CN106915304A - A kind of control method of vehicle, control device, vehicle control system and automobile - Google Patents
A kind of control method of vehicle, control device, vehicle control system and automobile Download PDFInfo
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- CN106915304A CN106915304A CN201710107450.4A CN201710107450A CN106915304A CN 106915304 A CN106915304 A CN 106915304A CN 201710107450 A CN201710107450 A CN 201710107450A CN 106915304 A CN106915304 A CN 106915304A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/202—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used displaying a blind spot scene on the vehicle part responsible for the blind spot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention provides a kind of control method of vehicle, control device, vehicle control system and automobile, the control method for vehicle includes：The turn signal of steering wheel is obtained, and the direction to be stopped of vehicle is determined according to the turn signal；Obtain the current shift information of automobile；According to the direction to be stopped and the current shift information, the image for being pointed to be shown on the side-looking camera of direction side to be stopped and host display is controlled.Shown by the vehicle front-wheel side images or vehicle rear wheel side images that are pointed to the side-looking camera collection of direction side to be stopped, when vehicle is moveed backward, the risk rubbed between vehicle rear wheel and curb can be avoided；When that need not move backward, shown or closed by the image gathered to exporting the side-looking camera on host display or rearview camera, can combine the image information that the output of vehicle practical operation situation needs, auxiliary driver is driven safely.
Description
Technical field
The present invention relates to automotive field, especially a kind of control method of vehicle, control device, vehicle control system and vapour
Car.
Background technology
Rearview camera of automobile only carries out being worked in reversing process in automobile, by backup camera Real-time Collection vehicle
The real-time imaging at rear, auxiliary driver's reversing storage.But in automobile side coil docking process, due to backup camera only
The image of rear view of vehicle can be acquired, often occurred because vision dead zone causes vehicle tyre or wheel hub to be sent out with curb
Raw friction, slight friction can make tire be damaged the service life for reducing tire, and serious friction may be damaged to wheel hub, shadow
As traffic safety.
The content of the invention
The embodiment of the present invention technical problem to be solved is to provide a kind of control method of vehicle, control device, vehicle control
System processed and automobile, are used to realize, when side parking is measured, prevent from causing to be rubbed between wheel and curb because of sight line blind area
Wipe, and influence vehicle driving safety.
In order to solve the above technical problems, the control method of vehicle provided in an embodiment of the present invention, including：
The turn signal of steering wheel is obtained, and the direction to be stopped of vehicle is determined according to the turn signal；
Obtain the current shift information of automobile；
According to the direction to be stopped and the current shift information, the side-looking camera of direction side to be stopped is pointed to
It is controlled with the image shown on host display.
Preferably, according to the direction to be stopped and the current shift information, it is pointed to the side of direction side to be stopped
The step of image depending on being shown on camera and host display is controlled includes：
When the current shift presentation of information is reverse gear, side-looking camera of the control positioned at direction side to be stopped revolves
Go at rear wheel position, and the image that is gathered to rearview camera of control main frame display screen and the side positioned at direction side to be stopped
Image depending on the rear wheel position of camera collection is shown；
When the current shift presentation of information is kept off for parking, control main frame display screen stops to rearview camera collection
The image that image and the side-looking camera positioned at direction side to be stopped are gathered is shown.
Preferably, the control method of the vehicle also includes：
When the current shift presentation of information is forward gear, the current vehicle speed of vehicle is obtained；
When the current vehicle speed of the vehicle is more than preset vehicle speed, the host display is controlled to stop gathering rearview mirror
Image and positioned at direction side to be stopped side-looking camera gather image shown；
When the current vehicle speed of the vehicle is less than preset rotation speed, the host display is controlled to stop to rearview camera
The image of collection is shown that side-looking camera of the control positioned at direction side to be stopped is rotated to front wheel positions, and is controlled
The image that the host display is pointed to the front wheel positions of the side-looking camera collection of direction side to be stopped is shown.
Preferably, the control method of the vehicle also includes：
According to the side-looking camera acquired image positioned at direction side to be stopped, obtain between vehicle tyre and curb
Distance；
According to the distance, the risk class that vehicle rubs with tire is determined；
According to the risk class, the host display is controlled to be taken the photograph in the side-looking positioned at direction side to be stopped of display
As exporting the color corresponding with the risk class on the image that head is gathered.
Preferably, include according to the distance, the step of determine the risk class that vehicle rubs with tire：
When the distance is located in the range of the first predeterminable range, determine that the risk class is the first estate；
When the distance is located in the range of the second predeterminable range, determine that the risk class is the second grade；
When the distance is located in the range of the 3rd predeterminable range, determine that the risk class is the tertiary gradient.
Preferably, the control method of the vehicle also includes：
When the risk class is the tertiary gradient, the buzzer of vehicle is controlled to start.
Another aspect according to embodiments of the present invention, the embodiment of the present invention additionally provides a kind of control device of vehicle, bag
Include：
First acquisition module, the turn signal for obtaining steering wheel, and waiting for vehicle is determined according to the turn signal
Parking direction；
Second acquisition module, the current shift information for obtaining automobile；
First control module, for according to the direction to be stopped and the current shift information, being pointed to treat parking side
It is controlled to the image shown on the side-looking camera and host display of side.
Preferably, first control module includes：
First control unit, for when the current shift presentation of information is reverse gear, control to be located at direction to be stopped
The side-looking camera of side is rotated to rear wheel position, and the image that is gathered to rearview camera of control main frame display screen and is located at
The image of the rear wheel position of the side-looking camera collection of direction side to be stopped is shown；
Second control unit, for when the current shift presentation of information is kept off for parking, control main frame display screen to stop
The image that image to rearview camera collection and the side-looking camera positioned at direction side to be stopped are gathered shows.
Preferably, the control device of the vehicle also includes：
3rd acquisition module, for when the current shift presentation of information is forward gear, obtaining the current vehicle speed of vehicle；
Second control module, for when the current vehicle speed of the vehicle is more than preset vehicle speed, controlling the main frame to show
Screen stops the image to rearview mirror collection and the image of the side-looking camera collection positioned at direction side to be stopped shows；
3rd control module, for when the current vehicle speed of the vehicle is less than preset rotation speed, controlling the main frame to show
Screen stop to rearview camera collection image show, control positioned at direction side to be stopped side-looking camera rotate to
At front wheel positions, and the host display is controlled to be pointed to the front wheel positions of the side-looking camera collection of direction side to be stopped
Image shown.
Preferably, the control device of the vehicle also includes：
4th acquisition module, for according to the side-looking camera acquired image for being located at direction side to be stopped, obtaining
The distance between vehicle tyre and curb；
Determining module, for according to the distance, determining the risk class that vehicle rubs with tire；
4th control module, for according to the risk class, controlling the host display in display positioned at waiting to stop
The color corresponding with the risk class is exported on the image of the side-looking camera collection of car direction side.
Preferably, the determining module includes：
First determining unit, for when the distance is located in the range of the first predeterminable range, determining the risk class
It is the first estate；
Second determining unit, for when the distance is located in the range of the second predeterminable range, determining the risk class
It is the second grade；
3rd determining unit, for when the distance is located in the range of the 3rd predeterminable range, determining the risk class
It is the tertiary gradient.
Preferably, the control device of the vehicle also includes：
5th control module, for when the risk class is the tertiary gradient, controlling the buzzer of vehicle to start.
According to another aspect of the present invention, the embodiment of the present invention additionally provides a kind of vehicle control system, including：
It is arranged at the rearview camera on vehicle；
It is arranged at the side-looking camera below the rearview mirror of vehicle；
The host display being connected with the rearview camera and the side-looking camera；
The control being connected with the rearview camera, the side-looking camera, the host display and vehicle steering
Device, the controller is connected by controller local area network with gearbox control and electronic stabilizing control system, wherein,
The controller by the turn signal to the vehicle steering determine vehicle side stop treat parking side
To, and the current shift information of direction to be stopped according to automobile and the automobile sent by gearbox control is pointed to wait to stop
The image shown on the side-looking camera and host display of car direction side is controlled.
Another aspect according to embodiments of the present invention, the embodiment of the present invention additionally provides a kind of automobile, including above-mentioned car
Control system.
Compared with prior art, the control method of vehicle provided in an embodiment of the present invention, control device, vehicle control system
And automobile, at least have the advantages that：
By being pointed to after after vehicle front-wheel side images or vehicle that the side-looking camera of parking direction side is gathered
Wheel periphery image is shown, when vehicle is moveed backward, can avoid the risk rubbed between vehicle rear wheel and curb；
When that need not move backward, entered by the image gathered to exporting the side-looking camera on host display or rearview camera
Row display is closed, and can combine the image information that the output of vehicle practical operation situation needs, and auxiliary driver carries out safety
Traveling.
Brief description of the drawings
Fig. 1 is the structural representation of the control method of the vehicle described in first embodiment of the invention；
Fig. 2 is the structural representation of the control method of the vehicle described in second embodiment of the invention；
Fig. 3 is the structural representation of the control method of the vehicle described in third embodiment of the invention；
Fig. 4 is the structural representation of the control device of the vehicle described in fourth embodiment of the invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.In the following description, there is provided such as specific configuration is only with the specific detail of component
In order to help comprehensive understanding embodiments of the invention.Therefore, it will be apparent to those skilled in the art that can be to reality described herein
Example is applied to make various changes and modifications without deviating from scope and spirit of the present invention.In addition, for clarity and brevity, it is right to eliminate
The description of known function and construction.
Reference picture 1, first embodiment of the invention provides a kind of control method of vehicle, including：
Step 101, obtains the turn signal of steering wheel, and the direction to be stopped of vehicle is determined according to the turn signal.
Step 102, obtains the current shift information of automobile.
Step 103, according to the direction to be stopped and the current shift information, is pointed to the side of direction side to be stopped
Image depending on being shown on camera and host display is controlled.
It is acquired by rotary angle transmitter for the direction of the steering wheel of vehicle and is obtained, rotary angle transmitter is arranged on
In steering column below steering wheel.The number of turns for measuring corner He turn over using three mechanical structures of gear.Gear wheel is with side
Rotated together to the steering column of disk；Two numbers of teeth of little gear differ 1, and vehicle body is fixed on together with sensor outer housing, no
Rotated with steering wheel and rotated.Two little gears collect the corner rotated with steering wheel respectively, different due to one tooth of difference
The number of turns will differ specific angle, by the absolute corner for being calculated steering wheel.
It is to be sent to adopt by CAN (controller local) network according to gearbox control for the current shift information of automobile
What collection was obtained.
Turn signal according to steering wheel determine vehicle wait stop direction after, it may be determined that in follow-up docking process
Side-looking camera acquired image to the which side of automobile shows.
By being pointed to after after vehicle front-wheel side images or vehicle that the side-looking camera of parking direction side is gathered
Wheel periphery image is shown, when vehicle is moveed backward, can avoid the risk rubbed between vehicle rear wheel and curb；
When that need not move backward, entered by the image gathered to exporting the side-looking camera on host display or rearview camera
Row display is closed, and can combine the image information that the output of vehicle practical operation situation needs, and auxiliary driver carries out safety
Traveling.
Specifically, above-mentioned steps 103 include：
Step 1031, when the current shift presentation of information is reverse gear, side of the control positioned at direction side to be stopped
Rotated to rear wheel position depending on camera, and the image that is gathered to rearview camera of control main frame display screen and positioned at treating parking side
The image of the rear wheel position gathered to the side-looking camera of side is shown；
Step 1032, when the current shift presentation of information is kept off for parking, control main frame display screen stops taking the photograph backsight
The image that the image and the side-looking camera positioned at direction side to be stopped gathered as head are gathered is shown.
The mode of vehicle side parking includes reversing parking and non-reversing parking, in docking process of moveing backward, it shall be noted that
Positioned at the information wait wheel periphery behind direction side of stopping；And in non-reversing parking, then need to be pointed to direction to be stopped
The information of the preceding wheel periphery of side is paid close attention to.
The reversing docking process of vehicle is in the content described in above-mentioned steps 1031, in the process, according to preamble
The signal of the steering wheel in step 101 can obtain the direction to be stopped of automobile, for example, the direction for determining the parking of vehicle side is
Left side, now, when the current shift presentation of information for obtaining is for reversing, at this time, it may be necessary to carry out emphasis pass to vehicle left side trailing wheel
Note, now, can control left side camera to rotate to rear wheel position, by host display to the figure of left side rear wheel position first
The image of picture and rear view of vehicle is exported, and solves the problems, such as Driver Vision blind area.Also, in whole reversing process,
The camera position of left side camera keeps constant.
In step 132, due to vehicle parking, now, without being shown to outside vehicle, thus side-looking is taken the photograph
As the image of head and rearview camera is no longer shown.
Reference picture 2, second embodiment of the invention provides a kind of control method of vehicle, including：
Step 201, obtains the turn signal of steering wheel, and the direction to be stopped of vehicle is determined according to the turn signal.
Step 202, obtains the current shift information of automobile.
Step 203, when the current shift presentation of information is reverse gear, side-looking of the control positioned at direction side to be stopped
Camera is rotated to rear wheel position, and the image that is gathered to rearview camera of control main frame display screen and positioned at direction to be stopped
The image of the rear wheel position of the side-looking camera collection of side is shown.
Step 204, when the current shift presentation of information is kept off for parking, control main frame display screen stops to rear-camera
The image that the image of head collection and the side-looking camera positioned at direction side to be stopped are gathered is shown.
Step 205, when the current shift presentation of information is forward gear, obtains the current vehicle speed of vehicle.
Step 206, when the current vehicle speed of the vehicle is more than preset vehicle speed, controls the host display to stop to rear
The image that the image of visor collection and the side-looking camera positioned at direction side to be stopped are gathered is shown.
Step 207, when the current vehicle speed of the vehicle is less than preset rotation speed, controls the host display to stop to rear
Image depending on camera collection is shown that side-looking camera of the control positioned at direction side to be stopped is rotated to front wheel positions
Place, and control the image that the host display is pointed to the front wheel positions of the side-looking camera collection of direction side to be stopped to enter
Row display.
In second embodiment of the invention, in the content that step 201 to step 204 is recorded and above-mentioned first embodiment in
Appearance is consistent, will not be repeated here.
In the non-docking process that reverses gear, should pay close attention to whether vehicle front can rub with curb.
In step 205, can be by electronic stabilizing control system (ESP) and anti-lock to the acquisition of the current vehicle speed of vehicle
Tight braking system (ABS) is obtained.
In above-mentioned steps 206 and step 207, the value of the preset rotation speed is 15km/h.
When it is non-reverse gear parking when, it is no longer necessary to the rear information of vehicle, thus stop to rearview camera collection image
Exported.In the process, because driver itself can observe forward image, speed when driver starts parking is
Than faster, thus, the image to the camera collection of vehicle side does not show；As driver because the visual field cannot be observed
During to forward image, driver can slow down, now, in order to automobile can emergency, by will be positioned at direction to be stopped
The camera of side is rotated to front wheel positions, is acquired by the image to preceding wheel periphery, helps driver safety parking.
In the non-docking process that reverses gear, when the speed of vehicle is less than 15km/h and is pointed to the shooting of direction side to be stopped
After head adjustment, no longer the camera is adjusted.
Reference picture 3, third embodiment of the invention provides a kind of control method of vehicle, including：
Step 301, obtains the turn signal of steering wheel, and the direction to be stopped of vehicle is determined according to the turn signal.
Step 302, obtains the current shift information of automobile.
Step 303, when the current shift presentation of information is reverse gear, side-looking of the control positioned at direction side to be stopped
Camera is rotated to rear wheel position, and the image that is gathered to rearview camera of control main frame display screen and positioned at direction to be stopped
The image of the rear wheel position of the side-looking camera collection of side is shown.
Step 304, when the current shift presentation of information is kept off for parking, control main frame display screen stops to rear-camera
The image that the image of head collection and the side-looking camera positioned at direction side to be stopped are gathered is shown.
Step 305, when the current shift presentation of information is forward gear, obtains the current vehicle speed of vehicle.
Step 306, when the current vehicle speed of the vehicle is more than preset vehicle speed, controls the host display to stop to rear
The image that the image of visor collection and the side-looking camera positioned at direction side to be stopped are gathered is shown.
Step 307, when the current vehicle speed of the vehicle is less than preset rotation speed, controls the host display to stop to rear
Image depending on camera collection is shown that side-looking camera of the control positioned at direction side to be stopped is rotated to front wheel positions
Place, and control the image that the host display is pointed to the front wheel positions of the side-looking camera collection of direction side to be stopped to enter
Row display.
Step 308, according to the side-looking camera acquired image positioned at direction side to be stopped, obtain vehicle tyre with
The distance between curb.
Step 309, according to the distance, determines the risk class that vehicle rubs with tire.
Step 310, according to the risk class, controls the host display in display positioned at direction side to be stopped
Side-looking camera collection image on export the color corresponding with the risk class.
In third embodiment of the invention, content of the above-mentioned steps 301 described in step 307 is implemented with above-mentioned second
Content in example is identical, will not be repeated here.
In above-mentioned steps 308, the distance between tire and curb of acquisition are nearest between vehicle tyre and curb
Distance.Herein, the actual range between tire and curb is obtained by below equation：
B=(N*A-M)
Herein, B is the actual range between curb and wheel, and A is the image distance between wheel and curb in image,
N is constant, and M is the side-play amount between image distance and actual range, and M is constant.
Above-mentioned A is the beeline in image between wheel and curb.
Because camera is that real-time road is acquired, driver can only be probably true according to the image on host display
The minimum distance between wheel and curb is determined, in addition, it is desirable to content of the driver carefully to being shown on host display is looked into
See.
By above-mentioned steps 308 to the content in step 310 so that driver can be according to output on host display
The color of image determines the minimum distance between wheel and curb.
Further, in third embodiment of the invention, step 309 includes：
Step 3091, when the distance is located in the range of the first predeterminable range, determines that the risk class is first etc.
Level；
Step 3092, when the distance is located in the range of the second predeterminable range, determines that the risk class is second etc.
Level；
Step 3093, when the distance is located in the range of the 3rd predeterminable range, determines the risk class for the third
Level.
The first above-mentioned predeterminable range scope be 15cm to 25cm between, the second predeterminable range scope be 5cm to 15cm it
Between, the 3rd predeterminable range scope is between 0cm to 5cm.
When risk class is the first estate, the color shown on host display is green；When risk class is second
During grade, the color that host display shows is yellow；When risk class is the tertiary gradient, the color that host display shows
It is red.When the distance between curb and wheel is more than 25cm, now, risk rating is not carried out, while also not to main frame
Display screen exports any color.
For example, in the docking process that reverses gear, when risk class is the first estate, driver needs steering wheel rotation to return just,
And progressively stop, vehicle tyre can be kept with curb without friction；When risk class is the second grade, driver needs brake, to
Before move vehicle, after host display is changed into green early warning from yellow early warning, steering wheel return just, progressively stops；In risk etc.
When level is for the tertiary gradient, driver needs brake, and vehicle is moved forward, and green early warning is changed into from red early warning in host display
Afterwards, steering wheel return just, progressively stops.
Also, in third embodiment of the invention, when the risk class is the tertiary gradient, can also control the buzzing of vehicle
Device starts.
The purpose that control buzzer is started is to remind driver.
By the control method of the vehicle of third embodiment of the invention, can be in the docking process of automobile side, it is right to realize
The image of the position of Driver Vision blind area is acquired and display；Simultaneously can also according to the image for collecting judge wheel with
The distance between curb, and export different colors to remind according on the distance between curb and wheel control main frame display screen
Driver performs the operation of response, reaches the effect of emergency.
Reference picture 4, another aspect according to embodiments of the present invention, fourth embodiment of the invention additionally provides a kind of vehicle
Control device, including：
First acquisition module 1, the turn signal for obtaining steering wheel, and waiting for vehicle is determined according to the turn signal
Parking direction；
Second acquisition module 2, the current shift information for obtaining automobile；
First control module 3, for according to the direction to be stopped and the current shift information, being pointed to treat parking side
It is controlled to the image shown on the side-looking camera and host display of side.
Preferably, first control module includes：
First control unit, for when the current shift presentation of information is reverse gear, control to be located at direction to be stopped
The side-looking camera of side is rotated to rear wheel position, and the image that is gathered to rearview camera of control main frame display screen and is located at
The image of the rear wheel position of the side-looking camera collection of direction side to be stopped is shown；
Second control unit, for when the current shift presentation of information is kept off for parking, control main frame display screen to stop
The image that image to rearview camera collection and the side-looking camera positioned at direction side to be stopped are gathered shows.
Preferably, the control device of the vehicle also includes：
3rd acquisition module, for when the current shift presentation of information is forward gear, obtaining the current vehicle speed of vehicle；
Second control module, for when the current vehicle speed of the vehicle is more than preset vehicle speed, controlling the main frame to show
Screen stops the image to rearview mirror collection and the image of the side-looking camera collection positioned at direction side to be stopped shows；
3rd control module, for when the current vehicle speed of the vehicle is less than preset rotation speed, controlling the main frame to show
Screen stop to rearview camera collection image show, control positioned at direction side to be stopped side-looking camera rotate to
At front wheel positions, and the host display is controlled to be pointed to the front wheel positions of the side-looking camera collection of direction side to be stopped
Image shown.
Preferably, the control device of the vehicle also includes：
4th acquisition module, for according to the side-looking camera acquired image for being located at direction side to be stopped, obtaining
The distance between vehicle tyre and curb；
Determining module, for according to the distance, determining the risk class that vehicle rubs with tire；
4th control module, for according to the risk class, controlling the host display in display positioned at waiting to stop
The color corresponding with the risk class is exported on the image of the side-looking camera collection of car direction side.
Preferably, the determining module includes：
First determining unit, for when the distance is located in the range of the first predeterminable range, determining the risk class
It is the first estate；
Second determining unit, for when the distance is located in the range of the second predeterminable range, determining the risk class
It is the second grade；
3rd determining unit, for when the distance is located in the range of the 3rd predeterminable range, determining the risk class
It is the tertiary gradient.
Preferably, the control device of the vehicle also includes：
5th control module, for when the risk class is the tertiary gradient, controlling the buzzer of vehicle to start.
The control device of the vehicle that fourth embodiment of the invention is provided, is device corresponding with the above method, the above method
In all implementations suitable for the embodiment of the device, can also reach identical technique effect.Can be in automobile side
In square docking process, realize being acquired and display the image of the position of Driver Vision blind area；Simultaneously can also be according to collection
To image judge the distance between wheel and curb, and according on the distance between curb and wheel control main frame display screen
The different color of output reaches the effect of emergency to remind driver to perform the operation of response.
According to another aspect of the present invention, the embodiment of the present invention additionally provides a kind of vehicle control system, including：
It is arranged at the rearview camera on vehicle；
It is arranged at the side-looking camera below the rearview mirror of vehicle；
The host display being connected with the rearview camera and the side-looking camera；
The control being connected with the rearview camera, the side-looking camera, the host display and vehicle steering
Device, the controller is connected by controller local area network with gearbox control and electronic stabilizing control system, wherein,
The controller by the turn signal to the vehicle steering determine vehicle side stop treat parking side
To, and the current shift information of direction to be stopped according to automobile and the automobile sent by gearbox control is pointed to wait to stop
The image shown on the side-looking camera and host display of car direction side is controlled.
Acquisition of the controller to the turn signal of vehicle steering is to gather to obtain by rotary angle transmitter.
Gearbox control (TCU) is to provide the current gear information of vehicle, electronic stability control to controller
System (ESP) is then to provide the current vehicle speed information of vehicle to controller, can also be stopped by the anti-locking of vehicle herein
Car system (ABS) obtains the current vehicle speed information of automobile.
In order to improve the effect of side-looking camera collection image, side-looking camera has an image pickup scope, its image pickup scope
It is the angle between side-looking camera position and front wheels and rear wheels, also, the initial position of side-looking camera is and ground
Vertical position.
Electric rotating machine is provided between controller and side-looking camera, side-looking is imaged by the control realization to electric rotating machine
The rotation control of head.
The vehicle control system of fifth embodiment of the invention, also including the buzzer being connected with controller, the buzzer exists
When controller judges that the distance between wheel and curb are between 0cm to 5cm, control buzzer starts, and reminds driver's car
Will be rubbed between wheel and curb.
By the vehicle control system of fifth embodiment of the invention, the driving in the docking process of automobile side can be realized
Member is difficult the collection of image at the wheel periphery that observes, while, moreover it is possible to by showing different colours to driving on a display screen
Real-time range between member's prompting curb and wheel, reminds driver safety traveling.
Another aspect according to embodiments of the present invention, the embodiment of the present invention additionally provides a kind of automobile, including above-mentioned car
Control system.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (14)
1. a kind of control method of vehicle, it is characterised in that including：
The turn signal of steering wheel is obtained, and the direction to be stopped of vehicle is determined according to the turn signal；
Obtain the current shift information of automobile；
According to the direction to be stopped and the current shift information, side-looking camera and the master of direction side to be stopped are pointed to
The image of machine display screen display is controlled.
2. the control method of vehicle according to claim 1, it is characterised in that according to the direction to be stopped and described work as
Preceding gear information, the image for being pointed to show on the side-looking camera of direction side to be stopped and host display is controlled
Step includes：
The current shift presentation of information be reverse gear when, control positioned at direction side to be stopped side-looking camera rotate to
At rear wheel position, and the image that is gathered to rearview camera of control main frame display screen and the side-looking positioned at direction side to be stopped are taken the photograph
As the image of the rear wheel position of head collection is shown；
When the current shift presentation of information is kept off for parking, control main frame display screen stops the image to rearview camera collection
The image gathered with the side-looking camera positioned at direction side to be stopped is shown.
3. the control method of vehicle according to claim 2, it is characterised in that the control method of the vehicle side parking
Also include：
When the current shift presentation of information is forward gear, the current vehicle speed of vehicle is obtained；
When the current vehicle speed of the vehicle is more than preset vehicle speed, the host display is controlled to stop the figure to rearview mirror collection
The image that picture and the side-looking camera positioned at direction side to be stopped are gathered is shown；
When the current vehicle speed of the vehicle is less than preset rotation speed, the host display is controlled to stop gathering rearview camera
Image shown that control is rotated to front wheel positions positioned at the side-looking camera of direction side stop, and described in controlling
The image that host display is pointed to the front wheel positions of the side-looking camera collection of direction side to be stopped is shown.
4. the control method of vehicle according to claim 1, it is characterised in that the control method of the vehicle side parking
Also include：
According to the side-looking camera acquired image positioned at direction side to be stopped, obtain between vehicle tyre and curb away from
From；
According to the distance, the risk class that vehicle rubs with tire is determined；
According to the risk class, the host display is controlled in the side-looking camera positioned at direction side to be stopped of display
The color corresponding with the risk class is exported on the image of collection.
5. the control method of vehicle according to claim 4, it is characterised in that according to the distance, determines vehicle with wheel
The step of risk class of fetal hair life friction, includes：
When the distance is located in the range of the first predeterminable range, determine that the risk class is the first estate；
When the distance is located in the range of the second predeterminable range, determine that the risk class is the second grade；
When the distance is located in the range of the 3rd predeterminable range, determine that the risk class is the tertiary gradient.
6. the control method of vehicle according to claim 5, it is characterised in that the control method of the vehicle side parking
Also include：
When the risk class is the tertiary gradient, the buzzer of vehicle is controlled to start.
7. a kind of control device of vehicle, it is characterised in that including：
First acquisition module, the turn signal for obtaining steering wheel, and according to the turn signal determine vehicle wait stop
Direction；
Second acquisition module, the current shift information for obtaining automobile；
First control module, for according to the direction to be stopped and the current shift information, being pointed to direction to be stopped
The image shown on the side-looking camera and host display of side is controlled.
8. the control device of vehicle according to claim 7, it is characterised in that first control module includes：
First control unit, for when the current shift presentation of information is reverse gear, control to be located at direction side to be stopped
Side-looking camera rotate to rear wheel position, and the image that is gathered to rearview camera of control main frame display screen and positioned at waiting to stop
The image of the rear wheel position of the side-looking camera collection of car direction side is shown；
Second control unit, for when the current shift presentation of information is kept off for parking, control main frame display screen to stop to rear
The image that image depending on camera collection and the side-looking camera positioned at direction side to be stopped are gathered is shown.
9. the control device of vehicle according to claim 8, it is characterised in that the control device of the vehicle also includes：
3rd acquisition module, for when the current shift presentation of information is forward gear, obtaining the current vehicle speed of vehicle；
Second control module, for when the current vehicle speed of the vehicle is more than preset vehicle speed, controlling the host display to stop
The image that image and the side-looking camera positioned at direction side to be stopped only to rearview mirror collection is gathered shows；
3rd control module, for when the current vehicle speed of the vehicle is less than preset rotation speed, controlling the host display to stop
Only the image to rearview camera collection shows that side-looking camera of the control positioned at direction side to be stopped is rotated to front-wheel
At position, and the host display is controlled to be pointed to the figure of the front wheel positions of the side-looking camera collection of direction side to be stopped
As being shown.
10. the control device of vehicle according to claim 7, it is characterised in that the control device of the vehicle also includes：
4th acquisition module, for according to the side-looking camera acquired image for being located at direction side to be stopped, obtaining vehicle
The distance between tire and curb；
Determining module, for according to the distance, determining the risk class that vehicle rubs with tire；
4th control module, for according to the risk class, controlling the host display in display positioned at treating parking side
The color corresponding with the risk class is exported on image to the side-looking camera collection of side.
The control device of 11. vehicles according to claim 10, it is characterised in that the determining module includes：
First determining unit, for when the distance is located in the range of the first predeterminable range, determining that the risk class is the
One grade；
Second determining unit, for when the distance is located in the range of the second predeterminable range, determining that the risk class is the
Two grades；
3rd determining unit, for when the distance is located in the range of the 3rd predeterminable range, determining that the risk class is the
Three grades.
The control device of 12. vehicles according to claim 11, it is characterised in that the control device of the vehicle is also wrapped
Include：
5th control module, for when the risk class is the tertiary gradient, controlling the buzzer of vehicle to start.
A kind of 13. vehicle control systems, it is characterised in that including：
It is arranged at the rearview camera on vehicle；
It is arranged at the side-looking camera below the rearview mirror of vehicle；
The host display being connected with the rearview camera and the side-looking camera；
The controller being connected with the rearview camera, the side-looking camera, the host display and vehicle steering, institute
Controller is stated to be connected with gearbox control and electronic stabilizing control system by controller local area network, wherein,
The controller determines the direction to be stopped that vehicle side is stopped by the turn signal to the vehicle steering, and
The current shift information in direction to be stopped and the automobile sent by gearbox control according to automobile is pointed to treat parking side
It is controlled to the image shown on the side-looking camera and host display of side.
14. a kind of automobiles, it is characterised in that including vehicle control system as claimed in claim 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710107450.4A CN106915304A (en) | 2017-02-27 | 2017-02-27 | A kind of control method of vehicle, control device, vehicle control system and automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710107450.4A CN106915304A (en) | 2017-02-27 | 2017-02-27 | A kind of control method of vehicle, control device, vehicle control system and automobile |
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| CN201710107450.4A Pending CN106915304A (en) | 2017-02-27 | 2017-02-27 | A kind of control method of vehicle, control device, vehicle control system and automobile |
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