CN112660125A - Vehicle cruise control method and device, storage medium and vehicle - Google Patents
Vehicle cruise control method and device, storage medium and vehicle Download PDFInfo
- Publication number
- CN112660125A CN112660125A CN202011570581.4A CN202011570581A CN112660125A CN 112660125 A CN112660125 A CN 112660125A CN 202011570581 A CN202011570581 A CN 202011570581A CN 112660125 A CN112660125 A CN 112660125A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- obstacle
- image
- cruise control
- preset
- 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.)
- Granted
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a vehicle cruise control method, a device, a storage medium and a vehicle, wherein the vehicle is provided with a radar sensor for detecting an obstacle in front of the vehicle and a camera device for shooting an image in front of the vehicle, and the method comprises the following steps: when receiving an adaptive cruise control request, detecting an obstacle in front of a vehicle through the radar sensor; judging whether an obstacle exists in front of the vehicle or not according to the detection information of the radar sensor; if the obstacle exists, starting the camera device to shoot an image in front of the vehicle; judging whether the obstacle is an upward inclined slope or not according to the image in front of the vehicle; if not, executing a preset cruise deceleration control strategy; if so, the preset cruise deceleration control strategy is not executed. The cruise control system effectively solves the technical problem that the cruise control system can mistakenly control the vehicle to decelerate when an upward inclined steep slope exists in the front of the vehicle, improves the driving experience, and reduces the cruise control oil consumption.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle cruise control method, a vehicle cruise control device, a storage medium and a vehicle.
Background
With the continuous development of the automobile industry, automobiles become main transportation tools for people to go out, and in the process of driving the automobiles by drivers, the drivers not only need to observe surrounding driving environments with high concentration, but also need to continuously step on an accelerator pedal to change the speed, so that driving fatigue is easily caused, and therefore the cruise control system is provided by the people.
An Adaptive Cruise Control (ACC) system of a vehicle is an intelligent automatic Control system, and is characterized in that when a deceleration of a front vehicle is identified and confirmed through a millimeter wave radar and a vehicle-to-vehicle time interval is smaller than a set value in the running process of the vehicle, the ACC system sends a deceleration request, wheels are properly braked through the coordinated action of a brake anti-lock system and an engine Control system, and the output power of an engine is reduced, so that the vehicle and the front vehicle always keep a safe distance.
However, as shown in fig. 5, when there is a steep slope that inclines upwards in front of the vehicle, the slope may block the detection signal (shown by a dotted line in the figure) of the millimeter wave radar, so that the millimeter wave radar may misunderstand that there is a vehicle or an obstacle in front of the vehicle, and the adaptive cruise control system may misunderstand that the vehicle decelerates, thereby causing the vehicle to climb the slope at a low initial speed, which may affect the driving experience and fuel consumption.
Disclosure of Invention
Based on the above, the invention aims to provide a vehicle cruise control method, a vehicle cruise control device, a storage medium and a vehicle, so as to solve the technical problem that when the conventional vehicle has a steep slope inclined upwards in the front direction, a cruise control system can mistakenly control the vehicle to decelerate.
According to an embodiment of the present invention, a vehicle cruise control method, in which a radar sensor for detecting an obstacle ahead of a vehicle and a camera device for taking an image ahead of the vehicle are provided, includes:
when receiving an adaptive cruise control request, detecting an obstacle in front of a vehicle through the radar sensor;
judging whether an obstacle exists in front of the vehicle or not according to the detection information of the radar sensor;
if the obstacle exists, starting the camera device to shoot an image in front of the vehicle;
judging whether the obstacle is an upward inclined slope or not according to the image in front of the vehicle;
if not, executing a preset cruise deceleration control strategy;
if so, the preset cruise deceleration control strategy is not executed.
In addition, a vehicle cruise control method according to the above-described embodiment of the present invention may further have the following additional technical features:
further, the step of determining whether the obstacle is an upwardly inclined slope based on the image in front of the vehicle includes:
judging whether preset obstacle features exist in the image in front of the vehicle or not:
if not, determining that the obstacle is the upward inclined slope;
if yes, the obstacle is judged not to be the inclined slope.
Further, after the step of determining whether a preset obstacle feature exists in the vehicle front image, the method further includes:
if not, extracting lane line features in the image in front of the vehicle;
judging whether the lane line characteristics on one side of the vehicle are collinear;
if not, the obstacle is judged to be the slope inclining upwards.
Further, after the step of starting the image capturing device to capture the image in front of the vehicle, the method further comprises the following steps:
and carrying out image preprocessing on the image in front of the vehicle according to a preset algorithm.
Further, the step of image preprocessing the image in front of the vehicle according to a preset algorithm comprises:
carrying out graying processing on the image in front of the vehicle;
and performing median filtering processing on the image subjected to the graying processing.
According to an embodiment of the present invention, a vehicle cruise control apparatus provided with a radar sensor for detecting an obstacle ahead of a vehicle and a camera device for taking an image ahead of the vehicle, the apparatus includes:
the radar control module is used for detecting an obstacle in front of the vehicle through the radar sensor when receiving the self-adaptive cruise control request;
the obstacle judging module is used for judging whether an obstacle exists in front of the vehicle according to the detection information of the radar sensor;
the camera shooting control module is used for starting the camera shooting device to shoot images in front of the vehicle when judging that the obstacle exists in front of the vehicle;
the slope judging module is used for judging whether the barrier is an upward inclined slope or not according to the image in front of the vehicle;
the first cruise control module is used for executing a preset cruise control strategy when the obstacle is judged not to be the inclined slope;
and the second cruise control module is used for not executing a preset cruise deceleration strategy if the obstacle is judged to be the inclined slope.
In addition, a vehicle cruise control apparatus according to the above-described embodiment of the present invention may further have the following additional technical features:
further, the slope determination module includes:
an obstacle recognition unit for judging whether a preset obstacle feature exists in the image in front of the vehicle:
a slope determination unit configured to determine that the obstacle is the upward-inclined slope when it is determined that a preset obstacle feature does not exist in the image in front of the vehicle; when it is determined that a preset obstacle feature exists in the vehicle front image, it is determined that the obstacle is not the upward-inclined slope.
Further, the slope determination module further includes:
a lane line extraction unit for extracting a lane line feature in the image in front of the vehicle;
a collinear judgment unit for judging whether the lane line features on one side of the vehicle are collinear;
the slope determination unit is further configured to determine that the obstacle is the upward-inclined slope when it is determined that the lane line features on one side of the vehicle are not collinear.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, implements the vehicle cruise control method described above.
The invention also provides a vehicle, which is provided with a radar sensor for detecting an obstacle in front of the vehicle and a camera device for shooting an image in front of the vehicle, and the vehicle comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the vehicle cruise control method when executing the program.
Compared with the prior art: detect vehicle the place ahead environment through setting up radar sensor and camera device jointly, and when self-adaptation cruise control function opened, utilize radar sensor to survey vehicle the place ahead barrier earlier, and when radar sensor detected the barrier, start camera device and shoot vehicle the place ahead image, and based on vehicle the place ahead image, whether analysis current barrier is the slope of tilt up, if do not then do not carry out predetermined cruise speed reduction control strategy, thereby solve the technical problem that cruise control system can the false control vehicle speed reduction when there is the steep slope of tilt up in vehicle the place ahead, improve the driving experience, reduce the cruise control oil consumption.
Drawings
Fig. 1 is a flowchart of a vehicle cruise control method in a first embodiment of the invention;
fig. 2 is a flowchart of a vehicle cruise control method in a second embodiment of the invention;
fig. 3 is a schematic configuration diagram of a cruise control apparatus for a vehicle according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of a vehicle in a fourth embodiment of the invention;
FIG. 5 is a schematic diagram of radar detection just before the vehicle is heading uphill.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example one
Referring to fig. 1, a vehicle cruise Control method according to a first embodiment of the present invention is shown, and may be applied to a vehicle, and in particular, to a vehicle controller of a vehicle, where the vehicle controller is, for example, an Electronic Control Unit (ECU), the vehicle is provided with a radar sensor for detecting an obstacle in front of the vehicle and a camera device for capturing an image in front of the vehicle, and the method specifically includes steps S01 to S06.
And step S01, detecting an obstacle in front of the vehicle through the radar sensor when the adaptive cruise control request is received.
In particular implementations, the radar sensor may be disposed on a front bumper of the vehicle, and the radar sensor may be a millimeter wave radar. The camera device can be arranged on a front bumper or a front windshield of the vehicle, and the camera device can be an automobile data recorder or a monocular camera or a binocular camera additionally arranged.
In addition, the camera device and the radar sensor CAN be in communication connection with a vehicle Controller of the vehicle through a vehicle Area Network (CAN) bus to send detection information to the vehicle Controller.
It should be noted that, in general, a vehicle with an auto-cruise function may be provided with an auto-cruise key on a steering wheel or a central control thereof, and a driver may turn on/off the auto-cruise function by turning on/off the auto-cruise key, so that in a specific implementation, whether an adaptive cruise control request is received or not may be determined by monitoring a state of the auto-cruise key; generally, when the self-cruise key is pressed and opened, the self-adaptive cruise control request is judged to be received, at the moment, an obstacle in front of a vehicle is detected through a radar sensor, and detection information of the radar sensor is monitored in real time.
And step S02, determining whether an obstacle exists in front of the vehicle based on the detection information of the radar sensor.
When judging that the obstacle exists in front of the vehicle, executing the steps S03-S04; and when judging that no obstacle exists in front of the vehicle, the monitoring device does not act to continue monitoring the detection information of the radar sensor.
It should be noted that the principle of radar detecting an obstacle is that a transmitter of the radar continuously transmits an electromagnetic wave signal, and the electromagnetic wave signal is reflected back after hitting the obstacle and is received by a receiver of the radar. The radar can also calculate the distance between the vehicle and the obstacle according to the time difference between the signal transmission and the signal reception.
And step S03, starting the camera device to shoot the front image of the vehicle.
Step S04, determining whether the obstacle is an upward slope based on the vehicle front image.
Wherein, when it is determined that the obstacle is not an upwardly inclined slope, performing step S05; when it is determined that the obstacle is an upwardly inclined slope, step S06 is performed.
In a specific implementation, as an implementation manner, step S04 may specifically include:
judging whether preset obstacle features exist in the image in front of the vehicle or not:
if not, determining that the obstacle is the upward inclined slope;
if yes, the obstacle is judged not to be the inclined slope.
The preset obstacle feature is a preset obstacle feature, and includes a vehicle feature, a stone feature and the like. The preset obstacle feature can be identified from the image in front of the vehicle through an image feature identification technology.
In general, the self-cruising function is started only by a vehicle running at a high speed, and most of obstacles usually appearing at the high speed are front vehicles, namely vehicle characteristics, so that when the preset obstacle characteristics exist in the image in front of the vehicle, most of the obstacles represent the front vehicles, and the obstacles are determined not to be the inclined slope, or represent the front of the vehicle and also include obstacles such as vehicles, stones and the like. At the moment, a preset cruise deceleration control strategy is executed to control the vehicle to decelerate so as to avoid the collision between the vehicle and a front obstacle; when the preset barrier characteristics do not exist in the image in front of the vehicle, the stone and other barriers do not exist in front of the vehicle, however, since the radar senses the barriers at the moment, it can be inferred that the situation can be caused only when the upwardly inclined slope exists in front of the vehicle, namely, the barriers detected by the radar are determined to be the upwardly inclined slope, the preset cruise deceleration control strategy is not executed, and the vehicle is ensured not to be decelerated mistakenly before ascending.
And step S05, executing a preset cruise deceleration control strategy.
In step S06, the preset cruise deceleration control strategy is not executed.
In summary, in the vehicle cruise control method in the above embodiments of the present invention, the radar sensor and the camera device are arranged to detect the environment in front of the vehicle together, when the adaptive cruise control function is turned on, the radar sensor is first used to detect the obstacle in front of the vehicle, when the radar sensor detects the obstacle, the camera device is started to shoot the image in front of the vehicle, and based on the image in front of the vehicle, whether the current obstacle is an upward inclined slope is analyzed, and if so, the preset cruise deceleration control strategy is not executed, so that the technical problem that the cruise control system erroneously controls the vehicle to decelerate when there is an upward inclined steep slope in front of the vehicle is solved, the driving experience is improved, and the cruise control oil consumption is reduced.
Example two
Referring to fig. 2, a vehicle cruise Control method according to a second embodiment of the present invention is shown, and may be applied to a vehicle, and in particular, to a vehicle controller of a vehicle, where the vehicle controller is, for example, an Electronic Control Unit (ECU), the vehicle is provided with a radar sensor for detecting an obstacle in front of the vehicle and a camera device for capturing an image in front of the vehicle, and the method specifically includes steps S11 to S19.
And step S11, detecting an obstacle in front of the vehicle through the radar sensor when the adaptive cruise control request is received.
And step S12, determining whether an obstacle exists in front of the vehicle based on the detection information of the radar sensor.
When judging that the obstacle exists in front of the vehicle, executing the steps S13-S15; and when judging that no obstacle exists in front of the vehicle, the monitoring device does not act to continue monitoring the detection information of the radar sensor.
And step S13, starting the camera device to shoot the front image of the vehicle.
And step S14, performing image preprocessing on the image in front of the vehicle according to a preset algorithm.
In a specific implementation, as an implementation manner, step S14 may specifically include:
carrying out graying processing on the image in front of the vehicle;
and performing median filtering processing on the image subjected to the graying processing.
The graying processing algorithm comprises the following steps:
F(i,j)＝0.30*fR(i,j)+0.59*fG(i,j)+0.11*fB(i, j), F (i, j) are pixel values after the graying processing, FR(i,j)、fG(i,j)、fB(i, j) are the values of the R component, G component and B component in the image before the graying process, respectively;
the median filtering algorithm is as follows:
g (x, y) ═ med { f (x-k, y-1), (k,1 ∈ W), f (x, y), and g (x, y) are pixel values of the image before and after filtering, respectively.
It should be noted that, in image processing, three RGB components (R: Red, G: Green, B: Blue) are generally used, that is, three primary colors of Red, Green, and Blue are used to represent true color, and the value ranges of the R component, the G component, and the B component are all 0 to 255, for example, the values of 3 channels of a white pixel on a screen are respectively: 255,255,255.
Meanwhile, since the image in front of the vehicle is originally a color picture, the data amount is relatively large for processing one color picture, and the color image in front of the vehicle is subjected to graying processing in order to reduce the data amount as much as possible. The graying processing of the image is to make each pixel point in the pixel point matrix meet the following requirements: r, G, B (i.e. 3 values are equal, but here equal is not an assignment in program language, and is equal in mathematics), and this value is a commonly used term for image processing, namely, a gray-level value. The graying processing of the image generally comprises four methods, namely a component method, a maximum value method, an average value method and a weighted average method, wherein the weighted average method is adopted in the patent. According to importance and other indexes, the three components are weighted and averaged by different weights, and as human eyes are most sensitive to green and least sensitive to blue, the RGB three components are weighted and averaged according to the formula to obtain a more reasonable gray level image, namely the RGB three components of each pixel point are weighted and averaged according to the formula, and the weighted average calculation value is assigned to the RGB three components of the corresponding pixel point, so that the values of the R component, the G component and the B component of the pixel point are the weighted average calculation value, and gray level is realized.
It can be understood that, because the generation of noise in the image transmission process is unavoidable, the image is optionally denoised after the image graying process, so as to remove noise points as much as possible. In the present embodiment, a median filtering method is employed.
And step S15, judging whether the image in front of the vehicle has the preset obstacle characteristic or not according to the preprocessed image in front of the vehicle.
Wherein, when it is determined that a preset obstacle feature exists in the image in front of the vehicle, it is determined that the obstacle is not the upwardly inclined slope, and step S18 is performed; when it is determined that the preset obstacle feature is not present in the vehicle front image, step S16 is executed.
Step S16, extracting lane line features in the image in front of the vehicle.
In specific implementation, edge detection can be performed on an image in front of the vehicle by using a Canny edge detection algorithm to obtain all edges in the image, and then lane line features are identified by using a Hough transformation algorithm to determine whether a straight line edge exists in the image and calculate the position of the straight line edge.
And step S17, judging whether the lane line characteristics on one side of the vehicle are collinear.
It should be noted that when the vehicle travels on a flat ground, the lane line features on one side (either one of the left side and the right side) of the vehicle in the image in front of the vehicle are on the same straight line (i.e., collinear); when a slope exists in front of the vehicle, because the lane line on the slope and the lane line on the flat ground have a certain angle (namely, a slope inclination angle), correspondingly, the features of the lane line on one side of the vehicle in the image in front of the vehicle are not in the same straight line, namely are not collinear, and therefore whether the obstacle is the slope inclined upwards or not is further judged.
Wherein when it is determined that the lane line features on one side of the vehicle are not collinear, it is determined that the obstacle is the upwardly inclined slope, and step S19 is performed; when the lane line characteristics on one side of the vehicle are judged to be collinear, the obstacle is judged not to be the upward inclined slope, and at the moment, the radar is possibly interfered and the obstacle in front is judged by mistake, a radar fault prompt can be sent out, or for the sake of safety, the step S18 can be executed to reduce the speed of the vehicle so as to ensure the driving safety.
And step S18, executing a preset cruise deceleration control strategy.
In step S19, the preset cruise deceleration control strategy is not executed.
Compared with the first embodiment, when it is determined that the preset obstacle feature does not exist in the image in front of the vehicle, the present embodiment does not directly make the determination that the obstacle is the upward inclined slope, but extracts the lane line feature in the image in front of the vehicle, and further determines whether the obstacle is the upward inclined slope based on the lane line feature and a specific determination rule thereof, thereby improving the accuracy of slope determination and further improving the reliability and safety of vehicle cruise control.
EXAMPLE III
Another aspect of the present invention also provides a vehicle cruise control apparatus, referring to fig. 3, which shows a vehicle cruise control apparatus according to a third embodiment of the present invention, the vehicle being provided with a radar sensor for detecting an obstacle ahead of the vehicle and a camera device for taking an image ahead of the vehicle, the vehicle cruise control apparatus comprising:
the radar control module 11 is used for detecting an obstacle in front of the vehicle through the radar sensor when receiving the self-adaptive cruise control request;
an obstacle judging module 12, configured to judge whether an obstacle exists in front of the vehicle according to detection information of the radar sensor;
the camera shooting control module 13 is used for starting the camera shooting device to shoot the image in front of the vehicle when judging that the obstacle exists in front of the vehicle;
a slope determination module 14, configured to determine whether the obstacle is an upward-inclined slope according to the image in front of the vehicle;
the first cruise control module 15 is used for executing a preset cruise control strategy when the obstacle is judged not to be the upward inclined slope;
and the second cruise control module 16 is configured to, when it is determined that the obstacle is the upward inclined slope, not execute a preset cruise deceleration strategy if the obstacle is the upward inclined slope.
Further, in some optional embodiments of the present invention, the slope determining module 14 includes:
an obstacle recognition unit for judging whether a preset obstacle feature exists in the image in front of the vehicle:
a slope determination unit configured to determine that the obstacle is the upward-inclined slope when it is determined that a preset obstacle feature does not exist in the image in front of the vehicle; when it is determined that a preset obstacle feature exists in the vehicle front image, it is determined that the obstacle is not the upward-inclined slope.
Further, in some optional embodiments of the present invention, the slope determining module further includes:
a lane line extraction unit for extracting a lane line feature in the image in front of the vehicle;
a collinear judgment unit for judging whether the lane line features on one side of the vehicle are collinear;
the slope determination unit is further configured to determine that the obstacle is the upward-inclined slope when it is determined that the lane line features on one side of the vehicle are not collinear.
Further, in some alternative embodiments of the present invention, the method further comprises:
and the image preprocessing module is used for preprocessing the image in front of the vehicle according to a preset algorithm.
Further, in some optional embodiments of the present invention, the image preprocessing module is further configured to perform a graying process on the image in front of the vehicle; and performing median filtering processing on the image subjected to the graying processing.
The functions or operation steps of the modules and units when executed are substantially the same as those of the method embodiments, and are not described herein again.
In summary, in the vehicle cruise control device in the above embodiments of the present invention, the radar sensor and the camera device are arranged to detect the environment in front of the vehicle together, when the adaptive cruise control function is turned on, the radar sensor is first used to detect the obstacle in front of the vehicle, when the radar sensor detects the obstacle, the camera device is started to shoot the image in front of the vehicle, and based on the image in front of the vehicle, whether the current obstacle is an upward inclined slope is analyzed, and if so, the preset cruise deceleration control strategy is not executed, so that the technical problem that the cruise control system may erroneously control the vehicle to decelerate when there is an upward inclined steep slope in front of the vehicle is solved, the driving experience is improved, and the cruise control oil consumption is reduced.
Example four
In another aspect, referring to fig. 4, a vehicle according to a fourth embodiment of the present invention is provided, where the vehicle is provided with a radar sensor for detecting an obstacle in front of the vehicle and a camera device for capturing an image in front of the vehicle, the vehicle includes a memory 20, a processor 10, and a computer program 30 stored in the memory and running on the processor, and the processor 10 implements the vehicle cruise control method when executing the program 30.
The processor 10 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip in some embodiments, and is used to execute program codes stored in the memory 20 or process data, such as executing an access restriction program.
The memory 20 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 20 may in some embodiments be an internal storage unit of the vehicle, such as a hard disk of the vehicle. The memory 20 may also be an external storage device of the vehicle in other embodiments, such as a plug-in hard disk provided on the vehicle, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 20 may also include both an internal storage unit and an external storage device of the vehicle. The memory 20 may be used not only to store application software installed in the vehicle and various types of data, but also to temporarily store data that has been output or will be output.
It should be noted that the configuration shown in fig. 4 is not intended to be limiting to vehicles, and in other embodiments, the vehicle may include fewer or more components than shown, or some components may be combined, or a different arrangement of components.
In summary, in the vehicle in the above embodiments of the present invention, the radar sensor and the camera device are arranged to detect an environment in front of the vehicle together, and when the adaptive cruise control function is turned on, the radar sensor is first used to detect an obstacle in front of the vehicle, and when the radar sensor detects the obstacle, the camera device is started to capture an image in front of the vehicle, and based on the image in front of the vehicle, whether the current obstacle is an upward inclined slope is analyzed, and if so, the preset cruise deceleration control strategy is not executed, so that the technical problem that the cruise control system erroneously controls the deceleration of the vehicle when there is an upward inclined steep slope in front of the vehicle is solved, the driving experience is improved, and the cruise control oil consumption is reduced.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the vehicle cruise control method as described above.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
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 do not necessarily 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.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle cruise control method, characterized in that a radar sensor for detecting an obstacle ahead of a vehicle and a camera device for taking an image ahead of the vehicle are provided on the vehicle, the method comprising:
when receiving an adaptive cruise control request, detecting an obstacle in front of a vehicle through the radar sensor;
judging whether an obstacle exists in front of the vehicle or not according to the detection information of the radar sensor;
if the obstacle exists, starting the camera device to shoot an image in front of the vehicle;
judging whether the obstacle is an upward inclined slope or not according to the image in front of the vehicle;
if not, executing a preset cruise deceleration control strategy;
if so, the preset cruise deceleration control strategy is not executed.
2. The vehicle cruise control method according to claim 1, characterized in that the step of determining whether the obstacle is an upward-inclined slope from the vehicle front image includes:
judging whether preset obstacle features exist in the image in front of the vehicle or not:
if not, determining that the obstacle is the upward inclined slope;
if yes, the obstacle is judged not to be the inclined slope.
3. The vehicle cruise control method according to claim 2, further comprising, after the step of determining whether a preset obstacle feature exists in the vehicle front image:
if not, extracting lane line features in the image in front of the vehicle;
judging whether the lane line characteristics on one side of the vehicle are collinear;
if not, the obstacle is judged to be the slope inclining upwards.
4. The vehicle cruise control method according to claim 1, further comprising, after the step of activating the image pickup device to pick up an image ahead of the vehicle,:
and carrying out image preprocessing on the image in front of the vehicle according to a preset algorithm.
5. The vehicle cruise control method according to claim 4, wherein said step of image preprocessing the image in front of the vehicle according to a preset algorithm comprises:
carrying out graying processing on the image in front of the vehicle;
and performing median filtering processing on the image subjected to the graying processing.
6. A vehicle cruise control apparatus provided with a radar sensor for detecting an obstacle ahead of a vehicle and a camera device for taking an image ahead of the vehicle, the apparatus comprising:
the radar control module is used for detecting an obstacle in front of the vehicle through the radar sensor when receiving the self-adaptive cruise control request;
the obstacle judging module is used for judging whether an obstacle exists in front of the vehicle according to the detection information of the radar sensor;
the camera shooting control module is used for starting the camera shooting device to shoot images in front of the vehicle when judging that the obstacle exists in front of the vehicle;
the slope judging module is used for judging whether the barrier is an upward inclined slope or not according to the image in front of the vehicle;
the first cruise control module is used for executing a preset cruise control strategy when the obstacle is judged not to be the inclined slope;
and the second cruise control module is used for not executing a preset cruise deceleration strategy if the obstacle is judged to be the inclined slope.
7. The vehicle cruise control apparatus according to claim 6, characterized in that the hill determination module includes:
an obstacle recognition unit for judging whether a preset obstacle feature exists in the image in front of the vehicle:
a slope determination unit configured to determine that the obstacle is the upward-inclined slope when it is determined that a preset obstacle feature does not exist in the image in front of the vehicle; when it is determined that a preset obstacle feature exists in the vehicle front image, it is determined that the obstacle is not the upward-inclined slope.
8. The vehicle cruise control apparatus according to claim 7, characterized in that the hill determination module further includes:
a lane line extraction unit for extracting a lane line feature in the image in front of the vehicle;
a collinear judgment unit for judging whether the lane line features on one side of the vehicle are collinear;
the slope determination unit is further configured to determine that the obstacle is the upward-inclined slope when it is determined that the lane line features on one side of the vehicle are not collinear.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a vehicle cruise control method according to any one of claims 1-5.
10. A vehicle provided with a radar sensor for detecting an obstacle in front of the vehicle and a camera device for capturing an image in front of the vehicle, the vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the vehicle cruise control method according to any of claims 1-5 when executing the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011570581.4A CN112660125B (en) | 2020-12-26 | 2020-12-26 | Vehicle cruise control method and device, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011570581.4A CN112660125B (en) | 2020-12-26 | 2020-12-26 | Vehicle cruise control method and device, storage medium and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112660125A true CN112660125A (en) | 2021-04-16 |
| CN112660125B CN112660125B (en) | 2023-04-07 |
Family
ID=75409893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011570581.4A Active CN112660125B (en) | 2020-12-26 | 2020-12-26 | Vehicle cruise control method and device, storage medium and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112660125B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114999157A (en) * | 2022-05-27 | 2022-09-02 | 宁波均联智行科技股份有限公司 | Parking fee automatic payment method and vehicle-mounted machine system |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040178945A1 (en) * | 2001-06-23 | 2004-09-16 | Buchanan Alastair James | Object location system for a road vehicle |
| US20050267648A1 (en) * | 2004-05-31 | 2005-12-01 | Denso Corporation | Vehicular kinetic control system |
| CN1704719A (en) * | 2004-06-02 | 2005-12-07 | 丰田自动车株式会社 | Obstacle recognition system and obstacle recognition method |
| WO2007102228A1 (en) * | 2006-03-06 | 2007-09-13 | Hitachi, Ltd. | Control device and method for automobile |
| US20110098927A1 (en) * | 2009-10-22 | 2011-04-28 | Fuji Jukogyo Kabushiki Kaisha | Vehicle driving support control apparatus |
| US20110282558A1 (en) * | 2010-05-12 | 2011-11-17 | Mando Corporation | Adaptive cruise control method on incline |
| JP2012088217A (en) * | 2010-10-21 | 2012-05-10 | Daihatsu Motor Co Ltd | Drive support control device |
| US20150291160A1 (en) * | 2014-04-15 | 2015-10-15 | Hyundai Motor Company | Vehicle cruise control apparatus and method |
| CN105691299A (en) * | 2014-12-10 | 2016-06-22 | Lg电子株式会社 | Vehicle driving assistance apparatus and vehicle |
| US20170122430A1 (en) * | 2014-06-23 | 2017-05-04 | Jaguar Land Rover Limited | Multi-speed automatic vehicle transmission |
| CN107679496A (en) * | 2017-10-10 | 2018-02-09 | 深圳地平线机器人科技有限公司 | Control the method and apparatus of vehicle and the vehicle including the device |
| US20180057003A1 (en) * | 2016-09-01 | 2018-03-01 | Samsung Electronics Co., Ltd. | Autonomous driving method and apparatus |
| US20180194286A1 (en) * | 2017-01-12 | 2018-07-12 | Mobileye Vision Technologies Ltd. | Determining a road surface characteristic |
| CN208021199U (en) * | 2018-03-21 | 2018-10-30 | 厦门盈趣汽车电子有限公司 | A kind of adaptive cruise control system |
| US20180330173A1 (en) * | 2017-05-15 | 2018-11-15 | Baidu Usa Llc | Speed control and steering control assistant based on pitch status and roll status of autonomous driving vehicle |
| CN109017570A (en) * | 2018-06-12 | 2018-12-18 | 智车优行科技（北京）有限公司 | Vehicle periphery scene rendering method and device, vehicle |
| US20190001978A1 (en) * | 2017-06-29 | 2019-01-03 | Denso Corporation | Vehicle control method and apparatus |
| US20190061527A1 (en) * | 2017-08-28 | 2019-02-28 | Ford Global Technologies, Llc | Systems and methods for vehicle cruise control smoothness adaptation |
| CN109900245A (en) * | 2017-12-08 | 2019-06-18 | 株式会社东芝 | Gradient estimating device, gradient presumption method and storage medium |
| CN110254425A (en) * | 2019-06-25 | 2019-09-20 | 江铃汽车股份有限公司 | A kind of drive simulating person's foot-controlled constant speed cruising method and system |
| CN111231951A (en) * | 2020-02-17 | 2020-06-05 | 江苏大学 | Blind area detection and vehicle speed control method based on vehicle up-and-down slope |
| WO2020248910A1 (en) * | 2019-06-10 | 2020-12-17 | 华为技术有限公司 | Target detection method and device |
| CN112092813A (en) * | 2020-09-25 | 2020-12-18 | 北京百度网讯科技有限公司 | Vehicle control method, device, electronic device and storage medium |
-
2020
- 2020-12-26 CN CN202011570581.4A patent/CN112660125B/en active Active
Patent Citations (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040178945A1 (en) * | 2001-06-23 | 2004-09-16 | Buchanan Alastair James | Object location system for a road vehicle |
| US20050267648A1 (en) * | 2004-05-31 | 2005-12-01 | Denso Corporation | Vehicular kinetic control system |
| CN1704719A (en) * | 2004-06-02 | 2005-12-07 | 丰田自动车株式会社 | Obstacle recognition system and obstacle recognition method |
| WO2007102228A1 (en) * | 2006-03-06 | 2007-09-13 | Hitachi, Ltd. | Control device and method for automobile |
| US20110098927A1 (en) * | 2009-10-22 | 2011-04-28 | Fuji Jukogyo Kabushiki Kaisha | Vehicle driving support control apparatus |
| US20110282558A1 (en) * | 2010-05-12 | 2011-11-17 | Mando Corporation | Adaptive cruise control method on incline |
| JP2012088217A (en) * | 2010-10-21 | 2012-05-10 | Daihatsu Motor Co Ltd | Drive support control device |
| US20150291160A1 (en) * | 2014-04-15 | 2015-10-15 | Hyundai Motor Company | Vehicle cruise control apparatus and method |
| US20170122430A1 (en) * | 2014-06-23 | 2017-05-04 | Jaguar Land Rover Limited | Multi-speed automatic vehicle transmission |
| CN105691299A (en) * | 2014-12-10 | 2016-06-22 | Lg电子株式会社 | Vehicle driving assistance apparatus and vehicle |
| US20180057003A1 (en) * | 2016-09-01 | 2018-03-01 | Samsung Electronics Co., Ltd. | Autonomous driving method and apparatus |
| US20180194286A1 (en) * | 2017-01-12 | 2018-07-12 | Mobileye Vision Technologies Ltd. | Determining a road surface characteristic |
| US20180330173A1 (en) * | 2017-05-15 | 2018-11-15 | Baidu Usa Llc | Speed control and steering control assistant based on pitch status and roll status of autonomous driving vehicle |
| US20190001978A1 (en) * | 2017-06-29 | 2019-01-03 | Denso Corporation | Vehicle control method and apparatus |
| US20190061527A1 (en) * | 2017-08-28 | 2019-02-28 | Ford Global Technologies, Llc | Systems and methods for vehicle cruise control smoothness adaptation |
| DE102018120677A1 (en) * | 2017-08-28 | 2019-02-28 | Ford Global Technologies, Llc | Systems and methods for adjusting the uniformity of vehicle speed control |
| CN107679496A (en) * | 2017-10-10 | 2018-02-09 | 深圳地平线机器人科技有限公司 | Control the method and apparatus of vehicle and the vehicle including the device |
| CN109900245A (en) * | 2017-12-08 | 2019-06-18 | 株式会社东芝 | Gradient estimating device, gradient presumption method and storage medium |
| CN208021199U (en) * | 2018-03-21 | 2018-10-30 | 厦门盈趣汽车电子有限公司 | A kind of adaptive cruise control system |
| CN109017570A (en) * | 2018-06-12 | 2018-12-18 | 智车优行科技（北京）有限公司 | Vehicle periphery scene rendering method and device, vehicle |
| WO2020248910A1 (en) * | 2019-06-10 | 2020-12-17 | 华为技术有限公司 | Target detection method and device |
| CN110254425A (en) * | 2019-06-25 | 2019-09-20 | 江铃汽车股份有限公司 | A kind of drive simulating person's foot-controlled constant speed cruising method and system |
| CN111231951A (en) * | 2020-02-17 | 2020-06-05 | 江苏大学 | Blind area detection and vehicle speed control method based on vehicle up-and-down slope |
| CN112092813A (en) * | 2020-09-25 | 2020-12-18 | 北京百度网讯科技有限公司 | Vehicle control method, device, electronic device and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 高德芝等: "智能车辆环境感知传感器的应用现状", 《现代电子技术》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114999157A (en) * | 2022-05-27 | 2022-09-02 | 宁波均联智行科技股份有限公司 | Parking fee automatic payment method and vehicle-mounted machine system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112660125B (en) | 2023-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10155520B2 (en) | Driver assistance apparatus and control method thereof | |
| US8938354B2 (en) | Driving support apparatus for vehicle | |
| JP5690688B2 (en) | Outside world recognition method, apparatus, and vehicle system | |
| US11461595B2 (en) | Image processing apparatus and external environment recognition apparatus | |
| JP4211809B2 (en) | Object detection device | |
| US9043108B2 (en) | Driving support apparatus for vehicle | |
| US9676333B2 (en) | Vehicle control system | |
| JP4937933B2 (en) | Outside monitoring device | |
| US11043990B2 (en) | Vehicular secured communication system | |
| JP6365385B2 (en) | Three-dimensional object detection apparatus and three-dimensional object detection method | |
| US11325520B2 (en) | Information processing apparatus and information processing method, and control apparatus and image processing apparatus | |
| JP2013019684A (en) | Vehicle periphery monitoring device | |
| CN112660125B (en) | Vehicle cruise control method and device, storage medium and vehicle | |
| CN114868148A (en) | Information processing device, information processing system, information processing program, and information processing method | |
| CN110103954B (en) | Electric control-based automobile rear-end collision prevention early warning device and method | |
| US20240001950A1 (en) | Vehicular driving assist system with student driver mode | |
| CN115527395B (en) | Intelligent traffic safety identification device for auxiliary judgment | |
| CN116252712A (en) | Driver assistance apparatus, vehicle, and method of controlling vehicle | |
| US20210403020A1 (en) | Vehicular control system with detection and prevention of unintended motion | |
| US20230186644A1 (en) | A vision system and method for a motor vehicle | |
| KR102618041B1 (en) | Driver assistance system and method therof | |
| US11935308B2 (en) | Object recognition apparatus, vehicle, and object recognition method | |
| CN114435248A (en) | Method for reducing BSD function false triggering based on forward-looking camera and storage medium | |
| US20240116498A1 (en) | Vehicle control apparatus | |
| US11938879B2 (en) | Vehicle control device, information processing apparatus, operation methods thereof, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |