein, when the driver of vehicle is during in fatigue driving state, the driver's of vehicle head may be lowUnder, now, the driver's of vehicle head and the distance of vehicle ground not in the first preset range, therebyDetermine the driver of vehicle in fatigue driving state.
Whether the driver who wherein, determines vehicle according to the driver's of vehicle body gesture is in fatigue drivingThe operation of state, can also be:
Whether the eyes closed frequency that judges the driver of vehicle is greater than the 5th default value, if the driving of vehicleThe eyes closed frequency of the person of sailing is greater than the 6th default value, determines the driver of vehicle in fatigue driving shapeState; If the driver's of vehicle eyes closed frequency is not more than the 6th default value, determine driving of vehicleThe person of sailing is in non-fatigue driving state.
Wherein, when the driver of vehicle is during in fatigue driving state, the driver of vehicle may frequently blinkEye, the driver's of vehicle eyes closed frequency may be greater than the 6th default value, thereby determines vehicleDriver in fatigue driving state.
Whether the driver who wherein, determines vehicle according to the driver's of vehicle body gesture is in fatigue drivingThe operation of state, can also be:
Whether the dynamics that judges the driver's of vehicle control steering wheel is less than the 7th default value, if vehicleDriver's the dynamics of control steering wheel be less than the 7th default value, determine the driver of vehicle in tiredLabor driving condition; If the dynamics of the driver's of vehicle control steering wheel is not less than the 7th default value, reallyMake the driver of vehicle in non-fatigue driving state.
Wherein, when the driver of vehicle is during in fatigue driving state, the driver of vehicle controls steering wheelDynamics can diminish, in the time that the dynamics of the driver's of vehicle control steering wheel is less than the 7th default value, therebyDetermine the driver of vehicle in fatigue driving state.
Wherein, the 3rd default value, the 4th default value, the 5th default value, the 6th default value,Seven default values and the first preset range can arrange and change according to the driver's of vehicle demand, thisInventive embodiments to the 3rd default value, the 4th default value, the 5th default value, the 6th default value,The concrete value of the 7th default value and the first preset range is not specifically limited.
Further, detect the driver of vehicle in the time of fatigue driving state, execution step 202. DetectGo out the driver of vehicle in the time of non-fatigue driving state, be left intact.
202: report to the police;
Particularly, send the first alarm signal to remind the driver of other vehicles outside vehicle, make vehicleOutside the driver of other vehicles to this vehicle state of maintaining vigilance; Send the second alarm signal to remind carDriver.
Wherein, the driver of other vehicles outside this vehicle receives the first alarm signal that this vehicle sends,Determine this vehicle in fatigue driving state according to this first alarm signal. Other vehicles outside this vehicleDriver remind this vehicle driver safety drive; Or, the driving of other vehicles outside this vehicleMember drives remaining a safe distance behind the car in front of this vehicle and this vehicle.
Wherein, in embodiments of the present invention, the first alarm signal can be dodged for opening the two of this vehicle; SecondAlarm signal can be for sending speech message, and this speech message can be " asking safe driving " etc.
Wherein, in embodiments of the present invention, when the driver who detects vehicle is during in fatigue driving state,Send the first alarm signal and the second alarm signal to remind driver and this car of other vehicles outside vehicleDriver, thereby ensure vehicle can drive safely.
203: according to the transport condition of vehicle and road surface situation control vehicle automatic running.
Particularly, obtain travel direction and the residing track of vehicle of vehicle, according to the travel direction of vehicle andThe travel direction of the residing lane control vehicle of vehicle; Obtain the travel speed of vehicle and the front-and-rear vehicle distance of vehicle,According to the travel speed of the front-and-rear vehicle distance control vehicle of the travel speed of vehicle and vehicle.
Wherein, according to the operation of the travel direction of the travel direction of vehicle and the residing lane control vehicle of vehicle,Can be:
Whether the travel direction that judges vehicle is identical with the direction in the residing track of vehicle; If travelling of vehicleThe direction in direction and the residing track of vehicle is not identical, by driving the travelling of steering wheel control vehicle of vehicleDirection is identical with the direction in the residing track of vehicle; If the travel direction of vehicle and the residing track of vehicleDirection is identical, controls vehicle and keeps the direction identical with the direction of the residing vehicle of vehicle to continue to travel.
Further, determine the travel direction of vehicle when identical with the residing track of vehicle, judge vehicle distanceThe distance of track left margin and vehicle be apart from the distance of track right margin, the distance according to vehicle apart from track left marginWith the travel direction of vehicle apart from the distance control vehicle of track right margin.
Wherein, the operation according to vehicle apart from the travel direction of the distance control vehicle of track left margin, Ke Yiwei:
Judge whether vehicle is greater than the 8th default value apart from the distance of track left margin, if vehicle is apart from a left side, trackThe distance on border is greater than the 8th default value, by driving the steering wheel control vehicle right turn of vehicle; IfVehicle is not more than the 8th default value apart from the distance of track left margin, controls vehicle and keeps former direction to continue rowSail.
Wherein, the operation according to vehicle apart from the travel direction of the distance control vehicle of track right margin, Ke Yiwei:
Judge whether vehicle is greater than the 9th default value apart from the distance of track right margin, if vehicle is apart from the right side, trackThe distance on border is greater than the 9th default value, by driving the steering wheel control vehicle left steering of vehicle; IfVehicle is not more than the 9th default value apart from the distance of track right margin, controls vehicle and keeps former direction to continue rowSail.
Wherein, the 8th default value and the 9th default value can enter according to the width of the width in track and vehicleRow arranges and changes, and the embodiment of the present invention is not done the concrete value of the 8th default value and the 9th default valueConcrete restriction.
Wherein, if the direction in the travel direction of vehicle and the residing track of vehicle is not identical, by driving carThe travel direction operation identical with the direction in the residing track of vehicle of steering wheel control vehicle, Ke Yiwei:
The travel direction that judges vehicle is to the left or to the right compared to the residing track of vehicle, if determinedWhen the travel direction of vehicle is to the left compared to the residing track of vehicle, drive vehicle right turn; If determinedWhen the travel direction of vehicle is to the right compared to the residing track of vehicle, drive vehicle left steering.
Wherein, according to the operation of the travel speed of the front-and-rear vehicle distance control vehicle of the travel speed of vehicle and vehicle,Can be:
Judge that the front truck of vehicle is apart from whether being less than the first default value, if the front truck of vehicle is pre-apart from being less than firstIf numerical value, controls vehicle deceleration and travels; If the front truck of vehicle, apart from being not less than the first default value, is controlled carKeep former speed continue to travel; Judge that the rear car of vehicle is apart from whether being less than the second default value, if vehicleRear car apart from being less than the second default value, control vehicle and give it the gun; If the rear car of vehicle is apart from being not less than theTwo default values, control vehicle and keep former speed to continue to travel.
Wherein, the first default value and the second default value can arrange as required and change, thisBright embodiment does not do concrete restriction to the value of the first default value and the second default value.
Wherein, it should be noted that, in embodiments of the present invention, can first perform step 202: report to the police,Perform step again 203: according to the transport condition of vehicle and road surface situation control vehicle automatic running; Also can be firstExecution step 203: according to the transport condition of vehicle and road surface situation control vehicle automatic running, then perform step202: report to the police. The present invention is not specifically limited the sequencing of step 202 and step 203.
In the embodiment of the present invention, whether detect the driver of vehicle in fatigue driving state; If detectedThe driver of vehicle is in the time of fatigue driving state, according to the transport condition of vehicle and road surface situation control vehicleAutomatic running, thereby even the driver that can ensure vehicle in fatigue driving state, vehicle also can safetyTravel, improved the security of Vehicle Driving Cycle, effectively reduced because the driver of vehicle drives in fatigueThe traffic accident that the state of sailing causes.
Embodiment 3
The embodiment of the present invention provides a kind of device of controlling Vehicle Driving Cycle. Referring to Fig. 3, wherein, this device bagDraw together:
Detection module 301, for detection of the driver of vehicle whether in fatigue driving state;
Control module 302, if the driver who detects vehicle for detection module 301 is in fatigue driving shapeWhen state, report to the police, and according to the transport condition of vehicle and road surface situation control vehicle automatic running, vehicleTransport condition at least comprise travel direction and the travel speed of vehicle; Road surface situation at least comprises that vehicle is of living inTrack and the front-and-rear vehicle distance of vehicle.
Preferably, control module 302, comprising:
The first control module 3021, for according to the travel direction of vehicle and the residing lane control vehicle of vehicleTravel direction;
The second control module 3022, for according to the front-and-rear vehicle distance control vehicle of the travel speed of vehicle and vehicleTravel speed.
Preferably, the first control module 3021, whether residing with vehicle for judging the travel direction of vehicleThe direction in track is identical; If not, by driving travel direction and the vehicle of steering wheel control vehicle of vehicleThe direction in residing track is identical;
Accordingly, whether the second control module 3022, be less than the first present count for the front truck distance that judges vehicleValue, if so, controls vehicle deceleration and travels; Whether the rear car distance that judges vehicle is less than the second default value,If so, controlling vehicle gives it the gun.
Preferably, this device also comprises:
The first sending module 303, for sending the first alarm signal driving with other vehicles outside prompting vehicleThe person of sailing, the driver who makes other vehicles outside vehicle is to the vehicle state of maintaining vigilance;
The second sending module 304, for sending the second alarm signal to remind the driver of vehicle.
Preferably, detection module 301, comprising:
Acquiring unit 3011, for obtaining driver's the health behavior of vehicle, health behavior at least comprises carDriver body gesture, eyes closed frequency and control the dynamics of steering wheel;
The first determining unit 3012, for determining the driver of vehicle according to the driver's of vehicle body gestureWhether in fatigue driving state;
Or the second determining unit 3013, determines car for the eyes closed frequency according to the driver of vehicleDriver whether in fatigue driving state;
Or the 3rd determining unit 3014, for true according to the dynamics of the driver's of vehicle control steering wheelWhether determine the driver of vehicle in fatigue driving state.
In the embodiment of the present invention, whether detect the driver of vehicle in fatigue driving state; If detectedThe driver of vehicle is in the time of fatigue driving state, according to the transport condition of vehicle and road surface situation control vehicleAutomatic running, thereby even the driver that can ensure vehicle in fatigue driving state, vehicle also can safetyTravel, improved the security of Vehicle Driving Cycle, effectively reduced because the driver of vehicle drives in fatigueThe traffic accident that the state of sailing causes.
It should be noted that: the device of the control Vehicle Driving Cycle that above-described embodiment provides is controlling when Vehicle Driving Cycle,Only be illustrated with the division of above-mentioned each functional module, in practical application, can be as required and by upperState function distribution and completed by different functional modules, be divided into different function moulds by the internal structure of devicePiece, to complete all or part of function described above. In addition, the control vehicle that above-described embodiment providesThe device travelling belongs to same design with the embodiment of the method for controlling Vehicle Driving Cycle, and its specific implementation process refers toEmbodiment of the method, repeats no more here.
One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can pass throughHardware completes, and also can carry out the hardware that instruction is relevant by program and complete, and described program can be stored inIn a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be read-only storage, disk orCD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all of the present inventionWithin spirit and principle, any amendment of doing, be equal to replacement, improvement etc., all should be included in of the present inventionWithin protection domain.
Claims (6)
1. a method of controlling Vehicle Driving Cycle, is characterized in that, described method comprises:
Whether detect the driver of vehicle in fatigue driving state;
If so, report to the police, and according to vehicle described in the transport condition of described vehicle and road surface situation controlAutomatic running, the transport condition of described vehicle at least comprises travel direction and the travel speed of described vehicle; InstituteState the front-and-rear vehicle distance that road surface situation at least comprises the residing track of described vehicle and described vehicle;
Described according to vehicle automatic running described in the transport condition of described vehicle and road surface situation control, comprising:
According to the side of travelling of vehicle described in the travel direction of described vehicle and the residing lane control of described vehicleTo;
According to the speed of travelling of vehicle described in the front-and-rear vehicle distance control of the travel speed of described vehicle and described vehicleDegree;
Described travelling according to vehicle described in the travel direction of described vehicle and the residing lane control of described vehicleDirection, comprising:
Whether the travel direction that judges described vehicle is identical with the direction in the residing track of described vehicle;
If not, by driving travel direction and the described vehicle of vehicle described in the steering wheel control of described vehicleThe direction in residing track is identical;
Accordingly, described according to car described in the front-and-rear vehicle distance control of the travel speed of described vehicle and described vehicleTravel speed, comprising:
Whether the front truck distance that judges described vehicle is less than the first default value, if so, controls described vehicle and subtractsSpeed is travelled;
Whether the rear car distance that judges described vehicle is less than the second default value, if so, controls described vehicle and addsSpeed is travelled.
2. the method for claim 1, is characterized in that, described in report to the police, comprising:
Send the first alarm signal to remind the driver of other vehicles outside described vehicle, make described vehicleOutside the driver of other vehicles to the described vehicle state of maintaining vigilance;
Send the second alarm signal to remind the driver of described vehicle.
3. the method for claim 1, is characterized in that, whether the driver of described detection vehicle locatesIn fatigue driving state, comprising:
Obtain the driver's of described vehicle health behavior, described health behavior at least comprises driving of described vehicleThe dynamics of body gesture, eyes closed frequency and the control steering wheel of the person of sailing;
Whether the driver who determines described vehicle according to the driver's of described vehicle body gesture drives in fatigueSail state;
Or whether the driver who determines described vehicle according to the driver's of described vehicle eyes closed frequencyIn fatigue driving state;
Or, determine the driver of described vehicle according to the dynamics of the driver's of described vehicle control steering wheelWhether in fatigue driving state.
4. a device of controlling Vehicle Driving Cycle, is characterized in that, described device comprises:
Detection module, for detection of the driver of vehicle whether in fatigue driving state;
Control module, if the driver who detects vehicle for described detection module is in fatigue driving stateTime, report to the police, and according to vehicle automatic running described in the transport condition of described vehicle and road surface situation control,The transport condition of described vehicle at least comprises travel direction and the travel speed of described vehicle; Described road surface situationAt least comprise the front-and-rear vehicle distance of the residing track of described vehicle and described vehicle;
Described control module, comprising:
The first control module, for according to the travel direction of described vehicle and the residing lane control of described vehicleThe travel direction of described vehicle;
The second control module, for according to the front-and-rear vehicle distance control of the travel speed of described vehicle and described vehicleThe travel speed of described vehicle;
Described the first control module, whether residing with described vehicle for judging the travel direction of described vehicleThe direction in track is identical; If not, by driving the side of travelling of vehicle described in the steering wheel control of described vehicleTo identical with the direction in the residing track of described vehicle;
Accordingly, described the second control module, pre-apart from whether being less than first for the front truck that judges described vehicleIf numerical value, if so, controls described vehicle deceleration and travels; The rear car that judges described vehicle is apart from whether being less than theTwo default values, if so, control described vehicle and give it the gun.
5. device as claimed in claim 4, is characterized in that, described device also comprises:
The first sending module, for sending the first alarm signal to remind other vehicles outside described vehicleDriver, the driver who makes other vehicles outside described vehicle is to the described vehicle state of maintaining vigilance;
The second sending module, for sending the second alarm signal to remind the driver of described vehicle.
6. device as claimed in claim 4, is characterized in that, described detection module, comprising:
Acquiring unit, for obtaining driver's the health behavior of described vehicle, described health behavior is at least wrappedDraw together the dynamics of the driver's of described vehicle body gesture, eyes closed frequency and control steering wheel;
The first determining unit, for determining driving of described vehicle according to the driver's of described vehicle body gestureWhether the person of sailing is in fatigue driving state;
Or the second determining unit, determines institute for the eyes closed frequency according to the driver of described vehicleWhether state the driver of vehicle in fatigue driving state;
Or the 3rd determining unit, for true according to the dynamics of the driver's of described vehicle control steering wheelWhether the driver of fixed described vehicle is in fatigue driving state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310454297.4A CN103507809B (en) | 2013-09-27 | 2013-09-27 | A kind of method and apparatus of controlling Vehicle Driving Cycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310454297.4A CN103507809B (en) | 2013-09-27 | 2013-09-27 | A kind of method and apparatus of controlling Vehicle Driving Cycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103507809A CN103507809A (en) | 2014-01-15 |
| CN103507809B true CN103507809B (en) | 2016-05-18 |
Family
ID=49891377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310454297.4A Active CN103507809B (en) | 2013-09-27 | 2013-09-27 | A kind of method and apparatus of controlling Vehicle Driving Cycle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103507809B (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150302718A1 (en) * | 2014-04-22 | 2015-10-22 | GM Global Technology Operations LLC | Systems and methods for interpreting driver physiological data based on vehicle events |
| CN104015726B (en) * | 2014-06-30 | 2016-10-05 | 长城汽车股份有限公司 | A kind of automobile cruise control method, device, system and vehicle |
| CN104477113A (en) * | 2014-12-22 | 2015-04-01 | 联想(北京)有限公司 | Control method, system and automobile |
| CN104590273A (en) * | 2014-12-26 | 2015-05-06 | 贵州万臻时代通讯技术有限公司 | Safe driving system and method based on human body reactions |
| DE102015209476A1 (en) * | 2015-05-22 | 2016-11-24 | Robert Bosch Gmbh | System limits of an automatic control |
| CN105139584B (en) * | 2015-09-30 | 2017-12-12 | 宇龙计算机通信科技(深圳)有限公司 | A kind of fatigue driving processing method and processing device |
| WO2017193248A1 (en) * | 2016-05-08 | 2017-11-16 | 深圳市欸阿技术有限公司 | Vehicle travel control method and device |
| JP2018024290A (en) * | 2016-08-08 | 2018-02-15 | トヨタ自動車株式会社 | Vehicle travel control device |
| CN106347375A (en) * | 2016-08-29 | 2017-01-25 | 乐视控股（北京）有限公司 | Vehicle driving monitoring method and device |
| CN106828501A (en) * | 2017-01-06 | 2017-06-13 | 汽-大众汽车有限公司 | A kind of vehicle assistant drive method, device and vehicle |
| CN107139928A (en) * | 2017-05-24 | 2017-09-08 | 成都志博科技有限公司 | ADAS systems for preventing fatigue driving |
| CN107253479A (en) * | 2017-06-30 | 2017-10-17 | 成都西华升腾科技有限公司 | Use the ADAS systems of IMU preventing fatigue drivings |
| DE102017008084A1 (en) * | 2017-08-25 | 2019-02-28 | Daimler Ag | Procedure for granting access and driving authorization |
| CN109766735A (en) * | 2017-11-02 | 2019-05-17 | 北京嘀嘀无限科技发展有限公司 | Travel monitoring method, device, mobile terminal and computer readable storage medium |
| CN111615722A (en) * | 2017-12-19 | 2020-09-01 | 智加科技公司 | Method and system for risk control in switching driving modes |
| CN110641467A (en) * | 2018-06-25 | 2020-01-03 | 广州汽车集团股份有限公司 | A vehicle distance control method and device for an adaptive cruise system |
| CN109703560A (en) * | 2019-01-25 | 2019-05-03 | 安徽酷哇机器人有限公司 | The method for automatically controlling automatic driving vehicle and following distance between vehicle |
| US10713948B1 (en) * | 2019-01-31 | 2020-07-14 | StradVision, Inc. | Method and device for alerting abnormal driver situation detected by using humans' status recognition via V2V connection |
| CN111824166A (en) * | 2019-03-29 | 2020-10-27 | 长城汽车股份有限公司 | Fatigue reminding method and device |
| CN118323128A (en) * | 2024-04-30 | 2024-07-12 | 中国第一汽车股份有限公司 | Method, device, vehicle and medium for controlling vehicle following distance of autonomous driving vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1218355A (en) * | 1998-11-24 | 1999-06-02 | 杨更新 | Automatic driving system of vehicle |
| CN1613425A (en) * | 2004-09-15 | 2005-05-11 | 南京大学 | Method and system for drivers' fatigue prealarming biological identification |
| CN201309451Y (en) * | 2008-11-17 | 2009-09-16 | 比亚迪股份有限公司 | Alarm system for preventing fatigue driving |
| JP4425302B2 (en) * | 2007-10-09 | 2010-03-03 | 三菱電機株式会社 | Vehicle traffic management device |
| CN202743136U (en) * | 2012-06-19 | 2013-02-20 | 浙江吉利汽车研究院有限公司杭州分公司 | Simple automobile anti-fatigue driving device |
| CN103318023A (en) * | 2013-06-21 | 2013-09-25 | 同济大学 | Vehicle-mounted real-time intelligent fatigue monitoring and auxiliary device |
-
2013
- 2013-09-27 CN CN201310454297.4A patent/CN103507809B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1218355A (en) * | 1998-11-24 | 1999-06-02 | 杨更新 | Automatic driving system of vehicle |
| CN1613425A (en) * | 2004-09-15 | 2005-05-11 | 南京大学 | Method and system for drivers' fatigue prealarming biological identification |
| JP4425302B2 (en) * | 2007-10-09 | 2010-03-03 | 三菱電機株式会社 | Vehicle traffic management device |
| CN201309451Y (en) * | 2008-11-17 | 2009-09-16 | 比亚迪股份有限公司 | Alarm system for preventing fatigue driving |
| CN202743136U (en) * | 2012-06-19 | 2013-02-20 | 浙江吉利汽车研究院有限公司杭州分公司 | Simple automobile anti-fatigue driving device |
| CN103318023A (en) * | 2013-06-21 | 2013-09-25 | 同济大学 | Vehicle-mounted real-time intelligent fatigue monitoring and auxiliary device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103507809A (en) | 2014-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103507809B (en) | A kind of method and apparatus of controlling Vehicle Driving Cycle | |
| US10449970B2 (en) | Vehicle control system | |
| CN104239741B (en) | Based on the automobile driving safe householder method of driving risk field | |
| CN107924634A (en) | The system and method for driving auxiliary are provided | |
| CN113799800B (en) | Automatic lane changing and overtaking track planning method for unmanned vehicle | |
| CN104553992B (en) | A kind of vehicle rollover method for early warning | |
| CN102295004A (en) | Lane departure warning method | |
| CN107993453A (en) | A kind of curved road safety speed computational methods based on bus or train route collaboration | |
| CN105398379B (en) | Drive assisted image display methods | |
| CN105599773A (en) | Driver state indicating device and method based on vehicle moving state | |
| CN207943007U (en) | A kind of novel intelligent net connection electric vehicle based on drive-by-wire chassis | |
| CN106660565A (en) | Method for assisting a driver of a single-track motor vehicle in order to drive through a curve safely | |
| CN205930481U (en) | Auto steering lamp controlgear and car | |
| CN107985308B (en) | Active collision avoidance system based on extension logic and its mode switching method | |
| CN206141333U (en) | Vehicle autopilot auto -change over device based on divert one's attention driving action and differentiate | |
| CN107452217A (en) | Fast traffic lane drives warning unit and method | |
| CN205292626U (en) | Unmanned system of intelligent automobile | |
| CN105185112A (en) | Driving behavior analysis and recognition method and system | |
| CN105761546A (en) | Vehicle collision prevention method, device and system | |
| CN105741542A (en) | Driving safety early warning method and driving safety early warning device | |
| CN204010322U (en) | A kind of crossing prior-warning device | |
| CN108922197A (en) | A kind of anti-reversing management method of mobile and system | |
| CN109878519A (en) | A distributed electric drive vehicle congestion following control system and method | |
| CN104554214A (en) | System and method for controlling running of electric vehicles according to states of traffic lights | |
| CN115675505A (en) | Anti-folding early warning control system suitable for semitrailer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |