CN113247010A - Cruise vehicle speed control method, vehicle, and computer-readable storage medium - Google Patents
Cruise vehicle speed control method, vehicle, and computer-readable storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000001105 regulatory effect Effects 0.000 claims abstract description 50
- 230000001133 acceleration Effects 0.000 claims description 25
- 238000012790 confirmation Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 description 9
- 230000003068 static effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
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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
- 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
- B60W30/143—Speed control
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
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Abstract
The invention provides a cruise speed control method, a vehicle and a computer readable storage medium, wherein the method comprises the following steps: acquiring image data of a driving position in real time, and identifying the image data; when the hand features are identified in the image data, matching speed regulating instructions corresponding to the hand features; and adjusting the cruising speed according to the speed regulating instruction. Through obtaining the image of driving position and discernment hand characteristic to automatically, with the speed of a motor vehicle that cruises to the speed of a motor vehicle that hand characteristic corresponds, make navigating mate can directly through gesture control speed of a motor vehicle that cruises, and need not to operate the physics switch and control, reduced the study cost, simplified navigating mate's operation simultaneously.
Description
Technical Field
The present invention relates to the field of vehicle control, and in particular, to a cruise vehicle speed control method, a vehicle, and a computer-readable storage medium.
Background
When turning on an ACC (Adaptive Cruise Control), the way for the driver to adjust the Cruise speed is to manually toggle a physical switch on a steering wheel key; however, the number of the operation keys of the intelligent driving system is large, and the added ACC physical switch enables the learning cost of the driver using the ACC function to be high, so that the operation is complex.
Disclosure of Invention
The invention mainly aims to provide a cruise speed control method, a vehicle and a computer readable storage medium, and aims to solve the problems that in the prior art, the cost for a driver to learn an ACC is high and the operation is complex.
To achieve the above object, the present invention provides a cruise vehicle speed control method, comprising the steps of:
acquiring image data of a driving position in real time, and identifying the image data;
when the hand features are identified in the image data, matching speed regulating instructions corresponding to the hand features;
and adjusting the cruising speed according to the speed regulating instruction.
Optionally, the step of adjusting the cruising speed according to the governing command comprises:
acquiring an expected vehicle speed corresponding to the speed regulating instruction;
and sending a gear shift signal comprising the expected vehicle speed to a vehicle speed control module so that the vehicle speed control module adjusts the cruising vehicle speed to the expected vehicle speed.
Optionally, the speed regulation instruction is an acceleration instruction, a deceleration instruction or a fixed speed regulation instruction; the step of obtaining the expected vehicle speed corresponding to the speed regulating command comprises the following steps:
acquiring a current vehicle speed;
if the speed regulating instruction is an acceleration instruction, acquiring the expected speed according to the current speed and the acceleration instruction;
if the speed regulating instruction is a deceleration instruction, acquiring the expected speed according to the current speed and the deceleration instruction;
and if the speed regulating instruction is a fixed speed regulating instruction, acquiring an expected speed corresponding to the fixed speed regulating instruction.
Optionally, the step of obtaining the desired vehicle speed according to the current vehicle speed and the acceleration instruction includes:
and acquiring a first speed increment value in the acceleration instruction, and taking the sum of the first speed increment value and the current vehicle speed as the expected vehicle speed.
Optionally, the step of obtaining the desired vehicle speed according to the current vehicle speed and the deceleration command comprises
And acquiring a second speed increasing value in the deceleration command, and taking the sum of the second speed increasing value and the current vehicle speed as the expected vehicle speed.
Optionally, when a hand feature is identified in the image data, the step of matching a pacing instruction corresponding to the hand feature includes:
and matching a speed regulating instruction corresponding to the hand feature when the hand feature is continuously identified from the image data within a preset time.
Optionally, the step of matching the speed regulation instruction corresponding to the hand feature comprises:
judging whether the self-adaptive cruise control mode is started or not;
if yes, executing the following steps: and matching the speed regulating instruction corresponding to the hand features.
Optionally, the step of adjusting the cruising speed according to the governing command comprises:
playing confirmation information corresponding to the speed regulating instruction, and executing the following steps when receiving a confirmation signal fed back by a driver according to the confirmation information: and adjusting the cruising speed according to the speed regulating instruction.
To achieve the above object, the present invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, implementing the steps of the cruise vehicle speed control method as described above.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the cruise vehicle speed control method as described above.
The invention provides a cruise speed control method, a vehicle and a computer readable storage medium, which are used for acquiring image data of a driving position in real time and identifying the image data; when the hand features are identified in the image data, matching speed regulating instructions corresponding to the hand features; and adjusting the cruising speed according to the speed regulating instruction. Through obtaining the image of driving position and discernment hand characteristic to automatically, with the speed of a motor vehicle that cruises to the speed of a motor vehicle that hand characteristic corresponds, make navigating mate can directly through gesture control speed of a motor vehicle that cruises, and need not to operate the physics switch and control, reduced the study cost, simplified navigating mate's operation simultaneously.
Drawings
FIG. 1 is a schematic flow chart diagram of a cruise vehicle speed control method according to a first embodiment of the present invention;
FIG. 2 is a detailed flowchart of step S30 of the cruise vehicle speed control method according to the second embodiment of the present invention;
fig. 3 is a schematic block diagram of the vehicle of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a cruise vehicle speed control method, which is applied to a vehicle, and referring to fig. 1, fig. 1 is a flow chart of a first embodiment of the cruise vehicle speed control method, and the method comprises the following steps:
step S10, acquiring image data of a driving position in real time, and identifying the image data;
the vehicle is provided with at least one camera with a monitoring range covering the driving position so as to obtain image data of the driving position, and the image data is identified after the image data is obtained; the specific image recognition method can be selected from the existing image recognition technologies according to actual needs, and is not described herein again. Further, in order to more accurately recognize the image data, a corresponding sensor, such as an infrared sensor and/or a TOF sensor, may be disposed at the driving position, and then the image data of the driving position may be recognized by combining the sensor data.
Furthermore, the image data can also be fingerprint image data, a fingerprint collector is arranged on an operation area of the driving position to obtain the fingerprint image data of the driver, and after the fingerprint image data is obtained, fingerprint identification is carried out on the fingerprint image data; the specific fingerprint identification method can be selected from the existing fingerprint identification technologies according to actual needs, and is not described herein again.
Step S20, when the hand features are identified in the image data, matching the speed regulating instruction corresponding to the hand features;
the hand features may include static features and dynamic features; the static characteristics refer to the hand shapes of the drivers which can be recognized in the single-frame image data, for example, the gestures of the drivers are 0-9 times out through the hand; the dynamic characteristic refers to a moving track of the hand of the driver, such as upward swinging or downward swinging, acquired by combining multi-frame image data. When the vehicle leaves a factory, a speed regulation instruction corresponding to hand characteristics can be preset, for example, static characteristics of 0-9 correspond to 10 different expected vehicle speeds respectively, and dynamic characteristics of upward swing and downward swing correspond to acceleration and deceleration respectively; it will be appreciated that the static characteristic may also correspond to acceleration and deceleration, and the dynamic characteristic may also correspond to a desired vehicle speed. When the hand features are identified, matching speed regulating instructions corresponding to the hand features; if the hand feature of the gesture 5 represents 50km/h, when the hand feature of the gesture 5 is recognized, a speed regulation command with the expected vehicle speed of 50km/h is matched. It can be understood that the driver can set the expected vehicle speed corresponding to different gestures according to the requirement of the driver; and gestures different from the preset gestures can be added, and corresponding speed regulating instructions are set for the newly added gestures. It can be understood that the vehicle can be preset with a speed regulation instruction corresponding to the fingerprints when leaving the factory, and each fingerprint corresponds to a different expected vehicle speed; and when the image data is fingerprint image data, matching a speed regulating instruction corresponding to a fingerprint identification result obtained after fingerprint identification is carried out on the fingerprint image data.
If the speed regulating command corresponding to the hand feature is not matched, the step S30 is not executed.
And step S30, adjusting the cruising speed according to the speed regulating instruction.
And executing a speed change operation after the speed regulation instruction corresponding to the hand characteristic is acquired so as to adjust the cruising speed to the speed corresponding to the speed regulation instruction.
This embodiment is through the image that obtains the driving position and discernment hand characteristic to automatically, with the speed adjustment of cruising speed to the speed that hand characteristic corresponds, make navigating mate can directly through gesture control speed of a cruising, and need not to operate the physics switch and control, reduced the study cost, simplified navigating mate's operation simultaneously.
Further, referring to fig. 2, in the second embodiment of the cruise vehicle speed control method according to the present invention, which is proposed based on the first embodiment of the present invention, said step S30 includes the steps of:
step S31, obtaining an expected vehicle speed corresponding to the speed regulating instruction;
step S32, a gear shift signal including the expected vehicle speed is sent to a vehicle speed control module, so that the vehicle speed control module adjusts the cruising vehicle speed to the expected vehicle speed.
The Advanced Driving Assistance System (ADAS) receives a speed regulation command through a bus, analyzes the speed regulation command to obtain an expected vehicle speed, and sends a speed change signal including the expected vehicle speed to a vehicle speed control module. The vehicle Speed Control module comprises an ESC (Electronic Speed Controller, vehicle body Electronic stability Control System), a TCU (Transmission Control Unit), an EMS (Engine Management System) and an instrument panel; the vehicle speed control module adjusts the cruising vehicle speed to the expected vehicle speed according to the gear shift signal after receiving the gear shift signal.
The ESC is used for controlling the longitudinal and transverse stability of the vehicle, and the vehicle is ensured to run according to the consciousness of a driver; the TCU is used for helping the transmission to determine when and how to shift gears by collecting information from various sensors and an engine control module so as to improve the performance of the automobile, smooth the gear shifting and save fuel oil; the EMS is used for converting physical information such as air quantity sucked by the engine, water temperature of cooling water, engine rotating speed, acceleration and deceleration and the like into electric signals through various sensors and circuits thereof and sending the electric signals to the vehicle-mounted controller; the instrument panel is used for displaying the vehicle state. The cruise speed can be adjusted through a speed control module comprising an ESC, a TCU, an EMS and an instrument panel.
The embodiment can reasonably adjust the cruising speed.
Further, in a third embodiment of the cruise vehicle speed control method according to the present invention that is proposed based on the first embodiment of the present invention, the speed regulation command is an acceleration command, a deceleration command, or a fixed speed adjustment command; the step S31 includes the steps of:
step S311, acquiring the current vehicle speed;
step S312, if the speed regulating instruction is an acceleration instruction, acquiring the expected speed according to the current speed and the acceleration instruction;
step S313, if the speed regulating instruction is a deceleration instruction, acquiring the expected speed according to the current speed and the deceleration instruction;
step S314, if the speed regulating instruction is a fixed speed regulating instruction, obtaining an expected speed corresponding to the fixed speed regulating instruction.
The speed regulating instruction comprises an acceleration instruction, a deceleration instruction and a fixed speed regulating instruction; when the speed regulating instruction is a fixed speed regulating instruction, the recognized hand characteristics correspond to an expected speed, and the expected speed required to be set by a driver can be directly obtained at the moment. When the speed regulation instruction is an acceleration instruction or a deceleration instruction, the expected speed required to be set by a driver cannot be directly obtained, so that the current speed and the acceleration instruction or the deceleration instruction need to be combined to calculate the expected speed. It should be noted that the current vehicle speed may be a real-time vehicle speed of the vehicle; the current set expected speed can also be used, namely the moment of obtaining the current speed is just in the process of adjusting the speed, and the real-time speed of the vehicle is inconsistent with the current set expected speed; the change of the vehicle speed can be reduced by adopting the real-time vehicle speed as the current vehicle speed, so that the condition that the vehicle speed is too fast due to the misjudgment of a driver on the vehicle speed is avoided; the current set expected speed is adopted as the current speed, so that the acceleration is completely carried out according to the instruction of a driver, and the operation times of the driver can be reduced; the driver or the manufacturer can select the real-time vehicle speed or the currently set expected vehicle speed as the current vehicle speed according to actual needs.
The step S312 includes the steps of:
and S3121, acquiring a first speed increment value in the acceleration instruction, and taking the sum of the first speed increment value and the current vehicle speed as the expected vehicle speed.
A preset first speed increment value can be set, the sum of the current vehicle speed and the first speed increment value is taken as an expected vehicle speed when an acceleration instruction is received each time, the preset first speed increment value is factory-set, and the preset first speed increment value can be set by a driver according to actual needs; further, the acceleration command may also directly include the first speed increment value, that is, the different acceleration commands include different first speed increment values, and the sum of the first speed increment value corresponding to the acceleration command and the current vehicle speed is taken as the desired vehicle speed. It will be appreciated that the first speed increment value is greater than 0.
The step S313 includes the steps of:
step S3131, obtaining a second speed increment value in the deceleration command, and taking a sum of the second speed increment value and the current vehicle speed as the desired vehicle speed.
A preset second speed increment value can be set, the sum of the current vehicle speed and the second speed increment value is taken as an expected vehicle speed when a deceleration instruction is received each time, and the preset second speed increment value is factory-set and can be set by a driver according to actual needs; further, the deceleration command may also directly include the second speed increment, that is, the sum of the second speed increment corresponding to the deceleration command and the current vehicle speed is taken as the desired vehicle speed, where the second speed increment is different in different deceleration commands. It is understood that the second speed increase value is less than 0.
The present embodiment can reasonably acquire the desired vehicle speed.
Further, in the fourth embodiment of the cruise vehicle speed control method according to the present invention as set forth in the first embodiment of the present invention, the step S20 includes the steps of:
and step S21, when the hand features are continuously identified from the image data within the preset time, matching the speed regulating command corresponding to the hand features.
Since the hands of the driver are also present in the image data in a certain form during driving, a certain trigger condition needs to be set to avoid triggering the speed regulation operation by using the daily gestures of the driver as hand features. In this embodiment, only when a hand feature is continuously detected for a preset time, it is determined that the driver needs to perform the speed regulation operation, and the speed regulation instruction corresponding to the hand feature is matched. Further, in order to more accurately adjust the vehicle speed according to the actual will of the driver, whether the hand features identified in the image data are the hand features of the driver or not may be further determined, and the specific determination and amplification may be selected according to actual needs in the prior art, which is not described herein again.
Further, in a fifth embodiment of the cruise vehicle speed control method according to the present invention, which is proposed based on the fourth embodiment of the present invention, the step S21 is preceded by the step of:
step S22, judging whether the self-adaptive cruise control mode is started;
in step S23, if yes, the method proceeds to: and matching the speed regulating instruction corresponding to the hand features.
The present embodiment is applied to a cruise vehicle speed control method ACC, i.e., vehicle speed adjustment is performed according to the hand characteristics of the driver only when the ACC is on. Considering that when the ACC is turned on, the driver can use the conventional accelerator, brake and gear to control the vehicle speed, in this case, the control mode of adding the hand features will affect the normal driving of the driver, and meanwhile, the influence of the false triggering of the hand features on the driving of the user is avoided, so when the driver uses the conventional driving mode, the control mode of the hand features is turned off.
The embodiment can avoid the influence of the false triggering of the hand characteristics on the driving of the user.
Further, in a sixth embodiment of the cruise vehicle speed control method according to the present invention as set forth in the fifth embodiment, a step is included before the step S30
Step S40, playing the confirmation information corresponding to the speed regulating instruction, and executing the steps when receiving the confirmation signal fed back by the driver according to the confirmation information: and adjusting the cruising speed according to the speed regulating instruction.
In the embodiment, the cruising speed is adjusted by identifying the image data to obtain the hand characteristics, and the possibility of false triggering exists due to the image acquisition mode, the algorithm and other reasons; in the embodiment, before the cruise speed is adjusted, confirmation information corresponding to a speed regulation instruction is played, so that a driver knows about the operation of the vehicle for cruise speed adjustment, the driver feeds back a signal according to will, and when the confirmation signal fed back by the driver according to the confirmation information is received, the operation of the cruise speed adjustment to be performed is considered to be in accordance with the will of the driver, and the operation of the cruise speed adjustment can be performed; and when a rejection signal fed back by the driver according to the confirmation information is received or a signal fed back by the driver is not received within the preset confirmation time, the operation of the cruise speed adjustment to be executed is considered to be not in accordance with the intention of the driver, and the operation of the cruise speed adjustment is stopped. It is understood that the confirmation message may be played by sound, screen display, etc.; the user can feed back the confirmation signal or the rejection signal by voice or clicking the relevant key.
The embodiment ensures that the operation of cruise speed adjustment conforms to the intention of a driver.
Referring to fig. 3, the vehicle may include components of a communication module 10, a memory 20, and a processor 30 in a hardware structure. In the vehicle, the processor 30 is connected to the memory 20 and the communication module 10, respectively, the memory 20 having stored thereon a computer program that is executed by the processor 30 at the same time, the computer program implementing the steps of the above-described method embodiment when executed.
The communication module 10 may be connected to an external communication device through a network. The communication module 10 may receive a request from an external communication device, and may also send a request, an instruction, and information to the external communication device, where the external communication device may be another vehicle, a server, or an internet of things device, such as a television.
The memory 20 may be used to store software programs as well as various data. The memory 20 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (for example, acquiring image data of a driving position in real time and performing an identification operation on the image data), and the like; the storage data area may include a database, and the storage data area may store data or information created according to use of the system, or the like. Further, the memory 20 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 30, which is a control center of the vehicle, connects various parts of the entire vehicle using various interfaces and lines, and performs various functions of the vehicle and processes data by operating or executing software programs and/or modules stored in the memory 20 and calling data stored in the memory 20, thereby integrally monitoring the vehicle. Processor 30 may include one or more processing units; alternatively, the processor 30 may integrate an application processor, which primarily handles operating systems, driver interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 30.
Although not shown in fig. 3, the vehicle may further include a circuit control module for connecting to a power source to ensure proper operation of other components. Those skilled in the art will appreciate that the vehicle configuration shown in FIG. 3 does not constitute a limitation of the vehicle and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 20 in the vehicle in fig. 3, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes instructions for enabling a terminal device (which may be a television, an automobile, a mobile phone, a computer, a server, a terminal, or a network device) having a processor to execute the method according to the embodiments of the present invention.
In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although the embodiment of the present invention has been shown and described, the scope of the present invention is not limited thereto, it should be understood that the above embodiment is illustrative and not to be construed as limiting the present invention, and that those skilled in the art can make changes, modifications and substitutions to the above embodiment within the scope of the present invention, and that these changes, modifications and substitutions should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A cruise vehicle speed control method, characterized by comprising:
acquiring image data of a driving position in real time, and identifying the image data;
when the hand features are identified in the image data, matching speed regulating instructions corresponding to the hand features;
and adjusting the cruising speed according to the speed regulating instruction.
2. A cruise vehicle speed control method as claimed in claim 1, wherein said step of adjusting cruise vehicle speed in accordance with said throttle command comprises:
acquiring an expected vehicle speed corresponding to the speed regulating instruction;
and sending a gear shift signal comprising the expected vehicle speed to a vehicle speed control module so that the vehicle speed control module adjusts the cruising vehicle speed to the expected vehicle speed.
3. A cruise vehicle speed control method according to claim 2, characterized in that said speed governing command is an acceleration command, a deceleration command or a fixed speed adjustment command; the step of obtaining the expected vehicle speed corresponding to the speed regulating command comprises the following steps:
acquiring a current vehicle speed;
if the speed regulating instruction is an acceleration instruction, acquiring the expected speed according to the current speed and the acceleration instruction;
if the speed regulating instruction is a deceleration instruction, acquiring the expected speed according to the current speed and the deceleration instruction;
and if the speed regulating instruction is a fixed speed regulating instruction, acquiring an expected speed corresponding to the fixed speed regulating instruction.
4. A cruise vehicle speed control method according to claim 3, wherein said step of obtaining said desired vehicle speed based on said current vehicle speed and said acceleration command comprises:
and acquiring a first speed increment value in the acceleration instruction, and taking the sum of the first speed increment value and the current vehicle speed as the expected vehicle speed.
5. A cruise vehicle speed control method according to claim 3, wherein said step of deriving said desired vehicle speed from said current vehicle speed and said deceleration command comprises
And acquiring a second speed increasing value in the deceleration command, and taking the sum of the second speed increasing value and the current vehicle speed as the expected vehicle speed.
6. The cruise vehicle speed control method according to any one of claims 1 to 5, wherein the step of matching a throttle command corresponding to a hand feature when the hand feature is recognized in the image data includes:
and matching a speed regulating instruction corresponding to the hand feature when the hand feature is continuously identified from the image data within a preset time.
7. A cruise vehicle speed control method as claimed in claim 6, wherein said step of matching said throttle command corresponding to said hand feature is preceded by:
judging whether the self-adaptive cruise control mode is started or not;
if yes, executing the following steps: and matching the speed regulating instruction corresponding to the hand features.
8. A cruise vehicle speed control method as claimed in claim 7, wherein said step of adjusting cruise vehicle speed in accordance with said throttle command is preceded by the steps of:
playing confirmation information corresponding to the speed regulating instruction, and executing the following steps when receiving a confirmation signal fed back by a driver according to the confirmation information: and adjusting the cruising speed according to the speed regulating instruction.
9. A vehicle, characterized in that it comprises a memory, a processor and a computer program stored on said memory and executable on said processor, said computer program, when executed by said processor, implementing the steps of a cruise vehicle speed control method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of a cruise vehicle speed control method according to any one of claims 1 to 8.
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Application publication date: 20210813 |